|
{ |
|
"episode_id": "1037", |
|
"scene_id": "data/replica_cad/configs/scenes/v3_sc0_staging_14.scene_instance.json", |
|
"scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json", |
|
"additional_obj_config_paths": [ |
|
"data/objects/ycb/" |
|
], |
|
"start_position": [ |
|
0, |
|
0, |
|
0 |
|
], |
|
"start_rotation": [ |
|
0, |
|
0, |
|
0, |
|
1 |
|
], |
|
"info": { |
|
"object_labels": { |
|
"002_master_chef_can_:0000": "any_targets|0", |
|
"024_bowl_:0000": "any_targets|1", |
|
"010_potted_meat_can_:0000": "any_targets|2", |
|
"010_potted_meat_can_:0001": "any_targets|3", |
|
"005_tomato_soup_can_:0000": "any_targets|4" |
|
} |
|
}, |
|
"ao_states": {}, |
|
"rigid_objs": [ |
|
[ |
|
"002_master_chef_can.object_config.json", |
|
[ |
|
[ |
|
0.88572, |
|
-0.00573, |
|
0.46419, |
|
0.63343 |
|
], |
|
[ |
|
0.00785, |
|
0.99997, |
|
-0.00264, |
|
0.77817 |
|
], |
|
[ |
|
-0.46416, |
|
0.00598, |
|
0.88573, |
|
6.54832 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"024_bowl.object_config.json", |
|
[ |
|
[ |
|
0.61465, |
|
-1e-05, |
|
0.7888, |
|
3.45635 |
|
], |
|
[ |
|
1e-05, |
|
1.0, |
|
0.0, |
|
0.4312 |
|
], |
|
[ |
|
-0.7888, |
|
0.0, |
|
0.61465, |
|
1.57256 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"010_potted_meat_can.object_config.json", |
|
[ |
|
[ |
|
0.10444, |
|
0.00047, |
|
-0.99453, |
|
-1.46941 |
|
], |
|
[ |
|
0.00054, |
|
1.0, |
|
0.00052, |
|
0.45678 |
|
], |
|
[ |
|
0.99453, |
|
-0.00059, |
|
0.10444, |
|
3.08235 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"010_potted_meat_can.object_config.json", |
|
[ |
|
[ |
|
0.49387, |
|
0.0001, |
|
-0.86954, |
|
-1.31561 |
|
], |
|
[ |
|
2e-05, |
|
1.0, |
|
0.00013, |
|
0.45679 |
|
], |
|
[ |
|
0.86954, |
|
-9e-05, |
|
0.49387, |
|
3.19459 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"005_tomato_soup_can.object_config.json", |
|
[ |
|
[ |
|
-0.85853, |
|
7e-05, |
|
-0.51276, |
|
3.72949 |
|
], |
|
[ |
|
9e-05, |
|
1.0, |
|
-1e-05, |
|
0.67778 |
|
], |
|
[ |
|
0.51276, |
|
-5e-05, |
|
-0.85853, |
|
5.06741 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"003_cracker_box.object_config.json", |
|
[ |
|
[ |
|
-0.93174, |
|
-0.04792, |
|
-0.35995, |
|
4.0908 |
|
], |
|
[ |
|
-0.04827, |
|
0.9988, |
|
-0.00803, |
|
1.04087 |
|
], |
|
[ |
|
0.3599, |
|
0.00989, |
|
-0.93294, |
|
4.08008 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"002_master_chef_can.object_config.json", |
|
[ |
|
[ |
|
-0.99811, |
|
-0.00061, |
|
0.06138, |
|
0.63272 |
|
], |
|
[ |
|
-0.0006, |
|
1.0, |
|
0.00027, |
|
0.77778 |
|
], |
|
[ |
|
-0.06138, |
|
0.00023, |
|
-0.99811, |
|
6.82862 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"004_sugar_box.object_config.json", |
|
[ |
|
[ |
|
0.97212, |
|
-0.03476, |
|
-0.2319, |
|
3.9876 |
|
], |
|
[ |
|
0.04142, |
|
0.99886, |
|
0.02393, |
|
0.71474 |
|
], |
|
[ |
|
0.2308, |
|
-0.03287, |
|
0.97245, |
|
6.38109 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"007_tuna_fish_can.object_config.json", |
|
[ |
|
[ |
|
-0.99685, |
|
-0.0, |
|
-0.07928, |
|
3.26744 |
|
], |
|
[ |
|
-0.0, |
|
1.0, |
|
-0.0, |
|
0.42105 |
|
], |
|
[ |
|
0.07928, |
|
-0.0, |
|
-0.99685, |
|
0.50203 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"005_tomato_soup_can.object_config.json", |
|
[ |
|
[ |
|
0.91888, |
|
-0.00161, |
|
0.39453, |
|
3.92171 |
|
], |
|
[ |
|
0.00227, |
|
1.0, |
|
-0.00119, |
|
0.67737 |
|
], |
|
[ |
|
-0.39453, |
|
0.00198, |
|
0.91888, |
|
5.30878 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"008_pudding_box.object_config.json", |
|
[ |
|
[ |
|
0.88706, |
|
-0.00561, |
|
0.46162, |
|
0.43977 |
|
], |
|
[ |
|
-0.0059, |
|
0.99971, |
|
0.02349, |
|
0.78224 |
|
], |
|
[ |
|
-0.46161, |
|
-0.02357, |
|
0.88677, |
|
1.93376 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"007_tuna_fish_can.object_config.json", |
|
[ |
|
[ |
|
0.36758, |
|
0.0, |
|
-0.92999, |
|
-0.33022 |
|
], |
|
[ |
|
0.0, |
|
1.0, |
|
0.0, |
|
0.77952 |
|
], |
|
[ |
|
0.92999, |
|
-0.0, |
|
0.36758, |
|
2.04649 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"024_bowl.object_config.json", |
|
[ |
|
[ |
|
0.7329, |
|
0.00022, |
|
0.68034, |
|
-1.26865 |
|
], |
|
[ |
|
0.00025, |
|
1.0, |
|
-0.00059, |
|
0.4423 |
|
], |
|
[ |
|
-0.68034, |
|
0.0006, |
|
0.7329, |
|
3.05046 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"003_cracker_box.object_config.json", |
|
[ |
|
[ |
|
-0.84509, |
|
-0.04246, |
|
-0.53294, |
|
0.76562 |
|
], |
|
[ |
|
-0.04561, |
|
0.99893, |
|
-0.00727, |
|
0.52167 |
|
], |
|
[ |
|
0.53268, |
|
0.01817, |
|
-0.84612, |
|
-0.24966 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"009_gelatin_box.object_config.json", |
|
[ |
|
[ |
|
0.9933, |
|
2e-05, |
|
-0.1156, |
|
3.55805 |
|
], |
|
[ |
|
-2e-05, |
|
1.0, |
|
4e-05, |
|
0.41926 |
|
], |
|
[ |
|
0.1156, |
|
-4e-05, |
|
0.9933, |
|
1.40646 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"010_potted_meat_can.object_config.json", |
|
[ |
|
[ |
|
-0.65042, |
|
2e-05, |
|
0.75958, |
|
3.6593 |
|
], |
|
[ |
|
-1e-05, |
|
1.0, |
|
-4e-05, |
|
0.66862 |
|
], |
|
[ |
|
-0.75958, |
|
-3e-05, |
|
-0.65042, |
|
6.11471 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"010_potted_meat_can.object_config.json", |
|
[ |
|
[ |
|
-0.13131, |
|
-0.00025, |
|
0.99134, |
|
0.82406 |
|
], |
|
[ |
|
0.00021, |
|
1.0, |
|
0.00028, |
|
0.90168 |
|
], |
|
[ |
|
-0.99134, |
|
0.00025, |
|
-0.13131, |
|
5.86145 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"004_sugar_box.object_config.json", |
|
[ |
|
[ |
|
0.596, |
|
-0.0038, |
|
-0.80297, |
|
0.55568 |
|
], |
|
[ |
|
0.0391, |
|
0.99894, |
|
0.0243, |
|
0.9477 |
|
], |
|
[ |
|
0.80203, |
|
-0.04588, |
|
0.59552, |
|
5.67003 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"007_tuna_fish_can.object_config.json", |
|
[ |
|
[ |
|
-0.71011, |
|
-0.00026, |
|
0.70409, |
|
4.02118 |
|
], |
|
[ |
|
-0.00071, |
|
1.0, |
|
-0.00035, |
|
0.64351 |
|
], |
|
[ |
|
-0.70409, |
|
-0.00075, |
|
-0.71011, |
|
6.13463 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"004_sugar_box.object_config.json", |
|
[ |
|
[ |
|
0.99085, |
|
-0.0356, |
|
-0.13018, |
|
0.76322 |
|
], |
|
[ |
|
0.03908, |
|
0.99894, |
|
0.02428, |
|
0.9477 |
|
], |
|
[ |
|
0.12918, |
|
-0.02914, |
|
0.99119, |
|
7.85499 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"008_pudding_box.object_config.json", |
|
[ |
|
[ |
|
0.51961, |
|
-0.01701, |
|
0.85423, |
|
0.78831 |
|
], |
|
[ |
|
-0.0059, |
|
0.99971, |
|
0.0235, |
|
0.87927 |
|
], |
|
[ |
|
-0.85438, |
|
-0.01725, |
|
0.51936, |
|
6.02439 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"002_master_chef_can.object_config.json", |
|
[ |
|
[ |
|
-0.43121, |
|
-8e-05, |
|
-0.90225, |
|
3.68156 |
|
], |
|
[ |
|
-6e-05, |
|
1.0, |
|
-6e-05, |
|
0.69724 |
|
], |
|
[ |
|
0.90225, |
|
3e-05, |
|
-0.43121, |
|
5.48543 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"009_gelatin_box.object_config.json", |
|
[ |
|
[ |
|
0.8584, |
|
-0.0, |
|
0.51298, |
|
0.6709 |
|
], |
|
[ |
|
0.0, |
|
1.0, |
|
0.0, |
|
0.77773 |
|
], |
|
[ |
|
-0.51298, |
|
0.0, |
|
0.8584, |
|
1.49879 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"003_cracker_box.object_config.json", |
|
[ |
|
[ |
|
-0.07995, |
|
-0.01101, |
|
-0.99674, |
|
0.61953 |
|
], |
|
[ |
|
-0.04569, |
|
0.99893, |
|
-0.00737, |
|
0.81373 |
|
], |
|
[ |
|
0.99575, |
|
0.04495, |
|
-0.08036, |
|
6.707 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"004_sugar_box.object_config.json", |
|
[ |
|
[ |
|
0.96004, |
|
-0.03033, |
|
-0.27821, |
|
3.98682 |
|
], |
|
[ |
|
0.03846, |
|
0.99898, |
|
0.02382, |
|
1.02218 |
|
], |
|
[ |
|
0.27721, |
|
-0.03357, |
|
0.96022, |
|
4.06856 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"002_master_chef_can.object_config.json", |
|
[ |
|
[ |
|
0.99133, |
|
5e-05, |
|
-0.13136, |
|
0.8395 |
|
], |
|
[ |
|
-4e-05, |
|
1.0, |
|
0.0, |
|
0.9303 |
|
], |
|
[ |
|
0.13136, |
|
0.0, |
|
0.99133, |
|
5.08707 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"003_cracker_box.object_config.json", |
|
[ |
|
[ |
|
0.71087, |
|
0.03764, |
|
0.70232, |
|
0.3472 |
|
], |
|
[ |
|
-0.04565, |
|
0.99893, |
|
-0.00733, |
|
0.96627 |
|
], |
|
[ |
|
-0.70184, |
|
-0.02684, |
|
0.71183, |
|
7.26765 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"009_gelatin_box.object_config.json", |
|
[ |
|
[ |
|
-0.04137, |
|
-4e-05, |
|
0.99914, |
|
0.66656 |
|
], |
|
[ |
|
-2e-05, |
|
1.0, |
|
3e-05, |
|
0.87476 |
|
], |
|
[ |
|
-0.99914, |
|
-2e-05, |
|
-0.04137, |
|
7.38437 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"003_cracker_box.object_config.json", |
|
[ |
|
[ |
|
-0.72489, |
|
-0.0257, |
|
0.68838, |
|
4.09015 |
|
], |
|
[ |
|
-0.04292, |
|
0.99905, |
|
-0.0079, |
|
0.73339 |
|
], |
|
[ |
|
-0.68753, |
|
-0.03528, |
|
-0.7253, |
|
5.85381 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"005_tomato_soup_can.object_config.json", |
|
[ |
|
[ |
|
-0.91031, |
|
-0.00139, |
|
-0.41393, |
|
4.04195 |
|
], |
|
[ |
|
-0.00159, |
|
1.0, |
|
0.00012, |
|
0.67772 |
|
], |
|
[ |
|
0.41393, |
|
0.00077, |
|
-0.91031, |
|
5.54407 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
] |
|
], |
|
"targets": { |
|
"002_master_chef_can_:0000": [ |
|
[ |
|
0.96158, |
|
0.0, |
|
0.27451, |
|
3.19439 |
|
], |
|
[ |
|
0.0, |
|
1.0, |
|
0.0, |
|
0.47369 |
|
], |
|
[ |
|
-0.27451, |
|
0.0, |
|
0.96158, |
|
1.66377 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
], |
|
"024_bowl_:0000": [ |
|
[ |
|
0.42835, |
|
0.0, |
|
0.90361, |
|
0.75646 |
|
], |
|
[ |
|
0.0, |
|
1.0, |
|
0.0, |
|
0.8866 |
|
], |
|
[ |
|
-0.90361, |
|
0.0, |
|
0.42835, |
|
6.22669 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
], |
|
"010_potted_meat_can_:0000": [ |
|
[ |
|
-0.77231, |
|
0.0, |
|
0.63525, |
|
3.48558 |
|
], |
|
[ |
|
0.0, |
|
1.0, |
|
0.0, |
|
0.97534 |
|
], |
|
[ |
|
-0.63525, |
|
0.0, |
|
-0.77231, |
|
3.71755 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
], |
|
"010_potted_meat_can_:0001": [ |
|
[ |
|
-0.0006, |
|
0.0, |
|
1.0, |
|
0.39636 |
|
], |
|
[ |
|
0.0, |
|
1.0, |
|
0.0, |
|
0.90087 |
|
], |
|
[ |
|
-1.0, |
|
0.0, |
|
-0.0006, |
|
5.42898 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
], |
|
"005_tomato_soup_can_:0000": [ |
|
[ |
|
0.05579, |
|
0.0, |
|
0.99844, |
|
0.84955 |
|
], |
|
[ |
|
0.0, |
|
1.0, |
|
0.0, |
|
0.46524 |
|
], |
|
[ |
|
-0.99844, |
|
0.0, |
|
0.05579, |
|
-0.30201 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
}, |
|
"markers": [ |
|
{ |
|
"name": "cab_push_point_7", |
|
"type": "articulated_object", |
|
"params": { |
|
"offset": [ |
|
0.3, |
|
0.0, |
|
0 |
|
], |
|
"link": "drawer1_top", |
|
"object": "kitchen_counter_:0000" |
|
} |
|
}, |
|
{ |
|
"name": "cab_push_point_6", |
|
"type": "articulated_object", |
|
"params": { |
|
"offset": [ |
|
0.3, |
|
0.0, |
|
0 |
|
], |
|
"link": "drawer2_top", |
|
"object": "kitchen_counter_:0000" |
|
} |
|
}, |
|
{ |
|
"name": "cab_push_point_5", |
|
"type": "articulated_object", |
|
"params": { |
|
"offset": [ |
|
0.3, |
|
0.0, |
|
0 |
|
], |
|
"link": "drawer3", |
|
"object": "kitchen_counter_:0000" |
|
} |
|
}, |
|
{ |
|
"name": "cab_push_point_4", |
|
"type": "articulated_object", |
|
"params": { |
|
"offset": [ |
|
0.3, |
|
0.0, |
|
0 |
|
], |
|
"link": "drawer4", |
|
"object": "kitchen_counter_:0000" |
|
} |
|
}, |
|
{ |
|
"name": "fridge_push_point", |
|
"type": "articulated_object", |
|
"params": { |
|
"offset": [ |
|
0.1, |
|
-0.62, |
|
0.2 |
|
], |
|
"link": "top_door", |
|
"object": "fridge_:0000" |
|
} |
|
} |
|
], |
|
"target_receptacles": [ |
|
[ |
|
"kitchen_counter_:0000", |
|
0 |
|
], |
|
[ |
|
"frl_apartment_sofa_:0000", |
|
null |
|
], |
|
[ |
|
"frl_apartment_chair_01_:0000", |
|
null |
|
], |
|
[ |
|
"frl_apartment_chair_01_:0000", |
|
null |
|
], |
|
[ |
|
"frl_apartment_tvstand_:0000", |
|
null |
|
] |
|
], |
|
"goal_receptacles": [ |
|
[ |
|
"frl_apartment_sofa_:0000", |
|
null |
|
], |
|
[ |
|
"kitchen_counter_:0000", |
|
0 |
|
], |
|
[ |
|
"frl_apartment_table_02_:0000", |
|
null |
|
], |
|
[ |
|
"kitchen_counter_:0000", |
|
0 |
|
], |
|
[ |
|
"frl_apartment_chair_01_:0001", |
|
null |
|
] |
|
] |
|
} |