{ "episode_id": "1031", "scene_id": "data/replica_cad/configs/scenes/v3_sc1_staging_00.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": { "007_tuna_fish_can_:0000": "any_targets|0", "003_cracker_box_:0000": "any_targets|1", "024_bowl_:0000": "any_targets|2", "002_master_chef_can_:0000": "any_targets|3", "005_tomato_soup_can_:0000": "any_targets|4" } }, "ao_states": {}, "rigid_objs": [ [ "007_tuna_fish_can.object_config.json", [ [ -0.98549, 9e-05, -0.16975, 1.54946 ], [ 9e-05, 1.0, 1e-05, 0.43165 ], [ 0.16975, -1e-05, -0.98549, -0.21875 ], [ 0.0, 0.0, 0.0, 1.0 ] ] ], [ "003_cracker_box.object_config.json", [ [ 0.96085, 0.04608, 0.27322, -2.3734 ], [ -0.04583, 0.99892, -0.0073, 0.86924 ], [ -0.27326, -0.0055, 0.96192, 2.80246 ], [ 0.0, 0.0, 0.0, 1.0 ] ] ], [ "024_bowl.object_config.json", [ [ 0.54838, -0.0002, 0.83623, 1.47629 ], [ 5e-05, 1.0, 0.00021, 0.44191 ], [ -0.83623, -8e-05, 0.54838, -0.05168 ], [ 0.0, 0.0, 0.0, 1.0 ] ] ], [ "002_master_chef_can.object_config.json", [ [ 0.88878, 0.00017, 0.45833, -2.14367 ], [ -9e-05, 1.0, -0.00019, 0.77777 ], [ -0.45833, 0.00013, 0.88878, 1.19367 ], [ 0.0, 0.0, 0.0, 1.0 ] ] ], [ "005_tomato_soup_can.object_config.json", [ [ -0.93461, -0.00159, -0.35567, 3.80599 ], [ -0.00179, 1.0, 0.00023, 0.45534 ], [ 0.35566, 0.00085, -0.93461, 5.52779 ], [ 0.0, 0.0, 0.0, 1.0 ] ] ], [ "002_master_chef_can.object_config.json", [ [ 0.95795, -0.01784, -0.28639, -2.063 ], [ 0.01727, 0.99984, -0.00453, 0.77862 ], [ 0.28642, -0.0006, 0.9581, 1.31131 ], [ 0.0, 0.0, 0.0, 1.0 ] ] ], [ "007_tuna_fish_can.object_config.json", [ [ 0.96286, -2e-05, 0.27, 0.5792 ], [ 2e-05, 1.0, 0.0, 0.43176 ], [ -0.27, 0.0, 0.96286, 0.36603 ], [ 0.0, 0.0, 0.0, 1.0 ] ] ], [ "009_gelatin_box.object_config.json", [ [ -0.66249, -0.00056, -0.74907, 4.02927 ], [ 0.00041, 1.0, -0.00112, 0.64638 ], [ 0.74907, -0.00105, -0.66249, 1.9704 ], [ 0.0, 0.0, 0.0, 1.0 ] ] ], [ "007_tuna_fish_can.object_config.json", [ [ -0.89847, 1e-05, -0.43904, 3.65907 ], [ 1e-05, 1.0, 0.0, 0.42105 ], [ 0.43904, -0.0, -0.89847, 5.60966 ], [ 0.0, 0.0, 0.0, 1.0 ] ] ], [ "024_bowl.object_config.json", [ [ -0.83537, 0.00032, -0.54968, 2.12604 ], [ 0.00087, 1.0, -0.00074, 0.96164 ], [ 0.54968, -0.0011, -0.83537, 5.57105 ], [ 0.0, 0.0, 0.0, 1.0 ] ] ], [ "009_gelatin_box.object_config.json", [ [ -0.71118, 1e-05, -0.70301, -1.97698 ], [ 1e-05, 1.0, -0.0, 0.87476 ], [ 0.70301, -1e-05, -0.71118, 1.59976 ], [ 0.0, 0.0, 0.0, 1.0 ] ] ], [ "002_master_chef_can.object_config.json", [ [ -0.13539, 4e-05, 0.99079, 2.41508 ], [ 4e-05, 1.0, -3e-05, 1.00477 ], [ -0.99079, 4e-05, -0.13539, 6.34974 ], [ 0.0, 0.0, 0.0, 1.0 ] ] ], [ "004_sugar_box.object_config.json", [ [ 0.92928, -0.04409, 0.36672, 2.47132 ], [ 0.03849, 0.999, 0.02258, 1.02232 ], [ -0.36735, -0.00686, 0.93006, 6.18302 ], [ 0.0, 0.0, 0.0, 1.0 ] ] ], [ "003_cracker_box.object_config.json", [ [ -0.04078, 0.00553, 0.99915, -2.18978 ], [ -0.04555, 0.99893, -0.00738, 0.81373 ], [ -0.99813, -0.04582, -0.04048, 1.05887 ], [ 0.0, 0.0, 0.0, 1.0 ] ] ], [ "003_cracker_box.object_config.json", [ [ 0.45682, 0.05817, -0.88766, -2.42694 ], [ -0.10945, 0.99395, 0.00881, 0.86965 ], [ 0.8828, 0.09313, 0.46042, 2.56622 ], [ 0.0, 0.0, 0.0, 1.0 ] ] ], [ "010_potted_meat_can.object_config.json", [ [ 0.21549, 0.00053, 0.97651, -1.98585 ], [ -0.00037, 1.0, -0.00046, 0.80465 ], [ -0.97651, -0.00026, 0.21549, 3.53261 ], [ 0.0, 0.0, 0.0, 1.0 ] ] ], [ "010_potted_meat_can.object_config.json", [ [ -0.01468, -0.00471, 0.99988, 3.5158 ], [ 0.00098, 0.99999, 0.00472, 0.44625 ], [ -0.99989, 0.00105, -0.01467, 6.12853 ], [ 0.0, 0.0, 0.0, 1.0 ] ] ], [ "024_bowl.object_config.json", [ [ -0.0152, 0.00017, -0.99988, 2.40537 ], [ 0.00023, 1.0, 0.00016, 0.96166 ], [ 0.99988, -0.00023, -0.0152, 5.80256 ], [ 0.0, 0.0, 0.0, 1.0 ] ] ], [ "005_tomato_soup_can.object_config.json", [ [ 0.97066, -7e-05, -0.24044, 0.52068 ], [ 0.00125, 0.99999, 0.00478, 0.4662 ], [ 0.24044, -0.00494, 0.97065, 0.27306 ], [ 0.0, 0.0, 0.0, 1.0 ] ] ], [ "008_pudding_box.object_config.json", [ [ 0.98068, 0.00898, -0.19539, 1.37317 ], [ -0.0051, 0.99978, 0.02034, 0.43439 ], [ 0.19553, -0.01895, 0.98051, 0.05802 ], [ 0.0, 0.0, 0.0, 1.0 ] ] ], [ "010_potted_meat_can.object_config.json", [ [ -0.9632, 9e-05, 0.2688, 0.58386 ], [ 0.00014, 1.0, 0.00017, 0.4569 ], [ -0.2688, 0.0002, -0.9632, 0.1997 ], [ 0.0, 0.0, 0.0, 1.0 ] ] ], [ "002_master_chef_can.object_config.json", [ [ 0.84861, 0.0031, 0.52901, 4.03931 ], [ -0.00263, 1.0, -0.00164, 0.70196 ], [ -0.52901, 0.0, 0.84862, 1.59457 ], [ 0.0, 0.0, 0.0, 1.0 ] ] ], [ "003_cracker_box.object_config.json", [ [ 0.98377, 0.04762, -0.17298, 3.81589 ], [ -0.04969, 0.99874, -0.00763, 0.73811 ], [ 0.1724, 0.0161, 0.9849, 1.96492 ], [ 0.0, 0.0, 0.0, 1.0 ] ] ], [ "010_potted_meat_can.object_config.json", [ [ 0.66494, 0.00627, 0.74687, -1.97833 ], [ -0.00167, 0.99997, -0.00691, 0.80478 ], [ -0.74689, 0.00335, 0.66494, 3.65814 ], [ 0.0, 0.0, 0.0, 1.0 ] ] ], [ "005_tomato_soup_can.object_config.json", [ [ 0.15454, 0.00011, -0.98799, -2.24092 ], [ -0.00014, 1.0, 9e-05, 0.91083 ], [ 0.98799, 0.00012, 0.15454, 0.79221 ], [ 0.0, 0.0, 0.0, 1.0 ] ] ], [ "007_tuna_fish_can.object_config.json", [ [ -0.97401, 1e-05, 0.2265, 3.52275 ], [ 1e-05, 1.0, -0.0, 0.42105 ], [ -0.2265, -0.0, -0.97401, 6.52532 ], [ 0.0, 0.0, 0.0, 1.0 ] ] ], [ "010_potted_meat_can.object_config.json", [ [ 0.44657, -0.00024, -0.89475, -2.13781 ], [ -5e-05, 1.0, -0.00029, 0.80465 ], [ 0.89475, 0.00018, 0.44657, 2.62303 ], [ 0.0, 0.0, 0.0, 1.0 ] ] ], [ "004_sugar_box.object_config.json", [ [ 0.99852, -0.04066, -0.03612, 0.51001 ], [ 0.04159, 0.99881, 0.02545, 0.50311 ], [ 0.03504, -0.02692, 0.99902, 0.57111 ], [ 0.0, 0.0, 0.0, 1.0 ] ] ], [ "008_pudding_box.object_config.json", [ [ -0.2922, 0.02018, -0.95615, 3.84842 ], [ -0.00503, 0.99973, 0.02264, 0.65096 ], [ 0.95634, 0.01143, -0.29202, 1.61118 ], [ 0.0, 0.0, 0.0, 1.0 ] ] ], [ "002_master_chef_can.object_config.json", [ [ 0.4706, -0.00041, 0.88235, -2.18368 ], [ 0.00029, 1.0, 0.00031, 0.77776 ], [ -0.88235, 0.00011, 0.4706, 1.31203 ], [ 0.0, 0.0, 0.0, 1.0 ] ] ] ], "targets": { "007_tuna_fish_can_:0000": [ [ -0.99871, 0.0, -0.05087, -2.44447 ], [ 0.0, 1.0, 0.0, 0.87587 ], [ 0.05087, 0.0, -0.99871, 0.11054 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "003_cracker_box_:0000": [ [ 0.11084, 0.0, -0.99384, 0.36932 ], [ 0.0, 1.0, 0.0, 0.52618 ], [ 0.99384, 0.0, 0.11084, 0.47383 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "024_bowl_:0000": [ [ 0.75891, 0.0, 0.6512, 2.57259 ], [ 0.0, 1.0, 0.0, 0.96107 ], [ -0.6512, 0.0, 0.75891, 5.477 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "002_master_chef_can_:0000": [ [ -0.1251, 0.0, -0.99214, 0.65209 ], [ 0.0, 1.0, 0.0, 0.4844 ], [ 0.99214, 0.0, -0.1251, 0.44089 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "005_tomato_soup_can_:0000": [ [ 0.6883, 0.0, 0.72542, 1.48837 ], [ 0.0, 1.0, 0.0, 0.46513 ], [ -0.72542, 0.0, 0.6883, -0.30311 ], [ 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": [ [ "frl_apartment_chair_01_:0001", null ], [ "frl_apartment_table_01_:0000", null ], [ "frl_apartment_chair_01_:0001", null ], [ "kitchen_counter_:0000", 0 ], [ "frl_apartment_sofa_:0000", null ] ], "goal_receptacles": [ [ "kitchen_counter_:0000", 0 ], [ "frl_apartment_chair_01_:0000", null ], [ "frl_apartment_table_02_:0000", null ], [ "frl_apartment_chair_01_:0000", null ], [ "frl_apartment_chair_01_:0001", null ] ] }