|
{ |
|
"episode_id": "1020", |
|
"scene_id": "data/replica_cad/configs/scenes/v3_sc2_staging_10.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": { |
|
"009_gelatin_box_:0000": "any_targets|0", |
|
"008_pudding_box_:0000": "any_targets|1", |
|
"004_sugar_box_:0000": "any_targets|2", |
|
"004_sugar_box_:0001": "any_targets|3", |
|
"005_tomato_soup_can_:0000": "any_targets|4" |
|
} |
|
}, |
|
"ao_states": {}, |
|
"rigid_objs": [ |
|
[ |
|
"009_gelatin_box.object_config.json", |
|
[ |
|
[ |
|
0.48909, |
|
2e-05, |
|
0.87223, |
|
3.82998 |
|
], |
|
[ |
|
-3e-05, |
|
1.0, |
|
-1e-05, |
|
0.42998 |
|
], |
|
[ |
|
-0.87223, |
|
-2e-05, |
|
0.48909, |
|
5.38579 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"008_pudding_box.object_config.json", |
|
[ |
|
[ |
|
0.80531, |
|
-0.00917, |
|
0.59278, |
|
3.92946 |
|
], |
|
[ |
|
-0.0059, |
|
0.99971, |
|
0.02349, |
|
0.43449 |
|
], |
|
[ |
|
-0.59282, |
|
-0.02242, |
|
0.80502, |
|
5.6089 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"004_sugar_box.object_config.json", |
|
[ |
|
[ |
|
0.43206, |
|
-0.03867, |
|
0.90102, |
|
3.43874 |
|
], |
|
[ |
|
0.03896, |
|
0.99895, |
|
0.02419, |
|
0.85067 |
|
], |
|
[ |
|
-0.901, |
|
0.02465, |
|
0.43311, |
|
7.80681 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"004_sugar_box.object_config.json", |
|
[ |
|
[ |
|
-0.89813, |
|
0.02511, |
|
0.43901, |
|
0.94873 |
|
], |
|
[ |
|
0.03944, |
|
0.99894, |
|
0.02356, |
|
0.7148 |
|
], |
|
[ |
|
-0.43795, |
|
0.03847, |
|
-0.89817, |
|
0.00071 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"005_tomato_soup_can.object_config.json", |
|
[ |
|
[ |
|
-0.47063, |
|
-0.00079, |
|
0.88233, |
|
1.02874 |
|
], |
|
[ |
|
-0.00182, |
|
1.0, |
|
-8e-05, |
|
0.4659 |
|
], |
|
[ |
|
-0.88233, |
|
-0.00164, |
|
-0.47063, |
|
5.71598 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"010_potted_meat_can.object_config.json", |
|
[ |
|
[ |
|
0.72049, |
|
1e-05, |
|
0.69346, |
|
0.28197 |
|
], |
|
[ |
|
0.0, |
|
1.0, |
|
-2e-05, |
|
0.66862 |
|
], |
|
[ |
|
-0.69346, |
|
2e-05, |
|
0.72049, |
|
-0.43053 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"005_tomato_soup_can.object_config.json", |
|
[ |
|
[ |
|
0.87574, |
|
0.00034, |
|
0.48278, |
|
3.48369 |
|
], |
|
[ |
|
0.00073, |
|
1.0, |
|
-0.00203, |
|
0.81387 |
|
], |
|
[ |
|
-0.48278, |
|
0.00213, |
|
0.87574, |
|
7.92951 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"002_master_chef_can.object_config.json", |
|
[ |
|
[ |
|
-0.41115, |
|
3e-05, |
|
0.91157, |
|
1.18028 |
|
], |
|
[ |
|
6e-05, |
|
1.0, |
|
-0.0, |
|
0.48541 |
|
], |
|
[ |
|
-0.91157, |
|
5e-05, |
|
-0.41115, |
|
5.70252 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"007_tuna_fish_can.object_config.json", |
|
[ |
|
[ |
|
0.9795, |
|
-2e-05, |
|
-0.20143, |
|
-2.34285 |
|
], |
|
[ |
|
6e-05, |
|
1.0, |
|
0.00019, |
|
0.87655 |
|
], |
|
[ |
|
0.20143, |
|
-0.0002, |
|
0.9795, |
|
2.80428 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"010_potted_meat_can.object_config.json", |
|
[ |
|
[ |
|
0.88501, |
|
0.00018, |
|
-0.46557, |
|
1.58927 |
|
], |
|
[ |
|
0.0004, |
|
1.0, |
|
0.00114, |
|
0.97613 |
|
], |
|
[ |
|
0.46557, |
|
-0.0012, |
|
0.88501, |
|
4.12125 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"010_potted_meat_can.object_config.json", |
|
[ |
|
[ |
|
-0.73138, |
|
4e-05, |
|
-0.68197, |
|
0.56747 |
|
], |
|
[ |
|
-0.0, |
|
1.0, |
|
6e-05, |
|
0.97614 |
|
], |
|
[ |
|
0.68197, |
|
5e-05, |
|
-0.73138, |
|
4.23108 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"024_bowl.object_config.json", |
|
[ |
|
[ |
|
0.75112, |
|
-0.00075, |
|
0.66017, |
|
-0.18998 |
|
], |
|
[ |
|
-0.0006, |
|
1.0, |
|
0.00181, |
|
0.65407 |
|
], |
|
[ |
|
-0.66017, |
|
-0.00176, |
|
0.75111, |
|
-0.30553 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"024_bowl.object_config.json", |
|
[ |
|
[ |
|
0.06295, |
|
0.00012, |
|
0.99802, |
|
0.72649 |
|
], |
|
[ |
|
-0.00028, |
|
1.0, |
|
-0.00011, |
|
0.96167 |
|
], |
|
[ |
|
-0.99802, |
|
-0.00028, |
|
0.06295, |
|
4.45703 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"024_bowl.object_config.json", |
|
[ |
|
[ |
|
0.99374, |
|
0.00075, |
|
0.11169, |
|
-2.16944 |
|
], |
|
[ |
|
-0.00067, |
|
1.0, |
|
-0.00073, |
|
0.73462 |
|
], |
|
[ |
|
-0.11169, |
|
0.00065, |
|
0.99374, |
|
1.94397 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"009_gelatin_box.object_config.json", |
|
[ |
|
[ |
|
0.9654, |
|
-0.0, |
|
-0.26078, |
|
3.97482 |
|
], |
|
[ |
|
0.0, |
|
1.0, |
|
0.0, |
|
0.42998 |
|
], |
|
[ |
|
0.26078, |
|
-0.0, |
|
0.9654, |
|
5.39843 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"004_sugar_box.object_config.json", |
|
[ |
|
[ |
|
0.93549, |
|
-0.02622, |
|
-0.35238, |
|
0.94334 |
|
], |
|
[ |
|
0.0358, |
|
0.99914, |
|
0.0207, |
|
0.50291 |
|
], |
|
[ |
|
0.35153, |
|
-0.03198, |
|
0.93563, |
|
5.64216 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"003_cracker_box.object_config.json", |
|
[ |
|
[ |
|
0.78429, |
|
0.04323, |
|
0.61888, |
|
3.06368 |
|
], |
|
[ |
|
-0.04903, |
|
0.99877, |
|
-0.00763, |
|
0.51089 |
|
], |
|
[ |
|
-0.61845, |
|
-0.02435, |
|
0.78545, |
|
2.9265 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"007_tuna_fish_can.object_config.json", |
|
[ |
|
[ |
|
0.67466, |
|
-4e-05, |
|
0.73813, |
|
-2.41539 |
|
], |
|
[ |
|
1e-05, |
|
1.0, |
|
5e-05, |
|
0.87655 |
|
], |
|
[ |
|
-0.73813, |
|
-2e-05, |
|
0.67466, |
|
2.33987 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"008_pudding_box.object_config.json", |
|
[ |
|
[ |
|
-0.11957, |
|
0.01937, |
|
-0.99264, |
|
2.81473 |
|
], |
|
[ |
|
-0.00505, |
|
0.99978, |
|
0.02012, |
|
0.78225 |
|
], |
|
[ |
|
0.99281, |
|
0.00742, |
|
-0.11945, |
|
7.2995 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"010_potted_meat_can.object_config.json", |
|
[ |
|
[ |
|
0.97795, |
|
1e-05, |
|
-0.20884, |
|
2.742 |
|
], |
|
[ |
|
-5e-05, |
|
1.0, |
|
-0.00018, |
|
0.80465 |
|
], |
|
[ |
|
0.20884, |
|
0.00019, |
|
0.97795, |
|
7.19669 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"003_cracker_box.object_config.json", |
|
[ |
|
[ |
|
-0.93459, |
|
-0.04176, |
|
0.35326, |
|
0.93077 |
|
], |
|
[ |
|
-0.04688, |
|
0.99888, |
|
-0.00593, |
|
0.52148 |
|
], |
|
[ |
|
-0.35262, |
|
-0.0221, |
|
-0.93551, |
|
5.43192 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"010_potted_meat_can.object_config.json", |
|
[ |
|
[ |
|
-0.16496, |
|
-0.00076, |
|
0.9863, |
|
2.65185 |
|
], |
|
[ |
|
0.00011, |
|
1.0, |
|
0.00078, |
|
0.80466 |
|
], |
|
[ |
|
-0.9863, |
|
0.00024, |
|
-0.16496, |
|
7.32503 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"003_cracker_box.object_config.json", |
|
[ |
|
[ |
|
-0.86617, |
|
-0.14224, |
|
0.47908, |
|
3.58348 |
|
], |
|
[ |
|
-0.15253, |
|
0.98814, |
|
0.0176, |
|
0.51103 |
|
], |
|
[ |
|
-0.4759, |
|
-0.05783, |
|
-0.8776, |
|
2.92213 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"003_cracker_box.object_config.json", |
|
[ |
|
[ |
|
-0.93359, |
|
-0.04523, |
|
-0.35549, |
|
-2.46896 |
|
], |
|
[ |
|
-0.0456, |
|
0.99893, |
|
-0.00734, |
|
0.96627 |
|
], |
|
[ |
|
0.35544, |
|
0.00935, |
|
-0.93465, |
|
1.64996 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"008_pudding_box.object_config.json", |
|
[ |
|
[ |
|
-0.92609, |
|
0.0034, |
|
-0.37728, |
|
3.43415 |
|
], |
|
[ |
|
-0.0059, |
|
0.99971, |
|
0.02349, |
|
0.42377 |
|
], |
|
[ |
|
0.37725, |
|
0.02398, |
|
-0.9258, |
|
3.09871 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"010_potted_meat_can.object_config.json", |
|
[ |
|
[ |
|
0.55297, |
|
0.00014, |
|
0.8332, |
|
2.7971 |
|
], |
|
[ |
|
-5e-05, |
|
1.0, |
|
-0.00013, |
|
0.44618 |
|
], |
|
[ |
|
-0.8332, |
|
3e-05, |
|
0.55297, |
|
2.89978 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"010_potted_meat_can.object_config.json", |
|
[ |
|
[ |
|
-0.83117, |
|
1e-05, |
|
0.55602, |
|
-2.46008 |
|
], |
|
[ |
|
-6e-05, |
|
1.0, |
|
-0.00011, |
|
0.90168 |
|
], |
|
[ |
|
-0.55602, |
|
-0.00012, |
|
-0.83117, |
|
0.19555 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"004_sugar_box.object_config.json", |
|
[ |
|
[ |
|
-0.70139, |
|
0.01012, |
|
0.71271, |
|
-2.43782 |
|
], |
|
[ |
|
0.03911, |
|
0.99894, |
|
0.02429, |
|
0.9477 |
|
], |
|
[ |
|
-0.7117, |
|
0.04491, |
|
-0.70104, |
|
3.12593 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"010_potted_meat_can.object_config.json", |
|
[ |
|
[ |
|
-0.71502, |
|
0.00012, |
|
-0.6991, |
|
-2.01364 |
|
], |
|
[ |
|
5e-05, |
|
1.0, |
|
0.00013, |
|
0.90168 |
|
], |
|
[ |
|
0.6991, |
|
6e-05, |
|
-0.71502, |
|
1.5509 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"003_cracker_box.object_config.json", |
|
[ |
|
[ |
|
-0.71884, |
|
-0.02774, |
|
0.69462, |
|
-2.10505 |
|
], |
|
[ |
|
-0.04564, |
|
0.99893, |
|
-0.00734, |
|
0.96627 |
|
], |
|
[ |
|
-0.69368, |
|
-0.03698, |
|
-0.71934, |
|
0.96676 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
] |
|
], |
|
"targets": { |
|
"009_gelatin_box_:0000": [ |
|
[ |
|
0.55441, |
|
0.0, |
|
-0.83224, |
|
-2.45394 |
|
], |
|
[ |
|
0.0, |
|
1.0, |
|
0.0, |
|
0.87413 |
|
], |
|
[ |
|
0.83224, |
|
0.0, |
|
0.55441, |
|
1.45066 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
], |
|
"008_pudding_box_:0000": [ |
|
[ |
|
-0.93875, |
|
0.0, |
|
0.34461, |
|
-2.19845 |
|
], |
|
[ |
|
0.0, |
|
1.0, |
|
0.0, |
|
0.726 |
|
], |
|
[ |
|
-0.34461, |
|
0.0, |
|
-0.93875, |
|
1.8282 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
], |
|
"004_sugar_box_:0000": [ |
|
[ |
|
-0.33958, |
|
0.0, |
|
0.94058, |
|
2.87092 |
|
], |
|
[ |
|
0.0, |
|
1.0, |
|
0.0, |
|
0.49161 |
|
], |
|
[ |
|
-0.94058, |
|
0.0, |
|
-0.33958, |
|
2.64046 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
], |
|
"004_sugar_box_:0001": [ |
|
[ |
|
-0.98128, |
|
0.0, |
|
0.19257, |
|
1.05247 |
|
], |
|
[ |
|
0.0, |
|
1.0, |
|
0.0, |
|
0.50222 |
|
], |
|
[ |
|
-0.19257, |
|
0.0, |
|
-0.98128, |
|
5.40302 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
], |
|
"005_tomato_soup_can_:0000": [ |
|
[ |
|
0.82471, |
|
0.0, |
|
0.56555, |
|
-2.14972 |
|
], |
|
[ |
|
0.0, |
|
1.0, |
|
0.0, |
|
0.91003 |
|
], |
|
[ |
|
-0.56555, |
|
0.0, |
|
0.82471, |
|
0.37087 |
|
], |
|
[ |
|
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_chair_01_:0001", |
|
null |
|
], |
|
[ |
|
"frl_apartment_table_01_:0000", |
|
null |
|
], |
|
[ |
|
"frl_apartment_tvstand_:0000", |
|
null |
|
], |
|
[ |
|
"frl_apartment_chair_01_:0000", |
|
null |
|
] |
|
], |
|
"goal_receptacles": [ |
|
[ |
|
"kitchen_counter_:0000", |
|
0 |
|
], |
|
[ |
|
"kitchen_counter_:0000", |
|
0 |
|
], |
|
[ |
|
"frl_apartment_sofa_:0000", |
|
null |
|
], |
|
[ |
|
"frl_apartment_chair_01_:0000", |
|
null |
|
], |
|
[ |
|
"kitchen_counter_:0000", |
|
0 |
|
] |
|
] |
|
} |