Datasets:

License:

rearrange/v1 task data from habitat-sim

#2
This view is limited to 50 files because it contains too many changes.  See the raw diff here.
Files changed (50) hide show
  1. rearrange/v1_extracted/train/prepare_groceries/episode_0.json +1078 -0
  2. rearrange/v1_extracted/train/prepare_groceries/episode_1.json +1078 -0
  3. rearrange/v1_extracted/train/prepare_groceries/episode_10.json +1078 -0
  4. rearrange/v1_extracted/train/prepare_groceries/episode_100.json +1078 -0
  5. rearrange/v1_extracted/train/prepare_groceries/episode_1000.json +1078 -0
  6. rearrange/v1_extracted/train/prepare_groceries/episode_1001.json +1078 -0
  7. rearrange/v1_extracted/train/prepare_groceries/episode_1002.json +1078 -0
  8. rearrange/v1_extracted/train/prepare_groceries/episode_1003.json +1078 -0
  9. rearrange/v1_extracted/train/prepare_groceries/episode_1004.json +1078 -0
  10. rearrange/v1_extracted/train/prepare_groceries/episode_1005.json +1078 -0
  11. rearrange/v1_extracted/train/prepare_groceries/episode_1006.json +1078 -0
  12. rearrange/v1_extracted/train/prepare_groceries/episode_1007.json +1078 -0
  13. rearrange/v1_extracted/train/prepare_groceries/episode_1008.json +1078 -0
  14. rearrange/v1_extracted/train/prepare_groceries/episode_1009.json +1078 -0
  15. rearrange/v1_extracted/train/prepare_groceries/episode_101.json +1078 -0
  16. rearrange/v1_extracted/train/prepare_groceries/episode_1010.json +1078 -0
  17. rearrange/v1_extracted/train/prepare_groceries/episode_1011.json +1078 -0
  18. rearrange/v1_extracted/train/prepare_groceries/episode_1012.json +1078 -0
  19. rearrange/v1_extracted/train/prepare_groceries/episode_1013.json +1078 -0
  20. rearrange/v1_extracted/train/prepare_groceries/episode_1014.json +1078 -0
  21. rearrange/v1_extracted/train/prepare_groceries/episode_1015.json +1078 -0
  22. rearrange/v1_extracted/train/prepare_groceries/episode_1016.json +1078 -0
  23. rearrange/v1_extracted/train/prepare_groceries/episode_1017.json +1078 -0
  24. rearrange/v1_extracted/train/prepare_groceries/episode_1018.json +1078 -0
  25. rearrange/v1_extracted/train/prepare_groceries/episode_1019.json +1078 -0
  26. rearrange/v1_extracted/train/prepare_groceries/episode_102.json +1078 -0
  27. rearrange/v1_extracted/train/prepare_groceries/episode_1020.json +1078 -0
  28. rearrange/v1_extracted/train/prepare_groceries/episode_1021.json +1078 -0
  29. rearrange/v1_extracted/train/prepare_groceries/episode_1022.json +1078 -0
  30. rearrange/v1_extracted/train/prepare_groceries/episode_1023.json +1078 -0
  31. rearrange/v1_extracted/train/prepare_groceries/episode_1024.json +1078 -0
  32. rearrange/v1_extracted/train/prepare_groceries/episode_1025.json +1078 -0
  33. rearrange/v1_extracted/train/prepare_groceries/episode_1026.json +1078 -0
  34. rearrange/v1_extracted/train/prepare_groceries/episode_1027.json +1078 -0
  35. rearrange/v1_extracted/train/prepare_groceries/episode_1028.json +1078 -0
  36. rearrange/v1_extracted/train/prepare_groceries/episode_1029.json +1078 -0
  37. rearrange/v1_extracted/train/prepare_groceries/episode_103.json +1078 -0
  38. rearrange/v1_extracted/train/prepare_groceries/episode_1030.json +1078 -0
  39. rearrange/v1_extracted/train/prepare_groceries/episode_1031.json +1078 -0
  40. rearrange/v1_extracted/train/prepare_groceries/episode_1032.json +1078 -0
  41. rearrange/v1_extracted/train/prepare_groceries/episode_1033.json +1078 -0
  42. rearrange/v1_extracted/train/prepare_groceries/episode_1034.json +1078 -0
  43. rearrange/v1_extracted/train/prepare_groceries/episode_1035.json +1078 -0
  44. rearrange/v1_extracted/train/prepare_groceries/episode_1036.json +1078 -0
  45. rearrange/v1_extracted/train/prepare_groceries/episode_1037.json +1078 -0
  46. rearrange/v1_extracted/train/prepare_groceries/episode_1038.json +1078 -0
  47. rearrange/v1_extracted/train/prepare_groceries/episode_1039.json +1078 -0
  48. rearrange/v1_extracted/train/prepare_groceries/episode_104.json +1078 -0
  49. rearrange/v1_extracted/train/prepare_groceries/episode_1040.json +1078 -0
  50. rearrange/v1_extracted/train/prepare_groceries/episode_1041.json +1078 -0
rearrange/v1_extracted/train/prepare_groceries/episode_0.json ADDED
@@ -0,0 +1,1078 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_id": "0",
3
+ "scene_id": "data/replica_cad/configs/scenes/v3_sc2_staging_03.scene_instance.json",
4
+ "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
5
+ "additional_obj_config_paths": [
6
+ "data/objects/ycb/"
7
+ ],
8
+ "start_position": [
9
+ 0,
10
+ 0,
11
+ 0
12
+ ],
13
+ "start_rotation": [
14
+ 0,
15
+ 0,
16
+ 0,
17
+ 1
18
+ ],
19
+ "info": {
20
+ "object_labels": {
21
+ "005_tomato_soup_can_:0000": "obj0_target|0",
22
+ "004_sugar_box_:0004": "obj1_target|1",
23
+ "008_pudding_box_:0002": "obj2_target|2"
24
+ }
25
+ },
26
+ "ao_states": {
27
+ "fridge_:0000": {
28
+ "2": 1.5
29
+ }
30
+ },
31
+ "rigid_objs": [
32
+ [
33
+ "002_master_chef_can.object_config.json",
34
+ [
35
+ [
36
+ 0.54313,
37
+ -2e-05,
38
+ -0.83965,
39
+ 0.98281
40
+ ],
41
+ [
42
+ -7e-05,
43
+ 1.0,
44
+ -6e-05,
45
+ 0.63874
46
+ ],
47
+ [
48
+ 0.83965,
49
+ 9e-05,
50
+ 0.54313,
51
+ 5.70797
52
+ ],
53
+ [
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 1.0
58
+ ]
59
+ ]
60
+ ],
61
+ [
62
+ "004_sugar_box.object_config.json",
63
+ [
64
+ [
65
+ 0.59798,
66
+ -0.00384,
67
+ -0.8015,
68
+ -2.35053
69
+ ],
70
+ [
71
+ 0.03776,
72
+ 0.99901,
73
+ 0.02338,
74
+ 0.94771
75
+ ],
76
+ [
77
+ 0.80062,
78
+ -0.04425,
79
+ 0.59753,
80
+ 3.12926
81
+ ],
82
+ [
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ 1.0
87
+ ]
88
+ ]
89
+ ],
90
+ [
91
+ "003_cracker_box.object_config.json",
92
+ [
93
+ [
94
+ -0.07538,
95
+ -0.00363,
96
+ -0.99715,
97
+ -2.39485
98
+ ],
99
+ [
100
+ -0.01083,
101
+ 0.99994,
102
+ -0.00282,
103
+ 0.20818
104
+ ],
105
+ [
106
+ 0.9971,
107
+ 0.01058,
108
+ -0.07542,
109
+ -0.16873
110
+ ],
111
+ [
112
+ 0.0,
113
+ 0.0,
114
+ 0.0,
115
+ 1.0
116
+ ]
117
+ ]
118
+ ],
119
+ [
120
+ "007_tuna_fish_can.object_config.json",
121
+ [
122
+ [
123
+ 0.93358,
124
+ -0.00151,
125
+ 0.35837,
126
+ 2.57401
127
+ ],
128
+ [
129
+ 0.00105,
130
+ 1.0,
131
+ 0.00147,
132
+ 0.4318
133
+ ],
134
+ [
135
+ -0.35837,
136
+ -0.00099,
137
+ 0.93358,
138
+ 5.45297
139
+ ],
140
+ [
141
+ 0.0,
142
+ 0.0,
143
+ 0.0,
144
+ 1.0
145
+ ]
146
+ ]
147
+ ],
148
+ [
149
+ "003_cracker_box.object_config.json",
150
+ [
151
+ [
152
+ 0.79197,
153
+ 0.03164,
154
+ -0.60974,
155
+ -2.32247
156
+ ],
157
+ [
158
+ -0.04557,
159
+ 0.99893,
160
+ -0.00735,
161
+ 0.96627
162
+ ],
163
+ [
164
+ 0.60885,
165
+ 0.0336,
166
+ 0.79257,
167
+ 2.91423
168
+ ],
169
+ [
170
+ 0.0,
171
+ 0.0,
172
+ 0.0,
173
+ 1.0
174
+ ]
175
+ ]
176
+ ],
177
+ [
178
+ "024_bowl.object_config.json",
179
+ [
180
+ [
181
+ 0.29318,
182
+ -5e-05,
183
+ -0.95606,
184
+ 2.61761
185
+ ],
186
+ [
187
+ -3e-05,
188
+ 1.0,
189
+ -6e-05,
190
+ 0.44241
191
+ ],
192
+ [
193
+ 0.95606,
194
+ 5e-05,
195
+ 0.29318,
196
+ 5.3262
197
+ ],
198
+ [
199
+ 0.0,
200
+ 0.0,
201
+ 0.0,
202
+ 1.0
203
+ ]
204
+ ]
205
+ ],
206
+ [
207
+ "002_master_chef_can.object_config.json",
208
+ [
209
+ [
210
+ -0.96605,
211
+ 6e-05,
212
+ 0.25836,
213
+ -2.16647
214
+ ],
215
+ [
216
+ 7e-05,
217
+ 1.0,
218
+ 2e-05,
219
+ 0.9303
220
+ ],
221
+ [
222
+ -0.25836,
223
+ 4e-05,
224
+ -0.96605,
225
+ 1.17582
226
+ ],
227
+ [
228
+ 0.0,
229
+ 0.0,
230
+ 0.0,
231
+ 1.0
232
+ ]
233
+ ]
234
+ ],
235
+ [
236
+ "010_potted_meat_can.object_config.json",
237
+ [
238
+ [
239
+ 0.91337,
240
+ 0.00179,
241
+ -0.40713,
242
+ 0.82837
243
+ ],
244
+ [
245
+ -0.00366,
246
+ 0.99999,
247
+ -0.00381,
248
+ 0.97622
249
+ ],
250
+ [
251
+ 0.40712,
252
+ 0.00497,
253
+ 0.91336,
254
+ 6.14468
255
+ ],
256
+ [
257
+ 0.0,
258
+ 0.0,
259
+ 0.0,
260
+ 1.0
261
+ ]
262
+ ]
263
+ ],
264
+ [
265
+ "003_cracker_box.object_config.json",
266
+ [
267
+ [
268
+ 0.38419,
269
+ 0.02437,
270
+ 0.92293,
271
+ -2.24773
272
+ ],
273
+ [
274
+ -0.0458,
275
+ 0.99892,
276
+ -0.00732,
277
+ 0.96627
278
+ ],
279
+ [
280
+ -0.92212,
281
+ -0.03946,
282
+ 0.38489,
283
+ 2.48972
284
+ ],
285
+ [
286
+ 0.0,
287
+ 0.0,
288
+ 0.0,
289
+ 1.0
290
+ ]
291
+ ]
292
+ ],
293
+ [
294
+ "007_tuna_fish_can.object_config.json",
295
+ [
296
+ [
297
+ -0.99958,
298
+ 0.00015,
299
+ 0.02902,
300
+ 0.87639
301
+ ],
302
+ [
303
+ 0.00015,
304
+ 1.0,
305
+ -8e-05,
306
+ 0.77951
307
+ ],
308
+ [
309
+ -0.02902,
310
+ -8e-05,
311
+ -0.99958,
312
+ -0.20042
313
+ ],
314
+ [
315
+ 0.0,
316
+ 0.0,
317
+ 0.0,
318
+ 1.0
319
+ ]
320
+ ]
321
+ ],
322
+ [
323
+ "007_tuna_fish_can.object_config.json",
324
+ [
325
+ [
326
+ -0.94602,
327
+ 0.00206,
328
+ -0.32411,
329
+ 1.83791
330
+ ],
331
+ [
332
+ 0.00268,
333
+ 1.0,
334
+ -0.00145,
335
+ 0.64358
336
+ ],
337
+ [
338
+ 0.32411,
339
+ -0.00224,
340
+ -0.94602,
341
+ 7.66312
342
+ ],
343
+ [
344
+ 0.0,
345
+ 0.0,
346
+ 0.0,
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ [
352
+ "009_gelatin_box.object_config.json",
353
+ [
354
+ [
355
+ 0.80089,
356
+ 0.00066,
357
+ -0.59881,
358
+ -1.97199
359
+ ],
360
+ [
361
+ 0.00397,
362
+ 0.99997,
363
+ 0.00641,
364
+ 1.26506
365
+ ],
366
+ [
367
+ 0.59879,
368
+ -0.00752,
369
+ 0.80087,
370
+ -0.39303
371
+ ],
372
+ [
373
+ 0.0,
374
+ 0.0,
375
+ 0.0,
376
+ 1.0
377
+ ]
378
+ ]
379
+ ],
380
+ [
381
+ "008_pudding_box.object_config.json",
382
+ [
383
+ [
384
+ -0.89384,
385
+ -0.0123,
386
+ 0.44821,
387
+ 0.59093
388
+ ],
389
+ [
390
+ -0.00376,
391
+ 0.99979,
392
+ 0.01994,
393
+ 0.95387
394
+ ],
395
+ [
396
+ -0.44836,
397
+ 0.01613,
398
+ -0.89371,
399
+ 5.67921
400
+ ],
401
+ [
402
+ 0.0,
403
+ 0.0,
404
+ 0.0,
405
+ 1.0
406
+ ]
407
+ ]
408
+ ],
409
+ [
410
+ "002_master_chef_can.object_config.json",
411
+ [
412
+ [
413
+ 0.96207,
414
+ 8e-05,
415
+ -0.2728,
416
+ -1.44607
417
+ ],
418
+ [
419
+ -7e-05,
420
+ 1.0,
421
+ 4e-05,
422
+ 0.4748
423
+ ],
424
+ [
425
+ 0.2728,
426
+ -2e-05,
427
+ 0.96207,
428
+ 3.70964
429
+ ],
430
+ [
431
+ 0.0,
432
+ 0.0,
433
+ 0.0,
434
+ 1.0
435
+ ]
436
+ ]
437
+ ],
438
+ [
439
+ "008_pudding_box.object_config.json",
440
+ [
441
+ [
442
+ 0.89225,
443
+ 0.01588,
444
+ -0.45126,
445
+ -2.1269
446
+ ],
447
+ [
448
+ -0.00329,
449
+ 0.99958,
450
+ 0.02866,
451
+ 1.26918
452
+ ],
453
+ [
454
+ 0.45153,
455
+ -0.02408,
456
+ 0.89193,
457
+ -0.46877
458
+ ],
459
+ [
460
+ 0.0,
461
+ 0.0,
462
+ 0.0,
463
+ 1.0
464
+ ]
465
+ ]
466
+ ],
467
+ [
468
+ "010_potted_meat_can.object_config.json",
469
+ [
470
+ [
471
+ 0.99426,
472
+ 0.00365,
473
+ 0.1069,
474
+ 3.41821
475
+ ],
476
+ [
477
+ -0.00402,
478
+ 0.99999,
479
+ 0.00321,
480
+ 0.45634
481
+ ],
482
+ [
483
+ -0.10689,
484
+ -0.00363,
485
+ 0.99426,
486
+ 7.36103
487
+ ],
488
+ [
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 1.0
493
+ ]
494
+ ]
495
+ ],
496
+ [
497
+ "007_tuna_fish_can.object_config.json",
498
+ [
499
+ [
500
+ 0.43314,
501
+ 1e-05,
502
+ 0.90133,
503
+ 0.53993
504
+ ],
505
+ [
506
+ -0.0,
507
+ 1.0,
508
+ -1e-05,
509
+ 0.77952
510
+ ],
511
+ [
512
+ -0.90133,
513
+ 0.0,
514
+ 0.43314,
515
+ 0.14392
516
+ ],
517
+ [
518
+ 0.0,
519
+ 0.0,
520
+ 0.0,
521
+ 1.0
522
+ ]
523
+ ]
524
+ ],
525
+ [
526
+ "024_bowl.object_config.json",
527
+ [
528
+ [
529
+ -0.99616,
530
+ 0.00055,
531
+ 0.08758,
532
+ -1.94955
533
+ ],
534
+ [
535
+ 0.00054,
536
+ 1.0,
537
+ -0.00013,
538
+ 0.88718
539
+ ],
540
+ [
541
+ -0.08758,
542
+ -8e-05,
543
+ -0.99616,
544
+ 1.28859
545
+ ],
546
+ [
547
+ 0.0,
548
+ 0.0,
549
+ 0.0,
550
+ 1.0
551
+ ]
552
+ ]
553
+ ],
554
+ [
555
+ "004_sugar_box.object_config.json",
556
+ [
557
+ [
558
+ -0.66165,
559
+ -0.0057,
560
+ -0.74979,
561
+ 3.56831
562
+ ],
563
+ [
564
+ -0.00474,
565
+ 0.99998,
566
+ -0.00341,
567
+ 0.50318
568
+ ],
569
+ [
570
+ 0.7498,
571
+ 0.0013,
572
+ -0.66167,
573
+ 7.67504
574
+ ],
575
+ [
576
+ 0.0,
577
+ 0.0,
578
+ 0.0,
579
+ 1.0
580
+ ]
581
+ ]
582
+ ],
583
+ [
584
+ "003_cracker_box.object_config.json",
585
+ [
586
+ [
587
+ -0.98534,
588
+ -0.045,
589
+ 0.16453,
590
+ 1.11334
591
+ ],
592
+ [
593
+ -0.04702,
594
+ 0.99886,
595
+ -0.0084,
596
+ 1.04085
597
+ ],
598
+ [
599
+ -0.16397,
600
+ -0.01602,
601
+ -0.98634,
602
+ 6.72749
603
+ ],
604
+ [
605
+ 0.0,
606
+ 0.0,
607
+ 0.0,
608
+ 1.0
609
+ ]
610
+ ]
611
+ ],
612
+ [
613
+ "002_master_chef_can.object_config.json",
614
+ [
615
+ [
616
+ 0.53788,
617
+ 0.00045,
618
+ -0.84302,
619
+ 3.38998
620
+ ],
621
+ [
622
+ -0.00013,
623
+ 1.0,
624
+ 0.00045,
625
+ 0.48541
626
+ ],
627
+ [
628
+ 0.84302,
629
+ -0.00013,
630
+ 0.53788,
631
+ 7.51923
632
+ ],
633
+ [
634
+ 0.0,
635
+ 0.0,
636
+ 0.0,
637
+ 1.0
638
+ ]
639
+ ]
640
+ ],
641
+ [
642
+ "004_sugar_box.object_config.json",
643
+ [
644
+ [
645
+ 0.54897,
646
+ -0.03378,
647
+ 0.83516,
648
+ -2.35173
649
+ ],
650
+ [
651
+ 0.0385,
652
+ 0.99914,
653
+ 0.01511,
654
+ 0.94751
655
+ ],
656
+ [
657
+ -0.83496,
658
+ 0.02386,
659
+ 0.5498,
660
+ 0.69155
661
+ ],
662
+ [
663
+ 0.0,
664
+ 0.0,
665
+ 0.0,
666
+ 1.0
667
+ ]
668
+ ]
669
+ ],
670
+ [
671
+ "009_gelatin_box.object_config.json",
672
+ [
673
+ [
674
+ -0.94782,
675
+ -1e-05,
676
+ 0.3188,
677
+ -2.27085
678
+ ],
679
+ [
680
+ -1e-05,
681
+ 1.0,
682
+ 0.0,
683
+ 0.87476
684
+ ],
685
+ [
686
+ -0.3188,
687
+ 0.0,
688
+ -0.94782,
689
+ 0.87541
690
+ ],
691
+ [
692
+ 0.0,
693
+ 0.0,
694
+ 0.0,
695
+ 1.0
696
+ ]
697
+ ]
698
+ ],
699
+ [
700
+ "009_gelatin_box.object_config.json",
701
+ [
702
+ [
703
+ 0.57419,
704
+ 0.00021,
705
+ -0.81872,
706
+ 0.78761
707
+ ],
708
+ [
709
+ -6e-05,
710
+ 1.0,
711
+ 0.00021,
712
+ 0.94923
713
+ ],
714
+ [
715
+ 0.81872,
716
+ -7e-05,
717
+ 0.57419,
718
+ 5.81254
719
+ ],
720
+ [
721
+ 0.0,
722
+ 0.0,
723
+ 0.0,
724
+ 1.0
725
+ ]
726
+ ]
727
+ ],
728
+ [
729
+ "002_master_chef_can.object_config.json",
730
+ [
731
+ [
732
+ 0.46771,
733
+ -3e-05,
734
+ -0.88388,
735
+ 0.73155
736
+ ],
737
+ [
738
+ -5e-05,
739
+ 1.0,
740
+ -6e-05,
741
+ 1.00477
742
+ ],
743
+ [
744
+ 0.88388,
745
+ 8e-05,
746
+ 0.46771,
747
+ 6.47268
748
+ ],
749
+ [
750
+ 0.0,
751
+ 0.0,
752
+ 0.0,
753
+ 1.0
754
+ ]
755
+ ]
756
+ ],
757
+ [
758
+ "007_tuna_fish_can.object_config.json",
759
+ [
760
+ [
761
+ 0.99977,
762
+ -2e-05,
763
+ -0.02162,
764
+ -2.17538
765
+ ],
766
+ [
767
+ 2e-05,
768
+ 1.0,
769
+ 1e-05,
770
+ 0.72401
771
+ ],
772
+ [
773
+ 0.02162,
774
+ -1e-05,
775
+ 0.99977,
776
+ 1.99354
777
+ ],
778
+ [
779
+ 0.0,
780
+ 0.0,
781
+ 0.0,
782
+ 1.0
783
+ ]
784
+ ]
785
+ ],
786
+ [
787
+ "004_sugar_box.object_config.json",
788
+ [
789
+ [
790
+ 0.39809,
791
+ 0.0075,
792
+ -0.91732,
793
+ 2.4599
794
+ ],
795
+ [
796
+ 0.04374,
797
+ 0.99867,
798
+ 0.02715,
799
+ 0.50311
800
+ ],
801
+ [
802
+ 0.9163,
803
+ -0.05093,
804
+ 0.39723,
805
+ 5.55357
806
+ ],
807
+ [
808
+ 0.0,
809
+ 0.0,
810
+ 0.0,
811
+ 1.0
812
+ ]
813
+ ]
814
+ ],
815
+ [
816
+ "005_tomato_soup_can.object_config.json",
817
+ [
818
+ [
819
+ 0.73745,
820
+ 0.00021,
821
+ 0.6754,
822
+ -2.07301
823
+ ],
824
+ [
825
+ -0.00414,
826
+ 0.99998,
827
+ 0.00421,
828
+ 1.30145
829
+ ],
830
+ [
831
+ -0.67538,
832
+ -0.0059,
833
+ 0.73744,
834
+ -0.34742
835
+ ],
836
+ [
837
+ 0.0,
838
+ 0.0,
839
+ 0.0,
840
+ 1.0
841
+ ]
842
+ ]
843
+ ],
844
+ [
845
+ "004_sugar_box.object_config.json",
846
+ [
847
+ [
848
+ 0.09861,
849
+ -0.02589,
850
+ 0.99479,
851
+ -2.13991
852
+ ],
853
+ [
854
+ 0.03047,
855
+ 0.99927,
856
+ 0.02298,
857
+ 1.33961
858
+ ],
859
+ [
860
+ -0.99466,
861
+ 0.02805,
862
+ 0.09932,
863
+ -0.12752
864
+ ],
865
+ [
866
+ 0.0,
867
+ 0.0,
868
+ 0.0,
869
+ 1.0
870
+ ]
871
+ ]
872
+ ],
873
+ [
874
+ "008_pudding_box.object_config.json",
875
+ [
876
+ [
877
+ 0.991,
878
+ 0.00899,
879
+ -0.13354,
880
+ -1.96768
881
+ ],
882
+ [
883
+ -0.0059,
884
+ 0.99971,
885
+ 0.02349,
886
+ 0.87927
887
+ ],
888
+ [
889
+ 0.13372,
890
+ -0.02249,
891
+ 0.99076,
892
+ 2.59992
893
+ ],
894
+ [
895
+ 0.0,
896
+ 0.0,
897
+ 0.0,
898
+ 1.0
899
+ ]
900
+ ]
901
+ ]
902
+ ],
903
+ "targets": {
904
+ "005_tomato_soup_can_:0000": [
905
+ [
906
+ -0.99557,
907
+ 0.0,
908
+ -0.09405,
909
+ -1.92159
910
+ ],
911
+ [
912
+ 0.0,
913
+ 1.0,
914
+ 0.0,
915
+ 0.91003
916
+ ],
917
+ [
918
+ 0.09405,
919
+ 0.0,
920
+ -0.99557,
921
+ 0.82736
922
+ ],
923
+ [
924
+ 0.0,
925
+ 0.0,
926
+ 0.0,
927
+ 1.0
928
+ ]
929
+ ],
930
+ "004_sugar_box_:0004": [
931
+ [
932
+ -0.96723,
933
+ 0.0,
934
+ 0.2539,
935
+ -2.45206
936
+ ],
937
+ [
938
+ 0.0,
939
+ 1.0,
940
+ 0.0,
941
+ 0.94711
942
+ ],
943
+ [
944
+ -0.2539,
945
+ 0.0,
946
+ -0.96723,
947
+ 1.41879
948
+ ],
949
+ [
950
+ 0.0,
951
+ 0.0,
952
+ 0.0,
953
+ 1.0
954
+ ]
955
+ ],
956
+ "008_pudding_box_:0002": [
957
+ [
958
+ 0.7624,
959
+ 0.0,
960
+ -0.6471,
961
+ -2.22046
962
+ ],
963
+ [
964
+ 0.0,
965
+ 1.0,
966
+ 0.0,
967
+ 1.26935
968
+ ],
969
+ [
970
+ 0.6471,
971
+ 0.0,
972
+ 0.7624,
973
+ -0.31377
974
+ ],
975
+ [
976
+ 0.0,
977
+ 0.0,
978
+ 0.0,
979
+ 1.0
980
+ ]
981
+ ]
982
+ },
983
+ "markers": [
984
+ {
985
+ "name": "cab_push_point_7",
986
+ "type": "articulated_object",
987
+ "params": {
988
+ "offset": [
989
+ 0.3,
990
+ 0.0,
991
+ 0
992
+ ],
993
+ "link": "drawer1_top",
994
+ "object": "kitchen_counter_:0000"
995
+ }
996
+ },
997
+ {
998
+ "name": "cab_push_point_6",
999
+ "type": "articulated_object",
1000
+ "params": {
1001
+ "offset": [
1002
+ 0.3,
1003
+ 0.0,
1004
+ 0
1005
+ ],
1006
+ "link": "drawer2_top",
1007
+ "object": "kitchen_counter_:0000"
1008
+ }
1009
+ },
1010
+ {
1011
+ "name": "cab_push_point_5",
1012
+ "type": "articulated_object",
1013
+ "params": {
1014
+ "offset": [
1015
+ 0.3,
1016
+ 0.0,
1017
+ 0
1018
+ ],
1019
+ "link": "drawer3",
1020
+ "object": "kitchen_counter_:0000"
1021
+ }
1022
+ },
1023
+ {
1024
+ "name": "cab_push_point_4",
1025
+ "type": "articulated_object",
1026
+ "params": {
1027
+ "offset": [
1028
+ 0.3,
1029
+ 0.0,
1030
+ 0
1031
+ ],
1032
+ "link": "drawer4",
1033
+ "object": "kitchen_counter_:0000"
1034
+ }
1035
+ },
1036
+ {
1037
+ "name": "fridge_push_point",
1038
+ "type": "articulated_object",
1039
+ "params": {
1040
+ "offset": [
1041
+ 0.1,
1042
+ -0.62,
1043
+ 0.2
1044
+ ],
1045
+ "link": "top_door",
1046
+ "object": "fridge_:0000"
1047
+ }
1048
+ }
1049
+ ],
1050
+ "target_receptacles": [
1051
+ [
1052
+ "fridge_:0000",
1053
+ 0
1054
+ ],
1055
+ [
1056
+ "fridge_:0000",
1057
+ 0
1058
+ ],
1059
+ [
1060
+ "kitchen_counter_:0000",
1061
+ 0
1062
+ ]
1063
+ ],
1064
+ "goal_receptacles": [
1065
+ [
1066
+ "kitchen_counter_:0000",
1067
+ 0
1068
+ ],
1069
+ [
1070
+ "kitchen_counter_:0000",
1071
+ 0
1072
+ ],
1073
+ [
1074
+ "fridge_:0000",
1075
+ 0
1076
+ ]
1077
+ ]
1078
+ }
rearrange/v1_extracted/train/prepare_groceries/episode_1.json ADDED
@@ -0,0 +1,1078 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_id": "1",
3
+ "scene_id": "data/replica_cad/configs/scenes/v3_sc1_staging_09.scene_instance.json",
4
+ "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
5
+ "additional_obj_config_paths": [
6
+ "data/objects/ycb/"
7
+ ],
8
+ "start_position": [
9
+ 0,
10
+ 0,
11
+ 0
12
+ ],
13
+ "start_rotation": [
14
+ 0,
15
+ 0,
16
+ 0,
17
+ 1
18
+ ],
19
+ "info": {
20
+ "object_labels": {
21
+ "002_master_chef_can_:0004": "obj0_target|0",
22
+ "005_tomato_soup_can_:0002": "obj1_target|1",
23
+ "008_pudding_box_:0007": "obj2_target|2"
24
+ }
25
+ },
26
+ "ao_states": {
27
+ "fridge_:0000": {
28
+ "2": 1.5
29
+ }
30
+ },
31
+ "rigid_objs": [
32
+ [
33
+ "009_gelatin_box.object_config.json",
34
+ [
35
+ [
36
+ 0.3138,
37
+ 0.0,
38
+ 0.94949,
39
+ 2.40711
40
+ ],
41
+ [
42
+ -0.0,
43
+ 1.0,
44
+ 0.0,
45
+ 0.94922
46
+ ],
47
+ [
48
+ -0.94949,
49
+ -0.0,
50
+ 0.3138,
51
+ 5.8271
52
+ ],
53
+ [
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 1.0
58
+ ]
59
+ ]
60
+ ],
61
+ [
62
+ "008_pudding_box.object_config.json",
63
+ [
64
+ [
65
+ 0.97427,
66
+ 0.00082,
67
+ 0.22539,
68
+ -2.077
69
+ ],
70
+ [
71
+ -0.00761,
72
+ 0.99954,
73
+ 0.02926,
74
+ 1.27155
75
+ ],
76
+ [
77
+ -0.22527,
78
+ -0.03023,
79
+ 0.97383,
80
+ -0.86143
81
+ ],
82
+ [
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ 1.0
87
+ ]
88
+ ]
89
+ ],
90
+ [
91
+ "003_cracker_box.object_config.json",
92
+ [
93
+ [
94
+ -0.32439,
95
+ -0.02102,
96
+ -0.94569,
97
+ 3.95269
98
+ ],
99
+ [
100
+ -0.04903,
101
+ 0.99878,
102
+ -0.00538,
103
+ 0.5215
104
+ ],
105
+ [
106
+ 0.94465,
107
+ 0.04462,
108
+ -0.32502,
109
+ 0.6399
110
+ ],
111
+ [
112
+ 0.0,
113
+ 0.0,
114
+ 0.0,
115
+ 1.0
116
+ ]
117
+ ]
118
+ ],
119
+ [
120
+ "002_master_chef_can.object_config.json",
121
+ [
122
+ [
123
+ 0.45355,
124
+ -0.0001,
125
+ -0.89123,
126
+ 3.79011
127
+ ],
128
+ [
129
+ -1e-05,
130
+ 1.0,
131
+ -0.00011,
132
+ 0.48541
133
+ ],
134
+ [
135
+ 0.89123,
136
+ 6e-05,
137
+ 0.45355,
138
+ 0.4432
139
+ ],
140
+ [
141
+ 0.0,
142
+ 0.0,
143
+ 0.0,
144
+ 1.0
145
+ ]
146
+ ]
147
+ ],
148
+ [
149
+ "008_pudding_box.object_config.json",
150
+ [
151
+ [
152
+ 0.64867,
153
+ -0.01423,
154
+ 0.76093,
155
+ -2.19645
156
+ ],
157
+ [
158
+ -0.00598,
159
+ 0.9997,
160
+ 0.0238,
161
+ 0.72673
162
+ ],
163
+ [
164
+ -0.76104,
165
+ -0.01999,
166
+ 0.64839,
167
+ 1.3115
168
+ ],
169
+ [
170
+ 0.0,
171
+ 0.0,
172
+ 0.0,
173
+ 1.0
174
+ ]
175
+ ]
176
+ ],
177
+ [
178
+ "003_cracker_box.object_config.json",
179
+ [
180
+ [
181
+ -0.19105,
182
+ -0.00153,
183
+ 0.98158,
184
+ 0.85175
185
+ ],
186
+ [
187
+ -0.04547,
188
+ 0.99894,
189
+ -0.0073,
190
+ 0.51092
191
+ ],
192
+ [
193
+ -0.98053,
194
+ -0.04603,
195
+ -0.19092,
196
+ 5.40322
197
+ ],
198
+ [
199
+ 0.0,
200
+ 0.0,
201
+ 0.0,
202
+ 1.0
203
+ ]
204
+ ]
205
+ ],
206
+ [
207
+ "008_pudding_box.object_config.json",
208
+ [
209
+ [
210
+ -0.94742,
211
+ -0.01283,
212
+ 0.31974,
213
+ -2.07581
214
+ ],
215
+ [
216
+ -0.00579,
217
+ 0.99972,
218
+ 0.02298,
219
+ 0.87927
220
+ ],
221
+ [
222
+ -0.31994,
223
+ 0.01992,
224
+ -0.94723,
225
+ 1.91267
226
+ ],
227
+ [
228
+ 0.0,
229
+ 0.0,
230
+ 0.0,
231
+ 1.0
232
+ ]
233
+ ]
234
+ ],
235
+ [
236
+ "008_pudding_box.object_config.json",
237
+ [
238
+ [
239
+ -0.9079,
240
+ -0.01357,
241
+ 0.41898,
242
+ 3.9196
243
+ ],
244
+ [
245
+ -0.00522,
246
+ 0.99976,
247
+ 0.02107,
248
+ 0.64622
249
+ ],
250
+ [
251
+ -0.41916,
252
+ 0.01694,
253
+ -0.90775,
254
+ 5.67046
255
+ ],
256
+ [
257
+ 0.0,
258
+ 0.0,
259
+ 0.0,
260
+ 1.0
261
+ ]
262
+ ]
263
+ ],
264
+ [
265
+ "009_gelatin_box.object_config.json",
266
+ [
267
+ [
268
+ -0.42769,
269
+ 2e-05,
270
+ -0.90392,
271
+ 0.69943
272
+ ],
273
+ [
274
+ -1e-05,
275
+ 1.0,
276
+ 3e-05,
277
+ 0.41926
278
+ ],
279
+ [
280
+ 0.90392,
281
+ 2e-05,
282
+ -0.42769,
283
+ 6.12531
284
+ ],
285
+ [
286
+ 0.0,
287
+ 0.0,
288
+ 0.0,
289
+ 1.0
290
+ ]
291
+ ]
292
+ ],
293
+ [
294
+ "005_tomato_soup_can.object_config.json",
295
+ [
296
+ [
297
+ 0.95746,
298
+ -0.00117,
299
+ -0.28856,
300
+ -2.16139
301
+ ],
302
+ [
303
+ 0.00118,
304
+ 1.0,
305
+ -0.00013,
306
+ 0.91083
307
+ ],
308
+ [
309
+ 0.28856,
310
+ -0.00021,
311
+ 0.95746,
312
+ 0.31529
313
+ ],
314
+ [
315
+ 0.0,
316
+ 0.0,
317
+ 0.0,
318
+ 1.0
319
+ ]
320
+ ]
321
+ ],
322
+ [
323
+ "002_master_chef_can.object_config.json",
324
+ [
325
+ [
326
+ 0.90552,
327
+ 1e-05,
328
+ -0.42431,
329
+ 4.089
330
+ ],
331
+ [
332
+ -2e-05,
333
+ 1.0,
334
+ -3e-05,
335
+ 0.69724
336
+ ],
337
+ [
338
+ 0.42431,
339
+ 4e-05,
340
+ 0.90552,
341
+ 6.53423
342
+ ],
343
+ [
344
+ 0.0,
345
+ 0.0,
346
+ 0.0,
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ [
352
+ "009_gelatin_box.object_config.json",
353
+ [
354
+ [
355
+ 0.39275,
356
+ -0.00037,
357
+ 0.91965,
358
+ -2.0861
359
+ ],
360
+ [
361
+ 0.00071,
362
+ 1.0,
363
+ 0.0001,
364
+ 0.87477
365
+ ],
366
+ [
367
+ -0.91965,
368
+ 0.00061,
369
+ 0.39275,
370
+ 1.79749
371
+ ],
372
+ [
373
+ 0.0,
374
+ 0.0,
375
+ 0.0,
376
+ 1.0
377
+ ]
378
+ ]
379
+ ],
380
+ [
381
+ "010_potted_meat_can.object_config.json",
382
+ [
383
+ [
384
+ 0.29274,
385
+ 7e-05,
386
+ -0.95619,
387
+ 2.57909
388
+ ],
389
+ [
390
+ 3e-05,
391
+ 1.0,
392
+ 8e-05,
393
+ 0.97615
394
+ ],
395
+ [
396
+ 0.95619,
397
+ -5e-05,
398
+ 0.29274,
399
+ 5.59882
400
+ ],
401
+ [
402
+ 0.0,
403
+ 0.0,
404
+ 0.0,
405
+ 1.0
406
+ ]
407
+ ]
408
+ ],
409
+ [
410
+ "008_pudding_box.object_config.json",
411
+ [
412
+ [
413
+ -0.98733,
414
+ -0.00491,
415
+ 0.15863,
416
+ 1.08647
417
+ ],
418
+ [
419
+ -0.00386,
420
+ 0.99997,
421
+ 0.00691,
422
+ 0.4239
423
+ ],
424
+ [
425
+ -0.15866,
426
+ 0.00621,
427
+ -0.98731,
428
+ 6.32458
429
+ ],
430
+ [
431
+ 0.0,
432
+ 0.0,
433
+ 0.0,
434
+ 1.0
435
+ ]
436
+ ]
437
+ ],
438
+ [
439
+ "002_master_chef_can.object_config.json",
440
+ [
441
+ [
442
+ 0.96995,
443
+ -2e-05,
444
+ -0.24332,
445
+ -1.67791
446
+ ],
447
+ [
448
+ 1e-05,
449
+ 1.0,
450
+ -4e-05,
451
+ 0.83327
452
+ ],
453
+ [
454
+ 0.24332,
455
+ 4e-05,
456
+ 0.96995,
457
+ 3.1893
458
+ ],
459
+ [
460
+ 0.0,
461
+ 0.0,
462
+ 0.0,
463
+ 1.0
464
+ ]
465
+ ]
466
+ ],
467
+ [
468
+ "008_pudding_box.object_config.json",
469
+ [
470
+ [
471
+ 0.93032,
472
+ -0.00169,
473
+ 0.36675,
474
+ 3.44026
475
+ ],
476
+ [
477
+ -0.00502,
478
+ 0.99984,
479
+ 0.01733,
480
+ 0.43465
481
+ ],
482
+ [
483
+ -0.36672,
484
+ -0.01796,
485
+ 0.93016,
486
+ -0.47011
487
+ ],
488
+ [
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 1.0
493
+ ]
494
+ ]
495
+ ],
496
+ [
497
+ "004_sugar_box.object_config.json",
498
+ [
499
+ [
500
+ -0.02204,
501
+ 0.02511,
502
+ -0.99944,
503
+ -2.36219
504
+ ],
505
+ [
506
+ 0.03917,
507
+ 0.99894,
508
+ 0.02423,
509
+ 0.85067
510
+ ],
511
+ [
512
+ 0.99899,
513
+ -0.03862,
514
+ -0.023,
515
+ 3.21871
516
+ ],
517
+ [
518
+ 0.0,
519
+ 0.0,
520
+ 0.0,
521
+ 1.0
522
+ ]
523
+ ]
524
+ ],
525
+ [
526
+ "002_master_chef_can.object_config.json",
527
+ [
528
+ [
529
+ -0.62674,
530
+ 0.00016,
531
+ 0.77922,
532
+ -2.20371
533
+ ],
534
+ [
535
+ -0.00453,
536
+ 0.99998,
537
+ -0.00385,
538
+ 1.32065
539
+ ],
540
+ [
541
+ -0.77921,
542
+ -0.00594,
543
+ -0.62673,
544
+ -1.19236
545
+ ],
546
+ [
547
+ 0.0,
548
+ 0.0,
549
+ 0.0,
550
+ 1.0
551
+ ]
552
+ ]
553
+ ],
554
+ [
555
+ "003_cracker_box.object_config.json",
556
+ [
557
+ [
558
+ -0.99679,
559
+ -0.04607,
560
+ -0.06551,
561
+ -2.33272
562
+ ],
563
+ [
564
+ -0.04569,
565
+ 0.99893,
566
+ -0.00734,
567
+ 0.96627
568
+ ],
569
+ [
570
+ 0.06578,
571
+ -0.00432,
572
+ -0.99783,
573
+ -0.42372
574
+ ],
575
+ [
576
+ 0.0,
577
+ 0.0,
578
+ 0.0,
579
+ 1.0
580
+ ]
581
+ ]
582
+ ],
583
+ [
584
+ "007_tuna_fish_can.object_config.json",
585
+ [
586
+ [
587
+ -0.93817,
588
+ 0.00152,
589
+ 0.34617,
590
+ 3.83158
591
+ ],
592
+ [
593
+ 0.0021,
594
+ 1.0,
595
+ 0.0013,
596
+ 0.64357
597
+ ],
598
+ [
599
+ -0.34617,
600
+ 0.00195,
601
+ -0.93817,
602
+ 6.75766
603
+ ],
604
+ [
605
+ 0.0,
606
+ 0.0,
607
+ 0.0,
608
+ 1.0
609
+ ]
610
+ ]
611
+ ],
612
+ [
613
+ "004_sugar_box.object_config.json",
614
+ [
615
+ [
616
+ -0.86823,
617
+ 0.0208,
618
+ 0.49573,
619
+ 2.51566
620
+ ],
621
+ [
622
+ 0.03632,
623
+ 0.99911,
624
+ 0.02168,
625
+ 1.02223
626
+ ],
627
+ [
628
+ -0.49483,
629
+ 0.03682,
630
+ -0.86821,
631
+ 5.51083
632
+ ],
633
+ [
634
+ 0.0,
635
+ 0.0,
636
+ 0.0,
637
+ 1.0
638
+ ]
639
+ ]
640
+ ],
641
+ [
642
+ "007_tuna_fish_can.object_config.json",
643
+ [
644
+ [
645
+ 0.99715,
646
+ -0.00023,
647
+ -0.07546,
648
+ 2.46248
649
+ ],
650
+ [
651
+ 0.00024,
652
+ 1.0,
653
+ 0.00013,
654
+ 0.95103
655
+ ],
656
+ [
657
+ 0.07546,
658
+ -0.00015,
659
+ 0.99715,
660
+ 6.29948
661
+ ],
662
+ [
663
+ 0.0,
664
+ 0.0,
665
+ 0.0,
666
+ 1.0
667
+ ]
668
+ ]
669
+ ],
670
+ [
671
+ "003_cracker_box.object_config.json",
672
+ [
673
+ [
674
+ -0.65411,
675
+ -0.02444,
676
+ 0.756,
677
+ -2.29999
678
+ ],
679
+ [
680
+ -0.04576,
681
+ 0.99893,
682
+ -0.00729,
683
+ 0.96627
684
+ ],
685
+ [
686
+ -0.75501,
687
+ -0.03936,
688
+ -0.65453,
689
+ -0.18248
690
+ ],
691
+ [
692
+ 0.0,
693
+ 0.0,
694
+ 0.0,
695
+ 1.0
696
+ ]
697
+ ]
698
+ ],
699
+ [
700
+ "003_cracker_box.object_config.json",
701
+ [
702
+ [
703
+ 0.38044,
704
+ 0.0391,
705
+ 0.92398,
706
+ -2.11453
707
+ ],
708
+ [
709
+ -0.13434,
710
+ 0.99085,
711
+ 0.01339,
712
+ 0.81404
713
+ ],
714
+ [
715
+ -0.915,
716
+ -0.12922,
717
+ 0.38221,
718
+ 1.05786
719
+ ],
720
+ [
721
+ 0.0,
722
+ 0.0,
723
+ 0.0,
724
+ 1.0
725
+ ]
726
+ ]
727
+ ],
728
+ [
729
+ "005_tomato_soup_can.object_config.json",
730
+ [
731
+ [
732
+ -0.13687,
733
+ -0.0007,
734
+ 0.99059,
735
+ 3.90658
736
+ ],
737
+ [
738
+ -0.00118,
739
+ 1.0,
740
+ 0.00054,
741
+ 0.46595
742
+ ],
743
+ [
744
+ -0.99059,
745
+ -0.0011,
746
+ -0.13687,
747
+ 0.70601
748
+ ],
749
+ [
750
+ 0.0,
751
+ 0.0,
752
+ 0.0,
753
+ 1.0
754
+ ]
755
+ ]
756
+ ],
757
+ [
758
+ "008_pudding_box.object_config.json",
759
+ [
760
+ [
761
+ 0.98455,
762
+ 0.0017,
763
+ 0.17507,
764
+ -1.86504
765
+ ],
766
+ [
767
+ -0.0059,
768
+ 0.99971,
769
+ 0.02349,
770
+ 0.78224
771
+ ],
772
+ [
773
+ -0.17498,
774
+ -0.02416,
775
+ 0.98428,
776
+ 3.62105
777
+ ],
778
+ [
779
+ 0.0,
780
+ 0.0,
781
+ 0.0,
782
+ 1.0
783
+ ]
784
+ ]
785
+ ],
786
+ [
787
+ "009_gelatin_box.object_config.json",
788
+ [
789
+ [
790
+ -0.43833,
791
+ 0.0,
792
+ 0.89881,
793
+ -1.49225
794
+ ],
795
+ [
796
+ 0.0,
797
+ 1.0,
798
+ -0.0,
799
+ 0.77773
800
+ ],
801
+ [
802
+ -0.89881,
803
+ -0.0,
804
+ -0.43833,
805
+ 3.7009
806
+ ],
807
+ [
808
+ 0.0,
809
+ 0.0,
810
+ 0.0,
811
+ 1.0
812
+ ]
813
+ ]
814
+ ],
815
+ [
816
+ "002_master_chef_can.object_config.json",
817
+ [
818
+ [
819
+ -0.44613,
820
+ -0.00082,
821
+ 0.89497,
822
+ -2.13453
823
+ ],
824
+ [
825
+ -0.00474,
826
+ 0.99999,
827
+ -0.00144,
828
+ 1.32176
829
+ ],
830
+ [
831
+ -0.89496,
832
+ -0.00489,
833
+ -0.44613,
834
+ -1.00708
835
+ ],
836
+ [
837
+ 0.0,
838
+ 0.0,
839
+ 0.0,
840
+ 1.0
841
+ ]
842
+ ]
843
+ ],
844
+ [
845
+ "005_tomato_soup_can.object_config.json",
846
+ [
847
+ [
848
+ 0.5381,
849
+ -0.00443,
850
+ -0.84287,
851
+ -2.30065
852
+ ],
853
+ [
854
+ 0.00929,
855
+ 0.99996,
856
+ 0.00068,
857
+ 1.30287
858
+ ],
859
+ [
860
+ 0.84283,
861
+ -0.00819,
862
+ 0.53812,
863
+ -0.91104
864
+ ],
865
+ [
866
+ 0.0,
867
+ 0.0,
868
+ 0.0,
869
+ 1.0
870
+ ]
871
+ ]
872
+ ],
873
+ [
874
+ "008_pudding_box.object_config.json",
875
+ [
876
+ [
877
+ 0.42195,
878
+ 0.02379,
879
+ -0.90631,
880
+ -1.9596
881
+ ],
882
+ [
883
+ -0.0059,
884
+ 0.99971,
885
+ 0.02349,
886
+ 0.87927
887
+ ],
888
+ [
889
+ 0.9066,
890
+ -0.00456,
891
+ 0.42197,
892
+ -0.37026
893
+ ],
894
+ [
895
+ 0.0,
896
+ 0.0,
897
+ 0.0,
898
+ 1.0
899
+ ]
900
+ ]
901
+ ]
902
+ ],
903
+ "targets": {
904
+ "002_master_chef_can_:0004": [
905
+ [
906
+ -0.65198,
907
+ 0.0,
908
+ -0.75824,
909
+ -2.12056
910
+ ],
911
+ [
912
+ 0.0,
913
+ 1.0,
914
+ 0.0,
915
+ 0.92919
916
+ ],
917
+ [
918
+ 0.75824,
919
+ 0.0,
920
+ -0.65198,
921
+ 1.52543
922
+ ],
923
+ [
924
+ 0.0,
925
+ 0.0,
926
+ 0.0,
927
+ 1.0
928
+ ]
929
+ ],
930
+ "005_tomato_soup_can_:0002": [
931
+ [
932
+ -0.12554,
933
+ 0.0,
934
+ 0.99209,
935
+ -2.0027
936
+ ],
937
+ [
938
+ 0.0,
939
+ 1.0,
940
+ 0.0,
941
+ 0.91003
942
+ ],
943
+ [
944
+ -0.99209,
945
+ 0.0,
946
+ -0.12554,
947
+ 0.23985
948
+ ],
949
+ [
950
+ 0.0,
951
+ 0.0,
952
+ 0.0,
953
+ 1.0
954
+ ]
955
+ ],
956
+ "008_pudding_box_:0007": [
957
+ [
958
+ -0.63313,
959
+ 0.0,
960
+ 0.77405,
961
+ -2.28669
962
+ ],
963
+ [
964
+ 0.0,
965
+ 1.0,
966
+ 0.0,
967
+ 1.26962
968
+ ],
969
+ [
970
+ -0.77405,
971
+ 0.0,
972
+ -0.63313,
973
+ -1.06593
974
+ ],
975
+ [
976
+ 0.0,
977
+ 0.0,
978
+ 0.0,
979
+ 1.0
980
+ ]
981
+ ]
982
+ },
983
+ "markers": [
984
+ {
985
+ "name": "cab_push_point_7",
986
+ "type": "articulated_object",
987
+ "params": {
988
+ "offset": [
989
+ 0.3,
990
+ 0.0,
991
+ 0
992
+ ],
993
+ "link": "drawer1_top",
994
+ "object": "kitchen_counter_:0000"
995
+ }
996
+ },
997
+ {
998
+ "name": "cab_push_point_6",
999
+ "type": "articulated_object",
1000
+ "params": {
1001
+ "offset": [
1002
+ 0.3,
1003
+ 0.0,
1004
+ 0
1005
+ ],
1006
+ "link": "drawer2_top",
1007
+ "object": "kitchen_counter_:0000"
1008
+ }
1009
+ },
1010
+ {
1011
+ "name": "cab_push_point_5",
1012
+ "type": "articulated_object",
1013
+ "params": {
1014
+ "offset": [
1015
+ 0.3,
1016
+ 0.0,
1017
+ 0
1018
+ ],
1019
+ "link": "drawer3",
1020
+ "object": "kitchen_counter_:0000"
1021
+ }
1022
+ },
1023
+ {
1024
+ "name": "cab_push_point_4",
1025
+ "type": "articulated_object",
1026
+ "params": {
1027
+ "offset": [
1028
+ 0.3,
1029
+ 0.0,
1030
+ 0
1031
+ ],
1032
+ "link": "drawer4",
1033
+ "object": "kitchen_counter_:0000"
1034
+ }
1035
+ },
1036
+ {
1037
+ "name": "fridge_push_point",
1038
+ "type": "articulated_object",
1039
+ "params": {
1040
+ "offset": [
1041
+ 0.1,
1042
+ -0.62,
1043
+ 0.2
1044
+ ],
1045
+ "link": "top_door",
1046
+ "object": "fridge_:0000"
1047
+ }
1048
+ }
1049
+ ],
1050
+ "target_receptacles": [
1051
+ [
1052
+ "fridge_:0000",
1053
+ 0
1054
+ ],
1055
+ [
1056
+ "fridge_:0000",
1057
+ 0
1058
+ ],
1059
+ [
1060
+ "kitchen_counter_:0000",
1061
+ 0
1062
+ ]
1063
+ ],
1064
+ "goal_receptacles": [
1065
+ [
1066
+ "kitchen_counter_:0000",
1067
+ 0
1068
+ ],
1069
+ [
1070
+ "kitchen_counter_:0000",
1071
+ 0
1072
+ ],
1073
+ [
1074
+ "fridge_:0000",
1075
+ 0
1076
+ ]
1077
+ ]
1078
+ }
rearrange/v1_extracted/train/prepare_groceries/episode_10.json ADDED
@@ -0,0 +1,1078 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_id": "10",
3
+ "scene_id": "data/replica_cad/configs/scenes/v3_sc0_staging_10.scene_instance.json",
4
+ "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
5
+ "additional_obj_config_paths": [
6
+ "data/objects/ycb/"
7
+ ],
8
+ "start_position": [
9
+ 0,
10
+ 0,
11
+ 0
12
+ ],
13
+ "start_rotation": [
14
+ 0,
15
+ 0,
16
+ 0,
17
+ 1
18
+ ],
19
+ "info": {
20
+ "object_labels": {
21
+ "024_bowl_:0003": "obj0_target|0",
22
+ "004_sugar_box_:0004": "obj1_target|1",
23
+ "002_master_chef_can_:0001": "obj2_target|2"
24
+ }
25
+ },
26
+ "ao_states": {
27
+ "fridge_:0000": {
28
+ "2": 1.5
29
+ }
30
+ },
31
+ "rigid_objs": [
32
+ [
33
+ "005_tomato_soup_can.object_config.json",
34
+ [
35
+ [
36
+ 0.17434,
37
+ -2e-05,
38
+ 0.98468,
39
+ 0.56303
40
+ ],
41
+ [
42
+ -0.0001,
43
+ 1.0,
44
+ 4e-05,
45
+ 0.91083
46
+ ],
47
+ [
48
+ -0.98468,
49
+ -0.00011,
50
+ 0.17434,
51
+ 7.13233
52
+ ],
53
+ [
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 1.0
58
+ ]
59
+ ]
60
+ ],
61
+ [
62
+ "010_potted_meat_can.object_config.json",
63
+ [
64
+ [
65
+ -0.97276,
66
+ -1e-05,
67
+ 0.23181,
68
+ 0.83776
69
+ ],
70
+ [
71
+ -3e-05,
72
+ 1.0,
73
+ -6e-05,
74
+ 0.90168
75
+ ],
76
+ [
77
+ -0.23181,
78
+ -7e-05,
79
+ -0.97276,
80
+ 7.80276
81
+ ],
82
+ [
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ 1.0
87
+ ]
88
+ ]
89
+ ],
90
+ [
91
+ "009_gelatin_box.object_config.json",
92
+ [
93
+ [
94
+ 0.99659,
95
+ -0.00221,
96
+ 0.08245,
97
+ 3.57047
98
+ ],
99
+ [
100
+ 0.00219,
101
+ 1.0,
102
+ 0.00033,
103
+ 0.94926
104
+ ],
105
+ [
106
+ -0.08245,
107
+ -0.00015,
108
+ 0.99659,
109
+ 6.64076
110
+ ],
111
+ [
112
+ 0.0,
113
+ 0.0,
114
+ 0.0,
115
+ 1.0
116
+ ]
117
+ ]
118
+ ],
119
+ [
120
+ "024_bowl.object_config.json",
121
+ [
122
+ [
123
+ -0.82182,
124
+ 0.0003,
125
+ 0.56975,
126
+ 1.73696
127
+ ],
128
+ [
129
+ 0.00059,
130
+ 1.0,
131
+ 0.00031,
132
+ 0.4424
133
+ ],
134
+ [
135
+ -0.56975,
136
+ 0.00059,
137
+ -0.82182,
138
+ -0.34269
139
+ ],
140
+ [
141
+ 0.0,
142
+ 0.0,
143
+ 0.0,
144
+ 1.0
145
+ ]
146
+ ]
147
+ ],
148
+ [
149
+ "010_potted_meat_can.object_config.json",
150
+ [
151
+ [
152
+ 0.41539,
153
+ -0.0078,
154
+ 0.90961,
155
+ -1.22734
156
+ ],
157
+ [
158
+ 0.0013,
159
+ 0.99997,
160
+ 0.00798,
161
+ 0.4458
162
+ ],
163
+ [
164
+ -0.90964,
165
+ -0.00213,
166
+ 0.41538,
167
+ 3.07624
168
+ ],
169
+ [
170
+ 0.0,
171
+ 0.0,
172
+ 0.0,
173
+ 1.0
174
+ ]
175
+ ]
176
+ ],
177
+ [
178
+ "007_tuna_fish_can.object_config.json",
179
+ [
180
+ [
181
+ -0.99163,
182
+ -0.0,
183
+ 0.12912,
184
+ 0.35246
185
+ ],
186
+ [
187
+ -0.0,
188
+ 1.0,
189
+ -0.0,
190
+ 0.87655
191
+ ],
192
+ [
193
+ -0.12912,
194
+ -0.0,
195
+ -0.99163,
196
+ 7.13345
197
+ ],
198
+ [
199
+ 0.0,
200
+ 0.0,
201
+ 0.0,
202
+ 1.0
203
+ ]
204
+ ]
205
+ ],
206
+ [
207
+ "003_cracker_box.object_config.json",
208
+ [
209
+ [
210
+ 0.00679,
211
+ 0.0078,
212
+ 0.99995,
213
+ 1.82846
214
+ ],
215
+ [
216
+ -0.04702,
217
+ 0.99887,
218
+ -0.00747,
219
+ 0.52165
220
+ ],
221
+ [
222
+ -0.99887,
223
+ -0.04697,
224
+ 0.00715,
225
+ -0.5486
226
+ ],
227
+ [
228
+ 0.0,
229
+ 0.0,
230
+ 0.0,
231
+ 1.0
232
+ ]
233
+ ]
234
+ ],
235
+ [
236
+ "003_cracker_box.object_config.json",
237
+ [
238
+ [
239
+ 0.45286,
240
+ 0.02548,
241
+ 0.89122,
242
+ -1.22763
243
+ ],
244
+ [
245
+ -0.0444,
246
+ 0.999,
247
+ -0.006,
248
+ 0.5109
249
+ ],
250
+ [
251
+ -0.89048,
252
+ -0.03685,
253
+ 0.45354,
254
+ 2.52367
255
+ ],
256
+ [
257
+ 0.0,
258
+ 0.0,
259
+ 0.0,
260
+ 1.0
261
+ ]
262
+ ]
263
+ ],
264
+ [
265
+ "009_gelatin_box.object_config.json",
266
+ [
267
+ [
268
+ 0.78776,
269
+ 0.00237,
270
+ -0.61598,
271
+ -1.29368
272
+ ],
273
+ [
274
+ -0.00169,
275
+ 1.0,
276
+ 0.00169,
277
+ 0.4193
278
+ ],
279
+ [
280
+ 0.61598,
281
+ -0.00029,
282
+ 0.78776,
283
+ 3.42105
284
+ ],
285
+ [
286
+ 0.0,
287
+ 0.0,
288
+ 0.0,
289
+ 1.0
290
+ ]
291
+ ]
292
+ ],
293
+ [
294
+ "005_tomato_soup_can.object_config.json",
295
+ [
296
+ [
297
+ -0.63915,
298
+ -0.00094,
299
+ -0.76909,
300
+ 0.67331
301
+ ],
302
+ [
303
+ -0.00146,
304
+ 1.0,
305
+ -1e-05,
306
+ 0.7583
307
+ ],
308
+ [
309
+ 0.76908,
310
+ 0.00111,
311
+ -0.63915,
312
+ 6.72611
313
+ ],
314
+ [
315
+ 0.0,
316
+ 0.0,
317
+ 0.0,
318
+ 1.0
319
+ ]
320
+ ]
321
+ ],
322
+ [
323
+ "004_sugar_box.object_config.json",
324
+ [
325
+ [
326
+ -0.95607,
327
+ 0.0312,
328
+ 0.29148,
329
+ 4.05679
330
+ ],
331
+ [
332
+ 0.04008,
333
+ 0.99889,
334
+ 0.02455,
335
+ 0.71482
336
+ ],
337
+ [
338
+ -0.29039,
339
+ 0.03516,
340
+ -0.95626,
341
+ 1.40408
342
+ ],
343
+ [
344
+ 0.0,
345
+ 0.0,
346
+ 0.0,
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ [
352
+ "002_master_chef_can.object_config.json",
353
+ [
354
+ [
355
+ -0.71754,
356
+ 5e-05,
357
+ -0.69652,
358
+ 0.49225
359
+ ],
360
+ [
361
+ 4e-05,
362
+ 1.0,
363
+ 2e-05,
364
+ 0.9303
365
+ ],
366
+ [
367
+ 0.69652,
368
+ -2e-05,
369
+ -0.71754,
370
+ 5.08888
371
+ ],
372
+ [
373
+ 0.0,
374
+ 0.0,
375
+ 0.0,
376
+ 1.0
377
+ ]
378
+ ]
379
+ ],
380
+ [
381
+ "004_sugar_box.object_config.json",
382
+ [
383
+ [
384
+ -0.69648,
385
+ 0.00988,
386
+ 0.71751,
387
+ 4.09747
388
+ ],
389
+ [
390
+ 0.03946,
391
+ 0.99892,
392
+ 0.02454,
393
+ 0.71483
394
+ ],
395
+ [
396
+ -0.71649,
397
+ 0.04541,
398
+ -0.69612,
399
+ 0.73206
400
+ ],
401
+ [
402
+ 0.0,
403
+ 0.0,
404
+ 0.0,
405
+ 1.0
406
+ ]
407
+ ]
408
+ ],
409
+ [
410
+ "004_sugar_box.object_config.json",
411
+ [
412
+ [
413
+ -0.92657,
414
+ 0.02705,
415
+ 0.37514,
416
+ 3.99766
417
+ ],
418
+ [
419
+ 0.03896,
420
+ 0.99895,
421
+ 0.0242,
422
+ 1.02216
423
+ ],
424
+ [
425
+ -0.37409,
426
+ 0.03704,
427
+ -0.92665,
428
+ 6.68446
429
+ ],
430
+ [
431
+ 0.0,
432
+ 0.0,
433
+ 0.0,
434
+ 1.0
435
+ ]
436
+ ]
437
+ ],
438
+ [
439
+ "005_tomato_soup_can.object_config.json",
440
+ [
441
+ [
442
+ -0.97572,
443
+ -0.00882,
444
+ -0.21884,
445
+ 4.07222
446
+ ],
447
+ [
448
+ -0.00868,
449
+ 0.99996,
450
+ -0.00162,
451
+ 0.98541
452
+ ],
453
+ [
454
+ 0.21884,
455
+ 0.00032,
456
+ -0.97576,
457
+ 7.22375
458
+ ],
459
+ [
460
+ 0.0,
461
+ 0.0,
462
+ 0.0,
463
+ 1.0
464
+ ]
465
+ ]
466
+ ],
467
+ [
468
+ "003_cracker_box.object_config.json",
469
+ [
470
+ [
471
+ 0.3781,
472
+ 0.01062,
473
+ -0.92571,
474
+ 0.58055
475
+ ],
476
+ [
477
+ -0.04588,
478
+ 0.99892,
479
+ -0.00727,
480
+ 0.96627
481
+ ],
482
+ [
483
+ 0.92463,
484
+ 0.04522,
485
+ 0.37817,
486
+ 7.5355
487
+ ],
488
+ [
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 1.0
493
+ ]
494
+ ]
495
+ ],
496
+ [
497
+ "009_gelatin_box.object_config.json",
498
+ [
499
+ [
500
+ 0.12243,
501
+ -0.0,
502
+ 0.99248,
503
+ 1.98086
504
+ ],
505
+ [
506
+ 0.0,
507
+ 1.0,
508
+ 0.0,
509
+ 0.42998
510
+ ],
511
+ [
512
+ -0.99248,
513
+ 0.0,
514
+ 0.12243,
515
+ -0.41616
516
+ ],
517
+ [
518
+ 0.0,
519
+ 0.0,
520
+ 0.0,
521
+ 1.0
522
+ ]
523
+ ]
524
+ ],
525
+ [
526
+ "004_sugar_box.object_config.json",
527
+ [
528
+ [
529
+ -0.14568,
530
+ -0.01833,
531
+ 0.98916,
532
+ 1.34537
533
+ ],
534
+ [
535
+ 0.03906,
536
+ 0.99894,
537
+ 0.02427,
538
+ 0.85067
539
+ ],
540
+ [
541
+ -0.98856,
542
+ 0.04217,
543
+ -0.14481,
544
+ 2.22508
545
+ ],
546
+ [
547
+ 0.0,
548
+ 0.0,
549
+ 0.0,
550
+ 1.0
551
+ ]
552
+ ]
553
+ ],
554
+ [
555
+ "003_cracker_box.object_config.json",
556
+ [
557
+ [
558
+ 0.95735,
559
+ 0.04573,
560
+ -0.28528,
561
+ -1.46011
562
+ ],
563
+ [
564
+ -0.04928,
565
+ 0.99877,
566
+ -0.00527,
567
+ 0.5109
568
+ ],
569
+ [
570
+ 0.28469,
571
+ 0.0191,
572
+ 0.95843,
573
+ 3.29924
574
+ ],
575
+ [
576
+ 0.0,
577
+ 0.0,
578
+ 0.0,
579
+ 1.0
580
+ ]
581
+ ]
582
+ ],
583
+ [
584
+ "005_tomato_soup_can.object_config.json",
585
+ [
586
+ [
587
+ 0.5511,
588
+ -0.00045,
589
+ 0.83444,
590
+ 0.42914
591
+ ],
592
+ [
593
+ -0.00443,
594
+ 0.99998,
595
+ 0.00347,
596
+ 1.30053
597
+ ],
598
+ [
599
+ -0.83442,
600
+ -0.00561,
601
+ 0.55109,
602
+ 4.19441
603
+ ],
604
+ [
605
+ 0.0,
606
+ 0.0,
607
+ 0.0,
608
+ 1.0
609
+ ]
610
+ ]
611
+ ],
612
+ [
613
+ "009_gelatin_box.object_config.json",
614
+ [
615
+ [
616
+ 0.95301,
617
+ -5e-05,
618
+ -0.30294,
619
+ 0.65459
620
+ ],
621
+ [
622
+ 0.0018,
623
+ 0.99998,
624
+ 0.00547,
625
+ 1.26737
626
+ ],
627
+ [
628
+ 0.30294,
629
+ -0.00576,
630
+ 0.95299,
631
+ 4.69786
632
+ ],
633
+ [
634
+ 0.0,
635
+ 0.0,
636
+ 0.0,
637
+ 1.0
638
+ ]
639
+ ]
640
+ ],
641
+ [
642
+ "003_cracker_box.object_config.json",
643
+ [
644
+ [
645
+ -0.99633,
646
+ -0.08197,
647
+ -0.02472,
648
+ 0.55201
649
+ ],
650
+ [
651
+ -0.08203,
652
+ 0.99663,
653
+ 0.00117,
654
+ 0.81397
655
+ ],
656
+ [
657
+ 0.02454,
658
+ 0.0032,
659
+ -0.99969,
660
+ 6.57887
661
+ ],
662
+ [
663
+ 0.0,
664
+ 0.0,
665
+ 0.0,
666
+ 1.0
667
+ ]
668
+ ]
669
+ ],
670
+ [
671
+ "008_pudding_box.object_config.json",
672
+ [
673
+ [
674
+ 0.7527,
675
+ 0.01752,
676
+ -0.65813,
677
+ 3.946
678
+ ],
679
+ [
680
+ -0.00382,
681
+ 0.99975,
682
+ 0.02224,
683
+ 0.64633
684
+ ],
685
+ [
686
+ 0.65835,
687
+ -0.01423,
688
+ 0.75258,
689
+ 1.09487
690
+ ],
691
+ [
692
+ 0.0,
693
+ 0.0,
694
+ 0.0,
695
+ 1.0
696
+ ]
697
+ ]
698
+ ],
699
+ [
700
+ "024_bowl.object_config.json",
701
+ [
702
+ [
703
+ -0.22864,
704
+ -0.0006,
705
+ 0.97351,
706
+ 3.82726
707
+ ],
708
+ [
709
+ 0.00039,
710
+ 1.0,
711
+ 0.00071,
712
+ 0.65412
713
+ ],
714
+ [
715
+ -0.97351,
716
+ 0.00054,
717
+ -0.22864,
718
+ 0.48324
719
+ ],
720
+ [
721
+ 0.0,
722
+ 0.0,
723
+ 0.0,
724
+ 1.0
725
+ ]
726
+ ]
727
+ ],
728
+ [
729
+ "008_pudding_box.object_config.json",
730
+ [
731
+ [
732
+ 0.1311,
733
+ 0.02407,
734
+ -0.99108,
735
+ 0.34765
736
+ ],
737
+ [
738
+ -0.00591,
739
+ 0.99971,
740
+ 0.02349,
741
+ 0.87927
742
+ ],
743
+ [
744
+ 0.99135,
745
+ 0.00277,
746
+ 0.1312,
747
+ 7.75028
748
+ ],
749
+ [
750
+ 0.0,
751
+ 0.0,
752
+ 0.0,
753
+ 1.0
754
+ ]
755
+ ]
756
+ ],
757
+ [
758
+ "024_bowl.object_config.json",
759
+ [
760
+ [
761
+ -0.60765,
762
+ 1e-05,
763
+ 0.7942,
764
+ 0.33446
765
+ ],
766
+ [
767
+ 1e-05,
768
+ 1.0,
769
+ -1e-05,
770
+ 0.88719
771
+ ],
772
+ [
773
+ -0.7942,
774
+ 0.0,
775
+ -0.60765,
776
+ 5.13756
777
+ ],
778
+ [
779
+ 0.0,
780
+ 0.0,
781
+ 0.0,
782
+ 1.0
783
+ ]
784
+ ]
785
+ ],
786
+ [
787
+ "008_pudding_box.object_config.json",
788
+ [
789
+ [
790
+ -0.99669,
791
+ -0.00547,
792
+ -0.08116,
793
+ 4.22029
794
+ ],
795
+ [
796
+ -0.00728,
797
+ 0.99973,
798
+ 0.02202,
799
+ 0.95382
800
+ ],
801
+ [
802
+ 0.08102,
803
+ 0.02254,
804
+ -0.99646,
805
+ 6.62172
806
+ ],
807
+ [
808
+ 0.0,
809
+ 0.0,
810
+ 0.0,
811
+ 1.0
812
+ ]
813
+ ]
814
+ ],
815
+ [
816
+ "024_bowl.object_config.json",
817
+ [
818
+ [
819
+ -0.52892,
820
+ 0.01312,
821
+ -0.84857,
822
+ 0.66237
823
+ ],
824
+ [
825
+ 0.00031,
826
+ 0.99988,
827
+ 0.01527,
828
+ 1.27804
829
+ ],
830
+ [
831
+ 0.84867,
832
+ 0.00781,
833
+ -0.52886,
834
+ 4.45045
835
+ ],
836
+ [
837
+ 0.0,
838
+ 0.0,
839
+ 0.0,
840
+ 1.0
841
+ ]
842
+ ]
843
+ ],
844
+ [
845
+ "004_sugar_box.object_config.json",
846
+ [
847
+ [
848
+ -0.34479,
849
+ -0.00926,
850
+ 0.93863,
851
+ 0.5059
852
+ ],
853
+ [
854
+ 0.03365,
855
+ 0.99919,
856
+ 0.02222,
857
+ 1.33964
858
+ ],
859
+ [
860
+ -0.93808,
861
+ 0.03924,
862
+ -0.3442,
863
+ 4.58272
864
+ ],
865
+ [
866
+ 0.0,
867
+ 0.0,
868
+ 0.0,
869
+ 1.0
870
+ ]
871
+ ]
872
+ ],
873
+ [
874
+ "002_master_chef_can.object_config.json",
875
+ [
876
+ [
877
+ -0.94003,
878
+ -3e-05,
879
+ -0.34109,
880
+ 0.6129
881
+ ],
882
+ [
883
+ -3e-05,
884
+ 1.0,
885
+ -2e-05,
886
+ 0.9303
887
+ ],
888
+ [
889
+ 0.34109,
890
+ -1e-05,
891
+ -0.94003,
892
+ 6.37077
893
+ ],
894
+ [
895
+ 0.0,
896
+ 0.0,
897
+ 0.0,
898
+ 1.0
899
+ ]
900
+ ]
901
+ ]
902
+ ],
903
+ "targets": {
904
+ "024_bowl_:0003": [
905
+ [
906
+ 0.91457,
907
+ 0.0,
908
+ 0.40444,
909
+ 0.87551
910
+ ],
911
+ [
912
+ 0.0,
913
+ 1.0,
914
+ 0.0,
915
+ 0.88661
916
+ ],
917
+ [
918
+ -0.40444,
919
+ 0.0,
920
+ 0.91457,
921
+ 7.68116
922
+ ],
923
+ [
924
+ 0.0,
925
+ 0.0,
926
+ 0.0,
927
+ 1.0
928
+ ]
929
+ ],
930
+ "004_sugar_box_:0004": [
931
+ [
932
+ -0.0496,
933
+ 0.0,
934
+ 0.99877,
935
+ 0.47271
936
+ ],
937
+ [
938
+ 0.0,
939
+ 1.0,
940
+ 0.0,
941
+ 0.94711
942
+ ],
943
+ [
944
+ -0.99877,
945
+ 0.0,
946
+ -0.0496,
947
+ 5.791
948
+ ],
949
+ [
950
+ 0.0,
951
+ 0.0,
952
+ 0.0,
953
+ 1.0
954
+ ]
955
+ ],
956
+ "002_master_chef_can_:0001": [
957
+ [
958
+ -0.05065,
959
+ 0.0,
960
+ -0.99872,
961
+ 0.41206
962
+ ],
963
+ [
964
+ 0.0,
965
+ 1.0,
966
+ 0.0,
967
+ 1.31984
968
+ ],
969
+ [
970
+ 0.99872,
971
+ 0.0,
972
+ -0.05065,
973
+ 4.35931
974
+ ],
975
+ [
976
+ 0.0,
977
+ 0.0,
978
+ 0.0,
979
+ 1.0
980
+ ]
981
+ ]
982
+ },
983
+ "markers": [
984
+ {
985
+ "name": "cab_push_point_7",
986
+ "type": "articulated_object",
987
+ "params": {
988
+ "offset": [
989
+ 0.3,
990
+ 0.0,
991
+ 0
992
+ ],
993
+ "link": "drawer1_top",
994
+ "object": "kitchen_counter_:0000"
995
+ }
996
+ },
997
+ {
998
+ "name": "cab_push_point_6",
999
+ "type": "articulated_object",
1000
+ "params": {
1001
+ "offset": [
1002
+ 0.3,
1003
+ 0.0,
1004
+ 0
1005
+ ],
1006
+ "link": "drawer2_top",
1007
+ "object": "kitchen_counter_:0000"
1008
+ }
1009
+ },
1010
+ {
1011
+ "name": "cab_push_point_5",
1012
+ "type": "articulated_object",
1013
+ "params": {
1014
+ "offset": [
1015
+ 0.3,
1016
+ 0.0,
1017
+ 0
1018
+ ],
1019
+ "link": "drawer3",
1020
+ "object": "kitchen_counter_:0000"
1021
+ }
1022
+ },
1023
+ {
1024
+ "name": "cab_push_point_4",
1025
+ "type": "articulated_object",
1026
+ "params": {
1027
+ "offset": [
1028
+ 0.3,
1029
+ 0.0,
1030
+ 0
1031
+ ],
1032
+ "link": "drawer4",
1033
+ "object": "kitchen_counter_:0000"
1034
+ }
1035
+ },
1036
+ {
1037
+ "name": "fridge_push_point",
1038
+ "type": "articulated_object",
1039
+ "params": {
1040
+ "offset": [
1041
+ 0.1,
1042
+ -0.62,
1043
+ 0.2
1044
+ ],
1045
+ "link": "top_door",
1046
+ "object": "fridge_:0000"
1047
+ }
1048
+ }
1049
+ ],
1050
+ "target_receptacles": [
1051
+ [
1052
+ "fridge_:0000",
1053
+ 0
1054
+ ],
1055
+ [
1056
+ "fridge_:0000",
1057
+ 0
1058
+ ],
1059
+ [
1060
+ "kitchen_counter_:0000",
1061
+ 0
1062
+ ]
1063
+ ],
1064
+ "goal_receptacles": [
1065
+ [
1066
+ "kitchen_counter_:0000",
1067
+ 0
1068
+ ],
1069
+ [
1070
+ "kitchen_counter_:0000",
1071
+ 0
1072
+ ],
1073
+ [
1074
+ "fridge_:0000",
1075
+ 0
1076
+ ]
1077
+ ]
1078
+ }
rearrange/v1_extracted/train/prepare_groceries/episode_100.json ADDED
@@ -0,0 +1,1078 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_id": "100",
3
+ "scene_id": "data/replica_cad/configs/scenes/v3_sc1_staging_08.scene_instance.json",
4
+ "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
5
+ "additional_obj_config_paths": [
6
+ "data/objects/ycb/"
7
+ ],
8
+ "start_position": [
9
+ 0,
10
+ 0,
11
+ 0
12
+ ],
13
+ "start_rotation": [
14
+ 0,
15
+ 0,
16
+ 0,
17
+ 1
18
+ ],
19
+ "info": {
20
+ "object_labels": {
21
+ "005_tomato_soup_can_:0007": "obj0_target|0",
22
+ "007_tuna_fish_can_:0001": "obj1_target|1",
23
+ "010_potted_meat_can_:0001": "obj2_target|2"
24
+ }
25
+ },
26
+ "ao_states": {
27
+ "fridge_:0000": {
28
+ "2": 1.5
29
+ }
30
+ },
31
+ "rigid_objs": [
32
+ [
33
+ "005_tomato_soup_can.object_config.json",
34
+ [
35
+ [
36
+ -0.71346,
37
+ -0.00042,
38
+ -0.70069,
39
+ -2.11704
40
+ ],
41
+ [
42
+ 0.00343,
43
+ 0.99999,
44
+ -0.00408,
45
+ 1.30176
46
+ ],
47
+ [
48
+ 0.70068,
49
+ -0.00532,
50
+ -0.71345,
51
+ -1.09053
52
+ ],
53
+ [
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 1.0
58
+ ]
59
+ ]
60
+ ],
61
+ [
62
+ "005_tomato_soup_can.object_config.json",
63
+ [
64
+ [
65
+ 0.86523,
66
+ -8e-05,
67
+ 0.50137,
68
+ -2.16317
69
+ ],
70
+ [
71
+ -0.00285,
72
+ 0.99998,
73
+ 0.00507,
74
+ 1.30064
75
+ ],
76
+ [
77
+ -0.50136,
78
+ -0.00582,
79
+ 0.86522,
80
+ -1.28575
81
+ ],
82
+ [
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ 1.0
87
+ ]
88
+ ]
89
+ ],
90
+ [
91
+ "008_pudding_box.object_config.json",
92
+ [
93
+ [
94
+ -0.0692,
95
+ -0.02001,
96
+ 0.9974,
97
+ 4.22815
98
+ ],
99
+ [
100
+ -0.00404,
101
+ 0.9998,
102
+ 0.01978,
103
+ 0.64637
104
+ ],
105
+ [
106
+ -0.99759,
107
+ -0.00266,
108
+ -0.06927,
109
+ -0.678
110
+ ],
111
+ [
112
+ 0.0,
113
+ 0.0,
114
+ 0.0,
115
+ 1.0
116
+ ]
117
+ ]
118
+ ],
119
+ [
120
+ "005_tomato_soup_can.object_config.json",
121
+ [
122
+ [
123
+ -0.71263,
124
+ 7e-05,
125
+ -0.70154,
126
+ 3.42037
127
+ ],
128
+ [
129
+ 9e-05,
130
+ 1.0,
131
+ 1e-05,
132
+ 0.45534
133
+ ],
134
+ [
135
+ 0.70154,
136
+ -5e-05,
137
+ -0.71263,
138
+ 5.92031
139
+ ],
140
+ [
141
+ 0.0,
142
+ 0.0,
143
+ 0.0,
144
+ 1.0
145
+ ]
146
+ ]
147
+ ],
148
+ [
149
+ "009_gelatin_box.object_config.json",
150
+ [
151
+ [
152
+ -0.8883,
153
+ 3e-05,
154
+ 0.45926,
155
+ 0.67703
156
+ ],
157
+ [
158
+ 2e-05,
159
+ 1.0,
160
+ -1e-05,
161
+ 0.42987
162
+ ],
163
+ [
164
+ -0.45926,
165
+ -0.0,
166
+ -0.8883,
167
+ -0.0657
168
+ ],
169
+ [
170
+ 0.0,
171
+ 0.0,
172
+ 0.0,
173
+ 1.0
174
+ ]
175
+ ]
176
+ ],
177
+ [
178
+ "008_pudding_box.object_config.json",
179
+ [
180
+ [
181
+ 0.27833,
182
+ -0.02095,
183
+ 0.96026,
184
+ -2.26944
185
+ ],
186
+ [
187
+ -0.00819,
188
+ 0.99967,
189
+ 0.02418,
190
+ 0.78231
191
+ ],
192
+ [
193
+ -0.96045,
194
+ -0.01459,
195
+ 0.27807,
196
+ 2.57093
197
+ ],
198
+ [
199
+ 0.0,
200
+ 0.0,
201
+ 0.0,
202
+ 1.0
203
+ ]
204
+ ]
205
+ ],
206
+ [
207
+ "004_sugar_box.object_config.json",
208
+ [
209
+ [
210
+ 0.10913,
211
+ 0.01653,
212
+ -0.99389,
213
+ 4.1438
214
+ ],
215
+ [
216
+ 0.03784,
217
+ 0.99907,
218
+ 0.02077,
219
+ 0.71477
220
+ ],
221
+ [
222
+ 0.99331,
223
+ -0.03988,
224
+ 0.1084,
225
+ 0.6375
226
+ ],
227
+ [
228
+ 0.0,
229
+ 0.0,
230
+ 0.0,
231
+ 1.0
232
+ ]
233
+ ]
234
+ ],
235
+ [
236
+ "005_tomato_soup_can.object_config.json",
237
+ [
238
+ [
239
+ 0.36027,
240
+ 0.02291,
241
+ -0.93257,
242
+ -2.23976
243
+ ],
244
+ [
245
+ -0.06405,
246
+ 0.99795,
247
+ -0.00023,
248
+ 0.75869
249
+ ],
250
+ [
251
+ 0.93064,
252
+ 0.05982,
253
+ 0.361,
254
+ 1.15312
255
+ ],
256
+ [
257
+ 0.0,
258
+ 0.0,
259
+ 0.0,
260
+ 1.0
261
+ ]
262
+ ]
263
+ ],
264
+ [
265
+ "004_sugar_box.object_config.json",
266
+ [
267
+ [
268
+ 0.34305,
269
+ 0.00998,
270
+ -0.93926,
271
+ 0.02707
272
+ ],
273
+ [
274
+ 0.04019,
275
+ 0.99887,
276
+ 0.02529,
277
+ 0.50307
278
+ ],
279
+ [
280
+ 0.93846,
281
+ -0.04642,
282
+ 0.34227,
283
+ 0.44701
284
+ ],
285
+ [
286
+ 0.0,
287
+ 0.0,
288
+ 0.0,
289
+ 1.0
290
+ ]
291
+ ]
292
+ ],
293
+ [
294
+ "009_gelatin_box.object_config.json",
295
+ [
296
+ [
297
+ -0.66468,
298
+ 0.00021,
299
+ -0.74713,
300
+ 0.63987
301
+ ],
302
+ [
303
+ 0.00027,
304
+ 1.0,
305
+ 4e-05,
306
+ 0.42987
307
+ ],
308
+ [
309
+ 0.74713,
310
+ -0.00018,
311
+ -0.66468,
312
+ -0.25961
313
+ ],
314
+ [
315
+ 0.0,
316
+ 0.0,
317
+ 0.0,
318
+ 1.0
319
+ ]
320
+ ]
321
+ ],
322
+ [
323
+ "002_master_chef_can.object_config.json",
324
+ [
325
+ [
326
+ 0.22236,
327
+ 2e-05,
328
+ 0.97496,
329
+ -2.06848
330
+ ],
331
+ [
332
+ -3e-05,
333
+ 1.0,
334
+ -1e-05,
335
+ 0.9303
336
+ ],
337
+ [
338
+ -0.97496,
339
+ -3e-05,
340
+ 0.22236,
341
+ 1.87418
342
+ ],
343
+ [
344
+ 0.0,
345
+ 0.0,
346
+ 0.0,
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ [
352
+ "005_tomato_soup_can.object_config.json",
353
+ [
354
+ [
355
+ -0.50062,
356
+ 0.00124,
357
+ 0.86566,
358
+ 0.94142
359
+ ],
360
+ [
361
+ 0.00295,
362
+ 1.0,
363
+ 0.00027,
364
+ 0.46599
365
+ ],
366
+ [
367
+ -0.86566,
368
+ 0.00269,
369
+ -0.50062,
370
+ 0.0045
371
+ ],
372
+ [
373
+ 0.0,
374
+ 0.0,
375
+ 0.0,
376
+ 1.0
377
+ ]
378
+ ]
379
+ ],
380
+ [
381
+ "004_sugar_box.object_config.json",
382
+ [
383
+ [
384
+ 0.98265,
385
+ -0.03408,
386
+ -0.18232,
387
+ -2.38075
388
+ ],
389
+ [
390
+ 0.03863,
391
+ 0.99902,
392
+ 0.02145,
393
+ 0.85079
394
+ ],
395
+ [
396
+ 0.18141,
397
+ -0.02812,
398
+ 0.983,
399
+ 2.5635
400
+ ],
401
+ [
402
+ 0.0,
403
+ 0.0,
404
+ 0.0,
405
+ 1.0
406
+ ]
407
+ ]
408
+ ],
409
+ [
410
+ "024_bowl.object_config.json",
411
+ [
412
+ [
413
+ -0.48417,
414
+ 0.00121,
415
+ 0.87497,
416
+ 4.1492
417
+ ],
418
+ [
419
+ 0.00129,
420
+ 1.0,
421
+ -0.00066,
422
+ 0.65412
423
+ ],
424
+ [
425
+ -0.87497,
426
+ 0.00081,
427
+ -0.48417,
428
+ 0.1059
429
+ ],
430
+ [
431
+ 0.0,
432
+ 0.0,
433
+ 0.0,
434
+ 1.0
435
+ ]
436
+ ]
437
+ ],
438
+ [
439
+ "002_master_chef_can.object_config.json",
440
+ [
441
+ [
442
+ 0.59721,
443
+ -0.0,
444
+ 0.80208,
445
+ -1.99569
446
+ ],
447
+ [
448
+ -3e-05,
449
+ 1.0,
450
+ 3e-05,
451
+ 0.9303
452
+ ],
453
+ [
454
+ -0.80208,
455
+ -4e-05,
456
+ 0.59721,
457
+ -0.14476
458
+ ],
459
+ [
460
+ 0.0,
461
+ 0.0,
462
+ 0.0,
463
+ 1.0
464
+ ]
465
+ ]
466
+ ],
467
+ [
468
+ "004_sugar_box.object_config.json",
469
+ [
470
+ [
471
+ -0.91404,
472
+ 0.05802,
473
+ -0.40146,
474
+ 4.13861
475
+ ],
476
+ [
477
+ 0.05197,
478
+ 0.99831,
479
+ 0.02596,
480
+ 0.71494
481
+ ],
482
+ [
483
+ 0.40229,
484
+ 0.00287,
485
+ -0.91551,
486
+ -0.24678
487
+ ],
488
+ [
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 1.0
493
+ ]
494
+ ]
495
+ ],
496
+ [
497
+ "008_pudding_box.object_config.json",
498
+ [
499
+ [
500
+ 0.49701,
501
+ -0.01514,
502
+ 0.86761,
503
+ 3.97157
504
+ ],
505
+ [
506
+ -0.00631,
507
+ 0.99976,
508
+ 0.02106,
509
+ 0.6462
510
+ ],
511
+ [
512
+ -0.86772,
513
+ -0.01594,
514
+ 0.4968,
515
+ -0.56994
516
+ ],
517
+ [
518
+ 0.0,
519
+ 0.0,
520
+ 0.0,
521
+ 1.0
522
+ ]
523
+ ]
524
+ ],
525
+ [
526
+ "009_gelatin_box.object_config.json",
527
+ [
528
+ [
529
+ -0.79014,
530
+ 0.00515,
531
+ -0.61291,
532
+ 0.84887
533
+ ],
534
+ [
535
+ 0.00437,
536
+ 0.99999,
537
+ 0.00277,
538
+ 0.43002
539
+ ],
540
+ [
541
+ 0.61291,
542
+ -0.00049,
543
+ -0.79015,
544
+ -0.13818
545
+ ],
546
+ [
547
+ 0.0,
548
+ 0.0,
549
+ 0.0,
550
+ 1.0
551
+ ]
552
+ ]
553
+ ],
554
+ [
555
+ "010_potted_meat_can.object_config.json",
556
+ [
557
+ [
558
+ -0.14813,
559
+ -0.05079,
560
+ -0.98766,
561
+ 1.0311
562
+ ],
563
+ [
564
+ -0.0239,
565
+ 0.99857,
566
+ -0.04776,
567
+ 0.4573
568
+ ],
569
+ [
570
+ 0.98868,
571
+ 0.01653,
572
+ -0.14913,
573
+ -0.02573
574
+ ],
575
+ [
576
+ 0.0,
577
+ 0.0,
578
+ 0.0,
579
+ 1.0
580
+ ]
581
+ ]
582
+ ],
583
+ [
584
+ "024_bowl.object_config.json",
585
+ [
586
+ [
587
+ -0.31679,
588
+ 0.00022,
589
+ 0.94849,
590
+ -1.84577
591
+ ],
592
+ [
593
+ 8e-05,
594
+ 1.0,
595
+ -0.0002,
596
+ 0.79016
597
+ ],
598
+ [
599
+ -0.94849,
600
+ 1e-05,
601
+ -0.31679,
602
+ 3.68624
603
+ ],
604
+ [
605
+ 0.0,
606
+ 0.0,
607
+ 0.0,
608
+ 1.0
609
+ ]
610
+ ]
611
+ ],
612
+ [
613
+ "024_bowl.object_config.json",
614
+ [
615
+ [
616
+ -0.05383,
617
+ -0.00041,
618
+ 0.99855,
619
+ 3.93009
620
+ ],
621
+ [
622
+ -0.00054,
623
+ 1.0,
624
+ 0.00038,
625
+ 0.96167
626
+ ],
627
+ [
628
+ -0.99855,
629
+ -0.00052,
630
+ -0.05383,
631
+ 2.75555
632
+ ],
633
+ [
634
+ 0.0,
635
+ 0.0,
636
+ 0.0,
637
+ 1.0
638
+ ]
639
+ ]
640
+ ],
641
+ [
642
+ "002_master_chef_can.object_config.json",
643
+ [
644
+ [
645
+ -0.95387,
646
+ 5e-05,
647
+ 0.30022,
648
+ 0.02271
649
+ ],
650
+ [
651
+ 6e-05,
652
+ 1.0,
653
+ 0.0,
654
+ 0.48552
655
+ ],
656
+ [
657
+ -0.30022,
658
+ 2e-05,
659
+ -0.95387,
660
+ 0.29021
661
+ ],
662
+ [
663
+ 0.0,
664
+ 0.0,
665
+ 0.0,
666
+ 1.0
667
+ ]
668
+ ]
669
+ ],
670
+ [
671
+ "007_tuna_fish_can.object_config.json",
672
+ [
673
+ [
674
+ 0.76902,
675
+ -1e-05,
676
+ -0.63923,
677
+ -2.03779
678
+ ],
679
+ [
680
+ 4e-05,
681
+ 1.0,
682
+ 3e-05,
683
+ 0.87655
684
+ ],
685
+ [
686
+ 0.63923,
687
+ -5e-05,
688
+ 0.76902,
689
+ 0.72641
690
+ ],
691
+ [
692
+ 0.0,
693
+ 0.0,
694
+ 0.0,
695
+ 1.0
696
+ ]
697
+ ]
698
+ ],
699
+ [
700
+ "003_cracker_box.object_config.json",
701
+ [
702
+ [
703
+ 0.46788,
704
+ 0.02878,
705
+ 0.88333,
706
+ 3.81447
707
+ ],
708
+ [
709
+ -0.04722,
710
+ 0.99886,
711
+ -0.00753,
712
+ 1.04091
713
+ ],
714
+ [
715
+ -0.88253,
716
+ -0.03818,
717
+ 0.4687,
718
+ 2.44378
719
+ ],
720
+ [
721
+ 0.0,
722
+ 0.0,
723
+ 0.0,
724
+ 1.0
725
+ ]
726
+ ]
727
+ ],
728
+ [
729
+ "005_tomato_soup_can.object_config.json",
730
+ [
731
+ [
732
+ 0.53902,
733
+ -7e-05,
734
+ 0.84229,
735
+ -1.91037
736
+ ],
737
+ [
738
+ 0.00015,
739
+ 1.0,
740
+ -2e-05,
741
+ 0.91084
742
+ ],
743
+ [
744
+ -0.84229,
745
+ 0.00013,
746
+ 0.53902,
747
+ 2.14773
748
+ ],
749
+ [
750
+ 0.0,
751
+ 0.0,
752
+ 0.0,
753
+ 1.0
754
+ ]
755
+ ]
756
+ ],
757
+ [
758
+ "003_cracker_box.object_config.json",
759
+ [
760
+ [
761
+ 0.94868,
762
+ 0.04938,
763
+ -0.31236,
764
+ -2.32527
765
+ ],
766
+ [
767
+ -0.05288,
768
+ 0.9986,
769
+ -0.00274,
770
+ 1.35856
771
+ ],
772
+ [
773
+ 0.31179,
774
+ 0.01911,
775
+ 0.94996,
776
+ -0.81525
777
+ ],
778
+ [
779
+ 0.0,
780
+ 0.0,
781
+ 0.0,
782
+ 1.0
783
+ ]
784
+ ]
785
+ ],
786
+ [
787
+ "005_tomato_soup_can.object_config.json",
788
+ [
789
+ [
790
+ -0.97063,
791
+ -0.00097,
792
+ -0.24059,
793
+ -2.17023
794
+ ],
795
+ [
796
+ 0.0004,
797
+ 0.99998,
798
+ -0.00565,
799
+ 1.30285
800
+ ],
801
+ [
802
+ 0.24059,
803
+ -0.00558,
804
+ -0.97061,
805
+ -0.90538
806
+ ],
807
+ [
808
+ 0.0,
809
+ 0.0,
810
+ 0.0,
811
+ 1.0
812
+ ]
813
+ ]
814
+ ],
815
+ [
816
+ "005_tomato_soup_can.object_config.json",
817
+ [
818
+ [
819
+ 0.74633,
820
+ -0.00013,
821
+ -0.66557,
822
+ -2.17847
823
+ ],
824
+ [
825
+ 0.00403,
826
+ 0.99998,
827
+ 0.00432,
828
+ 1.30155
829
+ ],
830
+ [
831
+ 0.66556,
832
+ -0.00591,
833
+ 0.74632,
834
+ -1.13007
835
+ ],
836
+ [
837
+ 0.0,
838
+ 0.0,
839
+ 0.0,
840
+ 1.0
841
+ ]
842
+ ]
843
+ ],
844
+ [
845
+ "007_tuna_fish_can.object_config.json",
846
+ [
847
+ [
848
+ 0.58113,
849
+ -0.00052,
850
+ 0.81381,
851
+ -2.04979
852
+ ],
853
+ [
854
+ -0.00516,
855
+ 0.99998,
856
+ 0.00433,
857
+ 1.26718
858
+ ],
859
+ [
860
+ -0.81379,
861
+ -0.00671,
862
+ 0.58111,
863
+ -1.13823
864
+ ],
865
+ [
866
+ 0.0,
867
+ 0.0,
868
+ 0.0,
869
+ 1.0
870
+ ]
871
+ ]
872
+ ],
873
+ [
874
+ "010_potted_meat_can.object_config.json",
875
+ [
876
+ [
877
+ 0.76691,
878
+ 0.0,
879
+ -0.64175,
880
+ -2.17984
881
+ ],
882
+ [
883
+ -6e-05,
884
+ 1.0,
885
+ -7e-05,
886
+ 0.90168
887
+ ],
888
+ [
889
+ 0.64175,
890
+ 9e-05,
891
+ 0.76691,
892
+ 0.01436
893
+ ],
894
+ [
895
+ 0.0,
896
+ 0.0,
897
+ 0.0,
898
+ 1.0
899
+ ]
900
+ ]
901
+ ]
902
+ ],
903
+ "targets": {
904
+ "005_tomato_soup_can_:0007": [
905
+ [
906
+ -0.86262,
907
+ 0.0,
908
+ 0.50585,
909
+ -2.26964
910
+ ],
911
+ [
912
+ 0.0,
913
+ 1.0,
914
+ 0.0,
915
+ 0.91003
916
+ ],
917
+ [
918
+ -0.50585,
919
+ 0.0,
920
+ -0.86262,
921
+ 1.51844
922
+ ],
923
+ [
924
+ 0.0,
925
+ 0.0,
926
+ 0.0,
927
+ 1.0
928
+ ]
929
+ ],
930
+ "007_tuna_fish_can_:0001": [
931
+ [
932
+ -0.98149,
933
+ 0.0,
934
+ -0.19152,
935
+ -1.95209
936
+ ],
937
+ [
938
+ 0.0,
939
+ 1.0,
940
+ 0.0,
941
+ 0.87587
942
+ ],
943
+ [
944
+ 0.19152,
945
+ 0.0,
946
+ -0.98149,
947
+ 0.86438
948
+ ],
949
+ [
950
+ 0.0,
951
+ 0.0,
952
+ 0.0,
953
+ 1.0
954
+ ]
955
+ ],
956
+ "010_potted_meat_can_:0001": [
957
+ [
958
+ -0.30548,
959
+ 0.0,
960
+ -0.9522,
961
+ -2.28519
962
+ ],
963
+ [
964
+ 0.0,
965
+ 1.0,
966
+ 0.0,
967
+ 1.29186
968
+ ],
969
+ [
970
+ 0.9522,
971
+ 0.0,
972
+ -0.30548,
973
+ -1.08304
974
+ ],
975
+ [
976
+ 0.0,
977
+ 0.0,
978
+ 0.0,
979
+ 1.0
980
+ ]
981
+ ]
982
+ },
983
+ "markers": [
984
+ {
985
+ "name": "cab_push_point_7",
986
+ "type": "articulated_object",
987
+ "params": {
988
+ "offset": [
989
+ 0.3,
990
+ 0.0,
991
+ 0
992
+ ],
993
+ "link": "drawer1_top",
994
+ "object": "kitchen_counter_:0000"
995
+ }
996
+ },
997
+ {
998
+ "name": "cab_push_point_6",
999
+ "type": "articulated_object",
1000
+ "params": {
1001
+ "offset": [
1002
+ 0.3,
1003
+ 0.0,
1004
+ 0
1005
+ ],
1006
+ "link": "drawer2_top",
1007
+ "object": "kitchen_counter_:0000"
1008
+ }
1009
+ },
1010
+ {
1011
+ "name": "cab_push_point_5",
1012
+ "type": "articulated_object",
1013
+ "params": {
1014
+ "offset": [
1015
+ 0.3,
1016
+ 0.0,
1017
+ 0
1018
+ ],
1019
+ "link": "drawer3",
1020
+ "object": "kitchen_counter_:0000"
1021
+ }
1022
+ },
1023
+ {
1024
+ "name": "cab_push_point_4",
1025
+ "type": "articulated_object",
1026
+ "params": {
1027
+ "offset": [
1028
+ 0.3,
1029
+ 0.0,
1030
+ 0
1031
+ ],
1032
+ "link": "drawer4",
1033
+ "object": "kitchen_counter_:0000"
1034
+ }
1035
+ },
1036
+ {
1037
+ "name": "fridge_push_point",
1038
+ "type": "articulated_object",
1039
+ "params": {
1040
+ "offset": [
1041
+ 0.1,
1042
+ -0.62,
1043
+ 0.2
1044
+ ],
1045
+ "link": "top_door",
1046
+ "object": "fridge_:0000"
1047
+ }
1048
+ }
1049
+ ],
1050
+ "target_receptacles": [
1051
+ [
1052
+ "fridge_:0000",
1053
+ 0
1054
+ ],
1055
+ [
1056
+ "fridge_:0000",
1057
+ 0
1058
+ ],
1059
+ [
1060
+ "kitchen_counter_:0000",
1061
+ 0
1062
+ ]
1063
+ ],
1064
+ "goal_receptacles": [
1065
+ [
1066
+ "kitchen_counter_:0000",
1067
+ 0
1068
+ ],
1069
+ [
1070
+ "kitchen_counter_:0000",
1071
+ 0
1072
+ ],
1073
+ [
1074
+ "fridge_:0000",
1075
+ 0
1076
+ ]
1077
+ ]
1078
+ }
rearrange/v1_extracted/train/prepare_groceries/episode_1000.json ADDED
@@ -0,0 +1,1078 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_id": "1000",
3
+ "scene_id": "data/replica_cad/configs/scenes/v3_sc2_staging_00.scene_instance.json",
4
+ "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
5
+ "additional_obj_config_paths": [
6
+ "data/objects/ycb/"
7
+ ],
8
+ "start_position": [
9
+ 0,
10
+ 0,
11
+ 0
12
+ ],
13
+ "start_rotation": [
14
+ 0,
15
+ 0,
16
+ 0,
17
+ 1
18
+ ],
19
+ "info": {
20
+ "object_labels": {
21
+ "002_master_chef_can_:0000": "obj0_target|0",
22
+ "024_bowl_:0002": "obj1_target|1",
23
+ "005_tomato_soup_can_:0006": "obj2_target|2"
24
+ }
25
+ },
26
+ "ao_states": {
27
+ "fridge_:0000": {
28
+ "2": 1.5
29
+ }
30
+ },
31
+ "rigid_objs": [
32
+ [
33
+ "005_tomato_soup_can.object_config.json",
34
+ [
35
+ [
36
+ 0.94949,
37
+ -9e-05,
38
+ -0.31381,
39
+ -2.22266
40
+ ],
41
+ [
42
+ 9e-05,
43
+ 1.0,
44
+ 1e-05,
45
+ 0.75829
46
+ ],
47
+ [
48
+ 0.31381,
49
+ -4e-05,
50
+ 0.94949,
51
+ 1.81919
52
+ ],
53
+ [
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 1.0
58
+ ]
59
+ ]
60
+ ],
61
+ [
62
+ "004_sugar_box.object_config.json",
63
+ [
64
+ [
65
+ -0.63867,
66
+ 0.00727,
67
+ 0.76945,
68
+ -0.13535
69
+ ],
70
+ [
71
+ 0.03962,
72
+ 0.99894,
73
+ 0.02344,
74
+ 0.71481
75
+ ],
76
+ [
77
+ -0.76846,
78
+ 0.04545,
79
+ -0.63828,
80
+ -0.13567
81
+ ],
82
+ [
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ 1.0
87
+ ]
88
+ ]
89
+ ],
90
+ [
91
+ "010_potted_meat_can.object_config.json",
92
+ [
93
+ [
94
+ 0.9604,
95
+ 0.00256,
96
+ 0.27862,
97
+ 2.61908
98
+ ],
99
+ [
100
+ -0.00166,
101
+ 0.99999,
102
+ -0.00344,
103
+ 0.80471
104
+ ],
105
+ [
106
+ -0.27863,
107
+ 0.00284,
108
+ 0.96039,
109
+ 7.80123
110
+ ],
111
+ [
112
+ 0.0,
113
+ 0.0,
114
+ 0.0,
115
+ 1.0
116
+ ]
117
+ ]
118
+ ],
119
+ [
120
+ "008_pudding_box.object_config.json",
121
+ [
122
+ [
123
+ -0.99934,
124
+ -0.00674,
125
+ 0.03565,
126
+ -2.19579
127
+ ],
128
+ [
129
+ -0.00591,
130
+ 0.99971,
131
+ 0.02349,
132
+ 0.72673
133
+ ],
134
+ [
135
+ -0.0358,
136
+ 0.02327,
137
+ -0.99909,
138
+ 1.97302
139
+ ],
140
+ [
141
+ 0.0,
142
+ 0.0,
143
+ 0.0,
144
+ 1.0
145
+ ]
146
+ ]
147
+ ],
148
+ [
149
+ "004_sugar_box.object_config.json",
150
+ [
151
+ [
152
+ -0.33011,
153
+ 0.03434,
154
+ -0.94332,
155
+ 3.48943
156
+ ],
157
+ [
158
+ 0.03913,
159
+ 0.99898,
160
+ 0.02268,
161
+ 0.50305
162
+ ],
163
+ [
164
+ 0.94313,
165
+ -0.02943,
166
+ -0.33112,
167
+ 7.57924
168
+ ],
169
+ [
170
+ 0.0,
171
+ 0.0,
172
+ 0.0,
173
+ 1.0
174
+ ]
175
+ ]
176
+ ],
177
+ [
178
+ "003_cracker_box.object_config.json",
179
+ [
180
+ [
181
+ -0.02873,
182
+ -0.00838,
183
+ -0.99955,
184
+ -2.22917
185
+ ],
186
+ [
187
+ -0.03824,
188
+ 0.99924,
189
+ -0.00727,
190
+ 1.35772
191
+ ],
192
+ [
193
+ 0.99886,
194
+ 0.03801,
195
+ -0.02903,
196
+ -0.20968
197
+ ],
198
+ [
199
+ 0.0,
200
+ 0.0,
201
+ 0.0,
202
+ 1.0
203
+ ]
204
+ ]
205
+ ],
206
+ [
207
+ "003_cracker_box.object_config.json",
208
+ [
209
+ [
210
+ 0.13026,
211
+ -0.00134,
212
+ -0.99148,
213
+ -2.3803
214
+ ],
215
+ [
216
+ -0.0399,
217
+ 0.99918,
218
+ -0.00659,
219
+ 0.20698
220
+ ],
221
+ [
222
+ 0.99068,
223
+ 0.04042,
224
+ 0.1301,
225
+ -0.27135
226
+ ],
227
+ [
228
+ 0.0,
229
+ 0.0,
230
+ 0.0,
231
+ 1.0
232
+ ]
233
+ ]
234
+ ],
235
+ [
236
+ "007_tuna_fish_can.object_config.json",
237
+ [
238
+ [
239
+ 0.98991,
240
+ 1e-05,
241
+ 0.14173,
242
+ 1.65037
243
+ ],
244
+ [
245
+ -4e-05,
246
+ 1.0,
247
+ 0.00021,
248
+ 0.42105
249
+ ],
250
+ [
251
+ -0.14173,
252
+ -0.00021,
253
+ 0.98991,
254
+ 4.51036
255
+ ],
256
+ [
257
+ 0.0,
258
+ 0.0,
259
+ 0.0,
260
+ 1.0
261
+ ]
262
+ ]
263
+ ],
264
+ [
265
+ "005_tomato_soup_can.object_config.json",
266
+ [
267
+ [
268
+ -0.46736,
269
+ -6e-05,
270
+ 0.88407,
271
+ -2.05403
272
+ ],
273
+ [
274
+ 1e-05,
275
+ 1.0,
276
+ 8e-05,
277
+ 0.91084
278
+ ],
279
+ [
280
+ -0.88407,
281
+ 5e-05,
282
+ -0.46736,
283
+ 2.71657
284
+ ],
285
+ [
286
+ 0.0,
287
+ 0.0,
288
+ 0.0,
289
+ 1.0
290
+ ]
291
+ ]
292
+ ],
293
+ [
294
+ "003_cracker_box.object_config.json",
295
+ [
296
+ [
297
+ 0.94962,
298
+ 0.04485,
299
+ 0.31017,
300
+ 1.0817
301
+ ],
302
+ [
303
+ -0.0452,
304
+ 0.99896,
305
+ -0.00607,
306
+ 0.73331
307
+ ],
308
+ [
309
+ -0.31012,
310
+ -0.00825,
311
+ 0.95066,
312
+ -0.12543
313
+ ],
314
+ [
315
+ 0.0,
316
+ 0.0,
317
+ 0.0,
318
+ 1.0
319
+ ]
320
+ ]
321
+ ],
322
+ [
323
+ "004_sugar_box.object_config.json",
324
+ [
325
+ [
326
+ 0.9761,
327
+ -0.04563,
328
+ -0.21248,
329
+ 2.4953
330
+ ],
331
+ [
332
+ 0.04787,
333
+ 0.99884,
334
+ 0.00544,
335
+ 0.85086
336
+ ],
337
+ [
338
+ 0.21199,
339
+ -0.01548,
340
+ 0.97715,
341
+ 7.59576
342
+ ],
343
+ [
344
+ 0.0,
345
+ 0.0,
346
+ 0.0,
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ [
352
+ "010_potted_meat_can.object_config.json",
353
+ [
354
+ [
355
+ 0.73044,
356
+ -0.00442,
357
+ 0.68296,
358
+ -1.79933
359
+ ],
360
+ [
361
+ 0.00143,
362
+ 0.99999,
363
+ 0.00495,
364
+ 0.97623
365
+ ],
366
+ [
367
+ -0.68297,
368
+ -0.00264,
369
+ 0.73044,
370
+ 3.95059
371
+ ],
372
+ [
373
+ 0.0,
374
+ 0.0,
375
+ 0.0,
376
+ 1.0
377
+ ]
378
+ ]
379
+ ],
380
+ [
381
+ "007_tuna_fish_can.object_config.json",
382
+ [
383
+ [
384
+ -0.37529,
385
+ 1e-05,
386
+ 0.92691,
387
+ 2.15385
388
+ ],
389
+ [
390
+ -1e-05,
391
+ 1.0,
392
+ -1e-05,
393
+ 0.42105
394
+ ],
395
+ [
396
+ -0.92691,
397
+ -1e-05,
398
+ -0.37529,
399
+ 4.48542
400
+ ],
401
+ [
402
+ 0.0,
403
+ 0.0,
404
+ 0.0,
405
+ 1.0
406
+ ]
407
+ ]
408
+ ],
409
+ [
410
+ "005_tomato_soup_can.object_config.json",
411
+ [
412
+ [
413
+ 0.60272,
414
+ 0.00639,
415
+ -0.79793,
416
+ 3.84223
417
+ ],
418
+ [
419
+ -0.00941,
420
+ 0.99996,
421
+ 0.0009,
422
+ 0.46604
423
+ ],
424
+ [
425
+ 0.7979,
426
+ 0.00696,
427
+ 0.60275,
428
+ 5.38407
429
+ ],
430
+ [
431
+ 0.0,
432
+ 0.0,
433
+ 0.0,
434
+ 1.0
435
+ ]
436
+ ]
437
+ ],
438
+ [
439
+ "010_potted_meat_can.object_config.json",
440
+ [
441
+ [
442
+ 0.9896,
443
+ 1e-05,
444
+ -0.14386,
445
+ -2.07832
446
+ ],
447
+ [
448
+ -3e-05,
449
+ 1.0,
450
+ -0.00014,
451
+ 0.74914
452
+ ],
453
+ [
454
+ 0.14386,
455
+ 0.00014,
456
+ 0.9896,
457
+ 1.88407
458
+ ],
459
+ [
460
+ 0.0,
461
+ 0.0,
462
+ 0.0,
463
+ 1.0
464
+ ]
465
+ ]
466
+ ],
467
+ [
468
+ "007_tuna_fish_can.object_config.json",
469
+ [
470
+ [
471
+ 0.44304,
472
+ 0.0,
473
+ 0.8965,
474
+ -2.25523
475
+ ],
476
+ [
477
+ -1e-05,
478
+ 1.0,
479
+ 0.0,
480
+ 0.87655
481
+ ],
482
+ [
483
+ -0.8965,
484
+ -1e-05,
485
+ 0.44304,
486
+ 0.81366
487
+ ],
488
+ [
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 1.0
493
+ ]
494
+ ]
495
+ ],
496
+ [
497
+ "003_cracker_box.object_config.json",
498
+ [
499
+ [
500
+ 0.98718,
501
+ 0.04399,
502
+ -0.15345,
503
+ 0.9507
504
+ ],
505
+ [
506
+ -0.04562,
507
+ 0.99893,
508
+ -0.00711,
509
+ 0.51089
510
+ ],
511
+ [
512
+ 0.15298,
513
+ 0.01402,
514
+ 0.98813,
515
+ 4.77367
516
+ ],
517
+ [
518
+ 0.0,
519
+ 0.0,
520
+ 0.0,
521
+ 1.0
522
+ ]
523
+ ]
524
+ ],
525
+ [
526
+ "003_cracker_box.object_config.json",
527
+ [
528
+ [
529
+ -0.93527,
530
+ -0.04016,
531
+ 0.35165,
532
+ -1.97804
533
+ ],
534
+ [
535
+ -0.04565,
536
+ 0.99893,
537
+ -0.00734,
538
+ 0.96627
539
+ ],
540
+ [
541
+ -0.35098,
542
+ -0.02292,
543
+ -0.9361,
544
+ 2.41784
545
+ ],
546
+ [
547
+ 0.0,
548
+ 0.0,
549
+ 0.0,
550
+ 1.0
551
+ ]
552
+ ]
553
+ ],
554
+ [
555
+ "005_tomato_soup_can.object_config.json",
556
+ [
557
+ [
558
+ 0.65803,
559
+ 4e-05,
560
+ 0.75299,
561
+ 3.51131
562
+ ],
563
+ [
564
+ -2e-05,
565
+ 1.0,
566
+ -4e-05,
567
+ 0.46605
568
+ ],
569
+ [
570
+ -0.75299,
571
+ 1e-05,
572
+ 0.65803,
573
+ 7.45829
574
+ ],
575
+ [
576
+ 0.0,
577
+ 0.0,
578
+ 0.0,
579
+ 1.0
580
+ ]
581
+ ]
582
+ ],
583
+ [
584
+ "003_cracker_box.object_config.json",
585
+ [
586
+ [
587
+ 0.98652,
588
+ 0.04971,
589
+ -0.15589,
590
+ 2.00689
591
+ ],
592
+ [
593
+ -0.05145,
594
+ 0.99865,
595
+ -0.00713,
596
+ 0.86938
597
+ ],
598
+ [
599
+ 0.15533,
600
+ 0.01505,
601
+ 0.98775,
602
+ 7.58577
603
+ ],
604
+ [
605
+ 0.0,
606
+ 0.0,
607
+ 0.0,
608
+ 1.0
609
+ ]
610
+ ]
611
+ ],
612
+ [
613
+ "024_bowl.object_config.json",
614
+ [
615
+ [
616
+ 0.99904,
617
+ 0.00094,
618
+ -0.04378,
619
+ 0.46375
620
+ ],
621
+ [
622
+ -0.00091,
623
+ 1.0,
624
+ 0.00087,
625
+ 0.65413
626
+ ],
627
+ [
628
+ 0.04378,
629
+ -0.00083,
630
+ 0.99904,
631
+ -0.30507
632
+ ],
633
+ [
634
+ 0.0,
635
+ 0.0,
636
+ 0.0,
637
+ 1.0
638
+ ]
639
+ ]
640
+ ],
641
+ [
642
+ "005_tomato_soup_can.object_config.json",
643
+ [
644
+ [
645
+ -0.21708,
646
+ -0.0006,
647
+ 0.97615,
648
+ -2.3042
649
+ ],
650
+ [
651
+ -0.00553,
652
+ 0.99998,
653
+ -0.00062,
654
+ 1.30262
655
+ ],
656
+ [
657
+ -0.97614,
658
+ -0.00553,
659
+ -0.21708,
660
+ -0.14628
661
+ ],
662
+ [
663
+ 0.0,
664
+ 0.0,
665
+ 0.0,
666
+ 1.0
667
+ ]
668
+ ]
669
+ ],
670
+ [
671
+ "003_cracker_box.object_config.json",
672
+ [
673
+ [
674
+ -0.71019,
675
+ -0.09054,
676
+ 0.69816,
677
+ -2.16406
678
+ ],
679
+ [
680
+ -0.12141,
681
+ 0.99259,
682
+ 0.00523,
683
+ 1.35643
684
+ ],
685
+ [
686
+ -0.69346,
687
+ -0.08105,
688
+ -0.71592,
689
+ -0.48067
690
+ ],
691
+ [
692
+ 0.0,
693
+ 0.0,
694
+ 0.0,
695
+ 1.0
696
+ ]
697
+ ]
698
+ ],
699
+ [
700
+ "007_tuna_fish_can.object_config.json",
701
+ [
702
+ [
703
+ 0.03659,
704
+ 0.0022,
705
+ 0.99933,
706
+ 1.83036
707
+ ],
708
+ [
709
+ 0.00263,
710
+ 0.99999,
711
+ -0.0023,
712
+ 0.77963
713
+ ],
714
+ [
715
+ -0.99933,
716
+ 0.00271,
717
+ 0.03658,
718
+ 7.94093
719
+ ],
720
+ [
721
+ 0.0,
722
+ 0.0,
723
+ 0.0,
724
+ 1.0
725
+ ]
726
+ ]
727
+ ],
728
+ [
729
+ "005_tomato_soup_can.object_config.json",
730
+ [
731
+ [
732
+ -0.17405,
733
+ 0.00058,
734
+ 0.98474,
735
+ 3.7543
736
+ ],
737
+ [
738
+ 0.00148,
739
+ 1.0,
740
+ -0.00033,
741
+ 0.46594
742
+ ],
743
+ [
744
+ -0.98474,
745
+ 0.0014,
746
+ -0.17405,
747
+ 5.4455
748
+ ],
749
+ [
750
+ 0.0,
751
+ 0.0,
752
+ 0.0,
753
+ 1.0
754
+ ]
755
+ ]
756
+ ],
757
+ [
758
+ "010_potted_meat_can.object_config.json",
759
+ [
760
+ [
761
+ -0.9746,
762
+ 0.00107,
763
+ -0.22396,
764
+ -2.09223
765
+ ],
766
+ [
767
+ 0.00234,
768
+ 0.99998,
769
+ -0.00537,
770
+ 1.29254
771
+ ],
772
+ [
773
+ 0.22395,
774
+ -0.00576,
775
+ -0.97458,
776
+ -0.29492
777
+ ],
778
+ [
779
+ 0.0,
780
+ 0.0,
781
+ 0.0,
782
+ 1.0
783
+ ]
784
+ ]
785
+ ],
786
+ [
787
+ "024_bowl.object_config.json",
788
+ [
789
+ [
790
+ 0.18346,
791
+ 1e-05,
792
+ -0.98303,
793
+ -1.55498
794
+ ],
795
+ [
796
+ -2e-05,
797
+ 1.0,
798
+ 1e-05,
799
+ 0.96166
800
+ ],
801
+ [
802
+ 0.98303,
803
+ 1e-05,
804
+ 0.18346,
805
+ 3.62827
806
+ ],
807
+ [
808
+ 0.0,
809
+ 0.0,
810
+ 0.0,
811
+ 1.0
812
+ ]
813
+ ]
814
+ ],
815
+ [
816
+ "002_master_chef_can.object_config.json",
817
+ [
818
+ [
819
+ 0.76994,
820
+ 5e-05,
821
+ -0.63812,
822
+ -2.24062
823
+ ],
824
+ [
825
+ 0.00368,
826
+ 0.99998,
827
+ 0.00453,
828
+ 1.32106
829
+ ],
830
+ [
831
+ 0.63811,
832
+ -0.00583,
833
+ 0.76992,
834
+ -0.32265
835
+ ],
836
+ [
837
+ 0.0,
838
+ 0.0,
839
+ 0.0,
840
+ 1.0
841
+ ]
842
+ ]
843
+ ],
844
+ [
845
+ "024_bowl.object_config.json",
846
+ [
847
+ [
848
+ 0.18972,
849
+ 0.0001,
850
+ 0.98184,
851
+ -2.04415
852
+ ],
853
+ [
854
+ -0.00502,
855
+ 0.99999,
856
+ 0.00087,
857
+ 1.27893
858
+ ],
859
+ [
860
+ -0.98183,
861
+ -0.00509,
862
+ 0.18972,
863
+ -0.15802
864
+ ],
865
+ [
866
+ 0.0,
867
+ 0.0,
868
+ 0.0,
869
+ 1.0
870
+ ]
871
+ ]
872
+ ],
873
+ [
874
+ "005_tomato_soup_can.object_config.json",
875
+ [
876
+ [
877
+ -0.37776,
878
+ 6e-05,
879
+ -0.9259,
880
+ -2.00897
881
+ ],
882
+ [
883
+ 0.0001,
884
+ 1.0,
885
+ 2e-05,
886
+ 0.91083
887
+ ],
888
+ [
889
+ 0.9259,
890
+ -8e-05,
891
+ -0.37776,
892
+ 2.81415
893
+ ],
894
+ [
895
+ 0.0,
896
+ 0.0,
897
+ 0.0,
898
+ 1.0
899
+ ]
900
+ ]
901
+ ]
902
+ ],
903
+ "targets": {
904
+ "002_master_chef_can_:0000": [
905
+ [
906
+ 0.99607,
907
+ 0.0,
908
+ 0.0886,
909
+ -1.99775
910
+ ],
911
+ [
912
+ 0.0,
913
+ 1.0,
914
+ 0.0,
915
+ 0.92919
916
+ ],
917
+ [
918
+ -0.0886,
919
+ 0.0,
920
+ 0.99607,
921
+ 1.45625
922
+ ],
923
+ [
924
+ 0.0,
925
+ 0.0,
926
+ 0.0,
927
+ 1.0
928
+ ]
929
+ ],
930
+ "024_bowl_:0002": [
931
+ [
932
+ 0.67142,
933
+ 0.0,
934
+ 0.74107,
935
+ -2.42255
936
+ ],
937
+ [
938
+ 0.0,
939
+ 1.0,
940
+ 0.0,
941
+ 0.8866
942
+ ],
943
+ [
944
+ -0.74107,
945
+ 0.0,
946
+ 0.67142,
947
+ 0.78717
948
+ ],
949
+ [
950
+ 0.0,
951
+ 0.0,
952
+ 0.0,
953
+ 1.0
954
+ ]
955
+ ],
956
+ "005_tomato_soup_can_:0006": [
957
+ [
958
+ -0.05495,
959
+ 0.0,
960
+ -0.99849,
961
+ -2.08153
962
+ ],
963
+ [
964
+ 0.0,
965
+ 1.0,
966
+ 0.0,
967
+ 1.30053
968
+ ],
969
+ [
970
+ 0.99849,
971
+ 0.0,
972
+ -0.05495,
973
+ -0.36581
974
+ ],
975
+ [
976
+ 0.0,
977
+ 0.0,
978
+ 0.0,
979
+ 1.0
980
+ ]
981
+ ]
982
+ },
983
+ "markers": [
984
+ {
985
+ "name": "cab_push_point_7",
986
+ "type": "articulated_object",
987
+ "params": {
988
+ "offset": [
989
+ 0.3,
990
+ 0.0,
991
+ 0
992
+ ],
993
+ "link": "drawer1_top",
994
+ "object": "kitchen_counter_:0000"
995
+ }
996
+ },
997
+ {
998
+ "name": "cab_push_point_6",
999
+ "type": "articulated_object",
1000
+ "params": {
1001
+ "offset": [
1002
+ 0.3,
1003
+ 0.0,
1004
+ 0
1005
+ ],
1006
+ "link": "drawer2_top",
1007
+ "object": "kitchen_counter_:0000"
1008
+ }
1009
+ },
1010
+ {
1011
+ "name": "cab_push_point_5",
1012
+ "type": "articulated_object",
1013
+ "params": {
1014
+ "offset": [
1015
+ 0.3,
1016
+ 0.0,
1017
+ 0
1018
+ ],
1019
+ "link": "drawer3",
1020
+ "object": "kitchen_counter_:0000"
1021
+ }
1022
+ },
1023
+ {
1024
+ "name": "cab_push_point_4",
1025
+ "type": "articulated_object",
1026
+ "params": {
1027
+ "offset": [
1028
+ 0.3,
1029
+ 0.0,
1030
+ 0
1031
+ ],
1032
+ "link": "drawer4",
1033
+ "object": "kitchen_counter_:0000"
1034
+ }
1035
+ },
1036
+ {
1037
+ "name": "fridge_push_point",
1038
+ "type": "articulated_object",
1039
+ "params": {
1040
+ "offset": [
1041
+ 0.1,
1042
+ -0.62,
1043
+ 0.2
1044
+ ],
1045
+ "link": "top_door",
1046
+ "object": "fridge_:0000"
1047
+ }
1048
+ }
1049
+ ],
1050
+ "target_receptacles": [
1051
+ [
1052
+ "fridge_:0000",
1053
+ 0
1054
+ ],
1055
+ [
1056
+ "fridge_:0000",
1057
+ 0
1058
+ ],
1059
+ [
1060
+ "kitchen_counter_:0000",
1061
+ 0
1062
+ ]
1063
+ ],
1064
+ "goal_receptacles": [
1065
+ [
1066
+ "kitchen_counter_:0000",
1067
+ 0
1068
+ ],
1069
+ [
1070
+ "kitchen_counter_:0000",
1071
+ 0
1072
+ ],
1073
+ [
1074
+ "fridge_:0000",
1075
+ 0
1076
+ ]
1077
+ ]
1078
+ }
rearrange/v1_extracted/train/prepare_groceries/episode_1001.json ADDED
@@ -0,0 +1,1078 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_id": "1001",
3
+ "scene_id": "data/replica_cad/configs/scenes/v3_sc0_staging_07.scene_instance.json",
4
+ "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
5
+ "additional_obj_config_paths": [
6
+ "data/objects/ycb/"
7
+ ],
8
+ "start_position": [
9
+ 0,
10
+ 0,
11
+ 0
12
+ ],
13
+ "start_rotation": [
14
+ 0,
15
+ 0,
16
+ 0,
17
+ 1
18
+ ],
19
+ "info": {
20
+ "object_labels": {
21
+ "007_tuna_fish_can_:0004": "obj0_target|0",
22
+ "005_tomato_soup_can_:0003": "obj1_target|1",
23
+ "005_tomato_soup_can_:0004": "obj2_target|2"
24
+ }
25
+ },
26
+ "ao_states": {
27
+ "fridge_:0000": {
28
+ "2": 1.5
29
+ }
30
+ },
31
+ "rigid_objs": [
32
+ [
33
+ "005_tomato_soup_can.object_config.json",
34
+ [
35
+ [
36
+ 0.05161,
37
+ -0.00052,
38
+ 0.99867,
39
+ -0.07616
40
+ ],
41
+ [
42
+ -0.00846,
43
+ 0.99996,
44
+ 0.00096,
45
+ 0.45545
46
+ ],
47
+ [
48
+ -0.99863,
49
+ -0.0085,
50
+ 0.0516,
51
+ 3.12092
52
+ ],
53
+ [
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 1.0
58
+ ]
59
+ ]
60
+ ],
61
+ [
62
+ "002_master_chef_can.object_config.json",
63
+ [
64
+ [
65
+ 0.98092,
66
+ 1e-05,
67
+ -0.19443,
68
+ 0.35799
69
+ ],
70
+ [
71
+ -1e-05,
72
+ 1.0,
73
+ -1e-05,
74
+ 0.4748
75
+ ],
76
+ [
77
+ 0.19443,
78
+ 1e-05,
79
+ 0.98092,
80
+ 3.10323
81
+ ],
82
+ [
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ 1.0
87
+ ]
88
+ ]
89
+ ],
90
+ [
91
+ "010_potted_meat_can.object_config.json",
92
+ [
93
+ [
94
+ -0.72949,
95
+ 0.0002,
96
+ -0.68399,
97
+ 0.11218
98
+ ],
99
+ [
100
+ 3e-05,
101
+ 1.0,
102
+ 0.00025,
103
+ 0.4569
104
+ ],
105
+ [
106
+ 0.68399,
107
+ 0.00016,
108
+ -0.72949,
109
+ 0.38413
110
+ ],
111
+ [
112
+ 0.0,
113
+ 0.0,
114
+ 0.0,
115
+ 1.0
116
+ ]
117
+ ]
118
+ ],
119
+ [
120
+ "003_cracker_box.object_config.json",
121
+ [
122
+ [
123
+ 0.01659,
124
+ 0.00966,
125
+ 0.99982,
126
+ -0.08822
127
+ ],
128
+ [
129
+ -0.04423,
130
+ 0.99898,
131
+ -0.00892,
132
+ 0.52164
133
+ ],
134
+ [
135
+ -0.99888,
136
+ -0.04407,
137
+ 0.017,
138
+ 0.58134
139
+ ],
140
+ [
141
+ 0.0,
142
+ 0.0,
143
+ 0.0,
144
+ 1.0
145
+ ]
146
+ ]
147
+ ],
148
+ [
149
+ "004_sugar_box.object_config.json",
150
+ [
151
+ [
152
+ -0.97854,
153
+ 0.02868,
154
+ 0.20407,
155
+ 3.5198
156
+ ],
157
+ [
158
+ 0.03428,
159
+ 0.99912,
160
+ 0.02398,
161
+ 0.71476
162
+ ],
163
+ [
164
+ -0.20321,
165
+ 0.03047,
166
+ -0.97866,
167
+ -0.76446
168
+ ],
169
+ [
170
+ 0.0,
171
+ 0.0,
172
+ 0.0,
173
+ 1.0
174
+ ]
175
+ ]
176
+ ],
177
+ [
178
+ "009_gelatin_box.object_config.json",
179
+ [
180
+ [
181
+ -0.77527,
182
+ -0.0,
183
+ 0.63163,
184
+ 0.04804
185
+ ],
186
+ [
187
+ -0.0,
188
+ 1.0,
189
+ 0.0,
190
+ 0.41926
191
+ ],
192
+ [
193
+ -0.63163,
194
+ -0.0,
195
+ -0.77527,
196
+ 3.23456
197
+ ],
198
+ [
199
+ 0.0,
200
+ 0.0,
201
+ 0.0,
202
+ 1.0
203
+ ]
204
+ ]
205
+ ],
206
+ [
207
+ "010_potted_meat_can.object_config.json",
208
+ [
209
+ [
210
+ -0.98003,
211
+ 9e-05,
212
+ -0.19887,
213
+ -0.53835
214
+ ],
215
+ [
216
+ 6e-05,
217
+ 1.0,
218
+ 0.00018,
219
+ 0.44618
220
+ ],
221
+ [
222
+ 0.19887,
223
+ 0.00017,
224
+ -0.98003,
225
+ 3.5994
226
+ ],
227
+ [
228
+ 0.0,
229
+ 0.0,
230
+ 0.0,
231
+ 1.0
232
+ ]
233
+ ]
234
+ ],
235
+ [
236
+ "009_gelatin_box.object_config.json",
237
+ [
238
+ [
239
+ 0.21031,
240
+ 6e-05,
241
+ 0.97763,
242
+ 0.04825
243
+ ],
244
+ [
245
+ -0.00216,
246
+ 1.0,
247
+ 0.0004,
248
+ 0.42999
249
+ ],
250
+ [
251
+ -0.97763,
252
+ -0.0022,
253
+ 0.21031,
254
+ 0.29158
255
+ ],
256
+ [
257
+ 0.0,
258
+ 0.0,
259
+ 0.0,
260
+ 1.0
261
+ ]
262
+ ]
263
+ ],
264
+ [
265
+ "005_tomato_soup_can.object_config.json",
266
+ [
267
+ [
268
+ 0.43128,
269
+ -0.00098,
270
+ 0.90222,
271
+ 2.80401
272
+ ],
273
+ [
274
+ 0.0003,
275
+ 1.0,
276
+ 0.00094,
277
+ 0.98534
278
+ ],
279
+ [
280
+ -0.90222,
281
+ -0.00013,
282
+ 0.43128,
283
+ 6.02931
284
+ ],
285
+ [
286
+ 0.0,
287
+ 0.0,
288
+ 0.0,
289
+ 1.0
290
+ ]
291
+ ]
292
+ ],
293
+ [
294
+ "008_pudding_box.object_config.json",
295
+ [
296
+ [
297
+ 0.92696,
298
+ 0.01428,
299
+ -0.37488,
300
+ -0.12705
301
+ ],
302
+ [
303
+ -0.0059,
304
+ 0.99971,
305
+ 0.02349,
306
+ 0.43449
307
+ ],
308
+ [
309
+ 0.3751,
310
+ -0.01956,
311
+ 0.92678,
312
+ 0.18474
313
+ ],
314
+ [
315
+ 0.0,
316
+ 0.0,
317
+ 0.0,
318
+ 1.0
319
+ ]
320
+ ]
321
+ ],
322
+ [
323
+ "007_tuna_fish_can.object_config.json",
324
+ [
325
+ [
326
+ -0.89811,
327
+ 0.00025,
328
+ -0.43977,
329
+ 0.50929
330
+ ],
331
+ [
332
+ 0.00279,
333
+ 0.99998,
334
+ -0.00514,
335
+ 1.26861
336
+ ],
337
+ [
338
+ 0.43976,
339
+ -0.00585,
340
+ -0.8981,
341
+ 4.60588
342
+ ],
343
+ [
344
+ 0.0,
345
+ 0.0,
346
+ 0.0,
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ [
352
+ "008_pudding_box.object_config.json",
353
+ [
354
+ [
355
+ 0.13161,
356
+ 0.02378,
357
+ -0.99102,
358
+ 0.64486
359
+ ],
360
+ [
361
+ -0.00572,
362
+ 0.99971,
363
+ 0.02322,
364
+ 0.72673
365
+ ],
366
+ [
367
+ 0.99128,
368
+ 0.00261,
369
+ 0.13171,
370
+ 6.69207
371
+ ],
372
+ [
373
+ 0.0,
374
+ 0.0,
375
+ 0.0,
376
+ 1.0
377
+ ]
378
+ ]
379
+ ],
380
+ [
381
+ "009_gelatin_box.object_config.json",
382
+ [
383
+ [
384
+ 0.82905,
385
+ 0.00098,
386
+ -0.55918,
387
+ 0.58203
388
+ ],
389
+ [
390
+ -0.00071,
391
+ 1.0,
392
+ 0.0007,
393
+ 0.72224
394
+ ],
395
+ [
396
+ 0.55918,
397
+ -0.00019,
398
+ 0.82905,
399
+ 6.5856
400
+ ],
401
+ [
402
+ 0.0,
403
+ 0.0,
404
+ 0.0,
405
+ 1.0
406
+ ]
407
+ ]
408
+ ],
409
+ [
410
+ "007_tuna_fish_can.object_config.json",
411
+ [
412
+ [
413
+ 0.42585,
414
+ -0.0,
415
+ -0.9048,
416
+ 0.61715
417
+ ],
418
+ [
419
+ -0.0,
420
+ 1.0,
421
+ -0.0,
422
+ 0.87655
423
+ ],
424
+ [
425
+ 0.9048,
426
+ 0.0,
427
+ 0.42585,
428
+ 7.73116
429
+ ],
430
+ [
431
+ 0.0,
432
+ 0.0,
433
+ 0.0,
434
+ 1.0
435
+ ]
436
+ ]
437
+ ],
438
+ [
439
+ "010_potted_meat_can.object_config.json",
440
+ [
441
+ [
442
+ -0.68873,
443
+ -0.00016,
444
+ -0.72502,
445
+ 0.32592
446
+ ],
447
+ [
448
+ 0.00411,
449
+ 0.99998,
450
+ -0.00413,
451
+ 0.14398
452
+ ],
453
+ [
454
+ 0.72501,
455
+ -0.00583,
456
+ -0.68872,
457
+ 4.7027
458
+ ],
459
+ [
460
+ 0.0,
461
+ 0.0,
462
+ 0.0,
463
+ 1.0
464
+ ]
465
+ ]
466
+ ],
467
+ [
468
+ "003_cracker_box.object_config.json",
469
+ [
470
+ [
471
+ 0.2794,
472
+ 0.01738,
473
+ 0.96002,
474
+ 3.06024
475
+ ],
476
+ [
477
+ -0.04299,
478
+ 0.99906,
479
+ -0.00557,
480
+ 1.04092
481
+ ],
482
+ [
483
+ -0.95921,
484
+ -0.03971,
485
+ 0.27988,
486
+ 5.84164
487
+ ],
488
+ [
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 1.0
493
+ ]
494
+ ]
495
+ ],
496
+ [
497
+ "005_tomato_soup_can.object_config.json",
498
+ [
499
+ [
500
+ 0.99023,
501
+ 0.00587,
502
+ 0.13934,
503
+ -0.27348
504
+ ],
505
+ [
506
+ -0.00591,
507
+ 0.99998,
508
+ -0.00012,
509
+ 0.45537
510
+ ],
511
+ [
512
+ -0.13934,
513
+ -0.0007,
514
+ 0.99024,
515
+ 3.3967
516
+ ],
517
+ [
518
+ 0.0,
519
+ 0.0,
520
+ 0.0,
521
+ 1.0
522
+ ]
523
+ ]
524
+ ],
525
+ [
526
+ "009_gelatin_box.object_config.json",
527
+ [
528
+ [
529
+ -0.54879,
530
+ 0.0,
531
+ 0.83596,
532
+ 3.87846
533
+ ],
534
+ [
535
+ -0.0,
536
+ 1.0,
537
+ -0.0,
538
+ 0.77773
539
+ ],
540
+ [
541
+ -0.83596,
542
+ -0.0,
543
+ -0.54879,
544
+ 3.18734
545
+ ],
546
+ [
547
+ 0.0,
548
+ 0.0,
549
+ 0.0,
550
+ 1.0
551
+ ]
552
+ ]
553
+ ],
554
+ [
555
+ "008_pudding_box.object_config.json",
556
+ [
557
+ [
558
+ -0.52414,
559
+ 0.01686,
560
+ -0.85147,
561
+ 0.54583
562
+ ],
563
+ [
564
+ -0.00588,
565
+ 0.99971,
566
+ 0.02342,
567
+ 0.87927
568
+ ],
569
+ [
570
+ 0.85161,
571
+ 0.01728,
572
+ -0.52388,
573
+ 4.93783
574
+ ],
575
+ [
576
+ 0.0,
577
+ 0.0,
578
+ 0.0,
579
+ 1.0
580
+ ]
581
+ ]
582
+ ],
583
+ [
584
+ "002_master_chef_can.object_config.json",
585
+ [
586
+ [
587
+ -0.68292,
588
+ 2e-05,
589
+ -0.73049,
590
+ 0.55878
591
+ ],
592
+ [
593
+ 0.0,
594
+ 1.0,
595
+ 2e-05,
596
+ 0.77776
597
+ ],
598
+ [
599
+ 0.73049,
600
+ 1e-05,
601
+ -0.68292,
602
+ 6.81775
603
+ ],
604
+ [
605
+ 0.0,
606
+ 0.0,
607
+ 0.0,
608
+ 1.0
609
+ ]
610
+ ]
611
+ ],
612
+ [
613
+ "002_master_chef_can.object_config.json",
614
+ [
615
+ [
616
+ 0.84236,
617
+ -0.00058,
618
+ -0.53891,
619
+ 3.83712
620
+ ],
621
+ [
622
+ -0.00065,
623
+ 1.0,
624
+ -0.00209,
625
+ 0.83339
626
+ ],
627
+ [
628
+ 0.53891,
629
+ 0.00211,
630
+ 0.84236,
631
+ 4.2041
632
+ ],
633
+ [
634
+ 0.0,
635
+ 0.0,
636
+ 0.0,
637
+ 1.0
638
+ ]
639
+ ]
640
+ ],
641
+ [
642
+ "004_sugar_box.object_config.json",
643
+ [
644
+ [
645
+ -0.93795,
646
+ 0.04489,
647
+ -0.34387,
648
+ 0.5626
649
+ ],
650
+ [
651
+ 0.03893,
652
+ 0.99895,
653
+ 0.02421,
654
+ 0.79516
655
+ ],
656
+ [
657
+ 0.34459,
658
+ 0.00932,
659
+ -0.93871,
660
+ 6.69814
661
+ ],
662
+ [
663
+ 0.0,
664
+ 0.0,
665
+ 0.0,
666
+ 1.0
667
+ ]
668
+ ]
669
+ ],
670
+ [
671
+ "009_gelatin_box.object_config.json",
672
+ [
673
+ [
674
+ 0.71939,
675
+ -1e-05,
676
+ -0.6946,
677
+ 0.50825
678
+ ],
679
+ [
680
+ 1e-05,
681
+ 1.0,
682
+ -0.0,
683
+ 0.87476
684
+ ],
685
+ [
686
+ 0.6946,
687
+ -0.0,
688
+ 0.71939,
689
+ 5.62477
690
+ ],
691
+ [
692
+ 0.0,
693
+ 0.0,
694
+ 0.0,
695
+ 1.0
696
+ ]
697
+ ]
698
+ ],
699
+ [
700
+ "007_tuna_fish_can.object_config.json",
701
+ [
702
+ [
703
+ -0.47764,
704
+ -0.0001,
705
+ -0.87856,
706
+ 0.56757
707
+ ],
708
+ [
709
+ 0.00504,
710
+ 0.99998,
711
+ -0.00285,
712
+ 1.26915
713
+ ],
714
+ [
715
+ 0.87854,
716
+ -0.00579,
717
+ -0.47763,
718
+ 4.69425
719
+ ],
720
+ [
721
+ 0.0,
722
+ 0.0,
723
+ 0.0,
724
+ 1.0
725
+ ]
726
+ ]
727
+ ],
728
+ [
729
+ "024_bowl.object_config.json",
730
+ [
731
+ [
732
+ -0.49336,
733
+ 0.0003,
734
+ 0.86982,
735
+ 0.94649
736
+ ],
737
+ [
738
+ 0.00012,
739
+ 1.0,
740
+ -0.00028,
741
+ 0.4423
742
+ ],
743
+ [
744
+ -0.86982,
745
+ -4e-05,
746
+ -0.49336,
747
+ 0.49276
748
+ ],
749
+ [
750
+ 0.0,
751
+ 0.0,
752
+ 0.0,
753
+ 1.0
754
+ ]
755
+ ]
756
+ ],
757
+ [
758
+ "007_tuna_fish_can.object_config.json",
759
+ [
760
+ [
761
+ -0.98397,
762
+ -0.00127,
763
+ 0.17831,
764
+ 0.87189
765
+ ],
766
+ [
767
+ -0.00178,
768
+ 0.99999,
769
+ -0.00274,
770
+ 0.43144
771
+ ],
772
+ [
773
+ -0.1783,
774
+ -0.00301,
775
+ -0.98397,
776
+ 0.14919
777
+ ],
778
+ [
779
+ 0.0,
780
+ 0.0,
781
+ 0.0,
782
+ 1.0
783
+ ]
784
+ ]
785
+ ],
786
+ [
787
+ "004_sugar_box.object_config.json",
788
+ [
789
+ [
790
+ 0.04912,
791
+ -0.02634,
792
+ 0.99845,
793
+ 0.80948
794
+ ],
795
+ [
796
+ 0.03944,
797
+ 0.99892,
798
+ 0.02441,
799
+ 0.50299
800
+ ],
801
+ [
802
+ -0.99801,
803
+ 0.03818,
804
+ 0.05011,
805
+ 0.39369
806
+ ],
807
+ [
808
+ 0.0,
809
+ 0.0,
810
+ 0.0,
811
+ 1.0
812
+ ]
813
+ ]
814
+ ],
815
+ [
816
+ "007_tuna_fish_can.object_config.json",
817
+ [
818
+ [
819
+ 0.796,
820
+ 0.0005,
821
+ 0.6053,
822
+ 0.60539
823
+ ],
824
+ [
825
+ -0.004,
826
+ 0.99998,
827
+ 0.00445,
828
+ 1.26836
829
+ ],
830
+ [
831
+ -0.60528,
832
+ -0.00596,
833
+ 0.79599,
834
+ 4.56281
835
+ ],
836
+ [
837
+ 0.0,
838
+ 0.0,
839
+ 0.0,
840
+ 1.0
841
+ ]
842
+ ]
843
+ ],
844
+ [
845
+ "005_tomato_soup_can.object_config.json",
846
+ [
847
+ [
848
+ 0.94737,
849
+ 0.00396,
850
+ 0.32011,
851
+ 0.58303
852
+ ],
853
+ [
854
+ -0.00572,
855
+ 0.99997,
856
+ 0.00457,
857
+ 1.30118
858
+ ],
859
+ [
860
+ -0.32008,
861
+ -0.00616,
862
+ 0.94737,
863
+ 4.31378
864
+ ],
865
+ [
866
+ 0.0,
867
+ 0.0,
868
+ 0.0,
869
+ 1.0
870
+ ]
871
+ ]
872
+ ],
873
+ [
874
+ "005_tomato_soup_can.object_config.json",
875
+ [
876
+ [
877
+ 0.93767,
878
+ -0.00011,
879
+ 0.34752,
880
+ 0.42829
881
+ ],
882
+ [
883
+ 0.00014,
884
+ 1.0,
885
+ -5e-05,
886
+ 0.91083
887
+ ],
888
+ [
889
+ -0.34752,
890
+ 9e-05,
891
+ 0.93767,
892
+ 5.7811
893
+ ],
894
+ [
895
+ 0.0,
896
+ 0.0,
897
+ 0.0,
898
+ 1.0
899
+ ]
900
+ ]
901
+ ]
902
+ ],
903
+ "targets": {
904
+ "007_tuna_fish_can_:0004": [
905
+ [
906
+ -0.70487,
907
+ 0.0,
908
+ -0.70933,
909
+ 0.68427
910
+ ],
911
+ [
912
+ 0.0,
913
+ 1.0,
914
+ 0.0,
915
+ 0.87587
916
+ ],
917
+ [
918
+ 0.70933,
919
+ 0.0,
920
+ -0.70487,
921
+ 7.46575
922
+ ],
923
+ [
924
+ 0.0,
925
+ 0.0,
926
+ 0.0,
927
+ 1.0
928
+ ]
929
+ ],
930
+ "005_tomato_soup_can_:0003": [
931
+ [
932
+ 0.84388,
933
+ 0.0,
934
+ 0.53652,
935
+ 0.56095
936
+ ],
937
+ [
938
+ 0.0,
939
+ 1.0,
940
+ 0.0,
941
+ 0.91003
942
+ ],
943
+ [
944
+ -0.53652,
945
+ 0.0,
946
+ 0.84388,
947
+ 5.44643
948
+ ],
949
+ [
950
+ 0.0,
951
+ 0.0,
952
+ 0.0,
953
+ 1.0
954
+ ]
955
+ ],
956
+ "005_tomato_soup_can_:0004": [
957
+ [
958
+ 0.00686,
959
+ 0.0,
960
+ -0.99998,
961
+ 0.42842
962
+ ],
963
+ [
964
+ 0.0,
965
+ 1.0,
966
+ 0.0,
967
+ 1.3019
968
+ ],
969
+ [
970
+ 0.99998,
971
+ 0.0,
972
+ 0.00686,
973
+ 4.57073
974
+ ],
975
+ [
976
+ 0.0,
977
+ 0.0,
978
+ 0.0,
979
+ 1.0
980
+ ]
981
+ ]
982
+ },
983
+ "markers": [
984
+ {
985
+ "name": "cab_push_point_7",
986
+ "type": "articulated_object",
987
+ "params": {
988
+ "offset": [
989
+ 0.3,
990
+ 0.0,
991
+ 0
992
+ ],
993
+ "link": "drawer1_top",
994
+ "object": "kitchen_counter_:0000"
995
+ }
996
+ },
997
+ {
998
+ "name": "cab_push_point_6",
999
+ "type": "articulated_object",
1000
+ "params": {
1001
+ "offset": [
1002
+ 0.3,
1003
+ 0.0,
1004
+ 0
1005
+ ],
1006
+ "link": "drawer2_top",
1007
+ "object": "kitchen_counter_:0000"
1008
+ }
1009
+ },
1010
+ {
1011
+ "name": "cab_push_point_5",
1012
+ "type": "articulated_object",
1013
+ "params": {
1014
+ "offset": [
1015
+ 0.3,
1016
+ 0.0,
1017
+ 0
1018
+ ],
1019
+ "link": "drawer3",
1020
+ "object": "kitchen_counter_:0000"
1021
+ }
1022
+ },
1023
+ {
1024
+ "name": "cab_push_point_4",
1025
+ "type": "articulated_object",
1026
+ "params": {
1027
+ "offset": [
1028
+ 0.3,
1029
+ 0.0,
1030
+ 0
1031
+ ],
1032
+ "link": "drawer4",
1033
+ "object": "kitchen_counter_:0000"
1034
+ }
1035
+ },
1036
+ {
1037
+ "name": "fridge_push_point",
1038
+ "type": "articulated_object",
1039
+ "params": {
1040
+ "offset": [
1041
+ 0.1,
1042
+ -0.62,
1043
+ 0.2
1044
+ ],
1045
+ "link": "top_door",
1046
+ "object": "fridge_:0000"
1047
+ }
1048
+ }
1049
+ ],
1050
+ "target_receptacles": [
1051
+ [
1052
+ "fridge_:0000",
1053
+ 0
1054
+ ],
1055
+ [
1056
+ "fridge_:0000",
1057
+ 0
1058
+ ],
1059
+ [
1060
+ "kitchen_counter_:0000",
1061
+ 0
1062
+ ]
1063
+ ],
1064
+ "goal_receptacles": [
1065
+ [
1066
+ "kitchen_counter_:0000",
1067
+ 0
1068
+ ],
1069
+ [
1070
+ "kitchen_counter_:0000",
1071
+ 0
1072
+ ],
1073
+ [
1074
+ "fridge_:0000",
1075
+ 0
1076
+ ]
1077
+ ]
1078
+ }
rearrange/v1_extracted/train/prepare_groceries/episode_1002.json ADDED
@@ -0,0 +1,1078 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_id": "1002",
3
+ "scene_id": "data/replica_cad/configs/scenes/v3_sc1_staging_14.scene_instance.json",
4
+ "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
5
+ "additional_obj_config_paths": [
6
+ "data/objects/ycb/"
7
+ ],
8
+ "start_position": [
9
+ 0,
10
+ 0,
11
+ 0
12
+ ],
13
+ "start_rotation": [
14
+ 0,
15
+ 0,
16
+ 0,
17
+ 1
18
+ ],
19
+ "info": {
20
+ "object_labels": {
21
+ "002_master_chef_can_:0002": "obj0_target|0",
22
+ "007_tuna_fish_can_:0002": "obj1_target|1",
23
+ "008_pudding_box_:0001": "obj2_target|2"
24
+ }
25
+ },
26
+ "ao_states": {
27
+ "fridge_:0000": {
28
+ "2": 1.5
29
+ }
30
+ },
31
+ "rigid_objs": [
32
+ [
33
+ "004_sugar_box.object_config.json",
34
+ [
35
+ [
36
+ -0.97398,
37
+ 0.03255,
38
+ 0.22427,
39
+ 1.69295
40
+ ],
41
+ [
42
+ 0.03897,
43
+ 0.99895,
44
+ 0.02428,
45
+ 0.4924
46
+ ],
47
+ [
48
+ -0.22325,
49
+ 0.03239,
50
+ -0.97422,
51
+ 7.00401
52
+ ],
53
+ [
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 1.0
58
+ ]
59
+ ]
60
+ ],
61
+ [
62
+ "002_master_chef_can.object_config.json",
63
+ [
64
+ [
65
+ 0.87196,
66
+ 2e-05,
67
+ -0.48958,
68
+ -0.17636
69
+ ],
70
+ [
71
+ -5e-05,
72
+ 1.0,
73
+ -3e-05,
74
+ 0.69724
75
+ ],
76
+ [
77
+ 0.48958,
78
+ 5e-05,
79
+ 0.87196,
80
+ 3.9366
81
+ ],
82
+ [
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ 1.0
87
+ ]
88
+ ]
89
+ ],
90
+ [
91
+ "005_tomato_soup_can.object_config.json",
92
+ [
93
+ [
94
+ -0.99256,
95
+ -0.00011,
96
+ 0.12178,
97
+ 3.76165
98
+ ],
99
+ [
100
+ -0.0001,
101
+ 1.0,
102
+ 9e-05,
103
+ 0.81381
104
+ ],
105
+ [
106
+ -0.12178,
107
+ 8e-05,
108
+ -0.99256,
109
+ 5.71384
110
+ ],
111
+ [
112
+ 0.0,
113
+ 0.0,
114
+ 0.0,
115
+ 1.0
116
+ ]
117
+ ]
118
+ ],
119
+ [
120
+ "007_tuna_fish_can.object_config.json",
121
+ [
122
+ [
123
+ 0.29957,
124
+ 0.0,
125
+ 0.95407,
126
+ -1.967
127
+ ],
128
+ [
129
+ 5e-05,
130
+ 1.0,
131
+ -2e-05,
132
+ 0.87655
133
+ ],
134
+ [
135
+ -0.95407,
136
+ 5e-05,
137
+ 0.29957,
138
+ 0.26789
139
+ ],
140
+ [
141
+ 0.0,
142
+ 0.0,
143
+ 0.0,
144
+ 1.0
145
+ ]
146
+ ]
147
+ ],
148
+ [
149
+ "003_cracker_box.object_config.json",
150
+ [
151
+ [
152
+ -0.50534,
153
+ -0.03019,
154
+ 0.86239,
155
+ 1.12238
156
+ ],
157
+ [
158
+ -0.06427,
159
+ 0.99793,
160
+ -0.00273,
161
+ 0.52165
162
+ ],
163
+ [
164
+ -0.86052,
165
+ -0.05681,
166
+ -0.50624,
167
+ -0.13631
168
+ ],
169
+ [
170
+ 0.0,
171
+ 0.0,
172
+ 0.0,
173
+ 1.0
174
+ ]
175
+ ]
176
+ ],
177
+ [
178
+ "003_cracker_box.object_config.json",
179
+ [
180
+ [
181
+ 0.63312,
182
+ 0.02323,
183
+ -0.7737,
184
+ -2.18853
185
+ ],
186
+ [
187
+ -0.04561,
188
+ 0.99893,
189
+ -0.00733,
190
+ 0.81373
191
+ ],
192
+ [
193
+ 0.77271,
194
+ 0.03993,
195
+ 0.63351,
196
+ 1.20905
197
+ ],
198
+ [
199
+ 0.0,
200
+ 0.0,
201
+ 0.0,
202
+ 1.0
203
+ ]
204
+ ]
205
+ ],
206
+ [
207
+ "009_gelatin_box.object_config.json",
208
+ [
209
+ [
210
+ 0.11549,
211
+ 4e-05,
212
+ -0.99331,
213
+ -2.27082
214
+ ],
215
+ [
216
+ 2e-05,
217
+ 1.0,
218
+ 4e-05,
219
+ 0.87476
220
+ ],
221
+ [
222
+ 0.99331,
223
+ -2e-05,
224
+ 0.11549,
225
+ -0.28896
226
+ ],
227
+ [
228
+ 0.0,
229
+ 0.0,
230
+ 0.0,
231
+ 1.0
232
+ ]
233
+ ]
234
+ ],
235
+ [
236
+ "003_cracker_box.object_config.json",
237
+ [
238
+ [
239
+ 0.10091,
240
+ -0.00238,
241
+ -0.99489,
242
+ 1.55879
243
+ ],
244
+ [
245
+ -0.04375,
246
+ 0.99902,
247
+ -0.00683,
248
+ 0.51085
249
+ ],
250
+ [
251
+ 0.99393,
252
+ 0.04422,
253
+ 0.1007,
254
+ 6.30566
255
+ ],
256
+ [
257
+ 0.0,
258
+ 0.0,
259
+ 0.0,
260
+ 1.0
261
+ ]
262
+ ]
263
+ ],
264
+ [
265
+ "024_bowl.object_config.json",
266
+ [
267
+ [
268
+ 0.93366,
269
+ -0.00019,
270
+ -0.35816,
271
+ 1.62749
272
+ ],
273
+ [
274
+ 0.00047,
275
+ 1.0,
276
+ 0.0007,
277
+ 0.43168
278
+ ],
279
+ [
280
+ 0.35816,
281
+ -0.00082,
282
+ 0.93366,
283
+ 6.76446
284
+ ],
285
+ [
286
+ 0.0,
287
+ 0.0,
288
+ 0.0,
289
+ 1.0
290
+ ]
291
+ ]
292
+ ],
293
+ [
294
+ "024_bowl.object_config.json",
295
+ [
296
+ [
297
+ -0.94255,
298
+ 0.00126,
299
+ -0.33407,
300
+ 1.76899
301
+ ],
302
+ [
303
+ 0.00117,
304
+ 1.0,
305
+ 0.00047,
306
+ 0.43167
307
+ ],
308
+ [
309
+ 0.33407,
310
+ 5e-05,
311
+ -0.94255,
312
+ 6.6693
313
+ ],
314
+ [
315
+ 0.0,
316
+ 0.0,
317
+ 0.0,
318
+ 1.0
319
+ ]
320
+ ]
321
+ ],
322
+ [
323
+ "007_tuna_fish_can.object_config.json",
324
+ [
325
+ [
326
+ -0.09556,
327
+ 0.0,
328
+ 0.99542,
329
+ -1.9885
330
+ ],
331
+ [
332
+ -0.0,
333
+ 1.0,
334
+ -0.0,
335
+ 0.87655
336
+ ],
337
+ [
338
+ -0.99542,
339
+ -0.0,
340
+ -0.09556,
341
+ 1.62303
342
+ ],
343
+ [
344
+ 0.0,
345
+ 0.0,
346
+ 0.0,
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ [
352
+ "004_sugar_box.object_config.json",
353
+ [
354
+ [
355
+ -0.90853,
356
+ -0.02574,
357
+ 0.41703,
358
+ -1.98875
359
+ ],
360
+ [
361
+ -0.05061,
362
+ 0.99753,
363
+ -0.04867,
364
+ 1.34173
365
+ ],
366
+ [
367
+ -0.41475,
368
+ -0.06532,
369
+ -0.90759,
370
+ -0.78035
371
+ ],
372
+ [
373
+ 0.0,
374
+ 0.0,
375
+ 0.0,
376
+ 1.0
377
+ ]
378
+ ]
379
+ ],
380
+ [
381
+ "024_bowl.object_config.json",
382
+ [
383
+ [
384
+ 0.65414,
385
+ -2e-05,
386
+ 0.75637,
387
+ 1.32749
388
+ ],
389
+ [
390
+ 3e-05,
391
+ 1.0,
392
+ 0.0,
393
+ 0.4423
394
+ ],
395
+ [
396
+ -0.75637,
397
+ 2e-05,
398
+ 0.65414,
399
+ -0.23537
400
+ ],
401
+ [
402
+ 0.0,
403
+ 0.0,
404
+ 0.0,
405
+ 1.0
406
+ ]
407
+ ]
408
+ ],
409
+ [
410
+ "005_tomato_soup_can.object_config.json",
411
+ [
412
+ [
413
+ 0.58175,
414
+ 0.00011,
415
+ 0.81337,
416
+ -2.15909
417
+ ],
418
+ [
419
+ -0.00026,
420
+ 1.0,
421
+ 5e-05,
422
+ 0.91083
423
+ ],
424
+ [
425
+ -0.81337,
426
+ -0.00024,
427
+ 0.58175,
428
+ 1.66517
429
+ ],
430
+ [
431
+ 0.0,
432
+ 0.0,
433
+ 0.0,
434
+ 1.0
435
+ ]
436
+ ]
437
+ ],
438
+ [
439
+ "024_bowl.object_config.json",
440
+ [
441
+ [
442
+ -0.98954,
443
+ 0.00048,
444
+ -0.14426,
445
+ -1.58158
446
+ ],
447
+ [
448
+ 0.00049,
449
+ 1.0,
450
+ -3e-05,
451
+ 0.96166
452
+ ],
453
+ [
454
+ 0.14426,
455
+ -0.00011,
456
+ -0.98954,
457
+ 3.29221
458
+ ],
459
+ [
460
+ 0.0,
461
+ 0.0,
462
+ 0.0,
463
+ 1.0
464
+ ]
465
+ ]
466
+ ],
467
+ [
468
+ "008_pudding_box.object_config.json",
469
+ [
470
+ [
471
+ 0.74574,
472
+ -0.01,
473
+ 0.66616,
474
+ 1.45568
475
+ ],
476
+ [
477
+ -0.00685,
478
+ 0.99972,
479
+ 0.02267,
480
+ 0.43455
481
+ ],
482
+ [
483
+ -0.6662,
484
+ -0.02147,
485
+ 0.74546,
486
+ -0.06487
487
+ ],
488
+ [
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 1.0
493
+ ]
494
+ ]
495
+ ],
496
+ [
497
+ "002_master_chef_can.object_config.json",
498
+ [
499
+ [
500
+ -0.40711,
501
+ 0.0011,
502
+ -0.91338,
503
+ 0.22558
504
+ ],
505
+ [
506
+ -0.00098,
507
+ 1.0,
508
+ 0.00164,
509
+ 0.48562
510
+ ],
511
+ [
512
+ 0.91338,
513
+ 0.00156,
514
+ -0.40711,
515
+ -0.08256
516
+ ],
517
+ [
518
+ 0.0,
519
+ 0.0,
520
+ 0.0,
521
+ 1.0
522
+ ]
523
+ ]
524
+ ],
525
+ [
526
+ "003_cracker_box.object_config.json",
527
+ [
528
+ [
529
+ 0.63098,
530
+ 0.02614,
531
+ -0.77536,
532
+ 0.4836
533
+ ],
534
+ [
535
+ -0.04991,
536
+ 0.99873,
537
+ -0.00695,
538
+ 0.52148
539
+ ],
540
+ [
541
+ 0.77419,
542
+ 0.04309,
543
+ 0.63149,
544
+ -0.24292
545
+ ],
546
+ [
547
+ 0.0,
548
+ 0.0,
549
+ 0.0,
550
+ 1.0
551
+ ]
552
+ ]
553
+ ],
554
+ [
555
+ "010_potted_meat_can.object_config.json",
556
+ [
557
+ [
558
+ 0.84224,
559
+ 0.0001,
560
+ 0.5391,
561
+ -2.23195
562
+ ],
563
+ [
564
+ -8e-05,
565
+ 1.0,
566
+ -7e-05,
567
+ 0.90168
568
+ ],
569
+ [
570
+ -0.5391,
571
+ 1e-05,
572
+ 0.84224,
573
+ -0.1407
574
+ ],
575
+ [
576
+ 0.0,
577
+ 0.0,
578
+ 0.0,
579
+ 1.0
580
+ ]
581
+ ]
582
+ ],
583
+ [
584
+ "004_sugar_box.object_config.json",
585
+ [
586
+ [
587
+ -0.06635,
588
+ -0.02155,
589
+ 0.99756,
590
+ -2.00562
591
+ ],
592
+ [
593
+ 0.03302,
594
+ 0.99917,
595
+ 0.02378,
596
+ 1.33924
597
+ ],
598
+ [
599
+ -0.99725,
600
+ 0.03452,
601
+ -0.06558,
602
+ -0.98593
603
+ ],
604
+ [
605
+ 0.0,
606
+ 0.0,
607
+ 0.0,
608
+ 1.0
609
+ ]
610
+ ]
611
+ ],
612
+ [
613
+ "004_sugar_box.object_config.json",
614
+ [
615
+ [
616
+ -0.06933,
617
+ -0.02157,
618
+ 0.99736,
619
+ -2.08511
620
+ ],
621
+ [
622
+ 0.03941,
623
+ 0.99893,
624
+ 0.02435,
625
+ 0.79516
626
+ ],
627
+ [
628
+ -0.99681,
629
+ 0.041,
630
+ -0.0684,
631
+ 1.25535
632
+ ],
633
+ [
634
+ 0.0,
635
+ 0.0,
636
+ 0.0,
637
+ 1.0
638
+ ]
639
+ ]
640
+ ],
641
+ [
642
+ "005_tomato_soup_can.object_config.json",
643
+ [
644
+ [
645
+ 0.79544,
646
+ 5e-05,
647
+ 0.60603,
648
+ -2.26392
649
+ ],
650
+ [
651
+ -7e-05,
652
+ 1.0,
653
+ 1e-05,
654
+ 0.9853
655
+ ],
656
+ [
657
+ -0.60603,
658
+ -5e-05,
659
+ 0.79544,
660
+ 3.03466
661
+ ],
662
+ [
663
+ 0.0,
664
+ 0.0,
665
+ 0.0,
666
+ 1.0
667
+ ]
668
+ ]
669
+ ],
670
+ [
671
+ "005_tomato_soup_can.object_config.json",
672
+ [
673
+ [
674
+ -0.99819,
675
+ -0.00613,
676
+ 0.05982,
677
+ 1.27503
678
+ ],
679
+ [
680
+ -0.00609,
681
+ 0.99998,
682
+ 0.00098,
683
+ 0.46582
684
+ ],
685
+ [
686
+ -0.05982,
687
+ 0.00062,
688
+ -0.99821,
689
+ -0.07282
690
+ ],
691
+ [
692
+ 0.0,
693
+ 0.0,
694
+ 0.0,
695
+ 1.0
696
+ ]
697
+ ]
698
+ ],
699
+ [
700
+ "009_gelatin_box.object_config.json",
701
+ [
702
+ [
703
+ 0.32905,
704
+ -0.00109,
705
+ -0.94431,
706
+ -1.91899
707
+ ],
708
+ [
709
+ 0.00408,
710
+ 0.99999,
711
+ 0.00026,
712
+ 0.94931
713
+ ],
714
+ [
715
+ 0.94431,
716
+ -0.00394,
717
+ 0.32905,
718
+ 2.74
719
+ ],
720
+ [
721
+ 0.0,
722
+ 0.0,
723
+ 0.0,
724
+ 1.0
725
+ ]
726
+ ]
727
+ ],
728
+ [
729
+ "009_gelatin_box.object_config.json",
730
+ [
731
+ [
732
+ -0.50044,
733
+ 0.0,
734
+ -0.86577,
735
+ -2.21674
736
+ ],
737
+ [
738
+ 0.00502,
739
+ 0.99998,
740
+ -0.0029,
741
+ 1.2672
742
+ ],
743
+ [
744
+ 0.86576,
745
+ -0.00579,
746
+ -0.50043,
747
+ -0.8312
748
+ ],
749
+ [
750
+ 0.0,
751
+ 0.0,
752
+ 0.0,
753
+ 1.0
754
+ ]
755
+ ]
756
+ ],
757
+ [
758
+ "024_bowl.object_config.json",
759
+ [
760
+ [
761
+ -0.21958,
762
+ -0.00019,
763
+ 0.97559,
764
+ 1.59388
765
+ ],
766
+ [
767
+ 0.00032,
768
+ 1.0,
769
+ 0.00027,
770
+ 0.43169
771
+ ],
772
+ [
773
+ -0.97559,
774
+ 0.00037,
775
+ -0.21958,
776
+ 6.54357
777
+ ],
778
+ [
779
+ 0.0,
780
+ 0.0,
781
+ 0.0,
782
+ 1.0
783
+ ]
784
+ ]
785
+ ],
786
+ [
787
+ "005_tomato_soup_can.object_config.json",
788
+ [
789
+ [
790
+ -0.83568,
791
+ 0.0027,
792
+ 0.54921,
793
+ 3.92112
794
+ ],
795
+ [
796
+ 0.00081,
797
+ 0.99999,
798
+ -0.00367,
799
+ 0.81392
800
+ ],
801
+ [
802
+ -0.54922,
803
+ -0.00262,
804
+ -0.83567,
805
+ 5.56375
806
+ ],
807
+ [
808
+ 0.0,
809
+ 0.0,
810
+ 0.0,
811
+ 1.0
812
+ ]
813
+ ]
814
+ ],
815
+ [
816
+ "002_master_chef_can.object_config.json",
817
+ [
818
+ [
819
+ -0.56741,
820
+ -0.00042,
821
+ 0.82344,
822
+ -2.11583
823
+ ],
824
+ [
825
+ -0.0112,
826
+ 0.99991,
827
+ -0.00721,
828
+ 1.32076
829
+ ],
830
+ [
831
+ -0.82336,
832
+ -0.01332,
833
+ -0.56736,
834
+ -1.11459
835
+ ],
836
+ [
837
+ 0.0,
838
+ 0.0,
839
+ 0.0,
840
+ 1.0
841
+ ]
842
+ ]
843
+ ],
844
+ [
845
+ "007_tuna_fish_can.object_config.json",
846
+ [
847
+ [
848
+ -0.99802,
849
+ -3e-05,
850
+ -0.06292,
851
+ -2.21123
852
+ ],
853
+ [
854
+ 0.00035,
855
+ 0.99998,
856
+ -0.00594,
857
+ 1.26838
858
+ ],
859
+ [
860
+ 0.06291,
861
+ -0.00595,
862
+ -0.998,
863
+ -0.9354
864
+ ],
865
+ [
866
+ 0.0,
867
+ 0.0,
868
+ 0.0,
869
+ 1.0
870
+ ]
871
+ ]
872
+ ],
873
+ [
874
+ "008_pudding_box.object_config.json",
875
+ [
876
+ [
877
+ -0.82296,
878
+ -0.01816,
879
+ 0.56781,
880
+ -2.06357
881
+ ],
882
+ [
883
+ -0.00589,
884
+ 0.99971,
885
+ 0.02344,
886
+ 0.87927
887
+ ],
888
+ [
889
+ -0.56807,
890
+ 0.01594,
891
+ -0.82283,
892
+ 1.83887
893
+ ],
894
+ [
895
+ 0.0,
896
+ 0.0,
897
+ 0.0,
898
+ 1.0
899
+ ]
900
+ ]
901
+ ]
902
+ ],
903
+ "targets": {
904
+ "002_master_chef_can_:0002": [
905
+ [
906
+ -0.96131,
907
+ 0.0,
908
+ -0.27547,
909
+ -2.42807
910
+ ],
911
+ [
912
+ 0.0,
913
+ 1.0,
914
+ 0.0,
915
+ 0.92919
916
+ ],
917
+ [
918
+ 0.27547,
919
+ 0.0,
920
+ -0.96131,
921
+ 2.08612
922
+ ],
923
+ [
924
+ 0.0,
925
+ 0.0,
926
+ 0.0,
927
+ 1.0
928
+ ]
929
+ ],
930
+ "007_tuna_fish_can_:0002": [
931
+ [
932
+ -0.53376,
933
+ 0.0,
934
+ 0.84563,
935
+ -1.96435
936
+ ],
937
+ [
938
+ 0.0,
939
+ 1.0,
940
+ 0.0,
941
+ 0.87587
942
+ ],
943
+ [
944
+ -0.84563,
945
+ 0.0,
946
+ -0.53376,
947
+ 0.10929
948
+ ],
949
+ [
950
+ 0.0,
951
+ 0.0,
952
+ 0.0,
953
+ 1.0
954
+ ]
955
+ ],
956
+ "008_pudding_box_:0001": [
957
+ [
958
+ -0.9877,
959
+ 0.0,
960
+ 0.15633,
961
+ -2.23715
962
+ ],
963
+ [
964
+ 0.0,
965
+ 1.0,
966
+ 0.0,
967
+ 1.26948
968
+ ],
969
+ [
970
+ -0.15633,
971
+ 0.0,
972
+ -0.9877,
973
+ -1.09007
974
+ ],
975
+ [
976
+ 0.0,
977
+ 0.0,
978
+ 0.0,
979
+ 1.0
980
+ ]
981
+ ]
982
+ },
983
+ "markers": [
984
+ {
985
+ "name": "cab_push_point_7",
986
+ "type": "articulated_object",
987
+ "params": {
988
+ "offset": [
989
+ 0.3,
990
+ 0.0,
991
+ 0
992
+ ],
993
+ "link": "drawer1_top",
994
+ "object": "kitchen_counter_:0000"
995
+ }
996
+ },
997
+ {
998
+ "name": "cab_push_point_6",
999
+ "type": "articulated_object",
1000
+ "params": {
1001
+ "offset": [
1002
+ 0.3,
1003
+ 0.0,
1004
+ 0
1005
+ ],
1006
+ "link": "drawer2_top",
1007
+ "object": "kitchen_counter_:0000"
1008
+ }
1009
+ },
1010
+ {
1011
+ "name": "cab_push_point_5",
1012
+ "type": "articulated_object",
1013
+ "params": {
1014
+ "offset": [
1015
+ 0.3,
1016
+ 0.0,
1017
+ 0
1018
+ ],
1019
+ "link": "drawer3",
1020
+ "object": "kitchen_counter_:0000"
1021
+ }
1022
+ },
1023
+ {
1024
+ "name": "cab_push_point_4",
1025
+ "type": "articulated_object",
1026
+ "params": {
1027
+ "offset": [
1028
+ 0.3,
1029
+ 0.0,
1030
+ 0
1031
+ ],
1032
+ "link": "drawer4",
1033
+ "object": "kitchen_counter_:0000"
1034
+ }
1035
+ },
1036
+ {
1037
+ "name": "fridge_push_point",
1038
+ "type": "articulated_object",
1039
+ "params": {
1040
+ "offset": [
1041
+ 0.1,
1042
+ -0.62,
1043
+ 0.2
1044
+ ],
1045
+ "link": "top_door",
1046
+ "object": "fridge_:0000"
1047
+ }
1048
+ }
1049
+ ],
1050
+ "target_receptacles": [
1051
+ [
1052
+ "fridge_:0000",
1053
+ 0
1054
+ ],
1055
+ [
1056
+ "fridge_:0000",
1057
+ 0
1058
+ ],
1059
+ [
1060
+ "kitchen_counter_:0000",
1061
+ 0
1062
+ ]
1063
+ ],
1064
+ "goal_receptacles": [
1065
+ [
1066
+ "kitchen_counter_:0000",
1067
+ 0
1068
+ ],
1069
+ [
1070
+ "kitchen_counter_:0000",
1071
+ 0
1072
+ ],
1073
+ [
1074
+ "fridge_:0000",
1075
+ 0
1076
+ ]
1077
+ ]
1078
+ }
rearrange/v1_extracted/train/prepare_groceries/episode_1003.json ADDED
@@ -0,0 +1,1078 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_id": "1003",
3
+ "scene_id": "data/replica_cad/configs/scenes/v3_sc2_staging_10.scene_instance.json",
4
+ "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
5
+ "additional_obj_config_paths": [
6
+ "data/objects/ycb/"
7
+ ],
8
+ "start_position": [
9
+ 0,
10
+ 0,
11
+ 0
12
+ ],
13
+ "start_rotation": [
14
+ 0,
15
+ 0,
16
+ 0,
17
+ 1
18
+ ],
19
+ "info": {
20
+ "object_labels": {
21
+ "004_sugar_box_:0002": "obj0_target|0",
22
+ "007_tuna_fish_can_:0002": "obj1_target|1",
23
+ "007_tuna_fish_can_:0003": "obj2_target|2"
24
+ }
25
+ },
26
+ "ao_states": {
27
+ "fridge_:0000": {
28
+ "2": 1.5
29
+ }
30
+ },
31
+ "rigid_objs": [
32
+ [
33
+ "009_gelatin_box.object_config.json",
34
+ [
35
+ [
36
+ 0.07595,
37
+ 0.0,
38
+ -0.99711,
39
+ 1.64145
40
+ ],
41
+ [
42
+ -0.0,
43
+ 1.0,
44
+ 0.0,
45
+ 0.94922
46
+ ],
47
+ [
48
+ 0.99711,
49
+ 0.0,
50
+ 0.07595,
51
+ 4.85299
52
+ ],
53
+ [
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 1.0
58
+ ]
59
+ ]
60
+ ],
61
+ [
62
+ "003_cracker_box.object_config.json",
63
+ [
64
+ [
65
+ 0.93467,
66
+ 0.04493,
67
+ 0.35267,
68
+ -2.29511
69
+ ],
70
+ [
71
+ -0.04731,
72
+ 0.99888,
73
+ -0.00187,
74
+ 1.35707
75
+ ],
76
+ [
77
+ -0.35236,
78
+ -0.01494,
79
+ 0.93574,
80
+ -0.31734
81
+ ],
82
+ [
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ 1.0
87
+ ]
88
+ ]
89
+ ],
90
+ [
91
+ "024_bowl.object_config.json",
92
+ [
93
+ [
94
+ -0.27583,
95
+ 0.0,
96
+ 0.96121,
97
+ -2.3086
98
+ ],
99
+ [
100
+ -2e-05,
101
+ 1.0,
102
+ -1e-05,
103
+ 0.88719
104
+ ],
105
+ [
106
+ -0.96121,
107
+ -2e-05,
108
+ -0.27583,
109
+ 1.16382
110
+ ],
111
+ [
112
+ 0.0,
113
+ 0.0,
114
+ 0.0,
115
+ 1.0
116
+ ]
117
+ ]
118
+ ],
119
+ [
120
+ "003_cracker_box.object_config.json",
121
+ [
122
+ [
123
+ 0.99324,
124
+ 0.04464,
125
+ -0.10711,
126
+ -2.06494
127
+ ],
128
+ [
129
+ -0.04569,
130
+ 0.99893,
131
+ -0.00737,
132
+ 0.81373
133
+ ],
134
+ [
135
+ 0.10667,
136
+ 0.01221,
137
+ 0.99422,
138
+ 2.01536
139
+ ],
140
+ [
141
+ 0.0,
142
+ 0.0,
143
+ 0.0,
144
+ 1.0
145
+ ]
146
+ ]
147
+ ],
148
+ [
149
+ "003_cracker_box.object_config.json",
150
+ [
151
+ [
152
+ 0.29639,
153
+ 0.00645,
154
+ -0.95505,
155
+ 0.77609
156
+ ],
157
+ [
158
+ -0.04774,
159
+ 0.99883,
160
+ -0.00807,
161
+ 0.73338
162
+ ],
163
+ [
164
+ 0.95387,
165
+ 0.04798,
166
+ 0.29635,
167
+ -0.08797
168
+ ],
169
+ [
170
+ 0.0,
171
+ 0.0,
172
+ 0.0,
173
+ 1.0
174
+ ]
175
+ ]
176
+ ],
177
+ [
178
+ "002_master_chef_can.object_config.json",
179
+ [
180
+ [
181
+ -0.61484,
182
+ 2e-05,
183
+ 0.78865,
184
+ 0.78615
185
+ ],
186
+ [
187
+ -1e-05,
188
+ 1.0,
189
+ -3e-05,
190
+ 1.00476
191
+ ],
192
+ [
193
+ -0.78865,
194
+ -3e-05,
195
+ -0.61484,
196
+ 4.38343
197
+ ],
198
+ [
199
+ 0.0,
200
+ 0.0,
201
+ 0.0,
202
+ 1.0
203
+ ]
204
+ ]
205
+ ],
206
+ [
207
+ "008_pudding_box.object_config.json",
208
+ [
209
+ [
210
+ 0.05873,
211
+ 0.0238,
212
+ -0.99799,
213
+ -2.01153
214
+ ],
215
+ [
216
+ -0.00591,
217
+ 0.99971,
218
+ 0.0235,
219
+ 0.87927
220
+ ],
221
+ [
222
+ 0.99826,
223
+ 0.00451,
224
+ 0.05885,
225
+ 0.72518
226
+ ],
227
+ [
228
+ 0.0,
229
+ 0.0,
230
+ 0.0,
231
+ 1.0
232
+ ]
233
+ ]
234
+ ],
235
+ [
236
+ "008_pudding_box.object_config.json",
237
+ [
238
+ [
239
+ 0.61243,
240
+ 0.02082,
241
+ -0.79025,
242
+ 0.891
243
+ ],
244
+ [
245
+ -0.00479,
246
+ 0.99973,
247
+ 0.02263,
248
+ 0.95389
249
+ ],
250
+ [
251
+ 0.79051,
252
+ -0.01008,
253
+ 0.61237,
254
+ 4.48144
255
+ ],
256
+ [
257
+ 0.0,
258
+ 0.0,
259
+ 0.0,
260
+ 1.0
261
+ ]
262
+ ]
263
+ ],
264
+ [
265
+ "010_potted_meat_can.object_config.json",
266
+ [
267
+ [
268
+ 0.89343,
269
+ 7e-05,
270
+ 0.44921,
271
+ 1.07659
272
+ ],
273
+ [
274
+ -5e-05,
275
+ 1.0,
276
+ -5e-05,
277
+ 0.45679
278
+ ],
279
+ [
280
+ -0.44921,
281
+ 2e-05,
282
+ 0.89343,
283
+ 5.54182
284
+ ],
285
+ [
286
+ 0.0,
287
+ 0.0,
288
+ 0.0,
289
+ 1.0
290
+ ]
291
+ ]
292
+ ],
293
+ [
294
+ "003_cracker_box.object_config.json",
295
+ [
296
+ [
297
+ 0.64282,
298
+ 0.03398,
299
+ 0.76526,
300
+ 3.66654
301
+ ],
302
+ [
303
+ -0.04525,
304
+ 0.99896,
305
+ -0.00634,
306
+ 0.52158
307
+ ],
308
+ [
309
+ -0.76468,
310
+ -0.03055,
311
+ 0.64369,
312
+ 5.44963
313
+ ],
314
+ [
315
+ 0.0,
316
+ 0.0,
317
+ 0.0,
318
+ 1.0
319
+ ]
320
+ ]
321
+ ],
322
+ [
323
+ "024_bowl.object_config.json",
324
+ [
325
+ [
326
+ -0.32338,
327
+ 0.00039,
328
+ 0.94627,
329
+ 0.92455
330
+ ],
331
+ [
332
+ 6e-05,
333
+ 1.0,
334
+ -0.00039,
335
+ 0.65413
336
+ ],
337
+ [
338
+ -0.94627,
339
+ -7e-05,
340
+ -0.32338,
341
+ -0.31171
342
+ ],
343
+ [
344
+ 0.0,
345
+ 0.0,
346
+ 0.0,
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ [
352
+ "007_tuna_fish_can.object_config.json",
353
+ [
354
+ [
355
+ 0.68945,
356
+ -1e-05,
357
+ -0.72433,
358
+ 2.37887
359
+ ],
360
+ [
361
+ 0.0,
362
+ 1.0,
363
+ -1e-05,
364
+ 0.42105
365
+ ],
366
+ [
367
+ 0.72433,
368
+ 1e-05,
369
+ 0.68945,
370
+ 2.94055
371
+ ],
372
+ [
373
+ 0.0,
374
+ 0.0,
375
+ 0.0,
376
+ 1.0
377
+ ]
378
+ ]
379
+ ],
380
+ [
381
+ "010_potted_meat_can.object_config.json",
382
+ [
383
+ [
384
+ -0.629,
385
+ 9e-05,
386
+ -0.7774,
387
+ -2.1619
388
+ ],
389
+ [
390
+ 2e-05,
391
+ 1.0,
392
+ 0.0001,
393
+ 0.90168
394
+ ],
395
+ [
396
+ 0.7774,
397
+ 4e-05,
398
+ -0.629,
399
+ 2.45865
400
+ ],
401
+ [
402
+ 0.0,
403
+ 0.0,
404
+ 0.0,
405
+ 1.0
406
+ ]
407
+ ]
408
+ ],
409
+ [
410
+ "024_bowl.object_config.json",
411
+ [
412
+ [
413
+ 0.3657,
414
+ -0.00055,
415
+ -0.93073,
416
+ -2.09667
417
+ ],
418
+ [
419
+ 0.00858,
420
+ 0.99996,
421
+ 0.00278,
422
+ 1.27747
423
+ ],
424
+ [
425
+ 0.93069,
426
+ -0.009,
427
+ 0.36569,
428
+ -0.27036
429
+ ],
430
+ [
431
+ 0.0,
432
+ 0.0,
433
+ 0.0,
434
+ 1.0
435
+ ]
436
+ ]
437
+ ],
438
+ [
439
+ "009_gelatin_box.object_config.json",
440
+ [
441
+ [
442
+ 0.13181,
443
+ 1e-05,
444
+ -0.99127,
445
+ -2.17
446
+ ],
447
+ [
448
+ -4e-05,
449
+ 1.0,
450
+ 1e-05,
451
+ 0.72222
452
+ ],
453
+ [
454
+ 0.99127,
455
+ 4e-05,
456
+ 0.13181,
457
+ 2.07466
458
+ ],
459
+ [
460
+ 0.0,
461
+ 0.0,
462
+ 0.0,
463
+ 1.0
464
+ ]
465
+ ]
466
+ ],
467
+ [
468
+ "003_cracker_box.object_config.json",
469
+ [
470
+ [
471
+ 0.97089,
472
+ 0.04519,
473
+ -0.23524,
474
+ 1.31605
475
+ ],
476
+ [
477
+ -0.04837,
478
+ 0.9988,
479
+ -0.00776,
480
+ 1.04086
481
+ ],
482
+ [
483
+ 0.23461,
484
+ 0.01892,
485
+ 0.97191,
486
+ 4.88066
487
+ ],
488
+ [
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 1.0
493
+ ]
494
+ ]
495
+ ],
496
+ [
497
+ "010_potted_meat_can.object_config.json",
498
+ [
499
+ [
500
+ -0.58689,
501
+ 0.00501,
502
+ -0.80965,
503
+ 3.94079
504
+ ],
505
+ [
506
+ 0.00079,
507
+ 0.99998,
508
+ 0.00561,
509
+ 0.45697
510
+ ],
511
+ [
512
+ 0.80967,
513
+ 0.00265,
514
+ -0.58688,
515
+ 5.46169
516
+ ],
517
+ [
518
+ 0.0,
519
+ 0.0,
520
+ 0.0,
521
+ 1.0
522
+ ]
523
+ ]
524
+ ],
525
+ [
526
+ "003_cracker_box.object_config.json",
527
+ [
528
+ [
529
+ -0.86078,
530
+ -0.03519,
531
+ 0.50777,
532
+ 1.13156
533
+ ],
534
+ [
535
+ -0.04562,
536
+ 0.99893,
537
+ -0.00811,
538
+ 0.52151
539
+ ],
540
+ [
541
+ -0.50694,
542
+ -0.03014,
543
+ -0.86146,
544
+ 5.73786
545
+ ],
546
+ [
547
+ 0.0,
548
+ 0.0,
549
+ 0.0,
550
+ 1.0
551
+ ]
552
+ ]
553
+ ],
554
+ [
555
+ "024_bowl.object_config.json",
556
+ [
557
+ [
558
+ 0.6463,
559
+ 0.0001,
560
+ -0.76309,
561
+ 0.26728
562
+ ],
563
+ [
564
+ 0.00091,
565
+ 1.0,
566
+ 0.00091,
567
+ 0.65412
568
+ ],
569
+ [
570
+ 0.76309,
571
+ -0.00128,
572
+ 0.6463,
573
+ -0.00249
574
+ ],
575
+ [
576
+ 0.0,
577
+ 0.0,
578
+ 0.0,
579
+ 1.0
580
+ ]
581
+ ]
582
+ ],
583
+ [
584
+ "010_potted_meat_can.object_config.json",
585
+ [
586
+ [
587
+ 0.22631,
588
+ 1e-05,
589
+ 0.97406,
590
+ 1.06983
591
+ ],
592
+ [
593
+ -1e-05,
594
+ 1.0,
595
+ -1e-05,
596
+ 0.45679
597
+ ],
598
+ [
599
+ -0.97406,
600
+ -1e-05,
601
+ 0.22631,
602
+ 5.45127
603
+ ],
604
+ [
605
+ 0.0,
606
+ 0.0,
607
+ 0.0,
608
+ 1.0
609
+ ]
610
+ ]
611
+ ],
612
+ [
613
+ "008_pudding_box.object_config.json",
614
+ [
615
+ [
616
+ 0.88362,
617
+ 0.00788,
618
+ -0.46814,
619
+ 0.89005
620
+ ],
621
+ [
622
+ -0.00184,
623
+ 0.99991,
624
+ 0.01337,
625
+ 0.4345
626
+ ],
627
+ [
628
+ 0.4682,
629
+ -0.01096,
630
+ 0.88356,
631
+ 5.63529
632
+ ],
633
+ [
634
+ 0.0,
635
+ 0.0,
636
+ 0.0,
637
+ 1.0
638
+ ]
639
+ ]
640
+ ],
641
+ [
642
+ "007_tuna_fish_can.object_config.json",
643
+ [
644
+ [
645
+ -0.99488,
646
+ -2e-05,
647
+ -0.10108,
648
+ -2.17074
649
+ ],
650
+ [
651
+ -2e-05,
652
+ 1.0,
653
+ -2e-05,
654
+ 0.72401
655
+ ],
656
+ [
657
+ 0.10108,
658
+ -2e-05,
659
+ -0.99488,
660
+ 1.94246
661
+ ],
662
+ [
663
+ 0.0,
664
+ 0.0,
665
+ 0.0,
666
+ 1.0
667
+ ]
668
+ ]
669
+ ],
670
+ [
671
+ "024_bowl.object_config.json",
672
+ [
673
+ [
674
+ -0.99986,
675
+ -0.00096,
676
+ -0.01689,
677
+ 0.0174
678
+ ],
679
+ [
680
+ -0.00097,
681
+ 1.0,
682
+ 0.00046,
683
+ 0.6541
684
+ ],
685
+ [
686
+ 0.01689,
687
+ 0.00048,
688
+ -0.99986,
689
+ -0.08929
690
+ ],
691
+ [
692
+ 0.0,
693
+ 0.0,
694
+ 0.0,
695
+ 1.0
696
+ ]
697
+ ]
698
+ ],
699
+ [
700
+ "004_sugar_box.object_config.json",
701
+ [
702
+ [
703
+ 0.84331,
704
+ -0.04524,
705
+ 0.53552,
706
+ 1.20447
707
+ ],
708
+ [
709
+ 0.03925,
710
+ 0.99897,
711
+ 0.02257,
712
+ 0.50292
713
+ ],
714
+ [
715
+ -0.53599,
716
+ 0.00199,
717
+ 0.84422,
718
+ 5.49004
719
+ ],
720
+ [
721
+ 0.0,
722
+ 0.0,
723
+ 0.0,
724
+ 1.0
725
+ ]
726
+ ]
727
+ ],
728
+ [
729
+ "008_pudding_box.object_config.json",
730
+ [
731
+ [
732
+ 0.70492,
733
+ 0.0208,
734
+ -0.70899,
735
+ -2.34306
736
+ ],
737
+ [
738
+ -0.0059,
739
+ 0.99971,
740
+ 0.02347,
741
+ 0.87927
742
+ ],
743
+ [
744
+ 0.70927,
745
+ -0.01236,
746
+ 0.70483,
747
+ 1.38803
748
+ ],
749
+ [
750
+ 0.0,
751
+ 0.0,
752
+ 0.0,
753
+ 1.0
754
+ ]
755
+ ]
756
+ ],
757
+ [
758
+ "010_potted_meat_can.object_config.json",
759
+ [
760
+ [
761
+ 1.0,
762
+ 0.0,
763
+ 0.0,
764
+ 2.50402
765
+ ],
766
+ [
767
+ 0.0,
768
+ 1.0,
769
+ 0.0,
770
+ 0.44618
771
+ ],
772
+ [
773
+ 0.0,
774
+ 0.0,
775
+ 1.0,
776
+ 2.7026
777
+ ],
778
+ [
779
+ 0.0,
780
+ 0.0,
781
+ 0.0,
782
+ 1.0
783
+ ]
784
+ ]
785
+ ],
786
+ [
787
+ "004_sugar_box.object_config.json",
788
+ [
789
+ [
790
+ 0.02515,
791
+ 0.02329,
792
+ -0.99941,
793
+ -2.20562
794
+ ],
795
+ [
796
+ 0.03919,
797
+ 0.99894,
798
+ 0.02427,
799
+ 0.79516
800
+ ],
801
+ [
802
+ 0.99892,
803
+ -0.03978,
804
+ 0.02421,
805
+ 1.86019
806
+ ],
807
+ [
808
+ 0.0,
809
+ 0.0,
810
+ 0.0,
811
+ 1.0
812
+ ]
813
+ ]
814
+ ],
815
+ [
816
+ "004_sugar_box.object_config.json",
817
+ [
818
+ [
819
+ -0.86924,
820
+ 0.04518,
821
+ -0.49231,
822
+ -2.21377
823
+ ],
824
+ [
825
+ 0.04128,
826
+ 0.99897,
827
+ 0.0188,
828
+ 1.33825
829
+ ],
830
+ [
831
+ 0.49266,
832
+ -0.00398,
833
+ -0.87021,
834
+ -0.35872
835
+ ],
836
+ [
837
+ 0.0,
838
+ 0.0,
839
+ 0.0,
840
+ 1.0
841
+ ]
842
+ ]
843
+ ],
844
+ [
845
+ "007_tuna_fish_can.object_config.json",
846
+ [
847
+ [
848
+ -0.99993,
849
+ -0.00022,
850
+ -0.0116,
851
+ -2.22681
852
+ ],
853
+ [
854
+ -0.00015,
855
+ 0.99998,
856
+ -0.00584,
857
+ 1.26843
858
+ ],
859
+ [
860
+ 0.0116,
861
+ -0.00584,
862
+ -0.99992,
863
+ -0.12851
864
+ ],
865
+ [
866
+ 0.0,
867
+ 0.0,
868
+ 0.0,
869
+ 1.0
870
+ ]
871
+ ]
872
+ ],
873
+ [
874
+ "007_tuna_fish_can.object_config.json",
875
+ [
876
+ [
877
+ -0.60795,
878
+ -0.0,
879
+ -0.79397,
880
+ -2.04914
881
+ ],
882
+ [
883
+ -0.0,
884
+ 1.0,
885
+ -0.0,
886
+ 0.87655
887
+ ],
888
+ [
889
+ 0.79397,
890
+ -0.0,
891
+ -0.60795,
892
+ 1.27874
893
+ ],
894
+ [
895
+ 0.0,
896
+ 0.0,
897
+ 0.0,
898
+ 1.0
899
+ ]
900
+ ]
901
+ ]
902
+ ],
903
+ "targets": {
904
+ "004_sugar_box_:0002": [
905
+ [
906
+ -0.99926,
907
+ 0.0,
908
+ -0.03855,
909
+ -2.43059
910
+ ],
911
+ [
912
+ 0.0,
913
+ 1.0,
914
+ 0.0,
915
+ 0.94711
916
+ ],
917
+ [
918
+ 0.03855,
919
+ 0.0,
920
+ -0.99926,
921
+ 0.60905
922
+ ],
923
+ [
924
+ 0.0,
925
+ 0.0,
926
+ 0.0,
927
+ 1.0
928
+ ]
929
+ ],
930
+ "007_tuna_fish_can_:0002": [
931
+ [
932
+ 0.99045,
933
+ 0.0,
934
+ 0.13786,
935
+ -2.27485
936
+ ],
937
+ [
938
+ 0.0,
939
+ 1.0,
940
+ 0.0,
941
+ 0.87587
942
+ ],
943
+ [
944
+ -0.13786,
945
+ 0.0,
946
+ 0.99045,
947
+ 1.6422
948
+ ],
949
+ [
950
+ 0.0,
951
+ 0.0,
952
+ 0.0,
953
+ 1.0
954
+ ]
955
+ ],
956
+ "007_tuna_fish_can_:0003": [
957
+ [
958
+ 0.95577,
959
+ 0.0,
960
+ 0.29412,
961
+ -2.13766
962
+ ],
963
+ [
964
+ 0.0,
965
+ 1.0,
966
+ 0.0,
967
+ 1.26791
968
+ ],
969
+ [
970
+ -0.29412,
971
+ 0.0,
972
+ 0.95577,
973
+ -0.10016
974
+ ],
975
+ [
976
+ 0.0,
977
+ 0.0,
978
+ 0.0,
979
+ 1.0
980
+ ]
981
+ ]
982
+ },
983
+ "markers": [
984
+ {
985
+ "name": "cab_push_point_7",
986
+ "type": "articulated_object",
987
+ "params": {
988
+ "offset": [
989
+ 0.3,
990
+ 0.0,
991
+ 0
992
+ ],
993
+ "link": "drawer1_top",
994
+ "object": "kitchen_counter_:0000"
995
+ }
996
+ },
997
+ {
998
+ "name": "cab_push_point_6",
999
+ "type": "articulated_object",
1000
+ "params": {
1001
+ "offset": [
1002
+ 0.3,
1003
+ 0.0,
1004
+ 0
1005
+ ],
1006
+ "link": "drawer2_top",
1007
+ "object": "kitchen_counter_:0000"
1008
+ }
1009
+ },
1010
+ {
1011
+ "name": "cab_push_point_5",
1012
+ "type": "articulated_object",
1013
+ "params": {
1014
+ "offset": [
1015
+ 0.3,
1016
+ 0.0,
1017
+ 0
1018
+ ],
1019
+ "link": "drawer3",
1020
+ "object": "kitchen_counter_:0000"
1021
+ }
1022
+ },
1023
+ {
1024
+ "name": "cab_push_point_4",
1025
+ "type": "articulated_object",
1026
+ "params": {
1027
+ "offset": [
1028
+ 0.3,
1029
+ 0.0,
1030
+ 0
1031
+ ],
1032
+ "link": "drawer4",
1033
+ "object": "kitchen_counter_:0000"
1034
+ }
1035
+ },
1036
+ {
1037
+ "name": "fridge_push_point",
1038
+ "type": "articulated_object",
1039
+ "params": {
1040
+ "offset": [
1041
+ 0.1,
1042
+ -0.62,
1043
+ 0.2
1044
+ ],
1045
+ "link": "top_door",
1046
+ "object": "fridge_:0000"
1047
+ }
1048
+ }
1049
+ ],
1050
+ "target_receptacles": [
1051
+ [
1052
+ "fridge_:0000",
1053
+ 0
1054
+ ],
1055
+ [
1056
+ "fridge_:0000",
1057
+ 0
1058
+ ],
1059
+ [
1060
+ "kitchen_counter_:0000",
1061
+ 0
1062
+ ]
1063
+ ],
1064
+ "goal_receptacles": [
1065
+ [
1066
+ "kitchen_counter_:0000",
1067
+ 0
1068
+ ],
1069
+ [
1070
+ "kitchen_counter_:0000",
1071
+ 0
1072
+ ],
1073
+ [
1074
+ "fridge_:0000",
1075
+ 0
1076
+ ]
1077
+ ]
1078
+ }
rearrange/v1_extracted/train/prepare_groceries/episode_1004.json ADDED
@@ -0,0 +1,1078 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_id": "1004",
3
+ "scene_id": "data/replica_cad/configs/scenes/v3_sc1_staging_04.scene_instance.json",
4
+ "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
5
+ "additional_obj_config_paths": [
6
+ "data/objects/ycb/"
7
+ ],
8
+ "start_position": [
9
+ 0,
10
+ 0,
11
+ 0
12
+ ],
13
+ "start_rotation": [
14
+ 0,
15
+ 0,
16
+ 0,
17
+ 1
18
+ ],
19
+ "info": {
20
+ "object_labels": {
21
+ "024_bowl_:0001": "obj0_target|0",
22
+ "008_pudding_box_:0005": "obj1_target|1",
23
+ "002_master_chef_can_:0002": "obj2_target|2"
24
+ }
25
+ },
26
+ "ao_states": {
27
+ "fridge_:0000": {
28
+ "2": 1.5
29
+ }
30
+ },
31
+ "rigid_objs": [
32
+ [
33
+ "003_cracker_box.object_config.json",
34
+ [
35
+ [
36
+ 0.12512,
37
+ 0.00933,
38
+ -0.9921,
39
+ 0.54726
40
+ ],
41
+ [
42
+ -0.07249,
43
+ 0.99737,
44
+ 0.00024,
45
+ 0.73351
46
+ ],
47
+ [
48
+ 0.98949,
49
+ 0.07188,
50
+ 0.12547,
51
+ 4.61052
52
+ ],
53
+ [
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 1.0
58
+ ]
59
+ ]
60
+ ],
61
+ [
62
+ "008_pudding_box.object_config.json",
63
+ [
64
+ [
65
+ -0.14527,
66
+ -0.02389,
67
+ 0.9891,
68
+ 0.05391
69
+ ],
70
+ [
71
+ -0.0058,
72
+ 0.99971,
73
+ 0.0233,
74
+ 0.43449
75
+ ],
76
+ [
77
+ -0.98937,
78
+ -0.00235,
79
+ -0.14537,
80
+ -0.22049
81
+ ],
82
+ [
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ 1.0
87
+ ]
88
+ ]
89
+ ],
90
+ [
91
+ "010_potted_meat_can.object_config.json",
92
+ [
93
+ [
94
+ 0.99916,
95
+ 0.00042,
96
+ 0.04102,
97
+ -1.9446
98
+ ],
99
+ [
100
+ -0.00064,
101
+ 0.99999,
102
+ 0.00532,
103
+ 1.29307
104
+ ],
105
+ [
106
+ -0.04102,
107
+ -0.00534,
108
+ 0.99914,
109
+ -1.01363
110
+ ],
111
+ [
112
+ 0.0,
113
+ 0.0,
114
+ 0.0,
115
+ 1.0
116
+ ]
117
+ ]
118
+ ],
119
+ [
120
+ "010_potted_meat_can.object_config.json",
121
+ [
122
+ [
123
+ -0.90244,
124
+ -3e-05,
125
+ 0.43081,
126
+ -0.02819
127
+ ],
128
+ [
129
+ 4e-05,
130
+ 1.0,
131
+ 0.00016,
132
+ 0.4569
133
+ ],
134
+ [
135
+ -0.43081,
136
+ 0.00016,
137
+ -0.90244,
138
+ -0.09338
139
+ ],
140
+ [
141
+ 0.0,
142
+ 0.0,
143
+ 0.0,
144
+ 1.0
145
+ ]
146
+ ]
147
+ ],
148
+ [
149
+ "010_potted_meat_can.object_config.json",
150
+ [
151
+ [
152
+ -0.99552,
153
+ -4e-05,
154
+ -0.09458,
155
+ 1.90244
156
+ ],
157
+ [
158
+ -3e-05,
159
+ 1.0,
160
+ -5e-05,
161
+ 0.80465
162
+ ],
163
+ [
164
+ 0.09458,
165
+ -5e-05,
166
+ -0.99552,
167
+ 7.43176
168
+ ],
169
+ [
170
+ 0.0,
171
+ 0.0,
172
+ 0.0,
173
+ 1.0
174
+ ]
175
+ ]
176
+ ],
177
+ [
178
+ "005_tomato_soup_can.object_config.json",
179
+ [
180
+ [
181
+ -0.92733,
182
+ -0.00032,
183
+ 0.37425,
184
+ -2.0367
185
+ ],
186
+ [
187
+ -0.00036,
188
+ 1.0,
189
+ -5e-05,
190
+ 0.91083
191
+ ],
192
+ [
193
+ -0.37425,
194
+ -0.00018,
195
+ -0.92733,
196
+ 0.85874
197
+ ],
198
+ [
199
+ 0.0,
200
+ 0.0,
201
+ 0.0,
202
+ 1.0
203
+ ]
204
+ ]
205
+ ],
206
+ [
207
+ "008_pudding_box.object_config.json",
208
+ [
209
+ [
210
+ -0.58112,
211
+ 0.01362,
212
+ -0.8137,
213
+ 0.63603
214
+ ],
215
+ [
216
+ -0.00617,
217
+ 0.99976,
218
+ 0.02114,
219
+ 0.64635
220
+ ],
221
+ [
222
+ 0.81379,
223
+ 0.0173,
224
+ -0.5809,
225
+ 5.17075
226
+ ],
227
+ [
228
+ 0.0,
229
+ 0.0,
230
+ 0.0,
231
+ 1.0
232
+ ]
233
+ ]
234
+ ],
235
+ [
236
+ "004_sugar_box.object_config.json",
237
+ [
238
+ [
239
+ -0.44462,
240
+ -0.00514,
241
+ 0.89571,
242
+ 1.05339
243
+ ],
244
+ [
245
+ 0.03702,
246
+ 0.99902,
247
+ 0.02411,
248
+ 0.50297
249
+ ],
250
+ [
251
+ -0.89496,
252
+ 0.04388,
253
+ -0.44399,
254
+ -0.05353
255
+ ],
256
+ [
257
+ 0.0,
258
+ 0.0,
259
+ 0.0,
260
+ 1.0
261
+ ]
262
+ ]
263
+ ],
264
+ [
265
+ "008_pudding_box.object_config.json",
266
+ [
267
+ [
268
+ -0.02122,
269
+ -0.02351,
270
+ 0.9995,
271
+ -2.1637
272
+ ],
273
+ [
274
+ -0.00588,
275
+ 0.99971,
276
+ 0.02339,
277
+ 0.87927
278
+ ],
279
+ [
280
+ -0.99976,
281
+ -0.00538,
282
+ -0.02135,
283
+ 0.02213
284
+ ],
285
+ [
286
+ 0.0,
287
+ 0.0,
288
+ 0.0,
289
+ 1.0
290
+ ]
291
+ ]
292
+ ],
293
+ [
294
+ "003_cracker_box.object_config.json",
295
+ [
296
+ [
297
+ 0.53108,
298
+ 0.02023,
299
+ -0.84708,
300
+ 0.8754
301
+ ],
302
+ [
303
+ -0.04739,
304
+ 0.99886,
305
+ -0.00586,
306
+ 0.73333
307
+ ],
308
+ [
309
+ 0.846,
310
+ 0.04326,
311
+ 0.53143,
312
+ 5.34104
313
+ ],
314
+ [
315
+ 0.0,
316
+ 0.0,
317
+ 0.0,
318
+ 1.0
319
+ ]
320
+ ]
321
+ ],
322
+ [
323
+ "024_bowl.object_config.json",
324
+ [
325
+ [
326
+ -0.30616,
327
+ 0.0005,
328
+ 0.95198,
329
+ -2.34985
330
+ ],
331
+ [
332
+ -0.00592,
333
+ 0.99998,
334
+ -0.00243,
335
+ 1.27781
336
+ ],
337
+ [
338
+ -0.95196,
339
+ -0.00638,
340
+ -0.30616,
341
+ -1.13846
342
+ ],
343
+ [
344
+ 0.0,
345
+ 0.0,
346
+ 0.0,
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ [
352
+ "009_gelatin_box.object_config.json",
353
+ [
354
+ [
355
+ 0.15496,
356
+ -1e-05,
357
+ 0.98792,
358
+ -2.23007
359
+ ],
360
+ [
361
+ 0.0,
362
+ 1.0,
363
+ 1e-05,
364
+ 0.87476
365
+ ],
366
+ [
367
+ -0.98792,
368
+ -0.0,
369
+ 0.15496,
370
+ 2.04851
371
+ ],
372
+ [
373
+ 0.0,
374
+ 0.0,
375
+ 0.0,
376
+ 1.0
377
+ ]
378
+ ]
379
+ ],
380
+ [
381
+ "009_gelatin_box.object_config.json",
382
+ [
383
+ [
384
+ 1.0,
385
+ 0.0,
386
+ 0.0,
387
+ -2.24902
388
+ ],
389
+ [
390
+ 0.0,
391
+ 1.0,
392
+ -0.0012,
393
+ 0.94922
394
+ ],
395
+ [
396
+ 0.0,
397
+ 0.0012,
398
+ 1.0,
399
+ 3.91718
400
+ ],
401
+ [
402
+ 0.0,
403
+ 0.0,
404
+ 0.0,
405
+ 1.0
406
+ ]
407
+ ]
408
+ ],
409
+ [
410
+ "005_tomato_soup_can.object_config.json",
411
+ [
412
+ [
413
+ 0.94667,
414
+ 0.00193,
415
+ 0.32221,
416
+ 2.08868
417
+ ],
418
+ [
419
+ -0.00057,
420
+ 0.99999,
421
+ -0.00434,
422
+ 0.81395
423
+ ],
424
+ [
425
+ -0.32221,
426
+ 0.00392,
427
+ 0.94666,
428
+ 7.52525
429
+ ],
430
+ [
431
+ 0.0,
432
+ 0.0,
433
+ 0.0,
434
+ 1.0
435
+ ]
436
+ ]
437
+ ],
438
+ [
439
+ "007_tuna_fish_can.object_config.json",
440
+ [
441
+ [
442
+ -0.38692,
443
+ -1e-05,
444
+ -0.92211,
445
+ -1.93579
446
+ ],
447
+ [
448
+ -1e-05,
449
+ 1.0,
450
+ -1e-05,
451
+ 0.95101
452
+ ],
453
+ [
454
+ 0.92211,
455
+ 1e-05,
456
+ -0.38692,
457
+ 3.29209
458
+ ],
459
+ [
460
+ 0.0,
461
+ 0.0,
462
+ 0.0,
463
+ 1.0
464
+ ]
465
+ ]
466
+ ],
467
+ [
468
+ "005_tomato_soup_can.object_config.json",
469
+ [
470
+ [
471
+ 0.99838,
472
+ -0.00022,
473
+ 0.05682,
474
+ -2.32074
475
+ ],
476
+ [
477
+ 0.00023,
478
+ 1.0,
479
+ -7e-05,
480
+ 0.91083
481
+ ],
482
+ [
483
+ -0.05682,
484
+ 9e-05,
485
+ 0.99838,
486
+ 1.83548
487
+ ],
488
+ [
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 1.0
493
+ ]
494
+ ]
495
+ ],
496
+ [
497
+ "007_tuna_fish_can.object_config.json",
498
+ [
499
+ [
500
+ -0.78592,
501
+ -2e-05,
502
+ 0.61832,
503
+ -2.25294
504
+ ],
505
+ [
506
+ -1e-05,
507
+ 1.0,
508
+ 1e-05,
509
+ 0.87655
510
+ ],
511
+ [
512
+ -0.61832,
513
+ -0.0,
514
+ -0.78592,
515
+ 1.56014
516
+ ],
517
+ [
518
+ 0.0,
519
+ 0.0,
520
+ 0.0,
521
+ 1.0
522
+ ]
523
+ ]
524
+ ],
525
+ [
526
+ "005_tomato_soup_can.object_config.json",
527
+ [
528
+ [
529
+ -0.88699,
530
+ -5e-05,
531
+ 0.46178,
532
+ -1.81429
533
+ ],
534
+ [
535
+ -1e-05,
536
+ 1.0,
537
+ 9e-05,
538
+ 0.9853
539
+ ],
540
+ [
541
+ -0.46178,
542
+ 7e-05,
543
+ -0.88699,
544
+ 3.11639
545
+ ],
546
+ [
547
+ 0.0,
548
+ 0.0,
549
+ 0.0,
550
+ 1.0
551
+ ]
552
+ ]
553
+ ],
554
+ [
555
+ "008_pudding_box.object_config.json",
556
+ [
557
+ [
558
+ -0.89218,
559
+ 0.00534,
560
+ -0.45164,
561
+ 1.20138
562
+ ],
563
+ [
564
+ -0.00591,
565
+ 0.99971,
566
+ 0.0235,
567
+ 0.43438
568
+ ],
569
+ [
570
+ 0.45164,
571
+ 0.02363,
572
+ -0.89189,
573
+ -0.03046
574
+ ],
575
+ [
576
+ 0.0,
577
+ 0.0,
578
+ 0.0,
579
+ 1.0
580
+ ]
581
+ ]
582
+ ],
583
+ [
584
+ "008_pudding_box.object_config.json",
585
+ [
586
+ [
587
+ -0.98586,
588
+ -0.01416,
589
+ -0.16696,
590
+ -1.94516
591
+ ],
592
+ [
593
+ -0.01817,
594
+ 0.99958,
595
+ 0.02255,
596
+ 1.26959
597
+ ],
598
+ [
599
+ 0.16657,
600
+ 0.02526,
601
+ -0.98571,
602
+ -1.29587
603
+ ],
604
+ [
605
+ 0.0,
606
+ 0.0,
607
+ 0.0,
608
+ 1.0
609
+ ]
610
+ ]
611
+ ],
612
+ [
613
+ "007_tuna_fish_can.object_config.json",
614
+ [
615
+ [
616
+ 0.58271,
617
+ 0.0,
618
+ 0.81268,
619
+ 1.3444
620
+ ],
621
+ [
622
+ -0.0,
623
+ 1.0,
624
+ 0.0,
625
+ 0.43166
626
+ ],
627
+ [
628
+ -0.81268,
629
+ -0.0,
630
+ 0.58271,
631
+ -0.18343
632
+ ],
633
+ [
634
+ 0.0,
635
+ 0.0,
636
+ 0.0,
637
+ 1.0
638
+ ]
639
+ ]
640
+ ],
641
+ [
642
+ "009_gelatin_box.object_config.json",
643
+ [
644
+ [
645
+ 0.97116,
646
+ -0.00132,
647
+ -0.23843,
648
+ 0.75783
649
+ ],
650
+ [
651
+ 0.00135,
652
+ 1.0,
653
+ -2e-05,
654
+ 0.64172
655
+ ],
656
+ [
657
+ 0.23843,
658
+ -0.0003,
659
+ 0.97116,
660
+ 4.03642
661
+ ],
662
+ [
663
+ 0.0,
664
+ 0.0,
665
+ 0.0,
666
+ 1.0
667
+ ]
668
+ ]
669
+ ],
670
+ [
671
+ "009_gelatin_box.object_config.json",
672
+ [
673
+ [
674
+ -0.92621,
675
+ -0.0,
676
+ -0.37702,
677
+ -2.02416
678
+ ],
679
+ [
680
+ -0.0,
681
+ 1.0,
682
+ -0.0,
683
+ 0.87476
684
+ ],
685
+ [
686
+ 0.37702,
687
+ 0.0,
688
+ -0.92621,
689
+ -0.44808
690
+ ],
691
+ [
692
+ 0.0,
693
+ 0.0,
694
+ 0.0,
695
+ 1.0
696
+ ]
697
+ ]
698
+ ],
699
+ [
700
+ "003_cracker_box.object_config.json",
701
+ [
702
+ [
703
+ -0.00477,
704
+ -0.00302,
705
+ -0.99998,
706
+ -2.13215
707
+ ],
708
+ [
709
+ -0.01812,
710
+ 0.99983,
711
+ -0.00293,
712
+ 0.81434
713
+ ],
714
+ [
715
+ 0.99982,
716
+ 0.01811,
717
+ -0.00483,
718
+ 1.34104
719
+ ],
720
+ [
721
+ 0.0,
722
+ 0.0,
723
+ 0.0,
724
+ 1.0
725
+ ]
726
+ ]
727
+ ],
728
+ [
729
+ "002_master_chef_can.object_config.json",
730
+ [
731
+ [
732
+ 0.54585,
733
+ 3e-05,
734
+ -0.83788,
735
+ -0.07378
736
+ ],
737
+ [
738
+ -1e-05,
739
+ 1.0,
740
+ 4e-05,
741
+ 0.48552
742
+ ],
743
+ [
744
+ 0.83788,
745
+ -1e-05,
746
+ 0.54585,
747
+ -0.24438
748
+ ],
749
+ [
750
+ 0.0,
751
+ 0.0,
752
+ 0.0,
753
+ 1.0
754
+ ]
755
+ ]
756
+ ],
757
+ [
758
+ "010_potted_meat_can.object_config.json",
759
+ [
760
+ [
761
+ 0.13153,
762
+ -3e-05,
763
+ -0.99131,
764
+ 0.80773
765
+ ],
766
+ [
767
+ -1e-05,
768
+ 1.0,
769
+ -3e-05,
770
+ 0.66862
771
+ ],
772
+ [
773
+ 0.99131,
774
+ 2e-05,
775
+ 0.13153,
776
+ 5.14451
777
+ ],
778
+ [
779
+ 0.0,
780
+ 0.0,
781
+ 0.0,
782
+ 1.0
783
+ ]
784
+ ]
785
+ ],
786
+ [
787
+ "002_master_chef_can.object_config.json",
788
+ [
789
+ [
790
+ -0.35954,
791
+ 0.00387,
792
+ -0.93312,
793
+ 3.43919
794
+ ],
795
+ [
796
+ -0.01832,
797
+ 0.99977,
798
+ 0.01121,
799
+ 0.47589
800
+ ],
801
+ [
802
+ 0.93295,
803
+ 0.02112,
804
+ -0.35938,
805
+ 5.39159
806
+ ],
807
+ [
808
+ 0.0,
809
+ 0.0,
810
+ 0.0,
811
+ 1.0
812
+ ]
813
+ ]
814
+ ],
815
+ [
816
+ "024_bowl.object_config.json",
817
+ [
818
+ [
819
+ -0.64818,
820
+ 0.00216,
821
+ -0.76148,
822
+ -2.0862
823
+ ],
824
+ [
825
+ 0.00525,
826
+ 0.99998,
827
+ -0.00164,
828
+ 1.27841
829
+ ],
830
+ [
831
+ 0.76147,
832
+ -0.00506,
833
+ -0.64818,
834
+ -1.0332
835
+ ],
836
+ [
837
+ 0.0,
838
+ 0.0,
839
+ 0.0,
840
+ 1.0
841
+ ]
842
+ ]
843
+ ],
844
+ [
845
+ "008_pudding_box.object_config.json",
846
+ [
847
+ [
848
+ 0.94547,
849
+ 0.01324,
850
+ -0.32544,
851
+ -2.14042
852
+ ],
853
+ [
854
+ -0.00403,
855
+ 0.99957,
856
+ 0.02896,
857
+ 1.26976
858
+ ],
859
+ [
860
+ 0.32568,
861
+ -0.02607,
862
+ 0.94512,
863
+ -1.1678
864
+ ],
865
+ [
866
+ 0.0,
867
+ 0.0,
868
+ 0.0,
869
+ 1.0
870
+ ]
871
+ ]
872
+ ],
873
+ [
874
+ "002_master_chef_can.object_config.json",
875
+ [
876
+ [
877
+ -0.71365,
878
+ -4e-05,
879
+ -0.7005,
880
+ -2.28424
881
+ ],
882
+ [
883
+ -0.0,
884
+ 1.0,
885
+ -6e-05,
886
+ 0.9303
887
+ ],
888
+ [
889
+ 0.7005,
890
+ -4e-05,
891
+ -0.71365,
892
+ 2.31332
893
+ ],
894
+ [
895
+ 0.0,
896
+ 0.0,
897
+ 0.0,
898
+ 1.0
899
+ ]
900
+ ]
901
+ ]
902
+ ],
903
+ "targets": {
904
+ "024_bowl_:0001": [
905
+ [
906
+ -0.98687,
907
+ 0.0,
908
+ 0.16152,
909
+ -2.07572
910
+ ],
911
+ [
912
+ 0.0,
913
+ 1.0,
914
+ 0.0,
915
+ 0.8866
916
+ ],
917
+ [
918
+ -0.16152,
919
+ 0.0,
920
+ -0.98687,
921
+ 1.59194
922
+ ],
923
+ [
924
+ 0.0,
925
+ 0.0,
926
+ 0.0,
927
+ 1.0
928
+ ]
929
+ ],
930
+ "008_pudding_box_:0005": [
931
+ [
932
+ 0.3961,
933
+ 0.0,
934
+ -0.91821,
935
+ -2.00579
936
+ ],
937
+ [
938
+ 0.0,
939
+ 1.0,
940
+ 0.0,
941
+ 0.87854
942
+ ],
943
+ [
944
+ 0.91821,
945
+ 0.0,
946
+ 0.3961,
947
+ 1.9197
948
+ ],
949
+ [
950
+ 0.0,
951
+ 0.0,
952
+ 0.0,
953
+ 1.0
954
+ ]
955
+ ],
956
+ "002_master_chef_can_:0002": [
957
+ [
958
+ 0.34086,
959
+ 0.0,
960
+ 0.94011,
961
+ -2.22058
962
+ ],
963
+ [
964
+ 0.0,
965
+ 1.0,
966
+ 0.0,
967
+ 1.32041
968
+ ],
969
+ [
970
+ -0.94011,
971
+ 0.0,
972
+ 0.34086,
973
+ -1.04229
974
+ ],
975
+ [
976
+ 0.0,
977
+ 0.0,
978
+ 0.0,
979
+ 1.0
980
+ ]
981
+ ]
982
+ },
983
+ "markers": [
984
+ {
985
+ "name": "cab_push_point_7",
986
+ "type": "articulated_object",
987
+ "params": {
988
+ "offset": [
989
+ 0.3,
990
+ 0.0,
991
+ 0
992
+ ],
993
+ "link": "drawer1_top",
994
+ "object": "kitchen_counter_:0000"
995
+ }
996
+ },
997
+ {
998
+ "name": "cab_push_point_6",
999
+ "type": "articulated_object",
1000
+ "params": {
1001
+ "offset": [
1002
+ 0.3,
1003
+ 0.0,
1004
+ 0
1005
+ ],
1006
+ "link": "drawer2_top",
1007
+ "object": "kitchen_counter_:0000"
1008
+ }
1009
+ },
1010
+ {
1011
+ "name": "cab_push_point_5",
1012
+ "type": "articulated_object",
1013
+ "params": {
1014
+ "offset": [
1015
+ 0.3,
1016
+ 0.0,
1017
+ 0
1018
+ ],
1019
+ "link": "drawer3",
1020
+ "object": "kitchen_counter_:0000"
1021
+ }
1022
+ },
1023
+ {
1024
+ "name": "cab_push_point_4",
1025
+ "type": "articulated_object",
1026
+ "params": {
1027
+ "offset": [
1028
+ 0.3,
1029
+ 0.0,
1030
+ 0
1031
+ ],
1032
+ "link": "drawer4",
1033
+ "object": "kitchen_counter_:0000"
1034
+ }
1035
+ },
1036
+ {
1037
+ "name": "fridge_push_point",
1038
+ "type": "articulated_object",
1039
+ "params": {
1040
+ "offset": [
1041
+ 0.1,
1042
+ -0.62,
1043
+ 0.2
1044
+ ],
1045
+ "link": "top_door",
1046
+ "object": "fridge_:0000"
1047
+ }
1048
+ }
1049
+ ],
1050
+ "target_receptacles": [
1051
+ [
1052
+ "fridge_:0000",
1053
+ 0
1054
+ ],
1055
+ [
1056
+ "fridge_:0000",
1057
+ 0
1058
+ ],
1059
+ [
1060
+ "kitchen_counter_:0000",
1061
+ 0
1062
+ ]
1063
+ ],
1064
+ "goal_receptacles": [
1065
+ [
1066
+ "kitchen_counter_:0000",
1067
+ 0
1068
+ ],
1069
+ [
1070
+ "kitchen_counter_:0000",
1071
+ 0
1072
+ ],
1073
+ [
1074
+ "fridge_:0000",
1075
+ 0
1076
+ ]
1077
+ ]
1078
+ }
rearrange/v1_extracted/train/prepare_groceries/episode_1005.json ADDED
@@ -0,0 +1,1078 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_id": "1005",
3
+ "scene_id": "data/replica_cad/configs/scenes/v3_sc1_staging_10.scene_instance.json",
4
+ "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
5
+ "additional_obj_config_paths": [
6
+ "data/objects/ycb/"
7
+ ],
8
+ "start_position": [
9
+ 0,
10
+ 0,
11
+ 0
12
+ ],
13
+ "start_rotation": [
14
+ 0,
15
+ 0,
16
+ 0,
17
+ 1
18
+ ],
19
+ "info": {
20
+ "object_labels": {
21
+ "010_potted_meat_can_:0004": "obj0_target|0",
22
+ "009_gelatin_box_:0004": "obj1_target|1",
23
+ "024_bowl_:0001": "obj2_target|2"
24
+ }
25
+ },
26
+ "ao_states": {
27
+ "fridge_:0000": {
28
+ "2": 1.5
29
+ }
30
+ },
31
+ "rigid_objs": [
32
+ [
33
+ "010_potted_meat_can.object_config.json",
34
+ [
35
+ [
36
+ 0.146,
37
+ -0.00032,
38
+ 0.98928,
39
+ 3.71505
40
+ ],
41
+ [
42
+ 5e-05,
43
+ 1.0,
44
+ 0.00032,
45
+ 0.4569
46
+ ],
47
+ [
48
+ -0.98928,
49
+ 0.0,
50
+ 0.146,
51
+ -0.51438
52
+ ],
53
+ [
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 1.0
58
+ ]
59
+ ]
60
+ ],
61
+ [
62
+ "007_tuna_fish_can.object_config.json",
63
+ [
64
+ [
65
+ -0.26035,
66
+ -1e-05,
67
+ 0.96551,
68
+ 3.31341
69
+ ],
70
+ [
71
+ 0.0,
72
+ 1.0,
73
+ 1e-05,
74
+ 0.43176
75
+ ],
76
+ [
77
+ -0.96551,
78
+ 0.0,
79
+ -0.26035,
80
+ -0.51399
81
+ ],
82
+ [
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ 1.0
87
+ ]
88
+ ]
89
+ ],
90
+ [
91
+ "002_master_chef_can.object_config.json",
92
+ [
93
+ [
94
+ -0.84069,
95
+ 0.0,
96
+ 0.54151,
97
+ -2.45078
98
+ ],
99
+ [
100
+ 3e-05,
101
+ 1.0,
102
+ 4e-05,
103
+ 0.9303
104
+ ],
105
+ [
106
+ -0.54151,
107
+ 5e-05,
108
+ -0.84069,
109
+ 2.07232
110
+ ],
111
+ [
112
+ 0.0,
113
+ 0.0,
114
+ 0.0,
115
+ 1.0
116
+ ]
117
+ ]
118
+ ],
119
+ [
120
+ "008_pudding_box.object_config.json",
121
+ [
122
+ [
123
+ -0.86521,
124
+ -0.01513,
125
+ 0.50119,
126
+ 4.08336
127
+ ],
128
+ [
129
+ -0.00532,
130
+ 0.99977,
131
+ 0.021,
132
+ 0.43439
133
+ ],
134
+ [
135
+ -0.50139,
136
+ 0.0155,
137
+ -0.86509,
138
+ 0.67544
139
+ ],
140
+ [
141
+ 0.0,
142
+ 0.0,
143
+ 0.0,
144
+ 1.0
145
+ ]
146
+ ]
147
+ ],
148
+ [
149
+ "005_tomato_soup_can.object_config.json",
150
+ [
151
+ [
152
+ -0.89426,
153
+ -0.00144,
154
+ 0.44754,
155
+ -2.22222
156
+ ],
157
+ [
158
+ -0.00162,
159
+ 1.0,
160
+ -2e-05,
161
+ 0.7583
162
+ ],
163
+ [
164
+ -0.44754,
165
+ -0.00074,
166
+ -0.89427,
167
+ 1.28707
168
+ ],
169
+ [
170
+ 0.0,
171
+ 0.0,
172
+ 0.0,
173
+ 1.0
174
+ ]
175
+ ]
176
+ ],
177
+ [
178
+ "010_potted_meat_can.object_config.json",
179
+ [
180
+ [
181
+ -0.50704,
182
+ -0.00031,
183
+ -0.86193,
184
+ 4.05138
185
+ ],
186
+ [
187
+ -8e-05,
188
+ 1.0,
189
+ -0.00031,
190
+ 0.45679
191
+ ],
192
+ [
193
+ 0.86193,
194
+ -9e-05,
195
+ -0.50704,
196
+ 0.51043
197
+ ],
198
+ [
199
+ 0.0,
200
+ 0.0,
201
+ 0.0,
202
+ 1.0
203
+ ]
204
+ ]
205
+ ],
206
+ [
207
+ "007_tuna_fish_can.object_config.json",
208
+ [
209
+ [
210
+ 0.93055,
211
+ 1e-05,
212
+ -0.36616,
213
+ 3.97792
214
+ ],
215
+ [
216
+ -0.0,
217
+ 1.0,
218
+ 1e-05,
219
+ 0.43165
220
+ ],
221
+ [
222
+ 0.36616,
223
+ -1e-05,
224
+ 0.93055,
225
+ 0.43023
226
+ ],
227
+ [
228
+ 0.0,
229
+ 0.0,
230
+ 0.0,
231
+ 1.0
232
+ ]
233
+ ]
234
+ ],
235
+ [
236
+ "010_potted_meat_can.object_config.json",
237
+ [
238
+ [
239
+ -0.28066,
240
+ 0.00026,
241
+ 0.95981,
242
+ -2.08705
243
+ ],
244
+ [
245
+ -0.00018,
246
+ 1.0,
247
+ -0.00032,
248
+ 0.80465
249
+ ],
250
+ [
251
+ -0.95981,
252
+ -0.00026,
253
+ -0.28066,
254
+ 2.8403
255
+ ],
256
+ [
257
+ 0.0,
258
+ 0.0,
259
+ 0.0,
260
+ 1.0
261
+ ]
262
+ ]
263
+ ],
264
+ [
265
+ "008_pudding_box.object_config.json",
266
+ [
267
+ [
268
+ 0.39873,
269
+ -0.00848,
270
+ 0.91703,
271
+ -2.42706
272
+ ],
273
+ [
274
+ -0.0009,
275
+ 0.99995,
276
+ 0.00963,
277
+ 0.78226
278
+ ],
279
+ [
280
+ -0.91707,
281
+ -0.00467,
282
+ 0.39871,
283
+ 3.04641
284
+ ],
285
+ [
286
+ 0.0,
287
+ 0.0,
288
+ 0.0,
289
+ 1.0
290
+ ]
291
+ ]
292
+ ],
293
+ [
294
+ "007_tuna_fish_can.object_config.json",
295
+ [
296
+ [
297
+ -0.76294,
298
+ 0.0,
299
+ -0.64647,
300
+ -1.90328
301
+ ],
302
+ [
303
+ 0.0,
304
+ 1.0,
305
+ 0.0,
306
+ 0.87655
307
+ ],
308
+ [
309
+ 0.64647,
310
+ -0.0,
311
+ -0.76294,
312
+ 1.7505
313
+ ],
314
+ [
315
+ 0.0,
316
+ 0.0,
317
+ 0.0,
318
+ 1.0
319
+ ]
320
+ ]
321
+ ],
322
+ [
323
+ "007_tuna_fish_can.object_config.json",
324
+ [
325
+ [
326
+ 0.04334,
327
+ -0.0,
328
+ -0.99906,
329
+ 3.89403
330
+ ],
331
+ [
332
+ -0.0,
333
+ 1.0,
334
+ -0.0,
335
+ 0.64348
336
+ ],
337
+ [
338
+ 0.99906,
339
+ 0.0,
340
+ 0.04334,
341
+ 6.63915
342
+ ],
343
+ [
344
+ 0.0,
345
+ 0.0,
346
+ 0.0,
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ [
352
+ "007_tuna_fish_can.object_config.json",
353
+ [
354
+ [
355
+ -0.26281,
356
+ -0.00069,
357
+ -0.96485,
358
+ -2.08041
359
+ ],
360
+ [
361
+ -0.00058,
362
+ 1.0,
363
+ -0.00055,
364
+ 0.72403
365
+ ],
366
+ [
367
+ 0.96485,
368
+ 0.00042,
369
+ -0.26281,
370
+ 1.3185
371
+ ],
372
+ [
373
+ 0.0,
374
+ 0.0,
375
+ 0.0,
376
+ 1.0
377
+ ]
378
+ ]
379
+ ],
380
+ [
381
+ "005_tomato_soup_can.object_config.json",
382
+ [
383
+ [
384
+ -0.69564,
385
+ 0.0026,
386
+ -0.71839,
387
+ -2.01927
388
+ ],
389
+ [
390
+ 0.00671,
391
+ 0.99997,
392
+ -0.00288,
393
+ 1.30259
394
+ ],
395
+ [
396
+ 0.71836,
397
+ -0.00682,
398
+ -0.69563,
399
+ -0.95259
400
+ ],
401
+ [
402
+ 0.0,
403
+ 0.0,
404
+ 0.0,
405
+ 1.0
406
+ ]
407
+ ]
408
+ ],
409
+ [
410
+ "003_cracker_box.object_config.json",
411
+ [
412
+ [
413
+ 0.98459,
414
+ 0.04376,
415
+ -0.16934,
416
+ -2.10127
417
+ ],
418
+ [
419
+ -0.04566,
420
+ 0.99893,
421
+ -0.00734,
422
+ 0.81373
423
+ ],
424
+ [
425
+ 0.16884,
426
+ 0.01496,
427
+ 0.98553,
428
+ 1.12876
429
+ ],
430
+ [
431
+ 0.0,
432
+ 0.0,
433
+ 0.0,
434
+ 1.0
435
+ ]
436
+ ]
437
+ ],
438
+ [
439
+ "007_tuna_fish_can.object_config.json",
440
+ [
441
+ [
442
+ 0.71454,
443
+ 2e-05,
444
+ 0.69959,
445
+ 2.26909
446
+ ],
447
+ [
448
+ 1e-05,
449
+ 1.0,
450
+ -4e-05,
451
+ 0.95101
452
+ ],
453
+ [
454
+ -0.69959,
455
+ 3e-05,
456
+ 0.71454,
457
+ 6.24974
458
+ ],
459
+ [
460
+ 0.0,
461
+ 0.0,
462
+ 0.0,
463
+ 1.0
464
+ ]
465
+ ]
466
+ ],
467
+ [
468
+ "008_pudding_box.object_config.json",
469
+ [
470
+ [
471
+ 0.99518,
472
+ 0.00794,
473
+ -0.09775,
474
+ 3.89021
475
+ ],
476
+ [
477
+ -0.0062,
478
+ 0.99982,
479
+ 0.01815,
480
+ 0.6463
481
+ ],
482
+ [
483
+ 0.09788,
484
+ -0.01746,
485
+ 0.99505,
486
+ 5.48206
487
+ ],
488
+ [
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 1.0
493
+ ]
494
+ ]
495
+ ],
496
+ [
497
+ "008_pudding_box.object_config.json",
498
+ [
499
+ [
500
+ 0.17428,
501
+ -0.02211,
502
+ 0.98445,
503
+ -1.67965
504
+ ],
505
+ [
506
+ -0.0059,
507
+ 0.99971,
508
+ 0.02349,
509
+ 0.78224
510
+ ],
511
+ [
512
+ -0.98468,
513
+ -0.00991,
514
+ 0.17409,
515
+ 3.81115
516
+ ],
517
+ [
518
+ 0.0,
519
+ 0.0,
520
+ 0.0,
521
+ 1.0
522
+ ]
523
+ ]
524
+ ],
525
+ [
526
+ "009_gelatin_box.object_config.json",
527
+ [
528
+ [
529
+ -0.51875,
530
+ 0.00105,
531
+ -0.85493,
532
+ -2.08092
533
+ ],
534
+ [
535
+ 0.00165,
536
+ 1.0,
537
+ 0.00023,
538
+ 0.77776
539
+ ],
540
+ [
541
+ 0.85493,
542
+ -0.00129,
543
+ -0.51875,
544
+ 3.25013
545
+ ],
546
+ [
547
+ 0.0,
548
+ 0.0,
549
+ 0.0,
550
+ 1.0
551
+ ]
552
+ ]
553
+ ],
554
+ [
555
+ "009_gelatin_box.object_config.json",
556
+ [
557
+ [
558
+ 0.1833,
559
+ -0.0,
560
+ -0.98306,
561
+ 0.97592
562
+ ],
563
+ [
564
+ 0.0,
565
+ 1.0,
566
+ -0.0,
567
+ 0.41926
568
+ ],
569
+ [
570
+ 0.98306,
571
+ -0.0,
572
+ 0.1833,
573
+ 6.1611
574
+ ],
575
+ [
576
+ 0.0,
577
+ 0.0,
578
+ 0.0,
579
+ 1.0
580
+ ]
581
+ ]
582
+ ],
583
+ [
584
+ "008_pudding_box.object_config.json",
585
+ [
586
+ [
587
+ 0.29786,
588
+ -0.02067,
589
+ 0.95439,
590
+ 3.91704
591
+ ],
592
+ [
593
+ -0.0059,
594
+ 0.99971,
595
+ 0.02349,
596
+ 0.6462
597
+ ],
598
+ [
599
+ -0.95459,
600
+ -0.01263,
601
+ 0.29765,
602
+ 6.33756
603
+ ],
604
+ [
605
+ 0.0,
606
+ 0.0,
607
+ 0.0,
608
+ 1.0
609
+ ]
610
+ ]
611
+ ],
612
+ [
613
+ "003_cracker_box.object_config.json",
614
+ [
615
+ [
616
+ -0.73015,
617
+ -0.02925,
618
+ 0.68266,
619
+ 2.70051
620
+ ],
621
+ [
622
+ -0.04601,
623
+ 0.99892,
624
+ -0.00641,
625
+ 1.04087
626
+ ],
627
+ [
628
+ -0.68174,
629
+ -0.03609,
630
+ -0.73071,
631
+ 6.04164
632
+ ],
633
+ [
634
+ 0.0,
635
+ 0.0,
636
+ 0.0,
637
+ 1.0
638
+ ]
639
+ ]
640
+ ],
641
+ [
642
+ "009_gelatin_box.object_config.json",
643
+ [
644
+ [
645
+ 0.76554,
646
+ 0.0,
647
+ -0.64339,
648
+ -2.40402
649
+ ],
650
+ [
651
+ 0.0,
652
+ 1.0,
653
+ 0.0,
654
+ 0.87476
655
+ ],
656
+ [
657
+ 0.64339,
658
+ -0.0,
659
+ 0.76554,
660
+ 0.40813
661
+ ],
662
+ [
663
+ 0.0,
664
+ 0.0,
665
+ 0.0,
666
+ 1.0
667
+ ]
668
+ ]
669
+ ],
670
+ [
671
+ "007_tuna_fish_can.object_config.json",
672
+ [
673
+ [
674
+ 0.97136,
675
+ -0.0,
676
+ -0.23763,
677
+ 3.48709
678
+ ],
679
+ [
680
+ 1e-05,
681
+ 1.0,
682
+ 2e-05,
683
+ 0.43176
684
+ ],
685
+ [
686
+ 0.23763,
687
+ -2e-05,
688
+ 0.97136,
689
+ -0.31675
690
+ ],
691
+ [
692
+ 0.0,
693
+ 0.0,
694
+ 0.0,
695
+ 1.0
696
+ ]
697
+ ]
698
+ ],
699
+ [
700
+ "005_tomato_soup_can.object_config.json",
701
+ [
702
+ [
703
+ -0.84803,
704
+ -0.00065,
705
+ 0.52994,
706
+ -2.1907
707
+ ],
708
+ [
709
+ -0.00084,
710
+ 1.0,
711
+ -0.00013,
712
+ 0.7583
713
+ ],
714
+ [
715
+ -0.52994,
716
+ -0.00056,
717
+ -0.84803,
718
+ 1.13349
719
+ ],
720
+ [
721
+ 0.0,
722
+ 0.0,
723
+ 0.0,
724
+ 1.0
725
+ ]
726
+ ]
727
+ ],
728
+ [
729
+ "010_potted_meat_can.object_config.json",
730
+ [
731
+ [
732
+ -0.79443,
733
+ -4e-05,
734
+ 0.60736,
735
+ 3.94551
736
+ ],
737
+ [
738
+ 7e-05,
739
+ 1.0,
740
+ 0.00015,
741
+ 0.45679
742
+ ],
743
+ [
744
+ -0.60736,
745
+ 0.00016,
746
+ -0.79443,
747
+ 0.51363
748
+ ],
749
+ [
750
+ 0.0,
751
+ 0.0,
752
+ 0.0,
753
+ 1.0
754
+ ]
755
+ ]
756
+ ],
757
+ [
758
+ "009_gelatin_box.object_config.json",
759
+ [
760
+ [
761
+ -0.99975,
762
+ 0.00024,
763
+ -0.02216,
764
+ 3.83107
765
+ ],
766
+ [
767
+ 0.00024,
768
+ 1.0,
769
+ 4e-05,
770
+ 0.6417
771
+ ],
772
+ [
773
+ 0.02216,
774
+ 4e-05,
775
+ -0.99975,
776
+ 6.40155
777
+ ],
778
+ [
779
+ 0.0,
780
+ 0.0,
781
+ 0.0,
782
+ 1.0
783
+ ]
784
+ ]
785
+ ],
786
+ [
787
+ "024_bowl.object_config.json",
788
+ [
789
+ [
790
+ 0.85768,
791
+ 1e-05,
792
+ 0.51418,
793
+ -2.33417
794
+ ],
795
+ [
796
+ -0.0,
797
+ 1.0,
798
+ -0.0,
799
+ 0.88719
800
+ ],
801
+ [
802
+ -0.51418,
803
+ 0.0,
804
+ 0.85768,
805
+ 0.31229
806
+ ],
807
+ [
808
+ 0.0,
809
+ 0.0,
810
+ 0.0,
811
+ 1.0
812
+ ]
813
+ ]
814
+ ],
815
+ [
816
+ "010_potted_meat_can.object_config.json",
817
+ [
818
+ [
819
+ 0.52688,
820
+ 0.00043,
821
+ -0.84994,
822
+ -2.27597
823
+ ],
824
+ [
825
+ 0.00457,
826
+ 0.99998,
827
+ 0.00334,
828
+ 1.29293
829
+ ],
830
+ [
831
+ 0.84993,
832
+ -0.00565,
833
+ 0.52687,
834
+ -1.03001
835
+ ],
836
+ [
837
+ 0.0,
838
+ 0.0,
839
+ 0.0,
840
+ 1.0
841
+ ]
842
+ ]
843
+ ],
844
+ [
845
+ "009_gelatin_box.object_config.json",
846
+ [
847
+ [
848
+ 0.23562,
849
+ 5e-05,
850
+ 0.97185,
851
+ -2.08125
852
+ ],
853
+ [
854
+ -0.00561,
855
+ 0.99998,
856
+ 0.00131,
857
+ 1.26531
858
+ ],
859
+ [
860
+ -0.97183,
861
+ -0.00577,
862
+ 0.23562,
863
+ -1.15736
864
+ ],
865
+ [
866
+ 0.0,
867
+ 0.0,
868
+ 0.0,
869
+ 1.0
870
+ ]
871
+ ]
872
+ ],
873
+ [
874
+ "024_bowl.object_config.json",
875
+ [
876
+ [
877
+ -0.99984,
878
+ -0.0,
879
+ -0.01799,
880
+ -2.18734
881
+ ],
882
+ [
883
+ -0.0,
884
+ 1.0,
885
+ 1e-05,
886
+ 0.88719
887
+ ],
888
+ [
889
+ 0.01799,
890
+ 1e-05,
891
+ -0.99984,
892
+ -0.56163
893
+ ],
894
+ [
895
+ 0.0,
896
+ 0.0,
897
+ 0.0,
898
+ 1.0
899
+ ]
900
+ ]
901
+ ]
902
+ ],
903
+ "targets": {
904
+ "010_potted_meat_can_:0004": [
905
+ [
906
+ 0.54947,
907
+ 0.0,
908
+ -0.83551,
909
+ -2.05188
910
+ ],
911
+ [
912
+ 0.0,
913
+ 1.0,
914
+ 0.0,
915
+ 0.90087
916
+ ],
917
+ [
918
+ 0.83551,
919
+ 0.0,
920
+ 0.54947,
921
+ 1.53536
922
+ ],
923
+ [
924
+ 0.0,
925
+ 0.0,
926
+ 0.0,
927
+ 1.0
928
+ ]
929
+ ],
930
+ "009_gelatin_box_:0004": [
931
+ [
932
+ -0.45665,
933
+ 0.0,
934
+ -0.88965,
935
+ -2.02989
936
+ ],
937
+ [
938
+ 0.0,
939
+ 1.0,
940
+ 0.0,
941
+ 0.87413
942
+ ],
943
+ [
944
+ 0.88965,
945
+ 0.0,
946
+ -0.45665,
947
+ 0.65334
948
+ ],
949
+ [
950
+ 0.0,
951
+ 0.0,
952
+ 0.0,
953
+ 1.0
954
+ ]
955
+ ],
956
+ "024_bowl_:0001": [
957
+ [
958
+ -0.99634,
959
+ 0.0,
960
+ -0.08544,
961
+ -2.14047
962
+ ],
963
+ [
964
+ 0.0,
965
+ 1.0,
966
+ 0.0,
967
+ 1.27843
968
+ ],
969
+ [
970
+ 0.08544,
971
+ 0.0,
972
+ -0.99634,
973
+ -0.93706
974
+ ],
975
+ [
976
+ 0.0,
977
+ 0.0,
978
+ 0.0,
979
+ 1.0
980
+ ]
981
+ ]
982
+ },
983
+ "markers": [
984
+ {
985
+ "name": "cab_push_point_7",
986
+ "type": "articulated_object",
987
+ "params": {
988
+ "offset": [
989
+ 0.3,
990
+ 0.0,
991
+ 0
992
+ ],
993
+ "link": "drawer1_top",
994
+ "object": "kitchen_counter_:0000"
995
+ }
996
+ },
997
+ {
998
+ "name": "cab_push_point_6",
999
+ "type": "articulated_object",
1000
+ "params": {
1001
+ "offset": [
1002
+ 0.3,
1003
+ 0.0,
1004
+ 0
1005
+ ],
1006
+ "link": "drawer2_top",
1007
+ "object": "kitchen_counter_:0000"
1008
+ }
1009
+ },
1010
+ {
1011
+ "name": "cab_push_point_5",
1012
+ "type": "articulated_object",
1013
+ "params": {
1014
+ "offset": [
1015
+ 0.3,
1016
+ 0.0,
1017
+ 0
1018
+ ],
1019
+ "link": "drawer3",
1020
+ "object": "kitchen_counter_:0000"
1021
+ }
1022
+ },
1023
+ {
1024
+ "name": "cab_push_point_4",
1025
+ "type": "articulated_object",
1026
+ "params": {
1027
+ "offset": [
1028
+ 0.3,
1029
+ 0.0,
1030
+ 0
1031
+ ],
1032
+ "link": "drawer4",
1033
+ "object": "kitchen_counter_:0000"
1034
+ }
1035
+ },
1036
+ {
1037
+ "name": "fridge_push_point",
1038
+ "type": "articulated_object",
1039
+ "params": {
1040
+ "offset": [
1041
+ 0.1,
1042
+ -0.62,
1043
+ 0.2
1044
+ ],
1045
+ "link": "top_door",
1046
+ "object": "fridge_:0000"
1047
+ }
1048
+ }
1049
+ ],
1050
+ "target_receptacles": [
1051
+ [
1052
+ "fridge_:0000",
1053
+ 0
1054
+ ],
1055
+ [
1056
+ "fridge_:0000",
1057
+ 0
1058
+ ],
1059
+ [
1060
+ "kitchen_counter_:0000",
1061
+ 0
1062
+ ]
1063
+ ],
1064
+ "goal_receptacles": [
1065
+ [
1066
+ "kitchen_counter_:0000",
1067
+ 0
1068
+ ],
1069
+ [
1070
+ "kitchen_counter_:0000",
1071
+ 0
1072
+ ],
1073
+ [
1074
+ "fridge_:0000",
1075
+ 0
1076
+ ]
1077
+ ]
1078
+ }
rearrange/v1_extracted/train/prepare_groceries/episode_1006.json ADDED
@@ -0,0 +1,1078 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_id": "1006",
3
+ "scene_id": "data/replica_cad/configs/scenes/v3_sc1_staging_16.scene_instance.json",
4
+ "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
5
+ "additional_obj_config_paths": [
6
+ "data/objects/ycb/"
7
+ ],
8
+ "start_position": [
9
+ 0,
10
+ 0,
11
+ 0
12
+ ],
13
+ "start_rotation": [
14
+ 0,
15
+ 0,
16
+ 0,
17
+ 1
18
+ ],
19
+ "info": {
20
+ "object_labels": {
21
+ "002_master_chef_can_:0003": "obj0_target|0",
22
+ "024_bowl_:0003": "obj1_target|1",
23
+ "024_bowl_:0004": "obj2_target|2"
24
+ }
25
+ },
26
+ "ao_states": {
27
+ "fridge_:0000": {
28
+ "2": 1.5
29
+ }
30
+ },
31
+ "rigid_objs": [
32
+ [
33
+ "007_tuna_fish_can.object_config.json",
34
+ [
35
+ [
36
+ -0.91271,
37
+ 2e-05,
38
+ 0.4086,
39
+ 1.94626
40
+ ],
41
+ [
42
+ 1e-05,
43
+ 1.0,
44
+ -2e-05,
45
+ 0.43176
46
+ ],
47
+ [
48
+ -0.4086,
49
+ -2e-05,
50
+ -0.91271,
51
+ 4.63038
52
+ ],
53
+ [
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 1.0
58
+ ]
59
+ ]
60
+ ],
61
+ [
62
+ "024_bowl.object_config.json",
63
+ [
64
+ [
65
+ -0.98762,
66
+ 3e-05,
67
+ 0.15686,
68
+ -2.04418
69
+ ],
70
+ [
71
+ -0.00102,
72
+ 0.99998,
73
+ -0.00665,
74
+ 1.2785
75
+ ],
76
+ [
77
+ -0.15686,
78
+ -0.00673,
79
+ -0.9876,
80
+ -1.02058
81
+ ],
82
+ [
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ 1.0
87
+ ]
88
+ ]
89
+ ],
90
+ [
91
+ "010_potted_meat_can.object_config.json",
92
+ [
93
+ [
94
+ 0.74521,
95
+ 2e-05,
96
+ -0.66683,
97
+ 3.94761
98
+ ],
99
+ [
100
+ 0.00015,
101
+ 1.0,
102
+ 0.00019,
103
+ 0.44619
104
+ ],
105
+ [
106
+ 0.66683,
107
+ -0.00024,
108
+ 0.74521,
109
+ 6.18318
110
+ ],
111
+ [
112
+ 0.0,
113
+ 0.0,
114
+ 0.0,
115
+ 1.0
116
+ ]
117
+ ]
118
+ ],
119
+ [
120
+ "004_sugar_box.object_config.json",
121
+ [
122
+ [
123
+ 0.95216,
124
+ -0.02933,
125
+ -0.30418,
126
+ 2.31167
127
+ ],
128
+ [
129
+ 0.03844,
130
+ 0.99897,
131
+ 0.02401,
132
+ 0.50281
133
+ ],
134
+ [
135
+ 0.30317,
136
+ -0.03455,
137
+ 0.95231,
138
+ 7.57833
139
+ ],
140
+ [
141
+ 0.0,
142
+ 0.0,
143
+ 0.0,
144
+ 1.0
145
+ ]
146
+ ]
147
+ ],
148
+ [
149
+ "008_pudding_box.object_config.json",
150
+ [
151
+ [
152
+ -0.80943,
153
+ -0.01871,
154
+ 0.58691,
155
+ 4.07947
156
+ ],
157
+ [
158
+ -0.00596,
159
+ 0.9997,
160
+ 0.02365,
161
+ 0.78243
162
+ ],
163
+ [
164
+ -0.58718,
165
+ 0.01565,
166
+ -0.8093,
167
+ 3.55707
168
+ ],
169
+ [
170
+ 0.0,
171
+ 0.0,
172
+ 0.0,
173
+ 1.0
174
+ ]
175
+ ]
176
+ ],
177
+ [
178
+ "008_pudding_box.object_config.json",
179
+ [
180
+ [
181
+ 0.54503,
182
+ 0.01908,
183
+ -0.8382,
184
+ 2.12429
185
+ ],
186
+ [
187
+ -0.00358,
188
+ 0.99978,
189
+ 0.02043,
190
+ 0.95387
191
+ ],
192
+ [
193
+ 0.83841,
194
+ -0.00814,
195
+ 0.54498,
196
+ 5.73012
197
+ ],
198
+ [
199
+ 0.0,
200
+ 0.0,
201
+ 0.0,
202
+ 1.0
203
+ ]
204
+ ]
205
+ ],
206
+ [
207
+ "003_cracker_box.object_config.json",
208
+ [
209
+ [
210
+ -0.98503,
211
+ -0.04622,
212
+ -0.1661,
213
+ -2.30866
214
+ ],
215
+ [
216
+ -0.04564,
217
+ 0.99893,
218
+ -0.00735,
219
+ 0.96627
220
+ ],
221
+ [
222
+ 0.16626,
223
+ 0.00035,
224
+ -0.98608,
225
+ -0.55409
226
+ ],
227
+ [
228
+ 0.0,
229
+ 0.0,
230
+ 0.0,
231
+ 1.0
232
+ ]
233
+ ]
234
+ ],
235
+ [
236
+ "007_tuna_fish_can.object_config.json",
237
+ [
238
+ [
239
+ -0.32513,
240
+ -1e-05,
241
+ -0.94567,
242
+ 3.51718
243
+ ],
244
+ [
245
+ -0.0,
246
+ 1.0,
247
+ -1e-05,
248
+ 0.77952
249
+ ],
250
+ [
251
+ 0.94567,
252
+ -0.0,
253
+ -0.32513,
254
+ 3.33975
255
+ ],
256
+ [
257
+ 0.0,
258
+ 0.0,
259
+ 0.0,
260
+ 1.0
261
+ ]
262
+ ]
263
+ ],
264
+ [
265
+ "024_bowl.object_config.json",
266
+ [
267
+ [
268
+ 0.15694,
269
+ 0.00016,
270
+ -0.98761,
271
+ -2.11679
272
+ ],
273
+ [
274
+ 3e-05,
275
+ 1.0,
276
+ 0.00016,
277
+ 0.88719
278
+ ],
279
+ [
280
+ 0.98761,
281
+ -5e-05,
282
+ 0.15694,
283
+ 1.60041
284
+ ],
285
+ [
286
+ 0.0,
287
+ 0.0,
288
+ 0.0,
289
+ 1.0
290
+ ]
291
+ ]
292
+ ],
293
+ [
294
+ "010_potted_meat_can.object_config.json",
295
+ [
296
+ [
297
+ -0.3304,
298
+ -1e-05,
299
+ 0.94384,
300
+ -2.19047
301
+ ],
302
+ [
303
+ 0.0,
304
+ 1.0,
305
+ 1e-05,
306
+ 0.90168
307
+ ],
308
+ [
309
+ -0.94384,
310
+ 1e-05,
311
+ -0.3304,
312
+ 0.82954
313
+ ],
314
+ [
315
+ 0.0,
316
+ 0.0,
317
+ 0.0,
318
+ 1.0
319
+ ]
320
+ ]
321
+ ],
322
+ [
323
+ "024_bowl.object_config.json",
324
+ [
325
+ [
326
+ -0.06316,
327
+ 0.00016,
328
+ 0.998,
329
+ -2.16717
330
+ ],
331
+ [
332
+ -0.00016,
333
+ 1.0,
334
+ -0.00017,
335
+ 0.88719
336
+ ],
337
+ [
338
+ -0.998,
339
+ -0.00017,
340
+ -0.06316,
341
+ 2.17997
342
+ ],
343
+ [
344
+ 0.0,
345
+ 0.0,
346
+ 0.0,
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ [
352
+ "002_master_chef_can.object_config.json",
353
+ [
354
+ [
355
+ -0.79532,
356
+ 3e-05,
357
+ 0.60619,
358
+ 2.48895
359
+ ],
360
+ [
361
+ 1e-05,
362
+ 1.0,
363
+ -3e-05,
364
+ 1.00477
365
+ ],
366
+ [
367
+ -0.60619,
368
+ -2e-05,
369
+ -0.79532,
370
+ 6.31949
371
+ ],
372
+ [
373
+ 0.0,
374
+ 0.0,
375
+ 0.0,
376
+ 1.0
377
+ ]
378
+ ]
379
+ ],
380
+ [
381
+ "008_pudding_box.object_config.json",
382
+ [
383
+ [
384
+ -0.52452,
385
+ 0.04978,
386
+ 0.84994,
387
+ -2.40865
388
+ ],
389
+ [
390
+ 0.03336,
391
+ 0.99872,
392
+ -0.03791,
393
+ 0.12093
394
+ ],
395
+ [
396
+ -0.85074,
397
+ 0.00847,
398
+ -0.52551,
399
+ -1.2652
400
+ ],
401
+ [
402
+ 0.0,
403
+ 0.0,
404
+ 0.0,
405
+ 1.0
406
+ ]
407
+ ]
408
+ ],
409
+ [
410
+ "007_tuna_fish_can.object_config.json",
411
+ [
412
+ [
413
+ 0.65644,
414
+ -0.0,
415
+ 0.75438,
416
+ 3.74409
417
+ ],
418
+ [
419
+ 0.0,
420
+ 1.0,
421
+ 0.0,
422
+ 0.42105
423
+ ],
424
+ [
425
+ -0.75438,
426
+ -0.0,
427
+ 0.65644,
428
+ 5.05465
429
+ ],
430
+ [
431
+ 0.0,
432
+ 0.0,
433
+ 0.0,
434
+ 1.0
435
+ ]
436
+ ]
437
+ ],
438
+ [
439
+ "010_potted_meat_can.object_config.json",
440
+ [
441
+ [
442
+ -0.62942,
443
+ -9e-05,
444
+ -0.77707,
445
+ 3.67979
446
+ ],
447
+ [
448
+ -7e-05,
449
+ 1.0,
450
+ -6e-05,
451
+ 0.44618
452
+ ],
453
+ [
454
+ 0.77707,
455
+ 2e-05,
456
+ -0.62942,
457
+ 5.44631
458
+ ],
459
+ [
460
+ 0.0,
461
+ 0.0,
462
+ 0.0,
463
+ 1.0
464
+ ]
465
+ ]
466
+ ],
467
+ [
468
+ "007_tuna_fish_can.object_config.json",
469
+ [
470
+ [
471
+ 0.13711,
472
+ -0.0,
473
+ -0.99056,
474
+ 2.50666
475
+ ],
476
+ [
477
+ 0.0,
478
+ 1.0,
479
+ -0.0,
480
+ 0.43165
481
+ ],
482
+ [
483
+ 0.99056,
484
+ -0.0,
485
+ 0.13711,
486
+ 7.56192
487
+ ],
488
+ [
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 1.0
493
+ ]
494
+ ]
495
+ ],
496
+ [
497
+ "008_pudding_box.object_config.json",
498
+ [
499
+ [
500
+ -0.79922,
501
+ 0.0094,
502
+ -0.60097,
503
+ 3.71448
504
+ ],
505
+ [
506
+ -0.0059,
507
+ 0.99971,
508
+ 0.02349,
509
+ 0.42377
510
+ ],
511
+ [
512
+ 0.60101,
513
+ 0.02232,
514
+ -0.79893,
515
+ 5.69869
516
+ ],
517
+ [
518
+ 0.0,
519
+ 0.0,
520
+ 0.0,
521
+ 1.0
522
+ ]
523
+ ]
524
+ ],
525
+ [
526
+ "005_tomato_soup_can.object_config.json",
527
+ [
528
+ [
529
+ 0.12906,
530
+ -2e-05,
531
+ -0.99164,
532
+ -2.11061
533
+ ],
534
+ [
535
+ -0.0002,
536
+ 1.0,
537
+ -4e-05,
538
+ 0.7583
539
+ ],
540
+ [
541
+ 0.99164,
542
+ 0.0002,
543
+ 0.12906,
544
+ 1.32233
545
+ ],
546
+ [
547
+ 0.0,
548
+ 0.0,
549
+ 0.0,
550
+ 1.0
551
+ ]
552
+ ]
553
+ ],
554
+ [
555
+ "002_master_chef_can.object_config.json",
556
+ [
557
+ [
558
+ -0.40862,
559
+ 0.0,
560
+ -0.91271,
561
+ 2.42239
562
+ ],
563
+ [
564
+ 2e-05,
565
+ 1.0,
566
+ -0.0,
567
+ 1.00476
568
+ ],
569
+ [
570
+ 0.91271,
571
+ -2e-05,
572
+ -0.40862,
573
+ 5.39059
574
+ ],
575
+ [
576
+ 0.0,
577
+ 0.0,
578
+ 0.0,
579
+ 1.0
580
+ ]
581
+ ]
582
+ ],
583
+ [
584
+ "004_sugar_box.object_config.json",
585
+ [
586
+ [
587
+ -0.41831,
588
+ 0.03953,
589
+ -0.90744,
590
+ 3.79483
591
+ ],
592
+ [
593
+ 0.04035,
594
+ 0.99887,
595
+ 0.02492,
596
+ 0.49238
597
+ ],
598
+ [
599
+ 0.90741,
600
+ -0.02619,
601
+ -0.41944,
602
+ 6.05182
603
+ ],
604
+ [
605
+ 0.0,
606
+ 0.0,
607
+ 0.0,
608
+ 1.0
609
+ ]
610
+ ]
611
+ ],
612
+ [
613
+ "007_tuna_fish_can.object_config.json",
614
+ [
615
+ [
616
+ -0.44605,
617
+ 1e-05,
618
+ 0.89501,
619
+ 2.00161
620
+ ],
621
+ [
622
+ 1e-05,
623
+ 1.0,
624
+ -1e-05,
625
+ 0.43176
626
+ ],
627
+ [
628
+ -0.89501,
629
+ 0.0,
630
+ -0.44605,
631
+ 4.70012
632
+ ],
633
+ [
634
+ 0.0,
635
+ 0.0,
636
+ 0.0,
637
+ 1.0
638
+ ]
639
+ ]
640
+ ],
641
+ [
642
+ "003_cracker_box.object_config.json",
643
+ [
644
+ [
645
+ -0.59256,
646
+ -0.03252,
647
+ -0.80487,
648
+ 3.6904
649
+ ],
650
+ [
651
+ -0.04557,
652
+ 0.99894,
653
+ -0.00681,
654
+ 0.51093
655
+ ],
656
+ [
657
+ 0.80423,
658
+ 0.03264,
659
+ -0.59342,
660
+ 6.25397
661
+ ],
662
+ [
663
+ 0.0,
664
+ 0.0,
665
+ 0.0,
666
+ 1.0
667
+ ]
668
+ ]
669
+ ],
670
+ [
671
+ "009_gelatin_box.object_config.json",
672
+ [
673
+ [
674
+ 0.98462,
675
+ -0.00012,
676
+ 0.17469,
677
+ 0.59249
678
+ ],
679
+ [
680
+ 0.00012,
681
+ 1.0,
682
+ 1e-05,
683
+ 0.64171
684
+ ],
685
+ [
686
+ -0.17469,
687
+ 1e-05,
688
+ 0.98462,
689
+ 6.83675
690
+ ],
691
+ [
692
+ 0.0,
693
+ 0.0,
694
+ 0.0,
695
+ 1.0
696
+ ]
697
+ ]
698
+ ],
699
+ [
700
+ "004_sugar_box.object_config.json",
701
+ [
702
+ [
703
+ 0.53313,
704
+ -0.04029,
705
+ 0.84508,
706
+ 0.50897
707
+ ],
708
+ [
709
+ 0.03802,
710
+ 0.999,
711
+ 0.02364,
712
+ 0.71468
713
+ ],
714
+ [
715
+ -0.84518,
716
+ 0.01952,
717
+ 0.53412,
718
+ 7.06912
719
+ ],
720
+ [
721
+ 0.0,
722
+ 0.0,
723
+ 0.0,
724
+ 1.0
725
+ ]
726
+ ]
727
+ ],
728
+ [
729
+ "002_master_chef_can.object_config.json",
730
+ [
731
+ [
732
+ -0.9264,
733
+ -0.0,
734
+ -0.37655,
735
+ 0.64073
736
+ ],
737
+ [
738
+ -2e-05,
739
+ 1.0,
740
+ 4e-05,
741
+ 0.69723
742
+ ],
743
+ [
744
+ 0.37655,
745
+ 4e-05,
746
+ -0.9264,
747
+ 6.37727
748
+ ],
749
+ [
750
+ 0.0,
751
+ 0.0,
752
+ 0.0,
753
+ 1.0
754
+ ]
755
+ ]
756
+ ],
757
+ [
758
+ "010_potted_meat_can.object_config.json",
759
+ [
760
+ [
761
+ 0.57963,
762
+ -0.07572,
763
+ 0.81135,
764
+ 2.52971
765
+ ],
766
+ [
767
+ 0.01959,
768
+ 0.99668,
769
+ 0.07902,
770
+ 0.45795
771
+ ],
772
+ [
773
+ -0.81464,
774
+ -0.02991,
775
+ 0.57919,
776
+ 7.68476
777
+ ],
778
+ [
779
+ 0.0,
780
+ 0.0,
781
+ 0.0,
782
+ 1.0
783
+ ]
784
+ ]
785
+ ],
786
+ [
787
+ "003_cracker_box.object_config.json",
788
+ [
789
+ [
790
+ -0.78733,
791
+ -0.03146,
792
+ 0.61573,
793
+ -2.30312
794
+ ],
795
+ [
796
+ -0.04565,
797
+ 0.99893,
798
+ -0.00734,
799
+ 0.96627
800
+ ],
801
+ [
802
+ -0.61484,
803
+ -0.03389,
804
+ -0.78793,
805
+ 2.0205
806
+ ],
807
+ [
808
+ 0.0,
809
+ 0.0,
810
+ 0.0,
811
+ 1.0
812
+ ]
813
+ ]
814
+ ],
815
+ [
816
+ "002_master_chef_can.object_config.json",
817
+ [
818
+ [
819
+ 0.46605,
820
+ 9e-05,
821
+ 0.88476,
822
+ -2.10712
823
+ ],
824
+ [
825
+ -0.00546,
826
+ 0.99998,
827
+ 0.00277,
828
+ 1.32093
829
+ ],
830
+ [
831
+ -0.88474,
832
+ -0.00612,
833
+ 0.46604,
834
+ -1.14628
835
+ ],
836
+ [
837
+ 0.0,
838
+ 0.0,
839
+ 0.0,
840
+ 1.0
841
+ ]
842
+ ]
843
+ ],
844
+ [
845
+ "024_bowl.object_config.json",
846
+ [
847
+ [
848
+ 0.42755,
849
+ 4e-05,
850
+ -0.90399,
851
+ -2.26966
852
+ ],
853
+ [
854
+ 0.00478,
855
+ 0.99999,
856
+ 0.00231,
857
+ 1.27884
858
+ ],
859
+ [
860
+ 0.90398,
861
+ -0.00531,
862
+ 0.42754,
863
+ -0.96505
864
+ ],
865
+ [
866
+ 0.0,
867
+ 0.0,
868
+ 0.0,
869
+ 1.0
870
+ ]
871
+ ]
872
+ ],
873
+ [
874
+ "024_bowl.object_config.json",
875
+ [
876
+ [
877
+ -0.22107,
878
+ 0.0,
879
+ -0.97526,
880
+ -2.3781
881
+ ],
882
+ [
883
+ 1e-05,
884
+ 1.0,
885
+ -0.0,
886
+ 0.88719
887
+ ],
888
+ [
889
+ 0.97526,
890
+ -1e-05,
891
+ -0.22107,
892
+ -0.23592
893
+ ],
894
+ [
895
+ 0.0,
896
+ 0.0,
897
+ 0.0,
898
+ 1.0
899
+ ]
900
+ ]
901
+ ]
902
+ ],
903
+ "targets": {
904
+ "002_master_chef_can_:0003": [
905
+ [
906
+ 0.99228,
907
+ 0.0,
908
+ -0.12405,
909
+ -2.15903
910
+ ],
911
+ [
912
+ 0.0,
913
+ 1.0,
914
+ 0.0,
915
+ 0.92919
916
+ ],
917
+ [
918
+ 0.12405,
919
+ 0.0,
920
+ 0.99228,
921
+ 1.98829
922
+ ],
923
+ [
924
+ 0.0,
925
+ 0.0,
926
+ 0.0,
927
+ 1.0
928
+ ]
929
+ ],
930
+ "024_bowl_:0003": [
931
+ [
932
+ -0.74674,
933
+ 0.0,
934
+ 0.66512,
935
+ -2.10949
936
+ ],
937
+ [
938
+ 0.0,
939
+ 1.0,
940
+ 0.0,
941
+ 0.8866
942
+ ],
943
+ [
944
+ -0.66512,
945
+ 0.0,
946
+ -0.74674,
947
+ 1.94676
948
+ ],
949
+ [
950
+ 0.0,
951
+ 0.0,
952
+ 0.0,
953
+ 1.0
954
+ ]
955
+ ],
956
+ "024_bowl_:0004": [
957
+ [
958
+ -0.56051,
959
+ 0.0,
960
+ 0.82815,
961
+ -2.28892
962
+ ],
963
+ [
964
+ 0.0,
965
+ 1.0,
966
+ 0.0,
967
+ 1.277
968
+ ],
969
+ [
970
+ -0.82815,
971
+ 0.0,
972
+ -0.56051,
973
+ -1.18466
974
+ ],
975
+ [
976
+ 0.0,
977
+ 0.0,
978
+ 0.0,
979
+ 1.0
980
+ ]
981
+ ]
982
+ },
983
+ "markers": [
984
+ {
985
+ "name": "cab_push_point_7",
986
+ "type": "articulated_object",
987
+ "params": {
988
+ "offset": [
989
+ 0.3,
990
+ 0.0,
991
+ 0
992
+ ],
993
+ "link": "drawer1_top",
994
+ "object": "kitchen_counter_:0000"
995
+ }
996
+ },
997
+ {
998
+ "name": "cab_push_point_6",
999
+ "type": "articulated_object",
1000
+ "params": {
1001
+ "offset": [
1002
+ 0.3,
1003
+ 0.0,
1004
+ 0
1005
+ ],
1006
+ "link": "drawer2_top",
1007
+ "object": "kitchen_counter_:0000"
1008
+ }
1009
+ },
1010
+ {
1011
+ "name": "cab_push_point_5",
1012
+ "type": "articulated_object",
1013
+ "params": {
1014
+ "offset": [
1015
+ 0.3,
1016
+ 0.0,
1017
+ 0
1018
+ ],
1019
+ "link": "drawer3",
1020
+ "object": "kitchen_counter_:0000"
1021
+ }
1022
+ },
1023
+ {
1024
+ "name": "cab_push_point_4",
1025
+ "type": "articulated_object",
1026
+ "params": {
1027
+ "offset": [
1028
+ 0.3,
1029
+ 0.0,
1030
+ 0
1031
+ ],
1032
+ "link": "drawer4",
1033
+ "object": "kitchen_counter_:0000"
1034
+ }
1035
+ },
1036
+ {
1037
+ "name": "fridge_push_point",
1038
+ "type": "articulated_object",
1039
+ "params": {
1040
+ "offset": [
1041
+ 0.1,
1042
+ -0.62,
1043
+ 0.2
1044
+ ],
1045
+ "link": "top_door",
1046
+ "object": "fridge_:0000"
1047
+ }
1048
+ }
1049
+ ],
1050
+ "target_receptacles": [
1051
+ [
1052
+ "fridge_:0000",
1053
+ 0
1054
+ ],
1055
+ [
1056
+ "fridge_:0000",
1057
+ 0
1058
+ ],
1059
+ [
1060
+ "kitchen_counter_:0000",
1061
+ 0
1062
+ ]
1063
+ ],
1064
+ "goal_receptacles": [
1065
+ [
1066
+ "kitchen_counter_:0000",
1067
+ 0
1068
+ ],
1069
+ [
1070
+ "kitchen_counter_:0000",
1071
+ 0
1072
+ ],
1073
+ [
1074
+ "fridge_:0000",
1075
+ 0
1076
+ ]
1077
+ ]
1078
+ }
rearrange/v1_extracted/train/prepare_groceries/episode_1007.json ADDED
@@ -0,0 +1,1078 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_id": "1007",
3
+ "scene_id": "data/replica_cad/configs/scenes/v3_sc0_staging_01.scene_instance.json",
4
+ "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
5
+ "additional_obj_config_paths": [
6
+ "data/objects/ycb/"
7
+ ],
8
+ "start_position": [
9
+ 0,
10
+ 0,
11
+ 0
12
+ ],
13
+ "start_rotation": [
14
+ 0,
15
+ 0,
16
+ 0,
17
+ 1
18
+ ],
19
+ "info": {
20
+ "object_labels": {
21
+ "008_pudding_box_:0001": "obj0_target|0",
22
+ "007_tuna_fish_can_:0000": "obj1_target|1",
23
+ "005_tomato_soup_can_:0003": "obj2_target|2"
24
+ }
25
+ },
26
+ "ao_states": {
27
+ "fridge_:0000": {
28
+ "2": 1.5
29
+ }
30
+ },
31
+ "rigid_objs": [
32
+ [
33
+ "010_potted_meat_can.object_config.json",
34
+ [
35
+ [
36
+ 0.35748,
37
+ -0.05373,
38
+ 0.93237,
39
+ 3.57909
40
+ ],
41
+ [
42
+ 0.01279,
43
+ 0.99853,
44
+ 0.05264,
45
+ 0.66923
46
+ ],
47
+ [
48
+ -0.93383,
49
+ -0.00689,
50
+ 0.35764,
51
+ 2.40064
52
+ ],
53
+ [
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 1.0
58
+ ]
59
+ ]
60
+ ],
61
+ [
62
+ "009_gelatin_box.object_config.json",
63
+ [
64
+ [
65
+ 0.96344,
66
+ -0.00644,
67
+ 0.26784,
68
+ 3.65295
69
+ ],
70
+ [
71
+ 0.00501,
72
+ 0.99997,
73
+ 0.00603,
74
+ 0.94559
75
+ ],
76
+ [
77
+ -0.26787,
78
+ -0.00447,
79
+ 0.96345,
80
+ 0.94573
81
+ ],
82
+ [
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ 1.0
87
+ ]
88
+ ]
89
+ ],
90
+ [
91
+ "002_master_chef_can.object_config.json",
92
+ [
93
+ [
94
+ 0.20368,
95
+ 4e-05,
96
+ -0.97904,
97
+ -1.36503
98
+ ],
99
+ [
100
+ 0.0,
101
+ 1.0,
102
+ 4e-05,
103
+ 0.48541
104
+ ],
105
+ [
106
+ 0.97904,
107
+ -1e-05,
108
+ 0.20368,
109
+ 2.98656
110
+ ],
111
+ [
112
+ 0.0,
113
+ 0.0,
114
+ 0.0,
115
+ 1.0
116
+ ]
117
+ ]
118
+ ],
119
+ [
120
+ "009_gelatin_box.object_config.json",
121
+ [
122
+ [
123
+ -0.17544,
124
+ -0.00044,
125
+ -0.98449,
126
+ 0.51253
127
+ ],
128
+ [
129
+ -0.00179,
130
+ 1.0,
131
+ -0.00013,
132
+ 0.72223
133
+ ],
134
+ [
135
+ 0.98449,
136
+ 0.00174,
137
+ -0.17544,
138
+ 6.78365
139
+ ],
140
+ [
141
+ 0.0,
142
+ 0.0,
143
+ 0.0,
144
+ 1.0
145
+ ]
146
+ ]
147
+ ],
148
+ [
149
+ "010_potted_meat_can.object_config.json",
150
+ [
151
+ [
152
+ -0.3987,
153
+ -0.00345,
154
+ 0.91708,
155
+ -1.93776
156
+ ],
157
+ [
158
+ 0.00095,
159
+ 0.99999,
160
+ 0.00417,
161
+ 0.44624
162
+ ],
163
+ [
164
+ -0.91708,
165
+ 0.00254,
166
+ -0.39869,
167
+ 1.46459
168
+ ],
169
+ [
170
+ 0.0,
171
+ 0.0,
172
+ 0.0,
173
+ 1.0
174
+ ]
175
+ ]
176
+ ],
177
+ [
178
+ "002_master_chef_can.object_config.json",
179
+ [
180
+ [
181
+ 0.93464,
182
+ -3e-05,
183
+ -0.3556,
184
+ -1.20891
185
+ ],
186
+ [
187
+ 2e-05,
188
+ 1.0,
189
+ -3e-05,
190
+ 0.48541
191
+ ],
192
+ [
193
+ 0.3556,
194
+ 3e-05,
195
+ 0.93464,
196
+ 2.74357
197
+ ],
198
+ [
199
+ 0.0,
200
+ 0.0,
201
+ 0.0,
202
+ 1.0
203
+ ]
204
+ ]
205
+ ],
206
+ [
207
+ "005_tomato_soup_can.object_config.json",
208
+ [
209
+ [
210
+ 0.87742,
211
+ 8e-05,
212
+ 0.47972,
213
+ 0.67271
214
+ ],
215
+ [
216
+ -0.00011,
217
+ 1.0,
218
+ 3e-05,
219
+ 0.75829
220
+ ],
221
+ [
222
+ -0.47972,
223
+ -8e-05,
224
+ 0.87742,
225
+ 6.67346
226
+ ],
227
+ [
228
+ 0.0,
229
+ 0.0,
230
+ 0.0,
231
+ 1.0
232
+ ]
233
+ ]
234
+ ],
235
+ [
236
+ "003_cracker_box.object_config.json",
237
+ [
238
+ [
239
+ -0.97527,
240
+ -0.16022,
241
+ 0.15222,
242
+ 3.42663
243
+ ],
244
+ [
245
+ -0.1592,
246
+ 0.98706,
247
+ 0.01892,
248
+ 0.73366
249
+ ],
250
+ [
251
+ -0.15328,
252
+ -0.00578,
253
+ -0.98817,
254
+ 3.65173
255
+ ],
256
+ [
257
+ 0.0,
258
+ 0.0,
259
+ 0.0,
260
+ 1.0
261
+ ]
262
+ ]
263
+ ],
264
+ [
265
+ "003_cracker_box.object_config.json",
266
+ [
267
+ [
268
+ -0.59378,
269
+ -0.03939,
270
+ -0.80366,
271
+ 4.19349
272
+ ],
273
+ [
274
+ -0.04592,
275
+ 0.99883,
276
+ -0.01503,
277
+ 1.04556
278
+ ],
279
+ [
280
+ 0.80332,
281
+ 0.02798,
282
+ -0.5949,
283
+ 2.01795
284
+ ],
285
+ [
286
+ 0.0,
287
+ 0.0,
288
+ 0.0,
289
+ 1.0
290
+ ]
291
+ ]
292
+ ],
293
+ [
294
+ "002_master_chef_can.object_config.json",
295
+ [
296
+ [
297
+ 0.91561,
298
+ 0.00053,
299
+ 0.40207,
300
+ -1.84787
301
+ ],
302
+ [
303
+ -0.00153,
304
+ 1.0,
305
+ 0.00217,
306
+ 0.48567
307
+ ],
308
+ [
309
+ -0.40207,
310
+ -0.0026,
311
+ 0.91561,
312
+ -0.19678
313
+ ],
314
+ [
315
+ 0.0,
316
+ 0.0,
317
+ 0.0,
318
+ 1.0
319
+ ]
320
+ ]
321
+ ],
322
+ [
323
+ "004_sugar_box.object_config.json",
324
+ [
325
+ [
326
+ -0.96943,
327
+ 0.03203,
328
+ 0.24328,
329
+ 0.60235
330
+ ],
331
+ [
332
+ 0.03767,
333
+ 0.99912,
334
+ 0.01855,
335
+ 1.33821
336
+ ],
337
+ [
338
+ -0.24247,
339
+ 0.02715,
340
+ -0.96978,
341
+ 4.33619
342
+ ],
343
+ [
344
+ 0.0,
345
+ 0.0,
346
+ 0.0,
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ [
352
+ "009_gelatin_box.object_config.json",
353
+ [
354
+ [
355
+ -0.44651,
356
+ -0.00644,
357
+ -0.89476,
358
+ 4.10241
359
+ ],
360
+ [
361
+ 0.00112,
362
+ 0.99997,
363
+ -0.00776,
364
+ 0.9494
365
+ ],
366
+ [
367
+ 0.89478,
368
+ -0.00447,
369
+ -0.44649,
370
+ 1.15038
371
+ ],
372
+ [
373
+ 0.0,
374
+ 0.0,
375
+ 0.0,
376
+ 1.0
377
+ ]
378
+ ]
379
+ ],
380
+ [
381
+ "005_tomato_soup_can.object_config.json",
382
+ [
383
+ [
384
+ 0.28433,
385
+ 0.00047,
386
+ 0.95873,
387
+ 3.94526
388
+ ],
389
+ [
390
+ -0.00127,
391
+ 1.0,
392
+ -0.00012,
393
+ 0.67779
394
+ ],
395
+ [
396
+ -0.95873,
397
+ -0.00118,
398
+ 0.28433,
399
+ 2.84971
400
+ ],
401
+ [
402
+ 0.0,
403
+ 0.0,
404
+ 0.0,
405
+ 1.0
406
+ ]
407
+ ]
408
+ ],
409
+ [
410
+ "003_cracker_box.object_config.json",
411
+ [
412
+ [
413
+ 0.95655,
414
+ 0.05403,
415
+ -0.28653,
416
+ -1.76785
417
+ ],
418
+ [
419
+ -0.05786,
420
+ 0.99831,
421
+ -0.00491,
422
+ 0.51089
423
+ ],
424
+ [
425
+ 0.28578,
426
+ 0.02127,
427
+ 0.95806,
428
+ 0.65875
429
+ ],
430
+ [
431
+ 0.0,
432
+ 0.0,
433
+ 0.0,
434
+ 1.0
435
+ ]
436
+ ]
437
+ ],
438
+ [
439
+ "008_pudding_box.object_config.json",
440
+ [
441
+ [
442
+ 0.91487,
443
+ 0.01498,
444
+ -0.40347,
445
+ 0.5437
446
+ ],
447
+ [
448
+ -0.00585,
449
+ 0.9997,
450
+ 0.02385,
451
+ 0.72672
452
+ ],
453
+ [
454
+ 0.4037,
455
+ -0.01946,
456
+ 0.91468,
457
+ 6.6977
458
+ ],
459
+ [
460
+ 0.0,
461
+ 0.0,
462
+ 0.0,
463
+ 1.0
464
+ ]
465
+ ]
466
+ ],
467
+ [
468
+ "024_bowl.object_config.json",
469
+ [
470
+ [
471
+ 0.03171,
472
+ -0.00644,
473
+ -0.99948,
474
+ 3.91744
475
+ ],
476
+ [
477
+ 0.00466,
478
+ 0.99997,
479
+ -0.00629,
480
+ 0.96491
481
+ ],
482
+ [
483
+ 0.99949,
484
+ -0.00446,
485
+ 0.03174,
486
+ 2.1062
487
+ ],
488
+ [
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 1.0
493
+ ]
494
+ ]
495
+ ],
496
+ [
497
+ "024_bowl.object_config.json",
498
+ [
499
+ [
500
+ -0.11678,
501
+ -0.00644,
502
+ -0.99314,
503
+ 4.13681
504
+ ],
505
+ [
506
+ 0.00368,
507
+ 0.99997,
508
+ -0.00692,
509
+ 0.96434
510
+ ],
511
+ [
512
+ 0.99315,
513
+ -0.00446,
514
+ -0.11675,
515
+ 1.65715
516
+ ],
517
+ [
518
+ 0.0,
519
+ 0.0,
520
+ 0.0,
521
+ 1.0
522
+ ]
523
+ ]
524
+ ],
525
+ [
526
+ "009_gelatin_box.object_config.json",
527
+ [
528
+ [
529
+ 0.32067,
530
+ -1e-05,
531
+ 0.94719,
532
+ 0.84888
533
+ ],
534
+ [
535
+ 1e-05,
536
+ 1.0,
537
+ 1e-05,
538
+ 0.87476
539
+ ],
540
+ [
541
+ -0.94719,
542
+ 1e-05,
543
+ 0.32067,
544
+ 5.86202
545
+ ],
546
+ [
547
+ 0.0,
548
+ 0.0,
549
+ 0.0,
550
+ 1.0
551
+ ]
552
+ ]
553
+ ],
554
+ [
555
+ "003_cracker_box.object_config.json",
556
+ [
557
+ [
558
+ -0.11309,
559
+ -0.0124,
560
+ -0.99351,
561
+ 0.40918
562
+ ],
563
+ [
564
+ -0.04536,
565
+ 0.99894,
566
+ -0.0073,
567
+ 0.96628
568
+ ],
569
+ [
570
+ 0.99255,
571
+ 0.04424,
572
+ -0.11353,
573
+ 7.48743
574
+ ],
575
+ [
576
+ 0.0,
577
+ 0.0,
578
+ 0.0,
579
+ 1.0
580
+ ]
581
+ ]
582
+ ],
583
+ [
584
+ "024_bowl.object_config.json",
585
+ [
586
+ [
587
+ -0.19781,
588
+ -2e-05,
589
+ -0.98024,
590
+ 0.3617
591
+ ],
592
+ [
593
+ -3e-05,
594
+ 1.0,
595
+ -2e-05,
596
+ 0.88719
597
+ ],
598
+ [
599
+ 0.98024,
600
+ 2e-05,
601
+ -0.19781,
602
+ 6.09807
603
+ ],
604
+ [
605
+ 0.0,
606
+ 0.0,
607
+ 0.0,
608
+ 1.0
609
+ ]
610
+ ]
611
+ ],
612
+ [
613
+ "003_cracker_box.object_config.json",
614
+ [
615
+ [
616
+ -0.96547,
617
+ -0.04952,
618
+ -0.25577,
619
+ 3.7716
620
+ ],
621
+ [
622
+ -0.04757,
623
+ 0.99877,
624
+ -0.01381,
625
+ 1.04149
626
+ ],
627
+ [
628
+ 0.25614,
629
+ -0.00117,
630
+ -0.96664,
631
+ 1.72181
632
+ ],
633
+ [
634
+ 0.0,
635
+ 0.0,
636
+ 0.0,
637
+ 1.0
638
+ ]
639
+ ]
640
+ ],
641
+ [
642
+ "005_tomato_soup_can.object_config.json",
643
+ [
644
+ [
645
+ 0.9523,
646
+ -0.00017,
647
+ -0.30516,
648
+ 0.42264
649
+ ],
650
+ [
651
+ 0.00196,
652
+ 0.99998,
653
+ 0.00557,
654
+ 1.3007
655
+ ],
656
+ [
657
+ 0.30515,
658
+ -0.0059,
659
+ 0.95229,
660
+ 4.22357
661
+ ],
662
+ [
663
+ 0.0,
664
+ 0.0,
665
+ 0.0,
666
+ 1.0
667
+ ]
668
+ ]
669
+ ],
670
+ [
671
+ "003_cracker_box.object_config.json",
672
+ [
673
+ [
674
+ 0.93552,
675
+ 0.1336,
676
+ 0.32703,
677
+ 0.40964
678
+ ],
679
+ [
680
+ -0.14905,
681
+ 0.98857,
682
+ 0.02251,
683
+ 1.35897
684
+ ],
685
+ [
686
+ -0.32028,
687
+ -0.0698,
688
+ 0.94475,
689
+ 4.6504
690
+ ],
691
+ [
692
+ 0.0,
693
+ 0.0,
694
+ 0.0,
695
+ 1.0
696
+ ]
697
+ ]
698
+ ],
699
+ [
700
+ "024_bowl.object_config.json",
701
+ [
702
+ [
703
+ -0.17717,
704
+ -0.00142,
705
+ 0.98418,
706
+ -1.15704
707
+ ],
708
+ [
709
+ -0.00064,
710
+ 1.0,
711
+ 0.00133,
712
+ 0.44227
713
+ ],
714
+ [
715
+ -0.98418,
716
+ -0.00039,
717
+ -0.17717,
718
+ 2.90904
719
+ ],
720
+ [
721
+ 0.0,
722
+ 0.0,
723
+ 0.0,
724
+ 1.0
725
+ ]
726
+ ]
727
+ ],
728
+ [
729
+ "003_cracker_box.object_config.json",
730
+ [
731
+ [
732
+ 0.99835,
733
+ 0.04319,
734
+ -0.03787,
735
+ 4.07297
736
+ ],
737
+ [
738
+ -0.04329,
739
+ 0.99906,
740
+ -0.00173,
741
+ 1.04196
742
+ ],
743
+ [
744
+ 0.03776,
745
+ 0.00337,
746
+ 0.99928,
747
+ 1.38333
748
+ ],
749
+ [
750
+ 0.0,
751
+ 0.0,
752
+ 0.0,
753
+ 1.0
754
+ ]
755
+ ]
756
+ ],
757
+ [
758
+ "004_sugar_box.object_config.json",
759
+ [
760
+ [
761
+ -0.85442,
762
+ 0.04586,
763
+ -0.51755,
764
+ 0.6104
765
+ ],
766
+ [
767
+ 0.03894,
768
+ 0.99895,
769
+ 0.02423,
770
+ 0.9477
771
+ ],
772
+ [
773
+ 0.51812,
774
+ 0.00055,
775
+ -0.85531,
776
+ 7.85483
777
+ ],
778
+ [
779
+ 0.0,
780
+ 0.0,
781
+ 0.0,
782
+ 1.0
783
+ ]
784
+ ]
785
+ ],
786
+ [
787
+ "024_bowl.object_config.json",
788
+ [
789
+ [
790
+ -0.48691,
791
+ 1e-05,
792
+ -0.87345,
793
+ 0.761
794
+ ],
795
+ [
796
+ -1e-05,
797
+ 1.0,
798
+ 2e-05,
799
+ 0.88719
800
+ ],
801
+ [
802
+ 0.87345,
803
+ 2e-05,
804
+ -0.48691,
805
+ 6.28359
806
+ ],
807
+ [
808
+ 0.0,
809
+ 0.0,
810
+ 0.0,
811
+ 1.0
812
+ ]
813
+ ]
814
+ ],
815
+ [
816
+ "008_pudding_box.object_config.json",
817
+ [
818
+ [
819
+ 0.47697,
820
+ -0.01544,
821
+ 0.87878,
822
+ 0.46105
823
+ ],
824
+ [
825
+ -0.01019,
826
+ 0.99968,
827
+ 0.0231,
828
+ 1.26974
829
+ ],
830
+ [
831
+ -0.87886,
832
+ -0.01997,
833
+ 0.47666,
834
+ 4.32744
835
+ ],
836
+ [
837
+ 0.0,
838
+ 0.0,
839
+ 0.0,
840
+ 1.0
841
+ ]
842
+ ]
843
+ ],
844
+ [
845
+ "007_tuna_fish_can.object_config.json",
846
+ [
847
+ [
848
+ -0.21652,
849
+ 4e-05,
850
+ -0.97628,
851
+ 0.62235
852
+ ],
853
+ [
854
+ 0.0058,
855
+ 0.99998,
856
+ -0.00125,
857
+ 1.26815
858
+ ],
859
+ [
860
+ 0.97626,
861
+ -0.00593,
862
+ -0.21652,
863
+ 4.52506
864
+ ],
865
+ [
866
+ 0.0,
867
+ 0.0,
868
+ 0.0,
869
+ 1.0
870
+ ]
871
+ ]
872
+ ],
873
+ [
874
+ "005_tomato_soup_can.object_config.json",
875
+ [
876
+ [
877
+ 0.80951,
878
+ 0.0002,
879
+ -0.58711,
880
+ 0.56246
881
+ ],
882
+ [
883
+ -0.00022,
884
+ 1.0,
885
+ 4e-05,
886
+ 0.91084
887
+ ],
888
+ [
889
+ 0.58711,
890
+ 0.0001,
891
+ 0.80951,
892
+ 7.11738
893
+ ],
894
+ [
895
+ 0.0,
896
+ 0.0,
897
+ 0.0,
898
+ 1.0
899
+ ]
900
+ ]
901
+ ]
902
+ ],
903
+ "targets": {
904
+ "008_pudding_box_:0001": [
905
+ [
906
+ -0.84278,
907
+ 0.0,
908
+ -0.53826,
909
+ 0.71703
910
+ ],
911
+ [
912
+ 0.0,
913
+ 1.0,
914
+ 0.0,
915
+ 0.87854
916
+ ],
917
+ [
918
+ 0.53826,
919
+ 0.0,
920
+ -0.84278,
921
+ 5.59726
922
+ ],
923
+ [
924
+ 0.0,
925
+ 0.0,
926
+ 0.0,
927
+ 1.0
928
+ ]
929
+ ],
930
+ "007_tuna_fish_can_:0000": [
931
+ [
932
+ 0.93135,
933
+ 0.0,
934
+ 0.36413,
935
+ 0.57976
936
+ ],
937
+ [
938
+ 0.0,
939
+ 1.0,
940
+ 0.0,
941
+ 0.87587
942
+ ],
943
+ [
944
+ -0.36413,
945
+ 0.0,
946
+ 0.93135,
947
+ 7.32496
948
+ ],
949
+ [
950
+ 0.0,
951
+ 0.0,
952
+ 0.0,
953
+ 1.0
954
+ ]
955
+ ],
956
+ "005_tomato_soup_can_:0003": [
957
+ [
958
+ 0.53251,
959
+ 0.0,
960
+ -0.84642,
961
+ 0.5367
962
+ ],
963
+ [
964
+ 0.0,
965
+ 1.0,
966
+ 0.0,
967
+ 1.3014
968
+ ],
969
+ [
970
+ 0.84642,
971
+ 0.0,
972
+ 0.53251,
973
+ 4.48377
974
+ ],
975
+ [
976
+ 0.0,
977
+ 0.0,
978
+ 0.0,
979
+ 1.0
980
+ ]
981
+ ]
982
+ },
983
+ "markers": [
984
+ {
985
+ "name": "cab_push_point_7",
986
+ "type": "articulated_object",
987
+ "params": {
988
+ "offset": [
989
+ 0.3,
990
+ 0.0,
991
+ 0
992
+ ],
993
+ "link": "drawer1_top",
994
+ "object": "kitchen_counter_:0000"
995
+ }
996
+ },
997
+ {
998
+ "name": "cab_push_point_6",
999
+ "type": "articulated_object",
1000
+ "params": {
1001
+ "offset": [
1002
+ 0.3,
1003
+ 0.0,
1004
+ 0
1005
+ ],
1006
+ "link": "drawer2_top",
1007
+ "object": "kitchen_counter_:0000"
1008
+ }
1009
+ },
1010
+ {
1011
+ "name": "cab_push_point_5",
1012
+ "type": "articulated_object",
1013
+ "params": {
1014
+ "offset": [
1015
+ 0.3,
1016
+ 0.0,
1017
+ 0
1018
+ ],
1019
+ "link": "drawer3",
1020
+ "object": "kitchen_counter_:0000"
1021
+ }
1022
+ },
1023
+ {
1024
+ "name": "cab_push_point_4",
1025
+ "type": "articulated_object",
1026
+ "params": {
1027
+ "offset": [
1028
+ 0.3,
1029
+ 0.0,
1030
+ 0
1031
+ ],
1032
+ "link": "drawer4",
1033
+ "object": "kitchen_counter_:0000"
1034
+ }
1035
+ },
1036
+ {
1037
+ "name": "fridge_push_point",
1038
+ "type": "articulated_object",
1039
+ "params": {
1040
+ "offset": [
1041
+ 0.1,
1042
+ -0.62,
1043
+ 0.2
1044
+ ],
1045
+ "link": "top_door",
1046
+ "object": "fridge_:0000"
1047
+ }
1048
+ }
1049
+ ],
1050
+ "target_receptacles": [
1051
+ [
1052
+ "fridge_:0000",
1053
+ 0
1054
+ ],
1055
+ [
1056
+ "fridge_:0000",
1057
+ 0
1058
+ ],
1059
+ [
1060
+ "kitchen_counter_:0000",
1061
+ 0
1062
+ ]
1063
+ ],
1064
+ "goal_receptacles": [
1065
+ [
1066
+ "kitchen_counter_:0000",
1067
+ 0
1068
+ ],
1069
+ [
1070
+ "kitchen_counter_:0000",
1071
+ 0
1072
+ ],
1073
+ [
1074
+ "fridge_:0000",
1075
+ 0
1076
+ ]
1077
+ ]
1078
+ }
rearrange/v1_extracted/train/prepare_groceries/episode_1008.json ADDED
@@ -0,0 +1,1078 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_id": "1008",
3
+ "scene_id": "data/replica_cad/configs/scenes/v3_sc0_staging_17.scene_instance.json",
4
+ "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
5
+ "additional_obj_config_paths": [
6
+ "data/objects/ycb/"
7
+ ],
8
+ "start_position": [
9
+ 0,
10
+ 0,
11
+ 0
12
+ ],
13
+ "start_rotation": [
14
+ 0,
15
+ 0,
16
+ 0,
17
+ 1
18
+ ],
19
+ "info": {
20
+ "object_labels": {
21
+ "024_bowl_:0002": "obj0_target|0",
22
+ "005_tomato_soup_can_:0005": "obj1_target|1",
23
+ "002_master_chef_can_:0002": "obj2_target|2"
24
+ }
25
+ },
26
+ "ao_states": {
27
+ "fridge_:0000": {
28
+ "2": 1.5
29
+ }
30
+ },
31
+ "rigid_objs": [
32
+ [
33
+ "003_cracker_box.object_config.json",
34
+ [
35
+ [
36
+ -0.87876,
37
+ -0.03628,
38
+ 0.47589,
39
+ 0.38664
40
+ ],
41
+ [
42
+ -0.04542,
43
+ 0.99894,
44
+ -0.00772,
45
+ 0.96629
46
+ ],
47
+ [
48
+ -0.4751,
49
+ -0.0284,
50
+ -0.87947,
51
+ 5.04807
52
+ ],
53
+ [
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 1.0
58
+ ]
59
+ ]
60
+ ],
61
+ [
62
+ "004_sugar_box.object_config.json",
63
+ [
64
+ [
65
+ -0.27609,
66
+ 0.03206,
67
+ -0.9606,
68
+ 0.45133
69
+ ],
70
+ [
71
+ 0.03561,
72
+ 0.9991,
73
+ 0.02311,
74
+ 0.85082
75
+ ],
76
+ [
77
+ 0.96047,
78
+ -0.02783,
79
+ -0.27699,
80
+ 0.37766
81
+ ],
82
+ [
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ 1.0
87
+ ]
88
+ ]
89
+ ],
90
+ [
91
+ "009_gelatin_box.object_config.json",
92
+ [
93
+ [
94
+ -0.84614,
95
+ 0.0,
96
+ -0.53296,
97
+ 3.02666
98
+ ],
99
+ [
100
+ 0.0,
101
+ 1.0,
102
+ 0.0,
103
+ 0.94922
104
+ ],
105
+ [
106
+ 0.53296,
107
+ -0.0,
108
+ -0.84614,
109
+ 6.30617
110
+ ],
111
+ [
112
+ 0.0,
113
+ 0.0,
114
+ 0.0,
115
+ 1.0
116
+ ]
117
+ ]
118
+ ],
119
+ [
120
+ "004_sugar_box.object_config.json",
121
+ [
122
+ [
123
+ -0.7677,
124
+ 0.01206,
125
+ 0.6407,
126
+ 3.63519
127
+ ],
128
+ [
129
+ 0.03579,
130
+ 0.99907,
131
+ 0.02408,
132
+ 0.50295
133
+ ],
134
+ [
135
+ -0.63981,
136
+ 0.04142,
137
+ -0.76742,
138
+ 4.16921
139
+ ],
140
+ [
141
+ 0.0,
142
+ 0.0,
143
+ 0.0,
144
+ 1.0
145
+ ]
146
+ ]
147
+ ],
148
+ [
149
+ "008_pudding_box.object_config.json",
150
+ [
151
+ [
152
+ 0.0062,
153
+ -0.02245,
154
+ 0.99973,
155
+ 1.63395
156
+ ],
157
+ [
158
+ -0.00659,
159
+ 0.99973,
160
+ 0.02249,
161
+ 0.64634
162
+ ],
163
+ [
164
+ -0.99996,
165
+ -0.00673,
166
+ 0.00605,
167
+ 3.71636
168
+ ],
169
+ [
170
+ 0.0,
171
+ 0.0,
172
+ 0.0,
173
+ 1.0
174
+ ]
175
+ ]
176
+ ],
177
+ [
178
+ "009_gelatin_box.object_config.json",
179
+ [
180
+ [
181
+ 0.35715,
182
+ -0.0018,
183
+ 0.93405,
184
+ 2.45544
185
+ ],
186
+ [
187
+ -0.00033,
188
+ 1.0,
189
+ 0.00205,
190
+ 0.94925
191
+ ],
192
+ [
193
+ -0.93405,
194
+ -0.00104,
195
+ 0.35715,
196
+ 5.73007
197
+ ],
198
+ [
199
+ 0.0,
200
+ 0.0,
201
+ 0.0,
202
+ 1.0
203
+ ]
204
+ ]
205
+ ],
206
+ [
207
+ "008_pudding_box.object_config.json",
208
+ [
209
+ [
210
+ 0.3927,
211
+ 0.02341,
212
+ -0.91937,
213
+ 0.52475
214
+ ],
215
+ [
216
+ -0.00582,
217
+ 0.99972,
218
+ 0.02297,
219
+ 0.87927
220
+ ],
221
+ [
222
+ 0.91965,
223
+ -0.00367,
224
+ 0.39273,
225
+ 7.13628
226
+ ],
227
+ [
228
+ 0.0,
229
+ 0.0,
230
+ 0.0,
231
+ 1.0
232
+ ]
233
+ ]
234
+ ],
235
+ [
236
+ "010_potted_meat_can.object_config.json",
237
+ [
238
+ [
239
+ 0.97224,
240
+ 0.0257,
241
+ -0.23258,
242
+ 0.51337
243
+ ],
244
+ [
245
+ -0.0251,
246
+ 0.99967,
247
+ 0.00554,
248
+ 0.75039
249
+ ],
250
+ [
251
+ 0.23265,
252
+ 0.00045,
253
+ 0.97256,
254
+ 6.56225
255
+ ],
256
+ [
257
+ 0.0,
258
+ 0.0,
259
+ 0.0,
260
+ 1.0
261
+ ]
262
+ ]
263
+ ],
264
+ [
265
+ "002_master_chef_can.object_config.json",
266
+ [
267
+ [
268
+ 0.07798,
269
+ -0.00188,
270
+ 0.99695,
271
+ 3.82773
272
+ ],
273
+ [
274
+ -0.00069,
275
+ 1.0,
276
+ 0.00194,
277
+ 0.48559
278
+ ],
279
+ [
280
+ -0.99696,
281
+ -0.00084,
282
+ 0.07797,
283
+ 3.31277
284
+ ],
285
+ [
286
+ 0.0,
287
+ 0.0,
288
+ 0.0,
289
+ 1.0
290
+ ]
291
+ ]
292
+ ],
293
+ [
294
+ "007_tuna_fish_can.object_config.json",
295
+ [
296
+ [
297
+ 0.13713,
298
+ -1e-05,
299
+ 0.99055,
300
+ 0.65948
301
+ ],
302
+ [
303
+ 2e-05,
304
+ 1.0,
305
+ 0.0,
306
+ 0.87655
307
+ ],
308
+ [
309
+ -0.99055,
310
+ 2e-05,
311
+ 0.13713,
312
+ 5.50667
313
+ ],
314
+ [
315
+ 0.0,
316
+ 0.0,
317
+ 0.0,
318
+ 1.0
319
+ ]
320
+ ]
321
+ ],
322
+ [
323
+ "005_tomato_soup_can.object_config.json",
324
+ [
325
+ [
326
+ -0.19768,
327
+ 0.0139,
328
+ -0.98017,
329
+ 3.69332
330
+ ],
331
+ [
332
+ 0.04491,
333
+ 0.99898,
334
+ 0.00511,
335
+ 0.46698
336
+ ],
337
+ [
338
+ 0.97924,
339
+ -0.04301,
340
+ -0.19811,
341
+ 4.25953
342
+ ],
343
+ [
344
+ 0.0,
345
+ 0.0,
346
+ 0.0,
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ [
352
+ "007_tuna_fish_can.object_config.json",
353
+ [
354
+ [
355
+ 0.9911,
356
+ -0.0,
357
+ 0.13315,
358
+ 0.17182
359
+ ],
360
+ [
361
+ 0.0,
362
+ 1.0,
363
+ 0.0,
364
+ 0.77952
365
+ ],
366
+ [
367
+ -0.13315,
368
+ -0.0,
369
+ 0.9911,
370
+ -0.27296
371
+ ],
372
+ [
373
+ 0.0,
374
+ 0.0,
375
+ 0.0,
376
+ 1.0
377
+ ]
378
+ ]
379
+ ],
380
+ [
381
+ "005_tomato_soup_can.object_config.json",
382
+ [
383
+ [
384
+ -0.70457,
385
+ -0.0004,
386
+ -0.70963,
387
+ 0.58778
388
+ ],
389
+ [
390
+ -0.00056,
391
+ 1.0,
392
+ -1e-05,
393
+ 0.7583
394
+ ],
395
+ [
396
+ 0.70963,
397
+ 0.00039,
398
+ -0.70457,
399
+ 6.8192
400
+ ],
401
+ [
402
+ 0.0,
403
+ 0.0,
404
+ 0.0,
405
+ 1.0
406
+ ]
407
+ ]
408
+ ],
409
+ [
410
+ "007_tuna_fish_can.object_config.json",
411
+ [
412
+ [
413
+ 0.18139,
414
+ -1e-05,
415
+ 0.98341,
416
+ 0.62261
417
+ ],
418
+ [
419
+ 0.0,
420
+ 1.0,
421
+ 1e-05,
422
+ 0.87655
423
+ ],
424
+ [
425
+ -0.98341,
426
+ 0.0,
427
+ 0.18139,
428
+ 6.16372
429
+ ],
430
+ [
431
+ 0.0,
432
+ 0.0,
433
+ 0.0,
434
+ 1.0
435
+ ]
436
+ ]
437
+ ],
438
+ [
439
+ "024_bowl.object_config.json",
440
+ [
441
+ [
442
+ -0.99812,
443
+ 0.00041,
444
+ 0.06135,
445
+ 0.43514
446
+ ],
447
+ [
448
+ 0.0004,
449
+ 1.0,
450
+ -0.00019,
451
+ 0.88718
452
+ ],
453
+ [
454
+ -0.06135,
455
+ -0.00017,
456
+ -0.99812,
457
+ 7.73321
458
+ ],
459
+ [
460
+ 0.0,
461
+ 0.0,
462
+ 0.0,
463
+ 1.0
464
+ ]
465
+ ]
466
+ ],
467
+ [
468
+ "009_gelatin_box.object_config.json",
469
+ [
470
+ [
471
+ -0.87031,
472
+ -0.01811,
473
+ 0.49218,
474
+ 4.03684
475
+ ],
476
+ [
477
+ -0.01139,
478
+ 0.9998,
479
+ 0.01664,
480
+ 0.4303
481
+ ],
482
+ [
483
+ -0.49238,
484
+ 0.00887,
485
+ -0.87033,
486
+ 4.03258
487
+ ],
488
+ [
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 1.0
493
+ ]
494
+ ]
495
+ ],
496
+ [
497
+ "005_tomato_soup_can.object_config.json",
498
+ [
499
+ [
500
+ -0.89626,
501
+ -0.00123,
502
+ 0.44353,
503
+ 0.86065
504
+ ],
505
+ [
506
+ 0.00201,
507
+ 0.99997,
508
+ 0.00685,
509
+ 0.81351
510
+ ],
511
+ [
512
+ -0.44353,
513
+ 0.00703,
514
+ -0.89623,
515
+ -0.52473
516
+ ],
517
+ [
518
+ 0.0,
519
+ 0.0,
520
+ 0.0,
521
+ 1.0
522
+ ]
523
+ ]
524
+ ],
525
+ [
526
+ "010_potted_meat_can.object_config.json",
527
+ [
528
+ [
529
+ 0.29588,
530
+ 0.00119,
531
+ -0.95522,
532
+ 0.62354
533
+ ],
534
+ [
535
+ 0.00013,
536
+ 1.0,
537
+ 0.00129,
538
+ 0.74915
539
+ ],
540
+ [
541
+ 0.95522,
542
+ -0.00051,
543
+ 0.29588,
544
+ 6.63837
545
+ ],
546
+ [
547
+ 0.0,
548
+ 0.0,
549
+ 0.0,
550
+ 1.0
551
+ ]
552
+ ]
553
+ ],
554
+ [
555
+ "009_gelatin_box.object_config.json",
556
+ [
557
+ [
558
+ 0.09122,
559
+ -0.0,
560
+ 0.99583,
561
+ 3.02053
562
+ ],
563
+ [
564
+ 0.0,
565
+ 1.0,
566
+ 0.0,
567
+ 0.94922
568
+ ],
569
+ [
570
+ -0.99583,
571
+ 0.0,
572
+ 0.09122,
573
+ 6.47379
574
+ ],
575
+ [
576
+ 0.0,
577
+ 0.0,
578
+ 0.0,
579
+ 1.0
580
+ ]
581
+ ]
582
+ ],
583
+ [
584
+ "004_sugar_box.object_config.json",
585
+ [
586
+ [
587
+ 0.99913,
588
+ -0.04176,
589
+ -0.00163,
590
+ 0.60525
591
+ ],
592
+ [
593
+ 0.04179,
594
+ 0.99851,
595
+ 0.03509,
596
+ 1.33786
597
+ ],
598
+ [
599
+ 0.00016,
600
+ -0.03512,
601
+ 0.99938,
602
+ 4.29053
603
+ ],
604
+ [
605
+ 0.0,
606
+ 0.0,
607
+ 0.0,
608
+ 1.0
609
+ ]
610
+ ]
611
+ ],
612
+ [
613
+ "002_master_chef_can.object_config.json",
614
+ [
615
+ [
616
+ -0.88922,
617
+ 0.00072,
618
+ -0.45748,
619
+ 4.10491
620
+ ],
621
+ [
622
+ -0.00049,
623
+ 1.0,
624
+ 0.00252,
625
+ 0.48565
626
+ ],
627
+ [
628
+ 0.45748,
629
+ 0.00246,
630
+ -0.88922,
631
+ 3.22562
632
+ ],
633
+ [
634
+ 0.0,
635
+ 0.0,
636
+ 0.0,
637
+ 1.0
638
+ ]
639
+ ]
640
+ ],
641
+ [
642
+ "024_bowl.object_config.json",
643
+ [
644
+ [
645
+ -0.67646,
646
+ 1e-05,
647
+ -0.73648,
648
+ 0.84188
649
+ ],
650
+ [
651
+ 2e-05,
652
+ 1.0,
653
+ 0.0,
654
+ 0.88719
655
+ ],
656
+ [
657
+ 0.73648,
658
+ -1e-05,
659
+ -0.67646,
660
+ 5.13253
661
+ ],
662
+ [
663
+ 0.0,
664
+ 0.0,
665
+ 0.0,
666
+ 1.0
667
+ ]
668
+ ]
669
+ ],
670
+ [
671
+ "005_tomato_soup_can.object_config.json",
672
+ [
673
+ [
674
+ -0.8513,
675
+ -0.00222,
676
+ 0.52468,
677
+ 3.90078
678
+ ],
679
+ [
680
+ -0.00053,
681
+ 0.99999,
682
+ 0.00336,
683
+ 0.46618
684
+ ],
685
+ [
686
+ -0.52469,
687
+ 0.00258,
688
+ -0.85129,
689
+ 3.05018
690
+ ],
691
+ [
692
+ 0.0,
693
+ 0.0,
694
+ 0.0,
695
+ 1.0
696
+ ]
697
+ ]
698
+ ],
699
+ [
700
+ "004_sugar_box.object_config.json",
701
+ [
702
+ [
703
+ -0.79514,
704
+ 0.0164,
705
+ 0.60621,
706
+ 0.3493
707
+ ],
708
+ [
709
+ 0.03562,
710
+ 0.99917,
711
+ 0.01969,
712
+ 1.33763
713
+ ],
714
+ [
715
+ -0.60538,
716
+ 0.03724,
717
+ -0.79506,
718
+ 4.23502
719
+ ],
720
+ [
721
+ 0.0,
722
+ 0.0,
723
+ 0.0,
724
+ 1.0
725
+ ]
726
+ ]
727
+ ],
728
+ [
729
+ "004_sugar_box.object_config.json",
730
+ [
731
+ [
732
+ 0.29108,
733
+ -0.02131,
734
+ 0.95646,
735
+ 0.31076
736
+ ],
737
+ [
738
+ 0.03299,
739
+ 0.99938,
740
+ 0.01223,
741
+ 0.94756
742
+ ],
743
+ [
744
+ -0.95613,
745
+ 0.02799,
746
+ 0.29161,
747
+ 7.33377
748
+ ],
749
+ [
750
+ 0.0,
751
+ 0.0,
752
+ 0.0,
753
+ 1.0
754
+ ]
755
+ ]
756
+ ],
757
+ [
758
+ "005_tomato_soup_can.object_config.json",
759
+ [
760
+ [
761
+ -0.98149,
762
+ 0.00015,
763
+ -0.19151,
764
+ 0.59463
765
+ ],
766
+ [
767
+ 0.00126,
768
+ 0.99998,
769
+ -0.00565,
770
+ 1.30159
771
+ ],
772
+ [
773
+ 0.19151,
774
+ -0.00579,
775
+ -0.98147,
776
+ 4.37744
777
+ ],
778
+ [
779
+ 0.0,
780
+ 0.0,
781
+ 0.0,
782
+ 1.0
783
+ ]
784
+ ]
785
+ ],
786
+ [
787
+ "008_pudding_box.object_config.json",
788
+ [
789
+ [
790
+ 0.98707,
791
+ 0.00211,
792
+ 0.1603,
793
+ 0.85412
794
+ ],
795
+ [
796
+ -0.00595,
797
+ 0.99971,
798
+ 0.02348,
799
+ 0.78224
800
+ ],
801
+ [
802
+ -0.16021,
803
+ -0.02413,
804
+ 0.98679,
805
+ 0.54672
806
+ ],
807
+ [
808
+ 0.0,
809
+ 0.0,
810
+ 0.0,
811
+ 1.0
812
+ ]
813
+ ]
814
+ ],
815
+ [
816
+ "024_bowl.object_config.json",
817
+ [
818
+ [
819
+ -0.53633,
820
+ -0.00011,
821
+ 0.84401,
822
+ 0.5016
823
+ ],
824
+ [
825
+ -0.00492,
826
+ 0.99998,
827
+ -0.003,
828
+ 1.27868
829
+ ],
830
+ [
831
+ -0.844,
832
+ -0.00577,
833
+ -0.53632,
834
+ 4.50431
835
+ ],
836
+ [
837
+ 0.0,
838
+ 0.0,
839
+ 0.0,
840
+ 1.0
841
+ ]
842
+ ]
843
+ ],
844
+ [
845
+ "005_tomato_soup_can.object_config.json",
846
+ [
847
+ [
848
+ -0.87851,
849
+ 0.02712,
850
+ -0.47695,
851
+ 0.40313
852
+ ],
853
+ [
854
+ 0.02658,
855
+ 0.99962,
856
+ 0.00787,
857
+ 1.30163
858
+ ],
859
+ [
860
+ 0.47698,
861
+ -0.00577,
862
+ -0.87889,
863
+ 4.42398
864
+ ],
865
+ [
866
+ 0.0,
867
+ 0.0,
868
+ 0.0,
869
+ 1.0
870
+ ]
871
+ ]
872
+ ],
873
+ [
874
+ "002_master_chef_can.object_config.json",
875
+ [
876
+ [
877
+ 0.99965,
878
+ -0.0,
879
+ 0.02638,
880
+ 0.45991
881
+ ],
882
+ [
883
+ 0.0,
884
+ 1.0,
885
+ -2e-05,
886
+ 0.9303
887
+ ],
888
+ [
889
+ -0.02638,
890
+ 2e-05,
891
+ 0.99965,
892
+ 5.32264
893
+ ],
894
+ [
895
+ 0.0,
896
+ 0.0,
897
+ 0.0,
898
+ 1.0
899
+ ]
900
+ ]
901
+ ]
902
+ ],
903
+ "targets": {
904
+ "024_bowl_:0002": [
905
+ [
906
+ 0.50577,
907
+ 0.0,
908
+ 0.86267,
909
+ 0.4582
910
+ ],
911
+ [
912
+ 0.0,
913
+ 1.0,
914
+ 0.0,
915
+ 0.8866
916
+ ],
917
+ [
918
+ -0.86267,
919
+ 0.0,
920
+ 0.50577,
921
+ 7.26248
922
+ ],
923
+ [
924
+ 0.0,
925
+ 0.0,
926
+ 0.0,
927
+ 1.0
928
+ ]
929
+ ],
930
+ "005_tomato_soup_can_:0005": [
931
+ [
932
+ -0.84592,
933
+ 0.0,
934
+ -0.53331,
935
+ 0.26722
936
+ ],
937
+ [
938
+ 0.0,
939
+ 1.0,
940
+ 0.0,
941
+ 0.91003
942
+ ],
943
+ [
944
+ 0.53331,
945
+ 0.0,
946
+ -0.84592,
947
+ 4.91789
948
+ ],
949
+ [
950
+ 0.0,
951
+ 0.0,
952
+ 0.0,
953
+ 1.0
954
+ ]
955
+ ],
956
+ "002_master_chef_can_:0002": [
957
+ [
958
+ -0.46325,
959
+ 0.0,
960
+ -0.88623,
961
+ 0.65759
962
+ ],
963
+ [
964
+ 0.0,
965
+ 1.0,
966
+ 0.0,
967
+ 1.321
968
+ ],
969
+ [
970
+ 0.88623,
971
+ 0.0,
972
+ -0.46325,
973
+ 4.55951
974
+ ],
975
+ [
976
+ 0.0,
977
+ 0.0,
978
+ 0.0,
979
+ 1.0
980
+ ]
981
+ ]
982
+ },
983
+ "markers": [
984
+ {
985
+ "name": "cab_push_point_7",
986
+ "type": "articulated_object",
987
+ "params": {
988
+ "offset": [
989
+ 0.3,
990
+ 0.0,
991
+ 0
992
+ ],
993
+ "link": "drawer1_top",
994
+ "object": "kitchen_counter_:0000"
995
+ }
996
+ },
997
+ {
998
+ "name": "cab_push_point_6",
999
+ "type": "articulated_object",
1000
+ "params": {
1001
+ "offset": [
1002
+ 0.3,
1003
+ 0.0,
1004
+ 0
1005
+ ],
1006
+ "link": "drawer2_top",
1007
+ "object": "kitchen_counter_:0000"
1008
+ }
1009
+ },
1010
+ {
1011
+ "name": "cab_push_point_5",
1012
+ "type": "articulated_object",
1013
+ "params": {
1014
+ "offset": [
1015
+ 0.3,
1016
+ 0.0,
1017
+ 0
1018
+ ],
1019
+ "link": "drawer3",
1020
+ "object": "kitchen_counter_:0000"
1021
+ }
1022
+ },
1023
+ {
1024
+ "name": "cab_push_point_4",
1025
+ "type": "articulated_object",
1026
+ "params": {
1027
+ "offset": [
1028
+ 0.3,
1029
+ 0.0,
1030
+ 0
1031
+ ],
1032
+ "link": "drawer4",
1033
+ "object": "kitchen_counter_:0000"
1034
+ }
1035
+ },
1036
+ {
1037
+ "name": "fridge_push_point",
1038
+ "type": "articulated_object",
1039
+ "params": {
1040
+ "offset": [
1041
+ 0.1,
1042
+ -0.62,
1043
+ 0.2
1044
+ ],
1045
+ "link": "top_door",
1046
+ "object": "fridge_:0000"
1047
+ }
1048
+ }
1049
+ ],
1050
+ "target_receptacles": [
1051
+ [
1052
+ "fridge_:0000",
1053
+ 0
1054
+ ],
1055
+ [
1056
+ "fridge_:0000",
1057
+ 0
1058
+ ],
1059
+ [
1060
+ "kitchen_counter_:0000",
1061
+ 0
1062
+ ]
1063
+ ],
1064
+ "goal_receptacles": [
1065
+ [
1066
+ "kitchen_counter_:0000",
1067
+ 0
1068
+ ],
1069
+ [
1070
+ "kitchen_counter_:0000",
1071
+ 0
1072
+ ],
1073
+ [
1074
+ "fridge_:0000",
1075
+ 0
1076
+ ]
1077
+ ]
1078
+ }
rearrange/v1_extracted/train/prepare_groceries/episode_1009.json ADDED
@@ -0,0 +1,1078 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_id": "1009",
3
+ "scene_id": "data/replica_cad/configs/scenes/v3_sc2_staging_02.scene_instance.json",
4
+ "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
5
+ "additional_obj_config_paths": [
6
+ "data/objects/ycb/"
7
+ ],
8
+ "start_position": [
9
+ 0,
10
+ 0,
11
+ 0
12
+ ],
13
+ "start_rotation": [
14
+ 0,
15
+ 0,
16
+ 0,
17
+ 1
18
+ ],
19
+ "info": {
20
+ "object_labels": {
21
+ "024_bowl_:0003": "obj0_target|0",
22
+ "008_pudding_box_:0004": "obj1_target|1",
23
+ "004_sugar_box_:0003": "obj2_target|2"
24
+ }
25
+ },
26
+ "ao_states": {
27
+ "fridge_:0000": {
28
+ "2": 1.5
29
+ }
30
+ },
31
+ "rigid_objs": [
32
+ [
33
+ "002_master_chef_can.object_config.json",
34
+ [
35
+ [
36
+ -0.97801,
37
+ -5e-05,
38
+ 0.20857,
39
+ -2.26941
40
+ ],
41
+ [
42
+ -5e-05,
43
+ 1.0,
44
+ 2e-05,
45
+ 0.9303
46
+ ],
47
+ [
48
+ -0.20857,
49
+ 0.0,
50
+ -0.97801,
51
+ 2.63842
52
+ ],
53
+ [
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 1.0
58
+ ]
59
+ ]
60
+ ],
61
+ [
62
+ "009_gelatin_box.object_config.json",
63
+ [
64
+ [
65
+ -0.52759,
66
+ 0.0,
67
+ 0.8495,
68
+ -2.03224
69
+ ],
70
+ [
71
+ 0.0,
72
+ 1.0,
73
+ 0.0,
74
+ 0.87476
75
+ ],
76
+ [
77
+ -0.8495,
78
+ 0.0,
79
+ -0.52759,
80
+ 2.76747
81
+ ],
82
+ [
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ 1.0
87
+ ]
88
+ ]
89
+ ],
90
+ [
91
+ "009_gelatin_box.object_config.json",
92
+ [
93
+ [
94
+ 0.1351,
95
+ 0.0,
96
+ 0.99083,
97
+ -2.4412
98
+ ],
99
+ [
100
+ 0.0,
101
+ 1.0,
102
+ -0.0,
103
+ 0.87476
104
+ ],
105
+ [
106
+ -0.99083,
107
+ 0.0,
108
+ 0.1351,
109
+ 1.53256
110
+ ],
111
+ [
112
+ 0.0,
113
+ 0.0,
114
+ 0.0,
115
+ 1.0
116
+ ]
117
+ ]
118
+ ],
119
+ [
120
+ "008_pudding_box.object_config.json",
121
+ [
122
+ [
123
+ 0.92441,
124
+ 0.01417,
125
+ -0.38114,
126
+ -2.10848
127
+ ],
128
+ [
129
+ -0.00576,
130
+ 0.99971,
131
+ 0.0232,
132
+ 0.72673
133
+ ],
134
+ [
135
+ 0.38136,
136
+ -0.01925,
137
+ 0.92423,
138
+ 1.97997
139
+ ],
140
+ [
141
+ 0.0,
142
+ 0.0,
143
+ 0.0,
144
+ 1.0
145
+ ]
146
+ ]
147
+ ],
148
+ [
149
+ "004_sugar_box.object_config.json",
150
+ [
151
+ [
152
+ 0.41824,
153
+ -0.03838,
154
+ 0.90752,
155
+ -2.13526
156
+ ],
157
+ [
158
+ 0.03908,
159
+ 0.99894,
160
+ 0.02424,
161
+ 0.9477
162
+ ],
163
+ [
164
+ -0.90749,
165
+ 0.02533,
166
+ 0.4193,
167
+ 0.65695
168
+ ],
169
+ [
170
+ 0.0,
171
+ 0.0,
172
+ 0.0,
173
+ 1.0
174
+ ]
175
+ ]
176
+ ],
177
+ [
178
+ "004_sugar_box.object_config.json",
179
+ [
180
+ [
181
+ 0.0498,
182
+ -0.02619,
183
+ 0.99842,
184
+ 2.40973
185
+ ],
186
+ [
187
+ 0.03918,
188
+ 0.99894,
189
+ 0.02425,
190
+ 0.85082
191
+ ],
192
+ [
193
+ -0.99799,
194
+ 0.03791,
195
+ 0.05077,
196
+ 7.75563
197
+ ],
198
+ [
199
+ 0.0,
200
+ 0.0,
201
+ 0.0,
202
+ 1.0
203
+ ]
204
+ ]
205
+ ],
206
+ [
207
+ "024_bowl.object_config.json",
208
+ [
209
+ [
210
+ 0.88263,
211
+ -0.00043,
212
+ 0.47007,
213
+ -2.24579
214
+ ],
215
+ [
216
+ 0.00116,
217
+ 1.0,
218
+ -0.00127,
219
+ 0.88715
220
+ ],
221
+ [
222
+ -0.47007,
223
+ 0.00167,
224
+ 0.88263,
225
+ 2.95444
226
+ ],
227
+ [
228
+ 0.0,
229
+ 0.0,
230
+ 0.0,
231
+ 1.0
232
+ ]
233
+ ]
234
+ ],
235
+ [
236
+ "008_pudding_box.object_config.json",
237
+ [
238
+ [
239
+ -0.82234,
240
+ 0.00043,
241
+ -0.56899,
242
+ 0.92105
243
+ ],
244
+ [
245
+ 0.0018,
246
+ 1.0,
247
+ -0.00183,
248
+ 0.43451
249
+ ],
250
+ [
251
+ 0.56899,
252
+ -0.00253,
253
+ -0.82234,
254
+ 6.51972
255
+ ],
256
+ [
257
+ 0.0,
258
+ 0.0,
259
+ 0.0,
260
+ 1.0
261
+ ]
262
+ ]
263
+ ],
264
+ [
265
+ "007_tuna_fish_can.object_config.json",
266
+ [
267
+ [
268
+ -0.76839,
269
+ -0.0,
270
+ 0.63998,
271
+ -1.89611
272
+ ],
273
+ [
274
+ -0.0,
275
+ 1.0,
276
+ 0.0,
277
+ 0.87655
278
+ ],
279
+ [
280
+ -0.63998,
281
+ -0.0,
282
+ -0.76839,
283
+ 0.49552
284
+ ],
285
+ [
286
+ 0.0,
287
+ 0.0,
288
+ 0.0,
289
+ 1.0
290
+ ]
291
+ ]
292
+ ],
293
+ [
294
+ "005_tomato_soup_can.object_config.json",
295
+ [
296
+ [
297
+ 0.85006,
298
+ 0.00494,
299
+ -0.52667,
300
+ 4.06955
301
+ ],
302
+ [
303
+ -0.0066,
304
+ 0.99998,
305
+ -0.00129,
306
+ 0.46613
307
+ ],
308
+ [
309
+ 0.52665,
310
+ 0.00457,
311
+ 0.85007,
312
+ 3.95158
313
+ ],
314
+ [
315
+ 0.0,
316
+ 0.0,
317
+ 0.0,
318
+ 1.0
319
+ ]
320
+ ]
321
+ ],
322
+ [
323
+ "010_potted_meat_can.object_config.json",
324
+ [
325
+ [
326
+ 0.53149,
327
+ -0.00226,
328
+ 0.84706,
329
+ 0.05836
330
+ ],
331
+ [
332
+ 0.0012,
333
+ 1.0,
334
+ 0.00192,
335
+ 0.97621
336
+ ],
337
+ [
338
+ -0.84706,
339
+ -1e-05,
340
+ 0.5315,
341
+ 0.03194
342
+ ],
343
+ [
344
+ 0.0,
345
+ 0.0,
346
+ 0.0,
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ [
352
+ "024_bowl.object_config.json",
353
+ [
354
+ [
355
+ 0.95565,
356
+ -8e-05,
357
+ 0.2945,
358
+ -1.94574
359
+ ],
360
+ [
361
+ -0.00164,
362
+ 0.99998,
363
+ 0.00561,
364
+ 1.27929
365
+ ],
366
+ [
367
+ -0.29449,
368
+ -0.00584,
369
+ 0.95564,
370
+ -0.08552
371
+ ],
372
+ [
373
+ 0.0,
374
+ 0.0,
375
+ 0.0,
376
+ 1.0
377
+ ]
378
+ ]
379
+ ],
380
+ [
381
+ "002_master_chef_can.object_config.json",
382
+ [
383
+ [
384
+ 0.99397,
385
+ 0.0001,
386
+ -0.10964,
387
+ -1.98843
388
+ ],
389
+ [
390
+ -8e-05,
391
+ 1.0,
392
+ 0.00023,
393
+ 0.93031
394
+ ],
395
+ [
396
+ 0.10964,
397
+ -0.00022,
398
+ 0.99397,
399
+ 2.61018
400
+ ],
401
+ [
402
+ 0.0,
403
+ 0.0,
404
+ 0.0,
405
+ 1.0
406
+ ]
407
+ ]
408
+ ],
409
+ [
410
+ "009_gelatin_box.object_config.json",
411
+ [
412
+ [
413
+ -0.32184,
414
+ -1e-05,
415
+ 0.94679,
416
+ -2.24938
417
+ ],
418
+ [
419
+ -4e-05,
420
+ 1.0,
421
+ 0.0,
422
+ 0.87476
423
+ ],
424
+ [
425
+ -0.94679,
426
+ -4e-05,
427
+ -0.32184,
428
+ 3.15118
429
+ ],
430
+ [
431
+ 0.0,
432
+ 0.0,
433
+ 0.0,
434
+ 1.0
435
+ ]
436
+ ]
437
+ ],
438
+ [
439
+ "005_tomato_soup_can.object_config.json",
440
+ [
441
+ [
442
+ 0.73006,
443
+ 0.00406,
444
+ -0.68337,
445
+ 3.96948
446
+ ],
447
+ [
448
+ -0.00556,
449
+ 0.99998,
450
+ 0.0,
451
+ 0.46605
452
+ ],
453
+ [
454
+ 0.68336,
455
+ 0.0038,
456
+ 0.73007,
457
+ 3.70659
458
+ ],
459
+ [
460
+ 0.0,
461
+ 0.0,
462
+ 0.0,
463
+ 1.0
464
+ ]
465
+ ]
466
+ ],
467
+ [
468
+ "008_pudding_box.object_config.json",
469
+ [
470
+ [
471
+ -0.33721,
472
+ 0.01955,
473
+ -0.94123,
474
+ -1.38581
475
+ ],
476
+ [
477
+ -0.00625,
478
+ 0.99972,
479
+ 0.023,
480
+ 0.64638
481
+ ],
482
+ [
483
+ 0.94141,
484
+ 0.01364,
485
+ -0.33699,
486
+ 3.32155
487
+ ],
488
+ [
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 1.0
493
+ ]
494
+ ]
495
+ ],
496
+ [
497
+ "008_pudding_box.object_config.json",
498
+ [
499
+ [
500
+ 0.81193,
501
+ 0.01845,
502
+ -0.58347,
503
+ -2.19875
504
+ ],
505
+ [
506
+ -0.0025,
507
+ 0.9996,
508
+ 0.02812,
509
+ 1.27114
510
+ ],
511
+ [
512
+ 0.58375,
513
+ -0.02137,
514
+ 0.81165,
515
+ -0.12949
516
+ ],
517
+ [
518
+ 0.0,
519
+ 0.0,
520
+ 0.0,
521
+ 1.0
522
+ ]
523
+ ]
524
+ ],
525
+ [
526
+ "010_potted_meat_can.object_config.json",
527
+ [
528
+ [
529
+ -0.34156,
530
+ 0.00632,
531
+ 0.93984,
532
+ 0.79873
533
+ ],
534
+ [
535
+ -0.00453,
536
+ 0.99995,
537
+ -0.00838,
538
+ 0.45677
539
+ ],
540
+ [
541
+ -0.93985,
542
+ -0.00712,
543
+ -0.34151,
544
+ 6.44687
545
+ ],
546
+ [
547
+ 0.0,
548
+ 0.0,
549
+ 0.0,
550
+ 1.0
551
+ ]
552
+ ]
553
+ ],
554
+ [
555
+ "009_gelatin_box.object_config.json",
556
+ [
557
+ [
558
+ -0.95369,
559
+ 4e-05,
560
+ -0.3008,
561
+ 3.73624
562
+ ],
563
+ [
564
+ 4e-05,
565
+ 1.0,
566
+ -0.0,
567
+ 0.42998
568
+ ],
569
+ [
570
+ 0.3008,
571
+ -1e-05,
572
+ -0.95369,
573
+ 3.83675
574
+ ],
575
+ [
576
+ 0.0,
577
+ 0.0,
578
+ 0.0,
579
+ 1.0
580
+ ]
581
+ ]
582
+ ],
583
+ [
584
+ "024_bowl.object_config.json",
585
+ [
586
+ [
587
+ 0.90865,
588
+ 0.00126,
589
+ -0.41755,
590
+ 0.93167
591
+ ],
592
+ [
593
+ -0.00142,
594
+ 1.0,
595
+ -6e-05,
596
+ 0.44233
597
+ ],
598
+ [
599
+ 0.41755,
600
+ 0.00065,
601
+ 0.90865,
602
+ 6.33214
603
+ ],
604
+ [
605
+ 0.0,
606
+ 0.0,
607
+ 0.0,
608
+ 1.0
609
+ ]
610
+ ]
611
+ ],
612
+ [
613
+ "004_sugar_box.object_config.json",
614
+ [
615
+ [
616
+ -0.483,
617
+ 0.04151,
618
+ -0.87463,
619
+ 1.00079
620
+ ],
621
+ [
622
+ 0.04474,
623
+ 0.99874,
624
+ 0.02269,
625
+ 0.50297
626
+ ],
627
+ [
628
+ 0.87448,
629
+ -0.02817,
630
+ -0.48425,
631
+ 6.16956
632
+ ],
633
+ [
634
+ 0.0,
635
+ 0.0,
636
+ 0.0,
637
+ 1.0
638
+ ]
639
+ ]
640
+ ],
641
+ [
642
+ "007_tuna_fish_can.object_config.json",
643
+ [
644
+ [
645
+ -0.98281,
646
+ 0.00043,
647
+ 0.18463,
648
+ 2.80454
649
+ ],
650
+ [
651
+ 0.00052,
652
+ 1.0,
653
+ 0.00045,
654
+ 0.77954
655
+ ],
656
+ [
657
+ -0.18463,
658
+ 0.00054,
659
+ -0.98281,
660
+ 7.22027
661
+ ],
662
+ [
663
+ 0.0,
664
+ 0.0,
665
+ 0.0,
666
+ 1.0
667
+ ]
668
+ ]
669
+ ],
670
+ [
671
+ "009_gelatin_box.object_config.json",
672
+ [
673
+ [
674
+ -0.85114,
675
+ -0.0,
676
+ 0.52493,
677
+ 2.74715
678
+ ],
679
+ [
680
+ -0.0,
681
+ 1.0,
682
+ 0.0,
683
+ 0.77773
684
+ ],
685
+ [
686
+ -0.52493,
687
+ 0.0,
688
+ -0.85114,
689
+ 7.65173
690
+ ],
691
+ [
692
+ 0.0,
693
+ 0.0,
694
+ 0.0,
695
+ 1.0
696
+ ]
697
+ ]
698
+ ],
699
+ [
700
+ "009_gelatin_box.object_config.json",
701
+ [
702
+ [
703
+ -0.03385,
704
+ 1e-05,
705
+ -0.99943,
706
+ -2.06618
707
+ ],
708
+ [
709
+ 0.0001,
710
+ 1.0,
711
+ 1e-05,
712
+ 0.72222
713
+ ],
714
+ [
715
+ 0.99943,
716
+ -0.0001,
717
+ -0.03385,
718
+ 1.85534
719
+ ],
720
+ [
721
+ 0.0,
722
+ 0.0,
723
+ 0.0,
724
+ 1.0
725
+ ]
726
+ ]
727
+ ],
728
+ [
729
+ "005_tomato_soup_can.object_config.json",
730
+ [
731
+ [
732
+ 0.12411,
733
+ 2e-05,
734
+ -0.99227,
735
+ -2.30107
736
+ ],
737
+ [
738
+ 0.0054,
739
+ 0.99999,
740
+ 0.00069,
741
+ 1.30364
742
+ ],
743
+ [
744
+ 0.99225,
745
+ -0.00545,
746
+ 0.12411,
747
+ 0.03066
748
+ ],
749
+ [
750
+ 0.0,
751
+ 0.0,
752
+ 0.0,
753
+ 1.0
754
+ ]
755
+ ]
756
+ ],
757
+ [
758
+ "009_gelatin_box.object_config.json",
759
+ [
760
+ [
761
+ -0.99913,
762
+ 0.0,
763
+ -0.04169,
764
+ 2.43064
765
+ ],
766
+ [
767
+ 0.0,
768
+ 1.0,
769
+ 0.0,
770
+ 0.77773
771
+ ],
772
+ [
773
+ 0.04169,
774
+ 0.0,
775
+ -0.99913,
776
+ 7.19362
777
+ ],
778
+ [
779
+ 0.0,
780
+ 0.0,
781
+ 0.0,
782
+ 1.0
783
+ ]
784
+ ]
785
+ ],
786
+ [
787
+ "010_potted_meat_can.object_config.json",
788
+ [
789
+ [
790
+ -0.84357,
791
+ 0.00011,
792
+ -0.53702,
793
+ 0.51495
794
+ ],
795
+ [
796
+ -0.00012,
797
+ 1.0,
798
+ 0.00039,
799
+ 0.97608
800
+ ],
801
+ [
802
+ 0.53702,
803
+ 0.00039,
804
+ -0.84357,
805
+ -0.14799
806
+ ],
807
+ [
808
+ 0.0,
809
+ 0.0,
810
+ 0.0,
811
+ 1.0
812
+ ]
813
+ ]
814
+ ],
815
+ [
816
+ "024_bowl.object_config.json",
817
+ [
818
+ [
819
+ 0.5903,
820
+ -0.00016,
821
+ 0.80719,
822
+ -2.06039
823
+ ],
824
+ [
825
+ -0.00849,
826
+ 0.99994,
827
+ 0.00641,
828
+ 1.27791
829
+ ],
830
+ [
831
+ -0.80714,
832
+ -0.01063,
833
+ 0.59026,
834
+ -0.3453
835
+ ],
836
+ [
837
+ 0.0,
838
+ 0.0,
839
+ 0.0,
840
+ 1.0
841
+ ]
842
+ ]
843
+ ],
844
+ [
845
+ "008_pudding_box.object_config.json",
846
+ [
847
+ [
848
+ 0.13137,
849
+ -0.02203,
850
+ 0.99109,
851
+ -2.28742
852
+ ],
853
+ [
854
+ -0.01143,
855
+ 0.99965,
856
+ 0.02373,
857
+ 1.27004
858
+ ],
859
+ [
860
+ -0.99127,
861
+ -0.01445,
862
+ 0.13108,
863
+ -0.31902
864
+ ],
865
+ [
866
+ 0.0,
867
+ 0.0,
868
+ 0.0,
869
+ 1.0
870
+ ]
871
+ ]
872
+ ],
873
+ [
874
+ "004_sugar_box.object_config.json",
875
+ [
876
+ [
877
+ -0.66176,
878
+ 0.04411,
879
+ -0.74842,
880
+ -2.43191
881
+ ],
882
+ [
883
+ 0.0391,
884
+ 0.99894,
885
+ 0.0243,
886
+ 0.9477
887
+ ],
888
+ [
889
+ 0.7487,
890
+ -0.01318,
891
+ -0.66278,
892
+ 2.49909
893
+ ],
894
+ [
895
+ 0.0,
896
+ 0.0,
897
+ 0.0,
898
+ 1.0
899
+ ]
900
+ ]
901
+ ]
902
+ ],
903
+ "targets": {
904
+ "024_bowl_:0003": [
905
+ [
906
+ -0.81986,
907
+ 0.0,
908
+ -0.57256,
909
+ -2.40489
910
+ ],
911
+ [
912
+ 0.0,
913
+ 1.0,
914
+ 0.0,
915
+ 0.8866
916
+ ],
917
+ [
918
+ 0.57256,
919
+ 0.0,
920
+ -0.81986,
921
+ 2.82574
922
+ ],
923
+ [
924
+ 0.0,
925
+ 0.0,
926
+ 0.0,
927
+ 1.0
928
+ ]
929
+ ],
930
+ "008_pudding_box_:0004": [
931
+ [
932
+ 0.93764,
933
+ 0.0,
934
+ -0.3476,
935
+ -2.36936
936
+ ],
937
+ [
938
+ 0.0,
939
+ 1.0,
940
+ 0.0,
941
+ 0.87854
942
+ ],
943
+ [
944
+ 0.3476,
945
+ 0.0,
946
+ 0.93764,
947
+ 0.91498
948
+ ],
949
+ [
950
+ 0.0,
951
+ 0.0,
952
+ 0.0,
953
+ 1.0
954
+ ]
955
+ ],
956
+ "004_sugar_box_:0003": [
957
+ [
958
+ 0.76986,
959
+ 0.0,
960
+ 0.63822,
961
+ -2.06305
962
+ ],
963
+ [
964
+ 0.0,
965
+ 1.0,
966
+ 0.0,
967
+ 1.33873
968
+ ],
969
+ [
970
+ -0.63822,
971
+ 0.0,
972
+ 0.76986,
973
+ -0.17207
974
+ ],
975
+ [
976
+ 0.0,
977
+ 0.0,
978
+ 0.0,
979
+ 1.0
980
+ ]
981
+ ]
982
+ },
983
+ "markers": [
984
+ {
985
+ "name": "cab_push_point_7",
986
+ "type": "articulated_object",
987
+ "params": {
988
+ "offset": [
989
+ 0.3,
990
+ 0.0,
991
+ 0
992
+ ],
993
+ "link": "drawer1_top",
994
+ "object": "kitchen_counter_:0000"
995
+ }
996
+ },
997
+ {
998
+ "name": "cab_push_point_6",
999
+ "type": "articulated_object",
1000
+ "params": {
1001
+ "offset": [
1002
+ 0.3,
1003
+ 0.0,
1004
+ 0
1005
+ ],
1006
+ "link": "drawer2_top",
1007
+ "object": "kitchen_counter_:0000"
1008
+ }
1009
+ },
1010
+ {
1011
+ "name": "cab_push_point_5",
1012
+ "type": "articulated_object",
1013
+ "params": {
1014
+ "offset": [
1015
+ 0.3,
1016
+ 0.0,
1017
+ 0
1018
+ ],
1019
+ "link": "drawer3",
1020
+ "object": "kitchen_counter_:0000"
1021
+ }
1022
+ },
1023
+ {
1024
+ "name": "cab_push_point_4",
1025
+ "type": "articulated_object",
1026
+ "params": {
1027
+ "offset": [
1028
+ 0.3,
1029
+ 0.0,
1030
+ 0
1031
+ ],
1032
+ "link": "drawer4",
1033
+ "object": "kitchen_counter_:0000"
1034
+ }
1035
+ },
1036
+ {
1037
+ "name": "fridge_push_point",
1038
+ "type": "articulated_object",
1039
+ "params": {
1040
+ "offset": [
1041
+ 0.1,
1042
+ -0.62,
1043
+ 0.2
1044
+ ],
1045
+ "link": "top_door",
1046
+ "object": "fridge_:0000"
1047
+ }
1048
+ }
1049
+ ],
1050
+ "target_receptacles": [
1051
+ [
1052
+ "fridge_:0000",
1053
+ 0
1054
+ ],
1055
+ [
1056
+ "fridge_:0000",
1057
+ 0
1058
+ ],
1059
+ [
1060
+ "kitchen_counter_:0000",
1061
+ 0
1062
+ ]
1063
+ ],
1064
+ "goal_receptacles": [
1065
+ [
1066
+ "kitchen_counter_:0000",
1067
+ 0
1068
+ ],
1069
+ [
1070
+ "kitchen_counter_:0000",
1071
+ 0
1072
+ ],
1073
+ [
1074
+ "fridge_:0000",
1075
+ 0
1076
+ ]
1077
+ ]
1078
+ }
rearrange/v1_extracted/train/prepare_groceries/episode_101.json ADDED
@@ -0,0 +1,1078 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_id": "101",
3
+ "scene_id": "data/replica_cad/configs/scenes/v3_sc0_staging_02.scene_instance.json",
4
+ "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
5
+ "additional_obj_config_paths": [
6
+ "data/objects/ycb/"
7
+ ],
8
+ "start_position": [
9
+ 0,
10
+ 0,
11
+ 0
12
+ ],
13
+ "start_rotation": [
14
+ 0,
15
+ 0,
16
+ 0,
17
+ 1
18
+ ],
19
+ "info": {
20
+ "object_labels": {
21
+ "004_sugar_box_:0005": "obj0_target|0",
22
+ "005_tomato_soup_can_:0005": "obj1_target|1",
23
+ "009_gelatin_box_:0002": "obj2_target|2"
24
+ }
25
+ },
26
+ "ao_states": {
27
+ "fridge_:0000": {
28
+ "2": 1.5
29
+ }
30
+ },
31
+ "rigid_objs": [
32
+ [
33
+ "008_pudding_box.object_config.json",
34
+ [
35
+ [
36
+ 0.20611,
37
+ 0.0242,
38
+ -0.97823,
39
+ -2.00786
40
+ ],
41
+ [
42
+ -0.0059,
43
+ 0.99971,
44
+ 0.02349,
45
+ 0.43449
46
+ ],
47
+ [
48
+ 0.97851,
49
+ 0.00093,
50
+ 0.2062,
51
+ 1.49426
52
+ ],
53
+ [
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 1.0
58
+ ]
59
+ ]
60
+ ],
61
+ [
62
+ "003_cracker_box.object_config.json",
63
+ [
64
+ [
65
+ 0.81916,
66
+ 0.04309,
67
+ 0.57195,
68
+ 3.59563
69
+ ],
70
+ [
71
+ -0.04848,
72
+ 0.99881,
73
+ -0.00582,
74
+ 0.7333
75
+ ],
76
+ [
77
+ -0.57152,
78
+ -0.02296,
79
+ 0.82027,
80
+ 3.73201
81
+ ],
82
+ [
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ 1.0
87
+ ]
88
+ ]
89
+ ],
90
+ [
91
+ "005_tomato_soup_can.object_config.json",
92
+ [
93
+ [
94
+ -0.36999,
95
+ -0.00183,
96
+ -0.92903,
97
+ 1.86855
98
+ ],
99
+ [
100
+ -0.00486,
101
+ 0.99999,
102
+ -4e-05,
103
+ 0.81381
104
+ ],
105
+ [
106
+ 0.92902,
107
+ 0.0045,
108
+ -0.37,
109
+ 2.1054
110
+ ],
111
+ [
112
+ 0.0,
113
+ 0.0,
114
+ 0.0,
115
+ 1.0
116
+ ]
117
+ ]
118
+ ],
119
+ [
120
+ "009_gelatin_box.object_config.json",
121
+ [
122
+ [
123
+ -0.14037,
124
+ 1e-05,
125
+ -0.9901,
126
+ 0.63734
127
+ ],
128
+ [
129
+ 0.0,
130
+ 1.0,
131
+ 1e-05,
132
+ 0.72222
133
+ ],
134
+ [
135
+ 0.9901,
136
+ -0.0,
137
+ -0.14037,
138
+ 6.63357
139
+ ],
140
+ [
141
+ 0.0,
142
+ 0.0,
143
+ 0.0,
144
+ 1.0
145
+ ]
146
+ ]
147
+ ],
148
+ [
149
+ "002_master_chef_can.object_config.json",
150
+ [
151
+ [
152
+ -0.05998,
153
+ -0.0014,
154
+ 0.9982,
155
+ -2.13196
156
+ ],
157
+ [
158
+ -0.00213,
159
+ 1.0,
160
+ 0.00127,
161
+ 0.48564
162
+ ],
163
+ [
164
+ -0.9982,
165
+ -0.00205,
166
+ -0.05998,
167
+ 1.40759
168
+ ],
169
+ [
170
+ 0.0,
171
+ 0.0,
172
+ 0.0,
173
+ 1.0
174
+ ]
175
+ ]
176
+ ],
177
+ [
178
+ "004_sugar_box.object_config.json",
179
+ [
180
+ [
181
+ -0.43133,
182
+ 0.03671,
183
+ -0.90144,
184
+ 3.74809
185
+ ],
186
+ [
187
+ 0.03945,
188
+ 0.99898,
189
+ 0.02181,
190
+ 0.71475
191
+ ],
192
+ [
193
+ 0.90133,
194
+ -0.02616,
195
+ -0.43234,
196
+ 3.47004
197
+ ],
198
+ [
199
+ 0.0,
200
+ 0.0,
201
+ 0.0,
202
+ 1.0
203
+ ]
204
+ ]
205
+ ],
206
+ [
207
+ "003_cracker_box.object_config.json",
208
+ [
209
+ [
210
+ -0.85525,
211
+ -0.04286,
212
+ -0.51645,
213
+ 0.37681
214
+ ],
215
+ [
216
+ -0.04264,
217
+ 0.99901,
218
+ -0.0123,
219
+ 1.3564
220
+ ],
221
+ [
222
+ 0.51647,
223
+ 0.01151,
224
+ -0.85623,
225
+ 4.26888
226
+ ],
227
+ [
228
+ 0.0,
229
+ 0.0,
230
+ 0.0,
231
+ 1.0
232
+ ]
233
+ ]
234
+ ],
235
+ [
236
+ "005_tomato_soup_can.object_config.json",
237
+ [
238
+ [
239
+ 0.73204,
240
+ 0.00289,
241
+ 0.68126,
242
+ 3.50185
243
+ ],
244
+ [
245
+ -0.00389,
246
+ 0.99999,
247
+ -5e-05,
248
+ 0.67781
249
+ ],
250
+ [
251
+ -0.68126,
252
+ -0.00261,
253
+ 0.73204,
254
+ 2.96894
255
+ ],
256
+ [
257
+ 0.0,
258
+ 0.0,
259
+ 0.0,
260
+ 1.0
261
+ ]
262
+ ]
263
+ ],
264
+ [
265
+ "003_cracker_box.object_config.json",
266
+ [
267
+ [
268
+ -0.87286,
269
+ -0.04326,
270
+ -0.48605,
271
+ 0.56514
272
+ ],
273
+ [
274
+ -0.04262,
275
+ 0.99901,
276
+ -0.01238,
277
+ 1.35664
278
+ ],
279
+ [
280
+ 0.4861,
281
+ 0.00991,
282
+ -0.87385,
283
+ 4.30898
284
+ ],
285
+ [
286
+ 0.0,
287
+ 0.0,
288
+ 0.0,
289
+ 1.0
290
+ ]
291
+ ]
292
+ ],
293
+ [
294
+ "005_tomato_soup_can.object_config.json",
295
+ [
296
+ [
297
+ -0.88596,
298
+ 0.00209,
299
+ 0.46376,
300
+ 0.64024
301
+ ],
302
+ [
303
+ 0.00218,
304
+ 1.0,
305
+ -0.00035,
306
+ 0.75829
307
+ ],
308
+ [
309
+ -0.46376,
310
+ 0.0007,
311
+ -0.88596,
312
+ 6.80571
313
+ ],
314
+ [
315
+ 0.0,
316
+ 0.0,
317
+ 0.0,
318
+ 1.0
319
+ ]
320
+ ]
321
+ ],
322
+ [
323
+ "007_tuna_fish_can.object_config.json",
324
+ [
325
+ [
326
+ 0.93205,
327
+ 1e-05,
328
+ -0.36233,
329
+ 0.45709
330
+ ],
331
+ [
332
+ -0.0,
333
+ 1.0,
334
+ 2e-05,
335
+ 0.87655
336
+ ],
337
+ [
338
+ 0.36233,
339
+ -1e-05,
340
+ 0.93205,
341
+ 7.03258
342
+ ],
343
+ [
344
+ 0.0,
345
+ 0.0,
346
+ 0.0,
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ [
352
+ "004_sugar_box.object_config.json",
353
+ [
354
+ [
355
+ 0.16653,
356
+ -0.03043,
357
+ 0.98557,
358
+ 2.80382
359
+ ],
360
+ [
361
+ 0.03375,
362
+ 0.99911,
363
+ 0.02514,
364
+ 0.85084
365
+ ],
366
+ [
367
+ -0.98546,
368
+ 0.02907,
369
+ 0.16741,
370
+ 1.50589
371
+ ],
372
+ [
373
+ 0.0,
374
+ 0.0,
375
+ 0.0,
376
+ 1.0
377
+ ]
378
+ ]
379
+ ],
380
+ [
381
+ "007_tuna_fish_can.object_config.json",
382
+ [
383
+ [
384
+ 0.41227,
385
+ -2e-05,
386
+ 0.91106,
387
+ -1.86476
388
+ ],
389
+ [
390
+ -2e-05,
391
+ 1.0,
392
+ 2e-05,
393
+ 0.42105
394
+ ],
395
+ [
396
+ -0.91106,
397
+ -2e-05,
398
+ 0.41227,
399
+ 2.47038
400
+ ],
401
+ [
402
+ 0.0,
403
+ 0.0,
404
+ 0.0,
405
+ 1.0
406
+ ]
407
+ ]
408
+ ],
409
+ [
410
+ "005_tomato_soup_can.object_config.json",
411
+ [
412
+ [
413
+ -0.94718,
414
+ -9e-05,
415
+ 0.32069,
416
+ 3.78072
417
+ ],
418
+ [
419
+ -0.00016,
420
+ 1.0,
421
+ -0.00018,
422
+ 0.9853
423
+ ],
424
+ [
425
+ -0.32069,
426
+ -0.00023,
427
+ -0.94718,
428
+ 6.45885
429
+ ],
430
+ [
431
+ 0.0,
432
+ 0.0,
433
+ 0.0,
434
+ 1.0
435
+ ]
436
+ ]
437
+ ],
438
+ [
439
+ "005_tomato_soup_can.object_config.json",
440
+ [
441
+ [
442
+ 0.79727,
443
+ 0.00018,
444
+ 0.60363,
445
+ 0.4708
446
+ ],
447
+ [
448
+ -0.00018,
449
+ 1.0,
450
+ -6e-05,
451
+ 0.91084
452
+ ],
453
+ [
454
+ -0.60363,
455
+ -7e-05,
456
+ 0.79727,
457
+ 7.42916
458
+ ],
459
+ [
460
+ 0.0,
461
+ 0.0,
462
+ 0.0,
463
+ 1.0
464
+ ]
465
+ ]
466
+ ],
467
+ [
468
+ "004_sugar_box.object_config.json",
469
+ [
470
+ [
471
+ -0.34566,
472
+ -0.01073,
473
+ 0.9383,
474
+ 0.59218
475
+ ],
476
+ [
477
+ 0.03975,
478
+ 0.99887,
479
+ 0.02607,
480
+ 0.79518
481
+ ],
482
+ [
483
+ -0.93752,
484
+ 0.04631,
485
+ -0.34484,
486
+ 6.76053
487
+ ],
488
+ [
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 1.0
493
+ ]
494
+ ]
495
+ ],
496
+ [
497
+ "008_pudding_box.object_config.json",
498
+ [
499
+ [
500
+ -0.99984,
501
+ -0.0041,
502
+ -0.01753,
503
+ 2.15872
504
+ ],
505
+ [
506
+ -0.00435,
507
+ 0.99989,
508
+ 0.01426,
509
+ 0.78233
510
+ ],
511
+ [
512
+ 0.01747,
513
+ 0.01433,
514
+ -0.99975,
515
+ 1.66306
516
+ ],
517
+ [
518
+ 0.0,
519
+ 0.0,
520
+ 0.0,
521
+ 1.0
522
+ ]
523
+ ]
524
+ ],
525
+ [
526
+ "024_bowl.object_config.json",
527
+ [
528
+ [
529
+ 0.46788,
530
+ 0.00132,
531
+ 0.88379,
532
+ -1.83678
533
+ ],
534
+ [
535
+ -0.00101,
536
+ 1.0,
537
+ -0.00096,
538
+ 0.44241
539
+ ],
540
+ [
541
+ -0.88379,
542
+ -0.00044,
543
+ 0.46788,
544
+ 1.34812
545
+ ],
546
+ [
547
+ 0.0,
548
+ 0.0,
549
+ 0.0,
550
+ 1.0
551
+ ]
552
+ ]
553
+ ],
554
+ [
555
+ "008_pudding_box.object_config.json",
556
+ [
557
+ [
558
+ 0.51786,
559
+ -0.01704,
560
+ 0.8553,
561
+ 4.08732
562
+ ],
563
+ [
564
+ -0.0059,
565
+ 0.99971,
566
+ 0.02349,
567
+ 0.95374
568
+ ],
569
+ [
570
+ -0.85544,
571
+ -0.01722,
572
+ 0.51761,
573
+ 5.45364
574
+ ],
575
+ [
576
+ 0.0,
577
+ 0.0,
578
+ 0.0,
579
+ 1.0
580
+ ]
581
+ ]
582
+ ],
583
+ [
584
+ "002_master_chef_can.object_config.json",
585
+ [
586
+ [
587
+ -0.19355,
588
+ 1e-05,
589
+ 0.98109,
590
+ 2.37976
591
+ ],
592
+ [
593
+ 0.0,
594
+ 1.0,
595
+ -1e-05,
596
+ 0.83327
597
+ ],
598
+ [
599
+ -0.98109,
600
+ 0.0,
601
+ -0.19355,
602
+ 2.23757
603
+ ],
604
+ [
605
+ 0.0,
606
+ 0.0,
607
+ 0.0,
608
+ 1.0
609
+ ]
610
+ ]
611
+ ],
612
+ [
613
+ "002_master_chef_can.object_config.json",
614
+ [
615
+ [
616
+ -0.62939,
617
+ -2e-05,
618
+ -0.77709,
619
+ 0.44473
620
+ ],
621
+ [
622
+ -1e-05,
623
+ 1.0,
624
+ -3e-05,
625
+ 0.9303
626
+ ],
627
+ [
628
+ 0.77709,
629
+ -1e-05,
630
+ -0.62939,
631
+ 7.73462
632
+ ],
633
+ [
634
+ 0.0,
635
+ 0.0,
636
+ 0.0,
637
+ 1.0
638
+ ]
639
+ ]
640
+ ],
641
+ [
642
+ "004_sugar_box.object_config.json",
643
+ [
644
+ [
645
+ 0.71876,
646
+ -0.01043,
647
+ -0.69518,
648
+ 0.32255
649
+ ],
650
+ [
651
+ 0.0403,
652
+ 0.99883,
653
+ 0.02668,
654
+ 0.18908
655
+ ],
656
+ [
657
+ 0.69409,
658
+ -0.04719,
659
+ 0.71834,
660
+ 4.54007
661
+ ],
662
+ [
663
+ 0.0,
664
+ 0.0,
665
+ 0.0,
666
+ 1.0
667
+ ]
668
+ ]
669
+ ],
670
+ [
671
+ "010_potted_meat_can.object_config.json",
672
+ [
673
+ [
674
+ 0.36606,
675
+ -6e-05,
676
+ -0.93059,
677
+ 0.30072
678
+ ],
679
+ [
680
+ -3e-05,
681
+ 1.0,
682
+ -7e-05,
683
+ 0.90168
684
+ ],
685
+ [
686
+ 0.93059,
687
+ 5e-05,
688
+ 0.36606,
689
+ 5.33364
690
+ ],
691
+ [
692
+ 0.0,
693
+ 0.0,
694
+ 0.0,
695
+ 1.0
696
+ ]
697
+ ]
698
+ ],
699
+ [
700
+ "010_potted_meat_can.object_config.json",
701
+ [
702
+ [
703
+ 0.1052,
704
+ 0.00046,
705
+ 0.99445,
706
+ 3.50036
707
+ ],
708
+ [
709
+ -0.00017,
710
+ 1.0,
711
+ -0.00044,
712
+ 0.66862
713
+ ],
714
+ [
715
+ -0.99445,
716
+ -0.00012,
717
+ 0.1052,
718
+ 3.57311
719
+ ],
720
+ [
721
+ 0.0,
722
+ 0.0,
723
+ 0.0,
724
+ 1.0
725
+ ]
726
+ ]
727
+ ],
728
+ [
729
+ "004_sugar_box.object_config.json",
730
+ [
731
+ [
732
+ -0.76336,
733
+ 0.04629,
734
+ -0.64431,
735
+ -1.48194
736
+ ],
737
+ [
738
+ 0.03786,
739
+ 0.99892,
740
+ 0.02692,
741
+ 0.50291
742
+ ],
743
+ [
744
+ 0.64486,
745
+ -0.00384,
746
+ -0.76429,
747
+ 0.68375
748
+ ],
749
+ [
750
+ 0.0,
751
+ 0.0,
752
+ 0.0,
753
+ 1.0
754
+ ]
755
+ ]
756
+ ],
757
+ [
758
+ "009_gelatin_box.object_config.json",
759
+ [
760
+ [
761
+ 0.23529,
762
+ 0.0,
763
+ 0.97193,
764
+ 0.45615
765
+ ],
766
+ [
767
+ -1e-05,
768
+ 1.0,
769
+ -0.0,
770
+ 0.87476
771
+ ],
772
+ [
773
+ -0.97193,
774
+ -1e-05,
775
+ 0.23529,
776
+ 7.19817
777
+ ],
778
+ [
779
+ 0.0,
780
+ 0.0,
781
+ 0.0,
782
+ 1.0
783
+ ]
784
+ ]
785
+ ],
786
+ [
787
+ "024_bowl.object_config.json",
788
+ [
789
+ [
790
+ 0.96739,
791
+ 1e-05,
792
+ 0.25328,
793
+ 0.61554
794
+ ],
795
+ [
796
+ -2e-05,
797
+ 1.0,
798
+ 6e-05,
799
+ 0.88719
800
+ ],
801
+ [
802
+ -0.25328,
803
+ -6e-05,
804
+ 0.96739,
805
+ 7.13661
806
+ ],
807
+ [
808
+ 0.0,
809
+ 0.0,
810
+ 0.0,
811
+ 1.0
812
+ ]
813
+ ]
814
+ ],
815
+ [
816
+ "004_sugar_box.object_config.json",
817
+ [
818
+ [
819
+ -0.9425,
820
+ 0.02838,
821
+ 0.33301,
822
+ 0.4786
823
+ ],
824
+ [
825
+ 0.03671,
826
+ 0.99915,
827
+ 0.01875,
828
+ 1.33834
829
+ ],
830
+ [
831
+ -0.33219,
832
+ 0.02989,
833
+ -0.94274,
834
+ 4.3584
835
+ ],
836
+ [
837
+ 0.0,
838
+ 0.0,
839
+ 0.0,
840
+ 1.0
841
+ ]
842
+ ]
843
+ ],
844
+ [
845
+ "005_tomato_soup_can.object_config.json",
846
+ [
847
+ [
848
+ -0.90147,
849
+ 0.00025,
850
+ 0.43285,
851
+ 0.5385
852
+ ],
853
+ [
854
+ -0.00228,
855
+ 0.99998,
856
+ -0.00533,
857
+ 1.30179
858
+ ],
859
+ [
860
+ -0.43284,
861
+ -0.00579,
862
+ -0.90145,
863
+ 4.41284
864
+ ],
865
+ [
866
+ 0.0,
867
+ 0.0,
868
+ 0.0,
869
+ 1.0
870
+ ]
871
+ ]
872
+ ],
873
+ [
874
+ "009_gelatin_box.object_config.json",
875
+ [
876
+ [
877
+ 0.0404,
878
+ 0.0,
879
+ -0.99918,
880
+ 0.31808
881
+ ],
882
+ [
883
+ 0.0,
884
+ 1.0,
885
+ 0.0,
886
+ 0.87476
887
+ ],
888
+ [
889
+ 0.99918,
890
+ -0.0,
891
+ 0.0404,
892
+ 7.1346
893
+ ],
894
+ [
895
+ 0.0,
896
+ 0.0,
897
+ 0.0,
898
+ 1.0
899
+ ]
900
+ ]
901
+ ]
902
+ ],
903
+ "targets": {
904
+ "004_sugar_box_:0005": [
905
+ [
906
+ 0.44694,
907
+ 0.0,
908
+ 0.89456,
909
+ 0.747
910
+ ],
911
+ [
912
+ 0.0,
913
+ 1.0,
914
+ 0.0,
915
+ 0.94711
916
+ ],
917
+ [
918
+ -0.89456,
919
+ 0.0,
920
+ 0.44694,
921
+ 7.02133
922
+ ],
923
+ [
924
+ 0.0,
925
+ 0.0,
926
+ 0.0,
927
+ 1.0
928
+ ]
929
+ ],
930
+ "005_tomato_soup_can_:0005": [
931
+ [
932
+ -0.92225,
933
+ 0.0,
934
+ 0.38661,
935
+ 0.8445
936
+ ],
937
+ [
938
+ 0.0,
939
+ 1.0,
940
+ 0.0,
941
+ 0.91003
942
+ ],
943
+ [
944
+ -0.38661,
945
+ 0.0,
946
+ -0.92225,
947
+ 7.6591
948
+ ],
949
+ [
950
+ 0.0,
951
+ 0.0,
952
+ 0.0,
953
+ 1.0
954
+ ]
955
+ ],
956
+ "009_gelatin_box_:0002": [
957
+ [
958
+ 0.87157,
959
+ 0.0,
960
+ 0.49026,
961
+ 0.62492
962
+ ],
963
+ [
964
+ 0.0,
965
+ 1.0,
966
+ 0.0,
967
+ 1.26588
968
+ ],
969
+ [
970
+ -0.49026,
971
+ 0.0,
972
+ 0.87157,
973
+ 4.54842
974
+ ],
975
+ [
976
+ 0.0,
977
+ 0.0,
978
+ 0.0,
979
+ 1.0
980
+ ]
981
+ ]
982
+ },
983
+ "markers": [
984
+ {
985
+ "name": "cab_push_point_7",
986
+ "type": "articulated_object",
987
+ "params": {
988
+ "offset": [
989
+ 0.3,
990
+ 0.0,
991
+ 0
992
+ ],
993
+ "link": "drawer1_top",
994
+ "object": "kitchen_counter_:0000"
995
+ }
996
+ },
997
+ {
998
+ "name": "cab_push_point_6",
999
+ "type": "articulated_object",
1000
+ "params": {
1001
+ "offset": [
1002
+ 0.3,
1003
+ 0.0,
1004
+ 0
1005
+ ],
1006
+ "link": "drawer2_top",
1007
+ "object": "kitchen_counter_:0000"
1008
+ }
1009
+ },
1010
+ {
1011
+ "name": "cab_push_point_5",
1012
+ "type": "articulated_object",
1013
+ "params": {
1014
+ "offset": [
1015
+ 0.3,
1016
+ 0.0,
1017
+ 0
1018
+ ],
1019
+ "link": "drawer3",
1020
+ "object": "kitchen_counter_:0000"
1021
+ }
1022
+ },
1023
+ {
1024
+ "name": "cab_push_point_4",
1025
+ "type": "articulated_object",
1026
+ "params": {
1027
+ "offset": [
1028
+ 0.3,
1029
+ 0.0,
1030
+ 0
1031
+ ],
1032
+ "link": "drawer4",
1033
+ "object": "kitchen_counter_:0000"
1034
+ }
1035
+ },
1036
+ {
1037
+ "name": "fridge_push_point",
1038
+ "type": "articulated_object",
1039
+ "params": {
1040
+ "offset": [
1041
+ 0.1,
1042
+ -0.62,
1043
+ 0.2
1044
+ ],
1045
+ "link": "top_door",
1046
+ "object": "fridge_:0000"
1047
+ }
1048
+ }
1049
+ ],
1050
+ "target_receptacles": [
1051
+ [
1052
+ "fridge_:0000",
1053
+ 0
1054
+ ],
1055
+ [
1056
+ "fridge_:0000",
1057
+ 0
1058
+ ],
1059
+ [
1060
+ "kitchen_counter_:0000",
1061
+ 0
1062
+ ]
1063
+ ],
1064
+ "goal_receptacles": [
1065
+ [
1066
+ "kitchen_counter_:0000",
1067
+ 0
1068
+ ],
1069
+ [
1070
+ "kitchen_counter_:0000",
1071
+ 0
1072
+ ],
1073
+ [
1074
+ "fridge_:0000",
1075
+ 0
1076
+ ]
1077
+ ]
1078
+ }
rearrange/v1_extracted/train/prepare_groceries/episode_1010.json ADDED
@@ -0,0 +1,1078 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_id": "1010",
3
+ "scene_id": "data/replica_cad/configs/scenes/v3_sc0_staging_17.scene_instance.json",
4
+ "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
5
+ "additional_obj_config_paths": [
6
+ "data/objects/ycb/"
7
+ ],
8
+ "start_position": [
9
+ 0,
10
+ 0,
11
+ 0
12
+ ],
13
+ "start_rotation": [
14
+ 0,
15
+ 0,
16
+ 0,
17
+ 1
18
+ ],
19
+ "info": {
20
+ "object_labels": {
21
+ "010_potted_meat_can_:0001": "obj0_target|0",
22
+ "008_pudding_box_:0006": "obj1_target|1",
23
+ "009_gelatin_box_:0004": "obj2_target|2"
24
+ }
25
+ },
26
+ "ao_states": {
27
+ "fridge_:0000": {
28
+ "2": 1.5
29
+ }
30
+ },
31
+ "rigid_objs": [
32
+ [
33
+ "003_cracker_box.object_config.json",
34
+ [
35
+ [
36
+ -0.10126,
37
+ 0.00145,
38
+ 0.99486,
39
+ 3.48189
40
+ ],
41
+ [
42
+ -0.04569,
43
+ 0.99894,
44
+ -0.00611,
45
+ 0.51087
46
+ ],
47
+ [
48
+ -0.99381,
49
+ -0.04607,
50
+ -0.10109,
51
+ 0.58223
52
+ ],
53
+ [
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 1.0
58
+ ]
59
+ ]
60
+ ],
61
+ [
62
+ "009_gelatin_box.object_config.json",
63
+ [
64
+ [
65
+ -0.97707,
66
+ -0.00018,
67
+ -0.21293,
68
+ 0.98947
69
+ ],
70
+ [
71
+ -0.00019,
72
+ 1.0,
73
+ 3e-05,
74
+ 0.6417
75
+ ],
76
+ [
77
+ 0.21293,
78
+ 7e-05,
79
+ -0.97707,
80
+ 3.76485
81
+ ],
82
+ [
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ 1.0
87
+ ]
88
+ ]
89
+ ],
90
+ [
91
+ "007_tuna_fish_can.object_config.json",
92
+ [
93
+ [
94
+ -0.08404,
95
+ -0.0,
96
+ -0.99646,
97
+ 3.72596
98
+ ],
99
+ [
100
+ -1e-05,
101
+ 1.0,
102
+ -0.0,
103
+ 0.42105
104
+ ],
105
+ [
106
+ 0.99646,
107
+ 1e-05,
108
+ -0.08404,
109
+ -0.15026
110
+ ],
111
+ [
112
+ 0.0,
113
+ 0.0,
114
+ 0.0,
115
+ 1.0
116
+ ]
117
+ ]
118
+ ],
119
+ [
120
+ "008_pudding_box.object_config.json",
121
+ [
122
+ [
123
+ -0.3721,
124
+ -0.02401,
125
+ 0.92788,
126
+ 0.81198
127
+ ],
128
+ [
129
+ -0.0059,
130
+ 0.99971,
131
+ 0.0235,
132
+ 0.87927
133
+ ],
134
+ [
135
+ -0.92817,
136
+ 0.00327,
137
+ -0.37214,
138
+ 5.46411
139
+ ],
140
+ [
141
+ 0.0,
142
+ 0.0,
143
+ 0.0,
144
+ 1.0
145
+ ]
146
+ ]
147
+ ],
148
+ [
149
+ "010_potted_meat_can.object_config.json",
150
+ [
151
+ [
152
+ -0.88775,
153
+ -1e-05,
154
+ 0.46033,
155
+ 0.64969
156
+ ],
157
+ [
158
+ -0.00041,
159
+ 1.0,
160
+ -0.00075,
161
+ 0.90169
162
+ ],
163
+ [
164
+ -0.46033,
165
+ -0.00085,
166
+ -0.88775,
167
+ 7.0501
168
+ ],
169
+ [
170
+ 0.0,
171
+ 0.0,
172
+ 0.0,
173
+ 1.0
174
+ ]
175
+ ]
176
+ ],
177
+ [
178
+ "008_pudding_box.object_config.json",
179
+ [
180
+ [
181
+ -0.89539,
182
+ 0.00671,
183
+ -0.44523,
184
+ 3.86028
185
+ ],
186
+ [
187
+ -0.00422,
188
+ 0.99971,
189
+ 0.02354,
190
+ 0.4346
191
+ ],
192
+ [
193
+ 0.44526,
194
+ 0.02296,
195
+ -0.89511,
196
+ 3.05676
197
+ ],
198
+ [
199
+ 0.0,
200
+ 0.0,
201
+ 0.0,
202
+ 1.0
203
+ ]
204
+ ]
205
+ ],
206
+ [
207
+ "004_sugar_box.object_config.json",
208
+ [
209
+ [
210
+ 0.71577,
211
+ -0.01234,
212
+ -0.69823,
213
+ 3.86471
214
+ ],
215
+ [
216
+ 0.03785,
217
+ 0.99906,
218
+ 0.02114,
219
+ 0.49231
220
+ ],
221
+ [
222
+ 0.69731,
223
+ -0.04155,
224
+ 0.71556,
225
+ 0.67027
226
+ ],
227
+ [
228
+ 0.0,
229
+ 0.0,
230
+ 0.0,
231
+ 1.0
232
+ ]
233
+ ]
234
+ ],
235
+ [
236
+ "005_tomato_soup_can.object_config.json",
237
+ [
238
+ [
239
+ -0.80218,
240
+ -0.00752,
241
+ -0.59703,
242
+ 3.92973
243
+ ],
244
+ [
245
+ -0.00913,
246
+ 0.99996,
247
+ -0.00033,
248
+ 0.46611
249
+ ],
250
+ [
251
+ 0.59701,
252
+ 0.00519,
253
+ -0.80222,
254
+ 3.3301
255
+ ],
256
+ [
257
+ 0.0,
258
+ 0.0,
259
+ 0.0,
260
+ 1.0
261
+ ]
262
+ ]
263
+ ],
264
+ [
265
+ "008_pudding_box.object_config.json",
266
+ [
267
+ [
268
+ -0.98163,
269
+ -0.01027,
270
+ 0.19052,
271
+ 0.42347
272
+ ],
273
+ [
274
+ -0.0059,
275
+ 0.99971,
276
+ 0.02349,
277
+ 0.87927
278
+ ],
279
+ [
280
+ -0.19071,
281
+ 0.02194,
282
+ -0.9814,
283
+ 7.45901
284
+ ],
285
+ [
286
+ 0.0,
287
+ 0.0,
288
+ 0.0,
289
+ 1.0
290
+ ]
291
+ ]
292
+ ],
293
+ [
294
+ "009_gelatin_box.object_config.json",
295
+ [
296
+ [
297
+ 0.76024,
298
+ -0.0,
299
+ -0.64965,
300
+ 2.66358
301
+ ],
302
+ [
303
+ 0.0,
304
+ 1.0,
305
+ 0.0,
306
+ 0.94922
307
+ ],
308
+ [
309
+ 0.64965,
310
+ -0.0,
311
+ 0.76024,
312
+ 6.00573
313
+ ],
314
+ [
315
+ 0.0,
316
+ 0.0,
317
+ 0.0,
318
+ 1.0
319
+ ]
320
+ ]
321
+ ],
322
+ [
323
+ "009_gelatin_box.object_config.json",
324
+ [
325
+ [
326
+ -0.27817,
327
+ 0.0,
328
+ 0.96053,
329
+ 0.6693
330
+ ],
331
+ [
332
+ 0.0,
333
+ 1.0,
334
+ -0.0,
335
+ 0.87476
336
+ ],
337
+ [
338
+ -0.96053,
339
+ 0.0,
340
+ -0.27817,
341
+ 5.49982
342
+ ],
343
+ [
344
+ 0.0,
345
+ 0.0,
346
+ 0.0,
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ [
352
+ "007_tuna_fish_can.object_config.json",
353
+ [
354
+ [
355
+ 0.58771,
356
+ 0.00964,
357
+ -0.80902,
358
+ 0.50465
359
+ ],
360
+ [
361
+ -0.00836,
362
+ 0.99995,
363
+ 0.00585,
364
+ 0.72436
365
+ ],
366
+ [
367
+ 0.80903,
368
+ 0.00332,
369
+ 0.58776,
370
+ 6.81454
371
+ ],
372
+ [
373
+ 0.0,
374
+ 0.0,
375
+ 0.0,
376
+ 1.0
377
+ ]
378
+ ]
379
+ ],
380
+ [
381
+ "007_tuna_fish_can.object_config.json",
382
+ [
383
+ [
384
+ 0.99657,
385
+ -3e-05,
386
+ 0.08277,
387
+ 3.81104
388
+ ],
389
+ [
390
+ 8e-05,
391
+ 1.0,
392
+ -0.00055,
393
+ 0.43166
394
+ ],
395
+ [
396
+ -0.08277,
397
+ 0.00055,
398
+ 0.99657,
399
+ 3.96316
400
+ ],
401
+ [
402
+ 0.0,
403
+ 0.0,
404
+ 0.0,
405
+ 1.0
406
+ ]
407
+ ]
408
+ ],
409
+ [
410
+ "008_pudding_box.object_config.json",
411
+ [
412
+ [
413
+ 0.86179,
414
+ 0.01701,
415
+ -0.50699,
416
+ 0.82036
417
+ ],
418
+ [
419
+ -0.0059,
420
+ 0.99971,
421
+ 0.0235,
422
+ 0.87927
423
+ ],
424
+ [
425
+ 0.50724,
426
+ -0.01726,
427
+ 0.86163,
428
+ 5.80187
429
+ ],
430
+ [
431
+ 0.0,
432
+ 0.0,
433
+ 0.0,
434
+ 1.0
435
+ ]
436
+ ]
437
+ ],
438
+ [
439
+ "005_tomato_soup_can.object_config.json",
440
+ [
441
+ [
442
+ -0.98489,
443
+ 0.00016,
444
+ -0.1732,
445
+ 0.58118
446
+ ],
447
+ [
448
+ 0.00016,
449
+ 1.0,
450
+ -0.0,
451
+ 0.91083
452
+ ],
453
+ [
454
+ 0.1732,
455
+ -3e-05,
456
+ -0.98489,
457
+ 7.72389
458
+ ],
459
+ [
460
+ 0.0,
461
+ 0.0,
462
+ 0.0,
463
+ 1.0
464
+ ]
465
+ ]
466
+ ],
467
+ [
468
+ "007_tuna_fish_can.object_config.json",
469
+ [
470
+ [
471
+ -0.72274,
472
+ 0.01968,
473
+ 0.69084,
474
+ 0.50469
475
+ ],
476
+ [
477
+ 0.00984,
478
+ 0.99979,
479
+ -0.01818,
480
+ 0.72475
481
+ ],
482
+ [
483
+ -0.69105,
484
+ -0.00634,
485
+ -0.72277,
486
+ 6.69599
487
+ ],
488
+ [
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 1.0
493
+ ]
494
+ ]
495
+ ],
496
+ [
497
+ "008_pudding_box.object_config.json",
498
+ [
499
+ [
500
+ -0.06014,
501
+ -0.02121,
502
+ 0.99796,
503
+ 3.80158
504
+ ],
505
+ [
506
+ -0.00624,
507
+ 0.99976,
508
+ 0.02087,
509
+ 0.42393
510
+ ],
511
+ [
512
+ -0.99817,
513
+ -0.00497,
514
+ -0.06026,
515
+ 0.83636
516
+ ],
517
+ [
518
+ 0.0,
519
+ 0.0,
520
+ 0.0,
521
+ 1.0
522
+ ]
523
+ ]
524
+ ],
525
+ [
526
+ "005_tomato_soup_can.object_config.json",
527
+ [
528
+ [
529
+ -0.89205,
530
+ -0.00403,
531
+ 0.45192,
532
+ 3.78554
533
+ ],
534
+ [
535
+ -0.00556,
536
+ 0.99998,
537
+ -0.00205,
538
+ 0.45543
539
+ ],
540
+ [
541
+ -0.45191,
542
+ -0.00434,
543
+ -0.89206,
544
+ 0.73121
545
+ ],
546
+ [
547
+ 0.0,
548
+ 0.0,
549
+ 0.0,
550
+ 1.0
551
+ ]
552
+ ]
553
+ ],
554
+ [
555
+ "008_pudding_box.object_config.json",
556
+ [
557
+ [
558
+ 0.2877,
559
+ 0.00909,
560
+ -0.95768,
561
+ 0.59387
562
+ ],
563
+ [
564
+ -0.0027,
565
+ 0.99996,
566
+ 0.00868,
567
+ 0.78229
568
+ ],
569
+ [
570
+ 0.95772,
571
+ 9e-05,
572
+ 0.28772,
573
+ -0.45104
574
+ ],
575
+ [
576
+ 0.0,
577
+ 0.0,
578
+ 0.0,
579
+ 1.0
580
+ ]
581
+ ]
582
+ ],
583
+ [
584
+ "007_tuna_fish_can.object_config.json",
585
+ [
586
+ [
587
+ 0.02435,
588
+ 0.00012,
589
+ -0.9997,
590
+ 0.71111
591
+ ],
592
+ [
593
+ 0.0058,
594
+ 0.99998,
595
+ 0.00026,
596
+ 1.26922
597
+ ],
598
+ [
599
+ 0.99969,
600
+ -0.00581,
601
+ 0.02435,
602
+ 4.70788
603
+ ],
604
+ [
605
+ 0.0,
606
+ 0.0,
607
+ 0.0,
608
+ 1.0
609
+ ]
610
+ ]
611
+ ],
612
+ [
613
+ "003_cracker_box.object_config.json",
614
+ [
615
+ [
616
+ 0.93979,
617
+ 0.04036,
618
+ -0.33935,
619
+ 3.69714
620
+ ],
621
+ [
622
+ -0.04496,
623
+ 0.99897,
624
+ -0.00569,
625
+ 0.52152
626
+ ],
627
+ [
628
+ 0.33877,
629
+ 0.02061,
630
+ 0.94064,
631
+ 4.10611
632
+ ],
633
+ [
634
+ 0.0,
635
+ 0.0,
636
+ 0.0,
637
+ 1.0
638
+ ]
639
+ ]
640
+ ],
641
+ [
642
+ "005_tomato_soup_can.object_config.json",
643
+ [
644
+ [
645
+ -0.96166,
646
+ -1e-05,
647
+ 0.27423,
648
+ 0.67658
649
+ ],
650
+ [
651
+ -1e-05,
652
+ 1.0,
653
+ 2e-05,
654
+ 0.91083
655
+ ],
656
+ [
657
+ -0.27423,
658
+ 2e-05,
659
+ -0.96166,
660
+ 5.02383
661
+ ],
662
+ [
663
+ 0.0,
664
+ 0.0,
665
+ 0.0,
666
+ 1.0
667
+ ]
668
+ ]
669
+ ],
670
+ [
671
+ "024_bowl.object_config.json",
672
+ [
673
+ [
674
+ 0.64589,
675
+ 0.00406,
676
+ 0.76342,
677
+ 3.87313
678
+ ],
679
+ [
680
+ -0.0077,
681
+ 0.99997,
682
+ 0.00119,
683
+ 0.44278
684
+ ],
685
+ [
686
+ -0.76339,
687
+ -0.00665,
688
+ 0.6459,
689
+ 4.28665
690
+ ],
691
+ [
692
+ 0.0,
693
+ 0.0,
694
+ 0.0,
695
+ 1.0
696
+ ]
697
+ ]
698
+ ],
699
+ [
700
+ "007_tuna_fish_can.object_config.json",
701
+ [
702
+ [
703
+ -0.99434,
704
+ -0.0,
705
+ 0.10623,
706
+ 3.94549
707
+ ],
708
+ [
709
+ -0.0,
710
+ 1.0,
711
+ -0.0,
712
+ 0.43165
713
+ ],
714
+ [
715
+ -0.10623,
716
+ -0.0,
717
+ -0.99434,
718
+ 4.11485
719
+ ],
720
+ [
721
+ 0.0,
722
+ 0.0,
723
+ 0.0,
724
+ 1.0
725
+ ]
726
+ ]
727
+ ],
728
+ [
729
+ "003_cracker_box.object_config.json",
730
+ [
731
+ [
732
+ 0.9981,
733
+ 0.04555,
734
+ 0.04156,
735
+ 0.63395
736
+ ],
737
+ [
738
+ -0.04555,
739
+ 0.99896,
740
+ -0.00097,
741
+ 1.35743
742
+ ],
743
+ [
744
+ -0.04156,
745
+ -0.00092,
746
+ 0.99914,
747
+ 4.44117
748
+ ],
749
+ [
750
+ 0.0,
751
+ 0.0,
752
+ 0.0,
753
+ 1.0
754
+ ]
755
+ ]
756
+ ],
757
+ [
758
+ "009_gelatin_box.object_config.json",
759
+ [
760
+ [
761
+ -0.19334,
762
+ 0.0,
763
+ -0.98113,
764
+ 0.51848
765
+ ],
766
+ [
767
+ 0.0,
768
+ 1.0,
769
+ 0.0,
770
+ 0.72222
771
+ ],
772
+ [
773
+ 0.98113,
774
+ -0.0,
775
+ -0.19334,
776
+ 6.5345
777
+ ],
778
+ [
779
+ 0.0,
780
+ 0.0,
781
+ 0.0,
782
+ 1.0
783
+ ]
784
+ ]
785
+ ],
786
+ [
787
+ "024_bowl.object_config.json",
788
+ [
789
+ [
790
+ 0.63902,
791
+ 0.0,
792
+ 0.76919,
793
+ 0.3087
794
+ ],
795
+ [
796
+ -0.0,
797
+ 1.0,
798
+ -0.0,
799
+ 0.79016
800
+ ],
801
+ [
802
+ -0.76919,
803
+ 0.0,
804
+ 0.63902,
805
+ 0.00067
806
+ ],
807
+ [
808
+ 0.0,
809
+ 0.0,
810
+ 0.0,
811
+ 1.0
812
+ ]
813
+ ]
814
+ ],
815
+ [
816
+ "010_potted_meat_can.object_config.json",
817
+ [
818
+ [
819
+ 0.23932,
820
+ 0.00466,
821
+ -0.97093,
822
+ 0.45945
823
+ ],
824
+ [
825
+ 0.00827,
826
+ 0.99994,
827
+ 0.00684,
828
+ 1.29224
829
+ ],
830
+ [
831
+ 0.97091,
832
+ -0.00967,
833
+ 0.23926,
834
+ 4.34892
835
+ ],
836
+ [
837
+ 0.0,
838
+ 0.0,
839
+ 0.0,
840
+ 1.0
841
+ ]
842
+ ]
843
+ ],
844
+ [
845
+ "008_pudding_box.object_config.json",
846
+ [
847
+ [
848
+ -0.77361,
849
+ -0.01903,
850
+ 0.63338,
851
+ 0.46795
852
+ ],
853
+ [
854
+ -0.00938,
855
+ 0.99978,
856
+ 0.01859,
857
+ 1.27124
858
+ ],
859
+ [
860
+ -0.6336,
861
+ 0.00844,
862
+ -0.77362,
863
+ 4.58834
864
+ ],
865
+ [
866
+ 0.0,
867
+ 0.0,
868
+ 0.0,
869
+ 1.0
870
+ ]
871
+ ]
872
+ ],
873
+ [
874
+ "009_gelatin_box.object_config.json",
875
+ [
876
+ [
877
+ 0.18678,
878
+ 0.0,
879
+ -0.9824,
880
+ 0.71486
881
+ ],
882
+ [
883
+ -1e-05,
884
+ 1.0,
885
+ 0.0,
886
+ 0.87476
887
+ ],
888
+ [
889
+ 0.9824,
890
+ 1e-05,
891
+ 0.18678,
892
+ 7.1801
893
+ ],
894
+ [
895
+ 0.0,
896
+ 0.0,
897
+ 0.0,
898
+ 1.0
899
+ ]
900
+ ]
901
+ ]
902
+ ],
903
+ "targets": {
904
+ "010_potted_meat_can_:0001": [
905
+ [
906
+ 0.1211,
907
+ 0.0,
908
+ -0.99264,
909
+ 0.31098
910
+ ],
911
+ [
912
+ 0.0,
913
+ 1.0,
914
+ 0.0,
915
+ 0.90087
916
+ ],
917
+ [
918
+ 0.99264,
919
+ 0.0,
920
+ 0.1211,
921
+ 5.09265
922
+ ],
923
+ [
924
+ 0.0,
925
+ 0.0,
926
+ 0.0,
927
+ 1.0
928
+ ]
929
+ ],
930
+ "008_pudding_box_:0006": [
931
+ [
932
+ -0.38989,
933
+ 0.0,
934
+ -0.92086,
935
+ 0.76305
936
+ ],
937
+ [
938
+ 0.0,
939
+ 1.0,
940
+ 0.0,
941
+ 0.87854
942
+ ],
943
+ [
944
+ 0.92086,
945
+ 0.0,
946
+ -0.38989,
947
+ 5.27047
948
+ ],
949
+ [
950
+ 0.0,
951
+ 0.0,
952
+ 0.0,
953
+ 1.0
954
+ ]
955
+ ],
956
+ "009_gelatin_box_:0004": [
957
+ [
958
+ 0.94649,
959
+ 0.0,
960
+ 0.32274,
961
+ 0.60068
962
+ ],
963
+ [
964
+ 0.0,
965
+ 1.0,
966
+ 0.0,
967
+ 1.26612
968
+ ],
969
+ [
970
+ -0.32274,
971
+ 0.0,
972
+ 0.94649,
973
+ 4.58908
974
+ ],
975
+ [
976
+ 0.0,
977
+ 0.0,
978
+ 0.0,
979
+ 1.0
980
+ ]
981
+ ]
982
+ },
983
+ "markers": [
984
+ {
985
+ "name": "cab_push_point_7",
986
+ "type": "articulated_object",
987
+ "params": {
988
+ "offset": [
989
+ 0.3,
990
+ 0.0,
991
+ 0
992
+ ],
993
+ "link": "drawer1_top",
994
+ "object": "kitchen_counter_:0000"
995
+ }
996
+ },
997
+ {
998
+ "name": "cab_push_point_6",
999
+ "type": "articulated_object",
1000
+ "params": {
1001
+ "offset": [
1002
+ 0.3,
1003
+ 0.0,
1004
+ 0
1005
+ ],
1006
+ "link": "drawer2_top",
1007
+ "object": "kitchen_counter_:0000"
1008
+ }
1009
+ },
1010
+ {
1011
+ "name": "cab_push_point_5",
1012
+ "type": "articulated_object",
1013
+ "params": {
1014
+ "offset": [
1015
+ 0.3,
1016
+ 0.0,
1017
+ 0
1018
+ ],
1019
+ "link": "drawer3",
1020
+ "object": "kitchen_counter_:0000"
1021
+ }
1022
+ },
1023
+ {
1024
+ "name": "cab_push_point_4",
1025
+ "type": "articulated_object",
1026
+ "params": {
1027
+ "offset": [
1028
+ 0.3,
1029
+ 0.0,
1030
+ 0
1031
+ ],
1032
+ "link": "drawer4",
1033
+ "object": "kitchen_counter_:0000"
1034
+ }
1035
+ },
1036
+ {
1037
+ "name": "fridge_push_point",
1038
+ "type": "articulated_object",
1039
+ "params": {
1040
+ "offset": [
1041
+ 0.1,
1042
+ -0.62,
1043
+ 0.2
1044
+ ],
1045
+ "link": "top_door",
1046
+ "object": "fridge_:0000"
1047
+ }
1048
+ }
1049
+ ],
1050
+ "target_receptacles": [
1051
+ [
1052
+ "fridge_:0000",
1053
+ 0
1054
+ ],
1055
+ [
1056
+ "fridge_:0000",
1057
+ 0
1058
+ ],
1059
+ [
1060
+ "kitchen_counter_:0000",
1061
+ 0
1062
+ ]
1063
+ ],
1064
+ "goal_receptacles": [
1065
+ [
1066
+ "kitchen_counter_:0000",
1067
+ 0
1068
+ ],
1069
+ [
1070
+ "kitchen_counter_:0000",
1071
+ 0
1072
+ ],
1073
+ [
1074
+ "fridge_:0000",
1075
+ 0
1076
+ ]
1077
+ ]
1078
+ }
rearrange/v1_extracted/train/prepare_groceries/episode_1011.json ADDED
@@ -0,0 +1,1078 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_id": "1011",
3
+ "scene_id": "data/replica_cad/configs/scenes/v3_sc2_staging_01.scene_instance.json",
4
+ "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
5
+ "additional_obj_config_paths": [
6
+ "data/objects/ycb/"
7
+ ],
8
+ "start_position": [
9
+ 0,
10
+ 0,
11
+ 0
12
+ ],
13
+ "start_rotation": [
14
+ 0,
15
+ 0,
16
+ 0,
17
+ 1
18
+ ],
19
+ "info": {
20
+ "object_labels": {
21
+ "024_bowl_:0003": "obj0_target|0",
22
+ "009_gelatin_box_:0003": "obj1_target|1",
23
+ "002_master_chef_can_:0006": "obj2_target|2"
24
+ }
25
+ },
26
+ "ao_states": {
27
+ "fridge_:0000": {
28
+ "2": 1.5
29
+ }
30
+ },
31
+ "rigid_objs": [
32
+ [
33
+ "008_pudding_box.object_config.json",
34
+ [
35
+ [
36
+ 0.93342,
37
+ 0.01394,
38
+ -0.3585,
39
+ -2.42195
40
+ ],
41
+ [
42
+ -0.00591,
43
+ 0.99971,
44
+ 0.02349,
45
+ 0.87927
46
+ ],
47
+ [
48
+ 0.35872,
49
+ -0.01981,
50
+ 0.93323,
51
+ 2.3372
52
+ ],
53
+ [
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 1.0
58
+ ]
59
+ ]
60
+ ],
61
+ [
62
+ "009_gelatin_box.object_config.json",
63
+ [
64
+ [
65
+ -0.86737,
66
+ 0.0,
67
+ 0.49766,
68
+ 3.54449
69
+ ],
70
+ [
71
+ 0.0,
72
+ 1.0,
73
+ -0.0,
74
+ 0.42987
75
+ ],
76
+ [
77
+ -0.49766,
78
+ -0.0,
79
+ -0.86737,
80
+ 4.55251
81
+ ],
82
+ [
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ 1.0
87
+ ]
88
+ ]
89
+ ],
90
+ [
91
+ "009_gelatin_box.object_config.json",
92
+ [
93
+ [
94
+ 0.06987,
95
+ 5e-05,
96
+ -0.99756,
97
+ -2.24797
98
+ ],
99
+ [
100
+ -3e-05,
101
+ 1.0,
102
+ 5e-05,
103
+ 0.87476
104
+ ],
105
+ [
106
+ 0.99756,
107
+ 3e-05,
108
+ 0.06987,
109
+ 1.23587
110
+ ],
111
+ [
112
+ 0.0,
113
+ 0.0,
114
+ 0.0,
115
+ 1.0
116
+ ]
117
+ ]
118
+ ],
119
+ [
120
+ "024_bowl.object_config.json",
121
+ [
122
+ [
123
+ -0.88024,
124
+ 0.0006,
125
+ -0.47453,
126
+ 3.68301
127
+ ],
128
+ [
129
+ 0.0007,
130
+ 1.0,
131
+ -3e-05,
132
+ 0.44241
133
+ ],
134
+ [
135
+ 0.47453,
136
+ -0.00036,
137
+ -0.88024,
138
+ 6.32154
139
+ ],
140
+ [
141
+ 0.0,
142
+ 0.0,
143
+ 0.0,
144
+ 1.0
145
+ ]
146
+ ]
147
+ ],
148
+ [
149
+ "002_master_chef_can.object_config.json",
150
+ [
151
+ [
152
+ 0.92987,
153
+ -4e-05,
154
+ 0.3679,
155
+ -1.30906
156
+ ],
157
+ [
158
+ 5e-05,
159
+ 1.0,
160
+ -1e-05,
161
+ 1.00478
162
+ ],
163
+ [
164
+ -0.3679,
165
+ 2e-05,
166
+ 0.92987,
167
+ 3.74463
168
+ ],
169
+ [
170
+ 0.0,
171
+ 0.0,
172
+ 0.0,
173
+ 1.0
174
+ ]
175
+ ]
176
+ ],
177
+ [
178
+ "024_bowl.object_config.json",
179
+ [
180
+ [
181
+ 0.44381,
182
+ -0.0003,
183
+ -0.89612,
184
+ -1.921
185
+ ],
186
+ [
187
+ -0.00012,
188
+ 1.0,
189
+ -0.0004,
190
+ 0.88718
191
+ ],
192
+ [
193
+ 0.89612,
194
+ 0.00028,
195
+ 0.44381,
196
+ 2.32522
197
+ ],
198
+ [
199
+ 0.0,
200
+ 0.0,
201
+ 0.0,
202
+ 1.0
203
+ ]
204
+ ]
205
+ ],
206
+ [
207
+ "010_potted_meat_can.object_config.json",
208
+ [
209
+ [
210
+ 0.94721,
211
+ 0.00071,
212
+ -0.3206,
213
+ 0.04207
214
+ ],
215
+ [
216
+ 0.00033,
217
+ 0.99999,
218
+ 0.00317,
219
+ 0.66868
220
+ ],
221
+ [
222
+ 0.3206,
223
+ -0.00311,
224
+ 0.94721,
225
+ -0.16845
226
+ ],
227
+ [
228
+ 0.0,
229
+ 0.0,
230
+ 0.0,
231
+ 1.0
232
+ ]
233
+ ]
234
+ ],
235
+ [
236
+ "005_tomato_soup_can.object_config.json",
237
+ [
238
+ [
239
+ -0.2198,
240
+ -5e-05,
241
+ -0.97555,
242
+ -2.11172
243
+ ],
244
+ [
245
+ -9e-05,
246
+ 1.0,
247
+ -3e-05,
248
+ 0.91083
249
+ ],
250
+ [
251
+ 0.97555,
252
+ 9e-05,
253
+ -0.2198,
254
+ 2.41607
255
+ ],
256
+ [
257
+ 0.0,
258
+ 0.0,
259
+ 0.0,
260
+ 1.0
261
+ ]
262
+ ]
263
+ ],
264
+ [
265
+ "009_gelatin_box.object_config.json",
266
+ [
267
+ [
268
+ -0.87809,
269
+ 0.0,
270
+ -0.47849,
271
+ -2.36408
272
+ ],
273
+ [
274
+ 0.0,
275
+ 1.0,
276
+ 0.0,
277
+ 0.87476
278
+ ],
279
+ [
280
+ 0.47849,
281
+ 0.0,
282
+ -0.87809,
283
+ 0.87574
284
+ ],
285
+ [
286
+ 0.0,
287
+ 0.0,
288
+ 0.0,
289
+ 1.0
290
+ ]
291
+ ]
292
+ ],
293
+ [
294
+ "002_master_chef_can.object_config.json",
295
+ [
296
+ [
297
+ 0.34098,
298
+ 4e-05,
299
+ -0.94007,
300
+ -0.97735
301
+ ],
302
+ [
303
+ -4e-05,
304
+ 1.0,
305
+ 3e-05,
306
+ 1.00477
307
+ ],
308
+ [
309
+ 0.94007,
310
+ 3e-05,
311
+ 0.34098,
312
+ 3.26281
313
+ ],
314
+ [
315
+ 0.0,
316
+ 0.0,
317
+ 0.0,
318
+ 1.0
319
+ ]
320
+ ]
321
+ ],
322
+ [
323
+ "002_master_chef_can.object_config.json",
324
+ [
325
+ [
326
+ 0.99187,
327
+ 3e-05,
328
+ -0.12728,
329
+ 3.67497
330
+ ],
331
+ [
332
+ -4e-05,
333
+ 1.0,
334
+ -6e-05,
335
+ 0.48552
336
+ ],
337
+ [
338
+ 0.12728,
339
+ 6e-05,
340
+ 0.99187,
341
+ 6.61351
342
+ ],
343
+ [
344
+ 0.0,
345
+ 0.0,
346
+ 0.0,
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ [
352
+ "008_pudding_box.object_config.json",
353
+ [
354
+ [
355
+ 0.80538,
356
+ -0.00796,
357
+ 0.59271,
358
+ 3.89367
359
+ ],
360
+ [
361
+ -0.00515,
362
+ 0.99978,
363
+ 0.02041,
364
+ 0.43449
365
+ ],
366
+ [
367
+ -0.59274,
368
+ -0.01949,
369
+ 0.80516,
370
+ 6.53187
371
+ ],
372
+ [
373
+ 0.0,
374
+ 0.0,
375
+ 0.0,
376
+ 1.0
377
+ ]
378
+ ]
379
+ ],
380
+ [
381
+ "002_master_chef_can.object_config.json",
382
+ [
383
+ [
384
+ -0.70481,
385
+ 2e-05,
386
+ 0.7094,
387
+ 3.78254
388
+ ],
389
+ [
390
+ 1e-05,
391
+ 1.0,
392
+ -2e-05,
393
+ 0.48552
394
+ ],
395
+ [
396
+ -0.7094,
397
+ -0.0,
398
+ -0.70481,
399
+ 6.61442
400
+ ],
401
+ [
402
+ 0.0,
403
+ 0.0,
404
+ 0.0,
405
+ 1.0
406
+ ]
407
+ ]
408
+ ],
409
+ [
410
+ "007_tuna_fish_can.object_config.json",
411
+ [
412
+ [
413
+ -0.02341,
414
+ -0.00049,
415
+ 0.99973,
416
+ -2.06864
417
+ ],
418
+ [
419
+ 0.00063,
420
+ 1.0,
421
+ 0.00051,
422
+ 0.72402
423
+ ],
424
+ [
425
+ -0.99973,
426
+ 0.00064,
427
+ -0.02341,
428
+ 2.04538
429
+ ],
430
+ [
431
+ 0.0,
432
+ 0.0,
433
+ 0.0,
434
+ 1.0
435
+ ]
436
+ ]
437
+ ],
438
+ [
439
+ "002_master_chef_can.object_config.json",
440
+ [
441
+ [
442
+ -0.52562,
443
+ 6e-05,
444
+ 0.85072,
445
+ 3.52137
446
+ ],
447
+ [
448
+ 8e-05,
449
+ 1.0,
450
+ -2e-05,
451
+ 0.4748
452
+ ],
453
+ [
454
+ -0.85072,
455
+ 5e-05,
456
+ -0.52562,
457
+ -0.42886
458
+ ],
459
+ [
460
+ 0.0,
461
+ 0.0,
462
+ 0.0,
463
+ 1.0
464
+ ]
465
+ ]
466
+ ],
467
+ [
468
+ "010_potted_meat_can.object_config.json",
469
+ [
470
+ [
471
+ -0.97678,
472
+ -0.00091,
473
+ -0.21426,
474
+ 3.88438
475
+ ],
476
+ [
477
+ -0.00067,
478
+ 1.0,
479
+ -0.0012,
480
+ 0.45689
481
+ ],
482
+ [
483
+ 0.21426,
484
+ -0.00102,
485
+ -0.97678,
486
+ 6.39516
487
+ ],
488
+ [
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 1.0
493
+ ]
494
+ ]
495
+ ],
496
+ [
497
+ "007_tuna_fish_can.object_config.json",
498
+ [
499
+ [
500
+ -0.98811,
501
+ -0.00252,
502
+ 0.15371,
503
+ 3.61975
504
+ ],
505
+ [
506
+ -0.0025,
507
+ 1.0,
508
+ 0.00029,
509
+ 0.43186
510
+ ],
511
+ [
512
+ -0.15371,
513
+ -0.0001,
514
+ -0.98812,
515
+ 6.41831
516
+ ],
517
+ [
518
+ 0.0,
519
+ 0.0,
520
+ 0.0,
521
+ 1.0
522
+ ]
523
+ ]
524
+ ],
525
+ [
526
+ "002_master_chef_can.object_config.json",
527
+ [
528
+ [
529
+ -0.78387,
530
+ 1e-05,
531
+ 0.62092,
532
+ 3.56329
533
+ ],
534
+ [
535
+ 2e-05,
536
+ 1.0,
537
+ 1e-05,
538
+ 0.4748
539
+ ],
540
+ [
541
+ -0.62092,
542
+ 2e-05,
543
+ -0.78387,
544
+ 0.53554
545
+ ],
546
+ [
547
+ 0.0,
548
+ 0.0,
549
+ 0.0,
550
+ 1.0
551
+ ]
552
+ ]
553
+ ],
554
+ [
555
+ "004_sugar_box.object_config.json",
556
+ [
557
+ [
558
+ -0.66327,
559
+ 0.00762,
560
+ 0.74834,
561
+ 3.4346
562
+ ],
563
+ [
564
+ 0.0387,
565
+ 0.99896,
566
+ 0.02412,
567
+ 0.50281
568
+ ],
569
+ [
570
+ -0.74738,
571
+ 0.04495,
572
+ -0.66288,
573
+ 4.32602
574
+ ],
575
+ [
576
+ 0.0,
577
+ 0.0,
578
+ 0.0,
579
+ 1.0
580
+ ]
581
+ ]
582
+ ],
583
+ [
584
+ "007_tuna_fish_can.object_config.json",
585
+ [
586
+ [
587
+ -0.70903,
588
+ -0.0,
589
+ 0.70518,
590
+ -2.18934
591
+ ],
592
+ [
593
+ -0.0,
594
+ 1.0,
595
+ 0.0,
596
+ 0.87655
597
+ ],
598
+ [
599
+ -0.70518,
600
+ -0.0,
601
+ -0.70903,
602
+ 0.78002
603
+ ],
604
+ [
605
+ 0.0,
606
+ 0.0,
607
+ 0.0,
608
+ 1.0
609
+ ]
610
+ ]
611
+ ],
612
+ [
613
+ "008_pudding_box.object_config.json",
614
+ [
615
+ [
616
+ 0.94181,
617
+ 0.01346,
618
+ -0.33587,
619
+ 1.62524
620
+ ],
621
+ [
622
+ -0.0059,
623
+ 0.99971,
624
+ 0.02349,
625
+ 0.78224
626
+ ],
627
+ [
628
+ 0.33609,
629
+ -0.02014,
630
+ 0.94162,
631
+ 7.12568
632
+ ],
633
+ [
634
+ 0.0,
635
+ 0.0,
636
+ 0.0,
637
+ 1.0
638
+ ]
639
+ ]
640
+ ],
641
+ [
642
+ "008_pudding_box.object_config.json",
643
+ [
644
+ [
645
+ -0.99014,
646
+ -0.00255,
647
+ -0.14009,
648
+ -2.30622
649
+ ],
650
+ [
651
+ -0.0059,
652
+ 0.99971,
653
+ 0.02349,
654
+ 0.87927
655
+ ],
656
+ [
657
+ 0.13999,
658
+ 0.02408,
659
+ -0.98986,
660
+ 2.66922
661
+ ],
662
+ [
663
+ 0.0,
664
+ 0.0,
665
+ 0.0,
666
+ 1.0
667
+ ]
668
+ ]
669
+ ],
670
+ [
671
+ "008_pudding_box.object_config.json",
672
+ [
673
+ [
674
+ 0.14748,
675
+ -0.02237,
676
+ 0.98881,
677
+ -1.99163
678
+ ],
679
+ [
680
+ -0.0059,
681
+ 0.99971,
682
+ 0.0235,
683
+ 0.87927
684
+ ],
685
+ [
686
+ -0.98905,
687
+ -0.0093,
688
+ 0.14731,
689
+ 2.79796
690
+ ],
691
+ [
692
+ 0.0,
693
+ 0.0,
694
+ 0.0,
695
+ 1.0
696
+ ]
697
+ ]
698
+ ],
699
+ [
700
+ "008_pudding_box.object_config.json",
701
+ [
702
+ [
703
+ 0.74018,
704
+ -0.01172,
705
+ 0.67231,
706
+ 0.58304
707
+ ],
708
+ [
709
+ -0.00584,
710
+ 0.9997,
711
+ 0.02386,
712
+ 0.6464
713
+ ],
714
+ [
715
+ -0.67239,
716
+ -0.02159,
717
+ 0.73989,
718
+ -0.22051
719
+ ],
720
+ [
721
+ 0.0,
722
+ 0.0,
723
+ 0.0,
724
+ 1.0
725
+ ]
726
+ ]
727
+ ],
728
+ [
729
+ "007_tuna_fish_can.object_config.json",
730
+ [
731
+ [
732
+ 0.5748,
733
+ 0.00016,
734
+ 0.8183,
735
+ 2.11926
736
+ ],
737
+ [
738
+ 0.00243,
739
+ 1.0,
740
+ -0.0019,
741
+ 0.77962
742
+ ],
743
+ [
744
+ -0.81829,
745
+ 0.00309,
746
+ 0.57479,
747
+ 6.93304
748
+ ],
749
+ [
750
+ 0.0,
751
+ 0.0,
752
+ 0.0,
753
+ 1.0
754
+ ]
755
+ ]
756
+ ],
757
+ [
758
+ "005_tomato_soup_can.object_config.json",
759
+ [
760
+ [
761
+ -0.17084,
762
+ 0.0001,
763
+ -0.9853,
764
+ -1.96088
765
+ ],
766
+ [
767
+ 0.00583,
768
+ 0.99998,
769
+ -0.00091,
770
+ 1.30131
771
+ ],
772
+ [
773
+ 0.98528,
774
+ -0.0059,
775
+ -0.17084,
776
+ -0.37203
777
+ ],
778
+ [
779
+ 0.0,
780
+ 0.0,
781
+ 0.0,
782
+ 1.0
783
+ ]
784
+ ]
785
+ ],
786
+ [
787
+ "024_bowl.object_config.json",
788
+ [
789
+ [
790
+ 0.99773,
791
+ 0.0008,
792
+ 0.06736,
793
+ 3.63593
794
+ ],
795
+ [
796
+ -0.00092,
797
+ 1.0,
798
+ 0.00181,
799
+ 0.44221
800
+ ],
801
+ [
802
+ -0.06736,
803
+ -0.00186,
804
+ 0.99773,
805
+ 4.4508
806
+ ],
807
+ [
808
+ 0.0,
809
+ 0.0,
810
+ 0.0,
811
+ 1.0
812
+ ]
813
+ ]
814
+ ],
815
+ [
816
+ "024_bowl.object_config.json",
817
+ [
818
+ [
819
+ -0.45292,
820
+ 0.00056,
821
+ -0.89155,
822
+ -2.13349
823
+ ],
824
+ [
825
+ -0.00734,
826
+ 0.99996,
827
+ 0.00435,
828
+ 1.27965
829
+ ],
830
+ [
831
+ 0.89152,
832
+ 0.00851,
833
+ -0.4529,
834
+ -0.11078
835
+ ],
836
+ [
837
+ 0.0,
838
+ 0.0,
839
+ 0.0,
840
+ 1.0
841
+ ]
842
+ ]
843
+ ],
844
+ [
845
+ "009_gelatin_box.object_config.json",
846
+ [
847
+ [
848
+ -0.44338,
849
+ 0.00098,
850
+ 0.89633,
851
+ -2.06244
852
+ ],
853
+ [
854
+ -0.00212,
855
+ 1.0,
856
+ -0.00214,
857
+ 1.26612
858
+ ],
859
+ [
860
+ -0.89633,
861
+ -0.00285,
862
+ -0.44337,
863
+ -0.22828
864
+ ],
865
+ [
866
+ 0.0,
867
+ 0.0,
868
+ 0.0,
869
+ 1.0
870
+ ]
871
+ ]
872
+ ],
873
+ [
874
+ "002_master_chef_can.object_config.json",
875
+ [
876
+ [
877
+ -0.96259,
878
+ 9e-05,
879
+ 0.27097,
880
+ -1.86383
881
+ ],
882
+ [
883
+ 9e-05,
884
+ 1.0,
885
+ -2e-05,
886
+ 0.9303
887
+ ],
888
+ [
889
+ -0.27097,
890
+ 0.0,
891
+ -0.96259,
892
+ 2.64918
893
+ ],
894
+ [
895
+ 0.0,
896
+ 0.0,
897
+ 0.0,
898
+ 1.0
899
+ ]
900
+ ]
901
+ ]
902
+ ],
903
+ "targets": {
904
+ "024_bowl_:0003": [
905
+ [
906
+ 0.76844,
907
+ 0.0,
908
+ 0.63992,
909
+ -2.18242
910
+ ],
911
+ [
912
+ 0.0,
913
+ 1.0,
914
+ 0.0,
915
+ 0.8866
916
+ ],
917
+ [
918
+ -0.63992,
919
+ 0.0,
920
+ 0.76844,
921
+ 3.16593
922
+ ],
923
+ [
924
+ 0.0,
925
+ 0.0,
926
+ 0.0,
927
+ 1.0
928
+ ]
929
+ ],
930
+ "009_gelatin_box_:0003": [
931
+ [
932
+ 0.83992,
933
+ 0.0,
934
+ 0.54271,
935
+ -2.06364
936
+ ],
937
+ [
938
+ 0.0,
939
+ 1.0,
940
+ 0.0,
941
+ 0.87413
942
+ ],
943
+ [
944
+ -0.54271,
945
+ 0.0,
946
+ 0.83992,
947
+ 2.51758
948
+ ],
949
+ [
950
+ 0.0,
951
+ 0.0,
952
+ 0.0,
953
+ 1.0
954
+ ]
955
+ ],
956
+ "002_master_chef_can_:0006": [
957
+ [
958
+ 0.05401,
959
+ 0.0,
960
+ 0.99854,
961
+ -2.30239
962
+ ],
963
+ [
964
+ 0.0,
965
+ 1.0,
966
+ 0.0,
967
+ 1.32081
968
+ ],
969
+ [
970
+ -0.99854,
971
+ 0.0,
972
+ 0.05401,
973
+ -0.17258
974
+ ],
975
+ [
976
+ 0.0,
977
+ 0.0,
978
+ 0.0,
979
+ 1.0
980
+ ]
981
+ ]
982
+ },
983
+ "markers": [
984
+ {
985
+ "name": "cab_push_point_7",
986
+ "type": "articulated_object",
987
+ "params": {
988
+ "offset": [
989
+ 0.3,
990
+ 0.0,
991
+ 0
992
+ ],
993
+ "link": "drawer1_top",
994
+ "object": "kitchen_counter_:0000"
995
+ }
996
+ },
997
+ {
998
+ "name": "cab_push_point_6",
999
+ "type": "articulated_object",
1000
+ "params": {
1001
+ "offset": [
1002
+ 0.3,
1003
+ 0.0,
1004
+ 0
1005
+ ],
1006
+ "link": "drawer2_top",
1007
+ "object": "kitchen_counter_:0000"
1008
+ }
1009
+ },
1010
+ {
1011
+ "name": "cab_push_point_5",
1012
+ "type": "articulated_object",
1013
+ "params": {
1014
+ "offset": [
1015
+ 0.3,
1016
+ 0.0,
1017
+ 0
1018
+ ],
1019
+ "link": "drawer3",
1020
+ "object": "kitchen_counter_:0000"
1021
+ }
1022
+ },
1023
+ {
1024
+ "name": "cab_push_point_4",
1025
+ "type": "articulated_object",
1026
+ "params": {
1027
+ "offset": [
1028
+ 0.3,
1029
+ 0.0,
1030
+ 0
1031
+ ],
1032
+ "link": "drawer4",
1033
+ "object": "kitchen_counter_:0000"
1034
+ }
1035
+ },
1036
+ {
1037
+ "name": "fridge_push_point",
1038
+ "type": "articulated_object",
1039
+ "params": {
1040
+ "offset": [
1041
+ 0.1,
1042
+ -0.62,
1043
+ 0.2
1044
+ ],
1045
+ "link": "top_door",
1046
+ "object": "fridge_:0000"
1047
+ }
1048
+ }
1049
+ ],
1050
+ "target_receptacles": [
1051
+ [
1052
+ "fridge_:0000",
1053
+ 0
1054
+ ],
1055
+ [
1056
+ "fridge_:0000",
1057
+ 0
1058
+ ],
1059
+ [
1060
+ "kitchen_counter_:0000",
1061
+ 0
1062
+ ]
1063
+ ],
1064
+ "goal_receptacles": [
1065
+ [
1066
+ "kitchen_counter_:0000",
1067
+ 0
1068
+ ],
1069
+ [
1070
+ "kitchen_counter_:0000",
1071
+ 0
1072
+ ],
1073
+ [
1074
+ "fridge_:0000",
1075
+ 0
1076
+ ]
1077
+ ]
1078
+ }
rearrange/v1_extracted/train/prepare_groceries/episode_1012.json ADDED
@@ -0,0 +1,1078 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_id": "1012",
3
+ "scene_id": "data/replica_cad/configs/scenes/v3_sc0_staging_16.scene_instance.json",
4
+ "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
5
+ "additional_obj_config_paths": [
6
+ "data/objects/ycb/"
7
+ ],
8
+ "start_position": [
9
+ 0,
10
+ 0,
11
+ 0
12
+ ],
13
+ "start_rotation": [
14
+ 0,
15
+ 0,
16
+ 0,
17
+ 1
18
+ ],
19
+ "info": {
20
+ "object_labels": {
21
+ "002_master_chef_can_:0004": "obj0_target|0",
22
+ "010_potted_meat_can_:0002": "obj1_target|1",
23
+ "002_master_chef_can_:0005": "obj2_target|2"
24
+ }
25
+ },
26
+ "ao_states": {
27
+ "fridge_:0000": {
28
+ "2": 1.5
29
+ }
30
+ },
31
+ "rigid_objs": [
32
+ [
33
+ "008_pudding_box.object_config.json",
34
+ [
35
+ [
36
+ 0.97986,
37
+ 0.02182,
38
+ -0.1985,
39
+ -2.03934
40
+ ],
41
+ [
42
+ -0.01833,
43
+ 0.99964,
44
+ 0.0194,
45
+ 0.43521
46
+ ],
47
+ [
48
+ 0.19886,
49
+ -0.01537,
50
+ 0.97991,
51
+ 0.20761
52
+ ],
53
+ [
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 1.0
58
+ ]
59
+ ]
60
+ ],
61
+ [
62
+ "004_sugar_box.object_config.json",
63
+ [
64
+ [
65
+ 0.97412,
66
+ -0.02676,
67
+ -0.22446,
68
+ 0.67657
69
+ ],
70
+ [
71
+ 0.03096,
72
+ 0.9994,
73
+ 0.01523,
74
+ 0.79513
75
+ ],
76
+ [
77
+ 0.22391,
78
+ -0.02179,
79
+ 0.97437,
80
+ 6.64684
81
+ ],
82
+ [
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ 1.0
87
+ ]
88
+ ]
89
+ ],
90
+ [
91
+ "008_pudding_box.object_config.json",
92
+ [
93
+ [
94
+ 0.70942,
95
+ -0.01237,
96
+ 0.70467,
97
+ 1.71175
98
+ ],
99
+ [
100
+ -0.0059,
101
+ 0.99971,
102
+ 0.02349,
103
+ 0.43438
104
+ ],
105
+ [
106
+ -0.70476,
107
+ -0.02082,
108
+ 0.70914,
109
+ -0.5605
110
+ ],
111
+ [
112
+ 0.0,
113
+ 0.0,
114
+ 0.0,
115
+ 1.0
116
+ ]
117
+ ]
118
+ ],
119
+ [
120
+ "002_master_chef_can.object_config.json",
121
+ [
122
+ [
123
+ -0.91226,
124
+ -0.00409,
125
+ 0.40958,
126
+ -1.99279
127
+ ],
128
+ [
129
+ -0.00147,
130
+ 0.99998,
131
+ 0.0067,
132
+ 1.00317
133
+ ],
134
+ [
135
+ -0.4096,
136
+ 0.00551,
137
+ -0.91225,
138
+ 1.82151
139
+ ],
140
+ [
141
+ 0.0,
142
+ 0.0,
143
+ 0.0,
144
+ 1.0
145
+ ]
146
+ ]
147
+ ],
148
+ [
149
+ "003_cracker_box.object_config.json",
150
+ [
151
+ [
152
+ -0.89297,
153
+ -0.03801,
154
+ 0.44851,
155
+ 1.52941
156
+ ],
157
+ [
158
+ -0.04559,
159
+ 0.99894,
160
+ -0.00612,
161
+ 0.52148
162
+ ],
163
+ [
164
+ -0.4478,
165
+ -0.02591,
166
+ -0.89376,
167
+ -0.47713
168
+ ],
169
+ [
170
+ 0.0,
171
+ 0.0,
172
+ 0.0,
173
+ 1.0
174
+ ]
175
+ ]
176
+ ],
177
+ [
178
+ "005_tomato_soup_can.object_config.json",
179
+ [
180
+ [
181
+ 0.04393,
182
+ -4e-05,
183
+ -0.99903,
184
+ 0.4387
185
+ ],
186
+ [
187
+ 0.00599,
188
+ 0.99998,
189
+ 0.00022,
190
+ 1.30241
191
+ ],
192
+ [
193
+ 0.99902,
194
+ -0.006,
195
+ 0.04393,
196
+ 4.51823
197
+ ],
198
+ [
199
+ 0.0,
200
+ 0.0,
201
+ 0.0,
202
+ 1.0
203
+ ]
204
+ ]
205
+ ],
206
+ [
207
+ "009_gelatin_box.object_config.json",
208
+ [
209
+ [
210
+ 0.98041,
211
+ -0.0,
212
+ -0.19695,
213
+ 0.53518
214
+ ],
215
+ [
216
+ 0.0,
217
+ 1.0,
218
+ 0.0,
219
+ 0.72222
220
+ ],
221
+ [
222
+ 0.19695,
223
+ -0.0,
224
+ 0.98041,
225
+ 6.80166
226
+ ],
227
+ [
228
+ 0.0,
229
+ 0.0,
230
+ 0.0,
231
+ 1.0
232
+ ]
233
+ ]
234
+ ],
235
+ [
236
+ "004_sugar_box.object_config.json",
237
+ [
238
+ [
239
+ -0.9448,
240
+ 0.0302,
241
+ 0.32626,
242
+ 1.83015
243
+ ],
244
+ [
245
+ 0.03987,
246
+ 0.99894,
247
+ 0.02298,
248
+ 0.50293
249
+ ],
250
+ [
251
+ -0.32522,
252
+ 0.03472,
253
+ -0.945,
254
+ -0.56767
255
+ ],
256
+ [
257
+ 0.0,
258
+ 0.0,
259
+ 0.0,
260
+ 1.0
261
+ ]
262
+ ]
263
+ ],
264
+ [
265
+ "008_pudding_box.object_config.json",
266
+ [
267
+ [
268
+ 0.78834,
269
+ 0.01797,
270
+ -0.61497,
271
+ 0.6916
272
+ ],
273
+ [
274
+ -0.00554,
275
+ 0.99974,
276
+ 0.02211,
277
+ 0.42377
278
+ ],
279
+ [
280
+ 0.61521,
281
+ -0.01402,
282
+ 0.78824,
283
+ 1.53553
284
+ ],
285
+ [
286
+ 0.0,
287
+ 0.0,
288
+ 0.0,
289
+ 1.0
290
+ ]
291
+ ]
292
+ ],
293
+ [
294
+ "024_bowl.object_config.json",
295
+ [
296
+ [
297
+ -0.87612,
298
+ -0.00063,
299
+ -0.4821,
300
+ 0.53055
301
+ ],
302
+ [
303
+ 0.00209,
304
+ 0.99998,
305
+ -0.00511,
306
+ 1.27942
307
+ ],
308
+ [
309
+ 0.48209,
310
+ -0.00549,
311
+ -0.8761,
312
+ 4.65435
313
+ ],
314
+ [
315
+ 0.0,
316
+ 0.0,
317
+ 0.0,
318
+ 1.0
319
+ ]
320
+ ]
321
+ ],
322
+ [
323
+ "004_sugar_box.object_config.json",
324
+ [
325
+ [
326
+ 0.99252,
327
+ -0.03616,
328
+ -0.11663,
329
+ 1.62069
330
+ ],
331
+ [
332
+ 0.03935,
333
+ 0.99891,
334
+ 0.02519,
335
+ 0.50297
336
+ ],
337
+ [
338
+ 0.11559,
339
+ -0.02959,
340
+ 0.99286,
341
+ -0.72347
342
+ ],
343
+ [
344
+ 0.0,
345
+ 0.0,
346
+ 0.0,
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ [
352
+ "004_sugar_box.object_config.json",
353
+ [
354
+ [
355
+ -0.35196,
356
+ -0.00898,
357
+ 0.93597,
358
+ 0.29933
359
+ ],
360
+ [
361
+ 0.03894,
362
+ 0.99895,
363
+ 0.02423,
364
+ 0.9477
365
+ ],
366
+ [
367
+ -0.9352,
368
+ 0.04498,
369
+ -0.35124,
370
+ 7.1607
371
+ ],
372
+ [
373
+ 0.0,
374
+ 0.0,
375
+ 0.0,
376
+ 1.0
377
+ ]
378
+ ]
379
+ ],
380
+ [
381
+ "005_tomato_soup_can.object_config.json",
382
+ [
383
+ [
384
+ 0.64574,
385
+ 6e-05,
386
+ -0.76356,
387
+ 0.81123
388
+ ],
389
+ [
390
+ -0.00016,
391
+ 1.0,
392
+ -6e-05,
393
+ 0.91084
394
+ ],
395
+ [
396
+ 0.76356,
397
+ 0.00016,
398
+ 0.64574,
399
+ 5.79052
400
+ ],
401
+ [
402
+ 0.0,
403
+ 0.0,
404
+ 0.0,
405
+ 1.0
406
+ ]
407
+ ]
408
+ ],
409
+ [
410
+ "002_master_chef_can.object_config.json",
411
+ [
412
+ [
413
+ -0.46457,
414
+ -2e-05,
415
+ -0.88554,
416
+ 0.52211
417
+ ],
418
+ [
419
+ 2e-05,
420
+ 1.0,
421
+ -3e-05,
422
+ 0.77776
423
+ ],
424
+ [
425
+ 0.88554,
426
+ -3e-05,
427
+ -0.46457,
428
+ 6.57802
429
+ ],
430
+ [
431
+ 0.0,
432
+ 0.0,
433
+ 0.0,
434
+ 1.0
435
+ ]
436
+ ]
437
+ ],
438
+ [
439
+ "004_sugar_box.object_config.json",
440
+ [
441
+ [
442
+ -0.12507,
443
+ -0.01929,
444
+ 0.99196,
445
+ 0.35123
446
+ ],
447
+ [
448
+ 0.03338,
449
+ 0.99916,
450
+ 0.02364,
451
+ 1.34047
452
+ ],
453
+ [
454
+ -0.99159,
455
+ 0.03606,
456
+ -0.12432,
457
+ 4.72438
458
+ ],
459
+ [
460
+ 0.0,
461
+ 0.0,
462
+ 0.0,
463
+ 1.0
464
+ ]
465
+ ]
466
+ ],
467
+ [
468
+ "008_pudding_box.object_config.json",
469
+ [
470
+ [
471
+ 0.67131,
472
+ 0.02117,
473
+ -0.74087,
474
+ 0.35746
475
+ ],
476
+ [
477
+ -0.00787,
478
+ 0.99974,
479
+ 0.02144,
480
+ 0.78236
481
+ ],
482
+ [
483
+ 0.74113,
484
+ -0.00856,
485
+ 0.6713,
486
+ 3.68941
487
+ ],
488
+ [
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 1.0
493
+ ]
494
+ ]
495
+ ],
496
+ [
497
+ "007_tuna_fish_can.object_config.json",
498
+ [
499
+ [
500
+ -0.11835,
501
+ 0.0,
502
+ 0.99297,
503
+ 0.70487
504
+ ],
505
+ [
506
+ -0.0,
507
+ 1.0,
508
+ -0.0,
509
+ 0.87655
510
+ ],
511
+ [
512
+ -0.99297,
513
+ -0.0,
514
+ -0.11835,
515
+ 7.13349
516
+ ],
517
+ [
518
+ 0.0,
519
+ 0.0,
520
+ 0.0,
521
+ 1.0
522
+ ]
523
+ ]
524
+ ],
525
+ [
526
+ "009_gelatin_box.object_config.json",
527
+ [
528
+ [
529
+ 0.75696,
530
+ -0.0,
531
+ -0.65346,
532
+ 0.57698
533
+ ],
534
+ [
535
+ 1e-05,
536
+ 1.0,
537
+ 0.0,
538
+ 0.87476
539
+ ],
540
+ [
541
+ 0.65346,
542
+ -1e-05,
543
+ 0.75696,
544
+ 6.06304
545
+ ],
546
+ [
547
+ 0.0,
548
+ 0.0,
549
+ 0.0,
550
+ 1.0
551
+ ]
552
+ ]
553
+ ],
554
+ [
555
+ "009_gelatin_box.object_config.json",
556
+ [
557
+ [
558
+ 0.98527,
559
+ 0.0,
560
+ -0.17103,
561
+ 0.45355
562
+ ],
563
+ [
564
+ -0.0,
565
+ 1.0,
566
+ -0.0,
567
+ 0.41926
568
+ ],
569
+ [
570
+ 0.17103,
571
+ 0.0,
572
+ 0.98527,
573
+ 0.93592
574
+ ],
575
+ [
576
+ 0.0,
577
+ 0.0,
578
+ 0.0,
579
+ 1.0
580
+ ]
581
+ ]
582
+ ],
583
+ [
584
+ "024_bowl.object_config.json",
585
+ [
586
+ [
587
+ -0.99993,
588
+ -0.00449,
589
+ -0.01056,
590
+ -2.29422
591
+ ],
592
+ [
593
+ -0.00455,
594
+ 0.99997,
595
+ 0.00639,
596
+ 0.9616
597
+ ],
598
+ [
599
+ 0.01053,
600
+ 0.00644,
601
+ -0.99992,
602
+ 1.34773
603
+ ],
604
+ [
605
+ 0.0,
606
+ 0.0,
607
+ 0.0,
608
+ 1.0
609
+ ]
610
+ ]
611
+ ],
612
+ [
613
+ "009_gelatin_box.object_config.json",
614
+ [
615
+ [
616
+ -0.98896,
617
+ 0.00268,
618
+ 0.14817,
619
+ -1.75255
620
+ ],
621
+ [
622
+ 0.00277,
623
+ 1.0,
624
+ 0.0004,
625
+ 0.43003
626
+ ],
627
+ [
628
+ -0.14817,
629
+ 0.0008,
630
+ -0.98896,
631
+ 0.48735
632
+ ],
633
+ [
634
+ 0.0,
635
+ 0.0,
636
+ 0.0,
637
+ 1.0
638
+ ]
639
+ ]
640
+ ],
641
+ [
642
+ "010_potted_meat_can.object_config.json",
643
+ [
644
+ [
645
+ 0.54578,
646
+ -2e-05,
647
+ -0.83793,
648
+ -0.07633
649
+ ],
650
+ [
651
+ -1e-05,
652
+ 1.0,
653
+ -3e-05,
654
+ 0.80465
655
+ ],
656
+ [
657
+ 0.83793,
658
+ 3e-05,
659
+ 0.54578,
660
+ 3.78095
661
+ ],
662
+ [
663
+ 0.0,
664
+ 0.0,
665
+ 0.0,
666
+ 1.0
667
+ ]
668
+ ]
669
+ ],
670
+ [
671
+ "010_potted_meat_can.object_config.json",
672
+ [
673
+ [
674
+ -0.1315,
675
+ -0.01579,
676
+ -0.99119,
677
+ 1.52171
678
+ ],
679
+ [
680
+ -0.00792,
681
+ 0.99986,
682
+ -0.01488,
683
+ 0.45678
684
+ ],
685
+ [
686
+ 0.99128,
687
+ 0.00589,
688
+ -0.13161,
689
+ -0.69863
690
+ ],
691
+ [
692
+ 0.0,
693
+ 0.0,
694
+ 0.0,
695
+ 1.0
696
+ ]
697
+ ]
698
+ ],
699
+ [
700
+ "002_master_chef_can.object_config.json",
701
+ [
702
+ [
703
+ 0.87739,
704
+ -0.00017,
705
+ 0.47979,
706
+ 0.45325
707
+ ],
708
+ [
709
+ -0.0028,
710
+ 0.99998,
711
+ 0.00548,
712
+ 1.32105
713
+ ],
714
+ [
715
+ -0.47978,
716
+ -0.00615,
717
+ 0.87737,
718
+ 4.37606
719
+ ],
720
+ [
721
+ 0.0,
722
+ 0.0,
723
+ 0.0,
724
+ 1.0
725
+ ]
726
+ ]
727
+ ],
728
+ [
729
+ "005_tomato_soup_can.object_config.json",
730
+ [
731
+ [
732
+ -0.9951,
733
+ 0.00022,
734
+ -0.0989,
735
+ 0.72814
736
+ ],
737
+ [
738
+ 0.00105,
739
+ 0.99996,
740
+ -0.00834,
741
+ 1.30108
742
+ ],
743
+ [
744
+ 0.0989,
745
+ -0.0084,
746
+ -0.99506,
747
+ 4.27517
748
+ ],
749
+ [
750
+ 0.0,
751
+ 0.0,
752
+ 0.0,
753
+ 1.0
754
+ ]
755
+ ]
756
+ ],
757
+ [
758
+ "024_bowl.object_config.json",
759
+ [
760
+ [
761
+ 0.87867,
762
+ -0.03682,
763
+ 0.476,
764
+ 1.80484
765
+ ],
766
+ [
767
+ 0.03685,
768
+ 0.99928,
769
+ 0.00926,
770
+ 0.44404
771
+ ],
772
+ [
773
+ -0.476,
774
+ 0.0094,
775
+ 0.8794,
776
+ -0.73213
777
+ ],
778
+ [
779
+ 0.0,
780
+ 0.0,
781
+ 0.0,
782
+ 1.0
783
+ ]
784
+ ]
785
+ ],
786
+ [
787
+ "002_master_chef_can.object_config.json",
788
+ [
789
+ [
790
+ -0.56552,
791
+ 0.00041,
792
+ 0.82473,
793
+ 1.68192
794
+ ],
795
+ [
796
+ 0.00052,
797
+ 1.0,
798
+ -0.00014,
799
+ 0.48535
800
+ ],
801
+ [
802
+ -0.82473,
803
+ 0.00035,
804
+ -0.56552,
805
+ -0.42002
806
+ ],
807
+ [
808
+ 0.0,
809
+ 0.0,
810
+ 0.0,
811
+ 1.0
812
+ ]
813
+ ]
814
+ ],
815
+ [
816
+ "002_master_chef_can.object_config.json",
817
+ [
818
+ [
819
+ 0.70457,
820
+ 0.00039,
821
+ 0.70963,
822
+ 0.63875
823
+ ],
824
+ [
825
+ -0.00425,
826
+ 0.99998,
827
+ 0.00368,
828
+ 1.3222
829
+ ],
830
+ [
831
+ -0.70962,
832
+ -0.00561,
833
+ 0.70457,
834
+ 4.5719
835
+ ],
836
+ [
837
+ 0.0,
838
+ 0.0,
839
+ 0.0,
840
+ 1.0
841
+ ]
842
+ ]
843
+ ],
844
+ [
845
+ "010_potted_meat_can.object_config.json",
846
+ [
847
+ [
848
+ -0.90868,
849
+ -7e-05,
850
+ 0.4175,
851
+ 0.55912
852
+ ],
853
+ [
854
+ -0.00244,
855
+ 0.99998,
856
+ -0.00513,
857
+ 1.29278
858
+ ],
859
+ [
860
+ -0.41749,
861
+ -0.00568,
862
+ -0.90866,
863
+ 4.43664
864
+ ],
865
+ [
866
+ 0.0,
867
+ 0.0,
868
+ 0.0,
869
+ 1.0
870
+ ]
871
+ ]
872
+ ],
873
+ [
874
+ "002_master_chef_can.object_config.json",
875
+ [
876
+ [
877
+ 0.72846,
878
+ -0.00011,
879
+ -0.68509,
880
+ 0.41396
881
+ ],
882
+ [
883
+ 9e-05,
884
+ 1.0,
885
+ -6e-05,
886
+ 0.9303
887
+ ],
888
+ [
889
+ 0.68509,
890
+ -2e-05,
891
+ 0.72846,
892
+ 5.76011
893
+ ],
894
+ [
895
+ 0.0,
896
+ 0.0,
897
+ 0.0,
898
+ 1.0
899
+ ]
900
+ ]
901
+ ]
902
+ ],
903
+ "targets": {
904
+ "002_master_chef_can_:0004": [
905
+ [
906
+ 0.67058,
907
+ 0.0,
908
+ 0.74183,
909
+ 0.30781
910
+ ],
911
+ [
912
+ 0.0,
913
+ 1.0,
914
+ 0.0,
915
+ 0.92919
916
+ ],
917
+ [
918
+ -0.74183,
919
+ 0.0,
920
+ 0.67058,
921
+ 5.36408
922
+ ],
923
+ [
924
+ 0.0,
925
+ 0.0,
926
+ 0.0,
927
+ 1.0
928
+ ]
929
+ ],
930
+ "010_potted_meat_can_:0002": [
931
+ [
932
+ -0.51601,
933
+ 0.0,
934
+ -0.85659,
935
+ 0.41222
936
+ ],
937
+ [
938
+ 0.0,
939
+ 1.0,
940
+ 0.0,
941
+ 0.90087
942
+ ],
943
+ [
944
+ 0.85659,
945
+ 0.0,
946
+ -0.51601,
947
+ 4.94727
948
+ ],
949
+ [
950
+ 0.0,
951
+ 0.0,
952
+ 0.0,
953
+ 1.0
954
+ ]
955
+ ],
956
+ "002_master_chef_can_:0005": [
957
+ [
958
+ 0.53413,
959
+ 0.0,
960
+ -0.8454,
961
+ 0.61257
962
+ ],
963
+ [
964
+ 0.0,
965
+ 1.0,
966
+ 0.0,
967
+ 1.31961
968
+ ],
969
+ [
970
+ 0.8454,
971
+ 0.0,
972
+ 0.53413,
973
+ 4.32069
974
+ ],
975
+ [
976
+ 0.0,
977
+ 0.0,
978
+ 0.0,
979
+ 1.0
980
+ ]
981
+ ]
982
+ },
983
+ "markers": [
984
+ {
985
+ "name": "cab_push_point_7",
986
+ "type": "articulated_object",
987
+ "params": {
988
+ "offset": [
989
+ 0.3,
990
+ 0.0,
991
+ 0
992
+ ],
993
+ "link": "drawer1_top",
994
+ "object": "kitchen_counter_:0000"
995
+ }
996
+ },
997
+ {
998
+ "name": "cab_push_point_6",
999
+ "type": "articulated_object",
1000
+ "params": {
1001
+ "offset": [
1002
+ 0.3,
1003
+ 0.0,
1004
+ 0
1005
+ ],
1006
+ "link": "drawer2_top",
1007
+ "object": "kitchen_counter_:0000"
1008
+ }
1009
+ },
1010
+ {
1011
+ "name": "cab_push_point_5",
1012
+ "type": "articulated_object",
1013
+ "params": {
1014
+ "offset": [
1015
+ 0.3,
1016
+ 0.0,
1017
+ 0
1018
+ ],
1019
+ "link": "drawer3",
1020
+ "object": "kitchen_counter_:0000"
1021
+ }
1022
+ },
1023
+ {
1024
+ "name": "cab_push_point_4",
1025
+ "type": "articulated_object",
1026
+ "params": {
1027
+ "offset": [
1028
+ 0.3,
1029
+ 0.0,
1030
+ 0
1031
+ ],
1032
+ "link": "drawer4",
1033
+ "object": "kitchen_counter_:0000"
1034
+ }
1035
+ },
1036
+ {
1037
+ "name": "fridge_push_point",
1038
+ "type": "articulated_object",
1039
+ "params": {
1040
+ "offset": [
1041
+ 0.1,
1042
+ -0.62,
1043
+ 0.2
1044
+ ],
1045
+ "link": "top_door",
1046
+ "object": "fridge_:0000"
1047
+ }
1048
+ }
1049
+ ],
1050
+ "target_receptacles": [
1051
+ [
1052
+ "fridge_:0000",
1053
+ 0
1054
+ ],
1055
+ [
1056
+ "fridge_:0000",
1057
+ 0
1058
+ ],
1059
+ [
1060
+ "kitchen_counter_:0000",
1061
+ 0
1062
+ ]
1063
+ ],
1064
+ "goal_receptacles": [
1065
+ [
1066
+ "kitchen_counter_:0000",
1067
+ 0
1068
+ ],
1069
+ [
1070
+ "kitchen_counter_:0000",
1071
+ 0
1072
+ ],
1073
+ [
1074
+ "fridge_:0000",
1075
+ 0
1076
+ ]
1077
+ ]
1078
+ }
rearrange/v1_extracted/train/prepare_groceries/episode_1013.json ADDED
@@ -0,0 +1,1078 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_id": "1013",
3
+ "scene_id": "data/replica_cad/configs/scenes/v3_sc2_staging_20.scene_instance.json",
4
+ "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
5
+ "additional_obj_config_paths": [
6
+ "data/objects/ycb/"
7
+ ],
8
+ "start_position": [
9
+ 0,
10
+ 0,
11
+ 0
12
+ ],
13
+ "start_rotation": [
14
+ 0,
15
+ 0,
16
+ 0,
17
+ 1
18
+ ],
19
+ "info": {
20
+ "object_labels": {
21
+ "002_master_chef_can_:0003": "obj0_target|0",
22
+ "002_master_chef_can_:0004": "obj1_target|1",
23
+ "009_gelatin_box_:0006": "obj2_target|2"
24
+ }
25
+ },
26
+ "ao_states": {
27
+ "fridge_:0000": {
28
+ "2": 1.5
29
+ }
30
+ },
31
+ "rigid_objs": [
32
+ [
33
+ "009_gelatin_box.object_config.json",
34
+ [
35
+ [
36
+ -0.7104,
37
+ -0.0,
38
+ 0.7038,
39
+ -2.33679
40
+ ],
41
+ [
42
+ 0.0,
43
+ 1.0,
44
+ 1e-05,
45
+ 0.87476
46
+ ],
47
+ [
48
+ -0.7038,
49
+ 0.0,
50
+ -0.7104,
51
+ 2.64838
52
+ ],
53
+ [
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 1.0
58
+ ]
59
+ ]
60
+ ],
61
+ [
62
+ "002_master_chef_can.object_config.json",
63
+ [
64
+ [
65
+ -0.58989,
66
+ -2e-05,
67
+ -0.80749,
68
+ 2.96897
69
+ ],
70
+ [
71
+ -0.0,
72
+ 1.0,
73
+ -2e-05,
74
+ 0.4748
75
+ ],
76
+ [
77
+ 0.80749,
78
+ -1e-05,
79
+ -0.58989,
80
+ 1.30059
81
+ ],
82
+ [
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ 1.0
87
+ ]
88
+ ]
89
+ ],
90
+ [
91
+ "024_bowl.object_config.json",
92
+ [
93
+ [
94
+ -0.17073,
95
+ -0.00012,
96
+ -0.98532,
97
+ -2.09658
98
+ ],
99
+ [
100
+ -0.00026,
101
+ 1.0,
102
+ -8e-05,
103
+ 0.73464
104
+ ],
105
+ [
106
+ 0.98532,
107
+ 0.00024,
108
+ -0.17073,
109
+ 1.89602
110
+ ],
111
+ [
112
+ 0.0,
113
+ 0.0,
114
+ 0.0,
115
+ 1.0
116
+ ]
117
+ ]
118
+ ],
119
+ [
120
+ "002_master_chef_can.object_config.json",
121
+ [
122
+ [
123
+ 0.23318,
124
+ -5e-05,
125
+ -0.97243,
126
+ 3.62659
127
+ ],
128
+ [
129
+ -3e-05,
130
+ 1.0,
131
+ -6e-05,
132
+ 0.48541
133
+ ],
134
+ [
135
+ 0.97243,
136
+ 5e-05,
137
+ 0.23318,
138
+ 2.78398
139
+ ],
140
+ [
141
+ 0.0,
142
+ 0.0,
143
+ 0.0,
144
+ 1.0
145
+ ]
146
+ ]
147
+ ],
148
+ [
149
+ "009_gelatin_box.object_config.json",
150
+ [
151
+ [
152
+ -0.85822,
153
+ 1e-05,
154
+ -0.51328,
155
+ -2.15919
156
+ ],
157
+ [
158
+ 0.00296,
159
+ 0.99998,
160
+ -0.00494,
161
+ 1.26662
162
+ ],
163
+ [
164
+ 0.51327,
165
+ -0.00576,
166
+ -0.85821,
167
+ -0.1321
168
+ ],
169
+ [
170
+ 0.0,
171
+ 0.0,
172
+ 0.0,
173
+ 1.0
174
+ ]
175
+ ]
176
+ ],
177
+ [
178
+ "002_master_chef_can.object_config.json",
179
+ [
180
+ [
181
+ -0.06952,
182
+ -1e-05,
183
+ 0.99758,
184
+ -1.88985
185
+ ],
186
+ [
187
+ 1e-05,
188
+ 1.0,
189
+ 1e-05,
190
+ 0.69724
191
+ ],
192
+ [
193
+ -0.99758,
194
+ 2e-05,
195
+ -0.06952,
196
+ -1.54088
197
+ ],
198
+ [
199
+ 0.0,
200
+ 0.0,
201
+ 0.0,
202
+ 1.0
203
+ ]
204
+ ]
205
+ ],
206
+ [
207
+ "024_bowl.object_config.json",
208
+ [
209
+ [
210
+ -0.99904,
211
+ -6e-05,
212
+ 0.04386,
213
+ -2.33939
214
+ ],
215
+ [
216
+ -0.00033,
217
+ 0.99998,
218
+ -0.00604,
219
+ 1.27966
220
+ ],
221
+ [
222
+ -0.04386,
223
+ -0.00605,
224
+ -0.99902,
225
+ -0.02766
226
+ ],
227
+ [
228
+ 0.0,
229
+ 0.0,
230
+ 0.0,
231
+ 1.0
232
+ ]
233
+ ]
234
+ ],
235
+ [
236
+ "004_sugar_box.object_config.json",
237
+ [
238
+ [
239
+ -0.718,
240
+ 0.04308,
241
+ -0.69471,
242
+ 2.84249
243
+ ],
244
+ [
245
+ 0.03639,
246
+ 0.99904,
247
+ 0.02435,
248
+ 0.49237
249
+ ],
250
+ [
251
+ 0.69509,
252
+ -0.0078,
253
+ -0.71888,
254
+ 1.3665
255
+ ],
256
+ [
257
+ 0.0,
258
+ 0.0,
259
+ 0.0,
260
+ 1.0
261
+ ]
262
+ ]
263
+ ],
264
+ [
265
+ "009_gelatin_box.object_config.json",
266
+ [
267
+ [
268
+ 0.33874,
269
+ 0.0,
270
+ 0.94088,
271
+ 3.40565
272
+ ],
273
+ [
274
+ 0.0,
275
+ 1.0,
276
+ -0.0,
277
+ 0.41926
278
+ ],
279
+ [
280
+ -0.94088,
281
+ 0.0,
282
+ 0.33874,
283
+ 1.34072
284
+ ],
285
+ [
286
+ 0.0,
287
+ 0.0,
288
+ 0.0,
289
+ 1.0
290
+ ]
291
+ ]
292
+ ],
293
+ [
294
+ "004_sugar_box.object_config.json",
295
+ [
296
+ [
297
+ -0.34772,
298
+ -0.00828,
299
+ 0.93756,
300
+ 0.97647
301
+ ],
302
+ [
303
+ 0.03796,
304
+ 0.99902,
305
+ 0.02291,
306
+ 1.0222
307
+ ],
308
+ [
309
+ -0.93683,
310
+ 0.04355,
311
+ -0.34707,
312
+ 4.60919
313
+ ],
314
+ [
315
+ 0.0,
316
+ 0.0,
317
+ 0.0,
318
+ 1.0
319
+ ]
320
+ ]
321
+ ],
322
+ [
323
+ "005_tomato_soup_can.object_config.json",
324
+ [
325
+ [
326
+ -0.98994,
327
+ -0.00024,
328
+ -0.14148,
329
+ 2.63534
330
+ ],
331
+ [
332
+ -0.00025,
333
+ 1.0,
334
+ 6e-05,
335
+ 0.45533
336
+ ],
337
+ [
338
+ 0.14148,
339
+ 9e-05,
340
+ -0.98994,
341
+ 1.37391
342
+ ],
343
+ [
344
+ 0.0,
345
+ 0.0,
346
+ 0.0,
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ [
352
+ "007_tuna_fish_can.object_config.json",
353
+ [
354
+ [
355
+ 0.50648,
356
+ -0.0001,
357
+ 0.86225,
358
+ -2.14316
359
+ ],
360
+ [
361
+ 9e-05,
362
+ 1.0,
363
+ 6e-05,
364
+ 0.72401
365
+ ],
366
+ [
367
+ -0.86225,
368
+ 5e-05,
369
+ 0.50648,
370
+ 2.02918
371
+ ],
372
+ [
373
+ 0.0,
374
+ 0.0,
375
+ 0.0,
376
+ 1.0
377
+ ]
378
+ ]
379
+ ],
380
+ [
381
+ "024_bowl.object_config.json",
382
+ [
383
+ [
384
+ -0.45894,
385
+ 1e-05,
386
+ -0.88847,
387
+ 0.39775
388
+ ],
389
+ [
390
+ -1e-05,
391
+ 1.0,
392
+ 2e-05,
393
+ 0.96167
394
+ ],
395
+ [
396
+ 0.88847,
397
+ 2e-05,
398
+ -0.45894,
399
+ 4.22402
400
+ ],
401
+ [
402
+ 0.0,
403
+ 0.0,
404
+ 0.0,
405
+ 1.0
406
+ ]
407
+ ]
408
+ ],
409
+ [
410
+ "005_tomato_soup_can.object_config.json",
411
+ [
412
+ [
413
+ 0.76991,
414
+ 1e-05,
415
+ 0.63815,
416
+ 2.20906
417
+ ],
418
+ [
419
+ -6e-05,
420
+ 1.0,
421
+ 5e-05,
422
+ 0.46603
423
+ ],
424
+ [
425
+ -0.63815,
426
+ -8e-05,
427
+ 0.76991,
428
+ 2.46294
429
+ ],
430
+ [
431
+ 0.0,
432
+ 0.0,
433
+ 0.0,
434
+ 1.0
435
+ ]
436
+ ]
437
+ ],
438
+ [
439
+ "010_potted_meat_can.object_config.json",
440
+ [
441
+ [
442
+ 0.27952,
443
+ 0.00022,
444
+ 0.96014,
445
+ 2.38027
446
+ ],
447
+ [
448
+ -7e-05,
449
+ 1.0,
450
+ -0.00021,
451
+ 0.4569
452
+ ],
453
+ [
454
+ -0.96014,
455
+ -1e-05,
456
+ 0.27952,
457
+ 2.33586
458
+ ],
459
+ [
460
+ 0.0,
461
+ 0.0,
462
+ 0.0,
463
+ 1.0
464
+ ]
465
+ ]
466
+ ],
467
+ [
468
+ "008_pudding_box.object_config.json",
469
+ [
470
+ [
471
+ 0.77129,
472
+ -0.0104,
473
+ 0.6364,
474
+ -2.29154
475
+ ],
476
+ [
477
+ -0.00959,
478
+ 0.99956,
479
+ 0.02796,
480
+ 1.26946
481
+ ],
482
+ [
483
+ -0.63641,
484
+ -0.02767,
485
+ 0.77085,
486
+ -0.42059
487
+ ],
488
+ [
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 1.0
493
+ ]
494
+ ]
495
+ ],
496
+ [
497
+ "009_gelatin_box.object_config.json",
498
+ [
499
+ [
500
+ 0.98295,
501
+ 0.0,
502
+ 0.1839,
503
+ 2.39444
504
+ ],
505
+ [
506
+ -0.0,
507
+ 1.0,
508
+ 0.0,
509
+ 0.42998
510
+ ],
511
+ [
512
+ -0.1839,
513
+ -0.0,
514
+ 0.98295,
515
+ 2.52448
516
+ ],
517
+ [
518
+ 0.0,
519
+ 0.0,
520
+ 0.0,
521
+ 1.0
522
+ ]
523
+ ]
524
+ ],
525
+ [
526
+ "004_sugar_box.object_config.json",
527
+ [
528
+ [
529
+ -0.03024,
530
+ 0.00909,
531
+ 0.9995,
532
+ -2.22606
533
+ ],
534
+ [
535
+ -0.01538,
536
+ 0.99984,
537
+ -0.00956,
538
+ 0.79558
539
+ ],
540
+ [
541
+ -0.99942,
542
+ -0.01566,
543
+ -0.0301,
544
+ 2.11488
545
+ ],
546
+ [
547
+ 0.0,
548
+ 0.0,
549
+ 0.0,
550
+ 1.0
551
+ ]
552
+ ]
553
+ ],
554
+ [
555
+ "004_sugar_box.object_config.json",
556
+ [
557
+ [
558
+ -0.67537,
559
+ 0.03521,
560
+ 0.73664,
561
+ -2.22308
562
+ ],
563
+ [
564
+ 0.0811,
565
+ 0.99635,
566
+ 0.02673,
567
+ 0.79566
568
+ ],
569
+ [
570
+ -0.73301,
571
+ 0.07779,
572
+ -0.67576,
573
+ 1.86021
574
+ ],
575
+ [
576
+ 0.0,
577
+ 0.0,
578
+ 0.0,
579
+ 1.0
580
+ ]
581
+ ]
582
+ ],
583
+ [
584
+ "009_gelatin_box.object_config.json",
585
+ [
586
+ [
587
+ -0.96675,
588
+ -0.00247,
589
+ 0.2557,
590
+ 0.97148
591
+ ],
592
+ [
593
+ -0.00213,
594
+ 1.0,
595
+ 0.00158,
596
+ 0.94927
597
+ ],
598
+ [
599
+ -0.2557,
600
+ 0.00098,
601
+ -0.96676,
602
+ 3.94664
603
+ ],
604
+ [
605
+ 0.0,
606
+ 0.0,
607
+ 0.0,
608
+ 1.0
609
+ ]
610
+ ]
611
+ ],
612
+ [
613
+ "005_tomato_soup_can.object_config.json",
614
+ [
615
+ [
616
+ -0.99721,
617
+ 0.00017,
618
+ 0.07467,
619
+ 3.83388
620
+ ],
621
+ [
622
+ 0.00019,
623
+ 1.0,
624
+ 0.00018,
625
+ 0.81381
626
+ ],
627
+ [
628
+ -0.07467,
629
+ 0.00019,
630
+ -0.99721,
631
+ 4.47824
632
+ ],
633
+ [
634
+ 0.0,
635
+ 0.0,
636
+ 0.0,
637
+ 1.0
638
+ ]
639
+ ]
640
+ ],
641
+ [
642
+ "010_potted_meat_can.object_config.json",
643
+ [
644
+ [
645
+ 0.11218,
646
+ -0.00053,
647
+ -0.99369,
648
+ 0.55374
649
+ ],
650
+ [
651
+ -0.0014,
652
+ 1.0,
653
+ -0.0007,
654
+ 0.9762
655
+ ],
656
+ [
657
+ 0.99369,
658
+ 0.00147,
659
+ 0.11218,
660
+ 4.49843
661
+ ],
662
+ [
663
+ 0.0,
664
+ 0.0,
665
+ 0.0,
666
+ 1.0
667
+ ]
668
+ ]
669
+ ],
670
+ [
671
+ "008_pudding_box.object_config.json",
672
+ [
673
+ [
674
+ 0.88926,
675
+ 0.01414,
676
+ -0.45718,
677
+ -2.04686
678
+ ],
679
+ [
680
+ -0.00429,
681
+ 0.99974,
682
+ 0.02257,
683
+ 0.6463
684
+ ],
685
+ [
686
+ 0.45737,
687
+ -0.0181,
688
+ 0.88909,
689
+ -1.78024
690
+ ],
691
+ [
692
+ 0.0,
693
+ 0.0,
694
+ 0.0,
695
+ 1.0
696
+ ]
697
+ ]
698
+ ],
699
+ [
700
+ "008_pudding_box.object_config.json",
701
+ [
702
+ [
703
+ 0.31762,
704
+ -0.02041,
705
+ 0.948,
706
+ -2.07145
707
+ ],
708
+ [
709
+ -0.0059,
710
+ 0.99971,
711
+ 0.02351,
712
+ 0.87927
713
+ ],
714
+ [
715
+ -0.9482,
716
+ -0.01306,
717
+ 0.3174,
718
+ 3.11007
719
+ ],
720
+ [
721
+ 0.0,
722
+ 0.0,
723
+ 0.0,
724
+ 1.0
725
+ ]
726
+ ]
727
+ ],
728
+ [
729
+ "009_gelatin_box.object_config.json",
730
+ [
731
+ [
732
+ 0.94924,
733
+ -0.00022,
734
+ -0.31456,
735
+ -1.97174
736
+ ],
737
+ [
738
+ 0.00264,
739
+ 0.99997,
740
+ 0.00729,
741
+ 1.26461
742
+ ],
743
+ [
744
+ 0.31455,
745
+ -0.00775,
746
+ 0.94921,
747
+ -0.46547
748
+ ],
749
+ [
750
+ 0.0,
751
+ 0.0,
752
+ 0.0,
753
+ 1.0
754
+ ]
755
+ ]
756
+ ],
757
+ [
758
+ "004_sugar_box.object_config.json",
759
+ [
760
+ [
761
+ -0.61433,
762
+ 0.04321,
763
+ -0.78787,
764
+ 0.9837
765
+ ],
766
+ [
767
+ 0.03911,
768
+ 0.99894,
769
+ 0.02429,
770
+ 1.02216
771
+ ],
772
+ [
773
+ 0.78808,
774
+ -0.01589,
775
+ -0.61537,
776
+ 4.76842
777
+ ],
778
+ [
779
+ 0.0,
780
+ 0.0,
781
+ 0.0,
782
+ 1.0
783
+ ]
784
+ ]
785
+ ],
786
+ [
787
+ "003_cracker_box.object_config.json",
788
+ [
789
+ [
790
+ -0.71441,
791
+ -0.02802,
792
+ 0.69917,
793
+ -1.86202
794
+ ],
795
+ [
796
+ -0.04658,
797
+ 0.99889,
798
+ -0.00756,
799
+ 0.73338
800
+ ],
801
+ [
802
+ -0.69818,
803
+ -0.03797,
804
+ -0.71491,
805
+ -1.77726
806
+ ],
807
+ [
808
+ 0.0,
809
+ 0.0,
810
+ 0.0,
811
+ 1.0
812
+ ]
813
+ ]
814
+ ],
815
+ [
816
+ "002_master_chef_can.object_config.json",
817
+ [
818
+ [
819
+ 0.98552,
820
+ 3e-05,
821
+ -0.16954,
822
+ -2.26817
823
+ ],
824
+ [
825
+ 0.00095,
826
+ 0.99998,
827
+ 0.00575,
828
+ 1.32142
829
+ ],
830
+ [
831
+ 0.16954,
832
+ -0.00583,
833
+ 0.98551,
834
+ -0.2601
835
+ ],
836
+ [
837
+ 0.0,
838
+ 0.0,
839
+ 0.0,
840
+ 1.0
841
+ ]
842
+ ]
843
+ ],
844
+ [
845
+ "002_master_chef_can.object_config.json",
846
+ [
847
+ [
848
+ -0.79675,
849
+ 0.00025,
850
+ 0.60431,
851
+ -2.06912
852
+ ],
853
+ [
854
+ -0.00409,
855
+ 0.99997,
856
+ -0.00581,
857
+ 1.32181
858
+ ],
859
+ [
860
+ -0.6043,
861
+ -0.0071,
862
+ -0.79673,
863
+ -0.18869
864
+ ],
865
+ [
866
+ 0.0,
867
+ 0.0,
868
+ 0.0,
869
+ 1.0
870
+ ]
871
+ ]
872
+ ],
873
+ [
874
+ "009_gelatin_box.object_config.json",
875
+ [
876
+ [
877
+ 0.65747,
878
+ -0.0,
879
+ -0.75348,
880
+ -1.94044
881
+ ],
882
+ [
883
+ 0.0,
884
+ 1.0,
885
+ -0.0,
886
+ 0.87476
887
+ ],
888
+ [
889
+ 0.75348,
890
+ 0.0,
891
+ 0.65747,
892
+ 1.65529
893
+ ],
894
+ [
895
+ 0.0,
896
+ 0.0,
897
+ 0.0,
898
+ 1.0
899
+ ]
900
+ ]
901
+ ]
902
+ ],
903
+ "targets": {
904
+ "002_master_chef_can_:0003": [
905
+ [
906
+ 0.82328,
907
+ 0.0,
908
+ -0.56764,
909
+ -2.42713
910
+ ],
911
+ [
912
+ 0.0,
913
+ 1.0,
914
+ 0.0,
915
+ 0.92919
916
+ ],
917
+ [
918
+ 0.56764,
919
+ 0.0,
920
+ 0.82328,
921
+ 0.24751
922
+ ],
923
+ [
924
+ 0.0,
925
+ 0.0,
926
+ 0.0,
927
+ 1.0
928
+ ]
929
+ ],
930
+ "002_master_chef_can_:0004": [
931
+ [
932
+ 0.74623,
933
+ 0.0,
934
+ -0.66569,
935
+ -2.3093
936
+ ],
937
+ [
938
+ 0.0,
939
+ 1.0,
940
+ 0.0,
941
+ 0.92919
942
+ ],
943
+ [
944
+ 0.66569,
945
+ 0.0,
946
+ 0.74623,
947
+ 2.53185
948
+ ],
949
+ [
950
+ 0.0,
951
+ 0.0,
952
+ 0.0,
953
+ 1.0
954
+ ]
955
+ ],
956
+ "009_gelatin_box_:0006": [
957
+ [
958
+ 0.8073,
959
+ 0.0,
960
+ 0.59014,
961
+ -2.13318
962
+ ],
963
+ [
964
+ 0.0,
965
+ 1.0,
966
+ 0.0,
967
+ 1.26475
968
+ ],
969
+ [
970
+ -0.59014,
971
+ 0.0,
972
+ 0.8073,
973
+ -0.3473
974
+ ],
975
+ [
976
+ 0.0,
977
+ 0.0,
978
+ 0.0,
979
+ 1.0
980
+ ]
981
+ ]
982
+ },
983
+ "markers": [
984
+ {
985
+ "name": "cab_push_point_7",
986
+ "type": "articulated_object",
987
+ "params": {
988
+ "offset": [
989
+ 0.3,
990
+ 0.0,
991
+ 0
992
+ ],
993
+ "link": "drawer1_top",
994
+ "object": "kitchen_counter_:0000"
995
+ }
996
+ },
997
+ {
998
+ "name": "cab_push_point_6",
999
+ "type": "articulated_object",
1000
+ "params": {
1001
+ "offset": [
1002
+ 0.3,
1003
+ 0.0,
1004
+ 0
1005
+ ],
1006
+ "link": "drawer2_top",
1007
+ "object": "kitchen_counter_:0000"
1008
+ }
1009
+ },
1010
+ {
1011
+ "name": "cab_push_point_5",
1012
+ "type": "articulated_object",
1013
+ "params": {
1014
+ "offset": [
1015
+ 0.3,
1016
+ 0.0,
1017
+ 0
1018
+ ],
1019
+ "link": "drawer3",
1020
+ "object": "kitchen_counter_:0000"
1021
+ }
1022
+ },
1023
+ {
1024
+ "name": "cab_push_point_4",
1025
+ "type": "articulated_object",
1026
+ "params": {
1027
+ "offset": [
1028
+ 0.3,
1029
+ 0.0,
1030
+ 0
1031
+ ],
1032
+ "link": "drawer4",
1033
+ "object": "kitchen_counter_:0000"
1034
+ }
1035
+ },
1036
+ {
1037
+ "name": "fridge_push_point",
1038
+ "type": "articulated_object",
1039
+ "params": {
1040
+ "offset": [
1041
+ 0.1,
1042
+ -0.62,
1043
+ 0.2
1044
+ ],
1045
+ "link": "top_door",
1046
+ "object": "fridge_:0000"
1047
+ }
1048
+ }
1049
+ ],
1050
+ "target_receptacles": [
1051
+ [
1052
+ "fridge_:0000",
1053
+ 0
1054
+ ],
1055
+ [
1056
+ "fridge_:0000",
1057
+ 0
1058
+ ],
1059
+ [
1060
+ "kitchen_counter_:0000",
1061
+ 0
1062
+ ]
1063
+ ],
1064
+ "goal_receptacles": [
1065
+ [
1066
+ "kitchen_counter_:0000",
1067
+ 0
1068
+ ],
1069
+ [
1070
+ "kitchen_counter_:0000",
1071
+ 0
1072
+ ],
1073
+ [
1074
+ "fridge_:0000",
1075
+ 0
1076
+ ]
1077
+ ]
1078
+ }
rearrange/v1_extracted/train/prepare_groceries/episode_1014.json ADDED
@@ -0,0 +1,1078 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_id": "1014",
3
+ "scene_id": "data/replica_cad/configs/scenes/v3_sc0_staging_01.scene_instance.json",
4
+ "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
5
+ "additional_obj_config_paths": [
6
+ "data/objects/ycb/"
7
+ ],
8
+ "start_position": [
9
+ 0,
10
+ 0,
11
+ 0
12
+ ],
13
+ "start_rotation": [
14
+ 0,
15
+ 0,
16
+ 0,
17
+ 1
18
+ ],
19
+ "info": {
20
+ "object_labels": {
21
+ "010_potted_meat_can_:0002": "obj0_target|0",
22
+ "024_bowl_:0005": "obj1_target|1",
23
+ "002_master_chef_can_:0002": "obj2_target|2"
24
+ }
25
+ },
26
+ "ao_states": {
27
+ "fridge_:0000": {
28
+ "2": 1.5
29
+ }
30
+ },
31
+ "rigid_objs": [
32
+ [
33
+ "005_tomato_soup_can.object_config.json",
34
+ [
35
+ [
36
+ 0.58375,
37
+ 0.00211,
38
+ -0.81193,
39
+ 0.40739
40
+ ],
41
+ [
42
+ 0.00152,
43
+ 0.99999,
44
+ 0.00369,
45
+ 1.3025
46
+ ],
47
+ [
48
+ 0.81193,
49
+ -0.00339,
50
+ 0.58375,
51
+ 4.53211
52
+ ],
53
+ [
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 1.0
58
+ ]
59
+ ]
60
+ ],
61
+ [
62
+ "005_tomato_soup_can.object_config.json",
63
+ [
64
+ [
65
+ 0.98051,
66
+ -9e-05,
67
+ -0.19645,
68
+ 0.27446
69
+ ],
70
+ [
71
+ 8e-05,
72
+ 1.0,
73
+ -3e-05,
74
+ 0.91083
75
+ ],
76
+ [
77
+ 0.19645,
78
+ 1e-05,
79
+ 0.98051,
80
+ 5.27388
81
+ ],
82
+ [
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ 1.0
87
+ ]
88
+ ]
89
+ ],
90
+ [
91
+ "010_potted_meat_can.object_config.json",
92
+ [
93
+ [
94
+ -0.27577,
95
+ 0.00013,
96
+ 0.96122,
97
+ 0.3215
98
+ ],
99
+ [
100
+ -3e-05,
101
+ 1.0,
102
+ -0.00014,
103
+ 0.90168
104
+ ],
105
+ [
106
+ -0.96122,
107
+ -7e-05,
108
+ -0.27577,
109
+ 7.33498
110
+ ],
111
+ [
112
+ 0.0,
113
+ 0.0,
114
+ 0.0,
115
+ 1.0
116
+ ]
117
+ ]
118
+ ],
119
+ [
120
+ "024_bowl.object_config.json",
121
+ [
122
+ [
123
+ -0.99605,
124
+ 0.00192,
125
+ -0.08872,
126
+ 3.79551
127
+ ],
128
+ [
129
+ 0.00182,
130
+ 1.0,
131
+ 0.00117,
132
+ 0.65408
133
+ ],
134
+ [
135
+ 0.08873,
136
+ 0.001,
137
+ -0.99606,
138
+ 3.57736
139
+ ],
140
+ [
141
+ 0.0,
142
+ 0.0,
143
+ 0.0,
144
+ 1.0
145
+ ]
146
+ ]
147
+ ],
148
+ [
149
+ "024_bowl.object_config.json",
150
+ [
151
+ [
152
+ -0.19862,
153
+ 0.00096,
154
+ -0.98008,
155
+ -1.87659
156
+ ],
157
+ [
158
+ 0.00067,
159
+ 1.0,
160
+ 0.00084,
161
+ 0.44241
162
+ ],
163
+ [
164
+ 0.98008,
165
+ -0.00049,
166
+ -0.19863,
167
+ -0.29775
168
+ ],
169
+ [
170
+ 0.0,
171
+ 0.0,
172
+ 0.0,
173
+ 1.0
174
+ ]
175
+ ]
176
+ ],
177
+ [
178
+ "007_tuna_fish_can.object_config.json",
179
+ [
180
+ [
181
+ -0.9449,
182
+ -0.0,
183
+ -0.32736,
184
+ -1.96348
185
+ ],
186
+ [
187
+ -0.0,
188
+ 1.0,
189
+ -0.0,
190
+ 0.43176
191
+ ],
192
+ [
193
+ 0.32736,
194
+ -0.0,
195
+ -0.9449,
196
+ -0.39088
197
+ ],
198
+ [
199
+ 0.0,
200
+ 0.0,
201
+ 0.0,
202
+ 1.0
203
+ ]
204
+ ]
205
+ ],
206
+ [
207
+ "007_tuna_fish_can.object_config.json",
208
+ [
209
+ [
210
+ 0.1349,
211
+ -0.00683,
212
+ 0.99084,
213
+ 4.22891
214
+ ],
215
+ [
216
+ -0.00112,
217
+ 0.99997,
218
+ 0.00704,
219
+ 0.95328
220
+ ],
221
+ [
222
+ -0.99086,
223
+ -0.00206,
224
+ 0.13489,
225
+ 1.41488
226
+ ],
227
+ [
228
+ 0.0,
229
+ 0.0,
230
+ 0.0,
231
+ 1.0
232
+ ]
233
+ ]
234
+ ],
235
+ [
236
+ "004_sugar_box.object_config.json",
237
+ [
238
+ [
239
+ 0.97684,
240
+ -0.0306,
241
+ -0.21179,
242
+ -1.30336
243
+ ],
244
+ [
245
+ 0.03653,
246
+ 0.99904,
247
+ 0.02412,
248
+ 0.50297
249
+ ],
250
+ [
251
+ 0.21085,
252
+ -0.0313,
253
+ 0.97702,
254
+ 2.87744
255
+ ],
256
+ [
257
+ 0.0,
258
+ 0.0,
259
+ 0.0,
260
+ 1.0
261
+ ]
262
+ ]
263
+ ],
264
+ [
265
+ "003_cracker_box.object_config.json",
266
+ [
267
+ [
268
+ -0.72641,
269
+ -0.03833,
270
+ -0.68619,
271
+ 0.56445
272
+ ],
273
+ [
274
+ -0.0458,
275
+ 0.99892,
276
+ -0.00732,
277
+ 0.81373
278
+ ],
279
+ [
280
+ 0.68573,
281
+ 0.02611,
282
+ -0.72739,
283
+ 6.79948
284
+ ],
285
+ [
286
+ 0.0,
287
+ 0.0,
288
+ 0.0,
289
+ 1.0
290
+ ]
291
+ ]
292
+ ],
293
+ [
294
+ "003_cracker_box.object_config.json",
295
+ [
296
+ [
297
+ 0.91262,
298
+ 0.02014,
299
+ 0.4083,
300
+ 0.66508
301
+ ],
302
+ [
303
+ -0.02078,
304
+ 0.99978,
305
+ -0.00287,
306
+ 0.8143
307
+ ],
308
+ [
309
+ -0.40827,
310
+ -0.00586,
311
+ 0.91284,
312
+ 6.61258
313
+ ],
314
+ [
315
+ 0.0,
316
+ 0.0,
317
+ 0.0,
318
+ 1.0
319
+ ]
320
+ ]
321
+ ],
322
+ [
323
+ "005_tomato_soup_can.object_config.json",
324
+ [
325
+ [
326
+ 0.93604,
327
+ -7e-05,
328
+ 0.3519,
329
+ 0.34537
330
+ ],
331
+ [
332
+ 7e-05,
333
+ 1.0,
334
+ 1e-05,
335
+ 0.91083
336
+ ],
337
+ [
338
+ -0.3519,
339
+ 1e-05,
340
+ 0.93604,
341
+ 7.89265
342
+ ],
343
+ [
344
+ 0.0,
345
+ 0.0,
346
+ 0.0,
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ [
352
+ "002_master_chef_can.object_config.json",
353
+ [
354
+ [
355
+ -0.64967,
356
+ -0.0,
357
+ -0.76022,
358
+ -1.39278
359
+ ],
360
+ [
361
+ 1e-05,
362
+ 1.0,
363
+ -1e-05,
364
+ 0.4748
365
+ ],
366
+ [
367
+ 0.76022,
368
+ -2e-05,
369
+ -0.64967,
370
+ 1.99422
371
+ ],
372
+ [
373
+ 0.0,
374
+ 0.0,
375
+ 0.0,
376
+ 1.0
377
+ ]
378
+ ]
379
+ ],
380
+ [
381
+ "005_tomato_soup_can.object_config.json",
382
+ [
383
+ [
384
+ 0.79971,
385
+ 0.00035,
386
+ 0.60039,
387
+ -1.9428
388
+ ],
389
+ [
390
+ -0.00042,
391
+ 1.0,
392
+ -3e-05,
393
+ 0.45534
394
+ ],
395
+ [
396
+ -0.60039,
397
+ -0.00022,
398
+ 0.79971,
399
+ 0.84513
400
+ ],
401
+ [
402
+ 0.0,
403
+ 0.0,
404
+ 0.0,
405
+ 1.0
406
+ ]
407
+ ]
408
+ ],
409
+ [
410
+ "004_sugar_box.object_config.json",
411
+ [
412
+ [
413
+ 0.88491,
414
+ -0.02406,
415
+ -0.46514,
416
+ 3.56437
417
+ ],
418
+ [
419
+ 0.04029,
420
+ 0.99888,
421
+ 0.02498,
422
+ 0.71482
423
+ ],
424
+ [
425
+ 0.46402,
426
+ -0.04085,
427
+ 0.88488,
428
+ 2.32095
429
+ ],
430
+ [
431
+ 0.0,
432
+ 0.0,
433
+ 0.0,
434
+ 1.0
435
+ ]
436
+ ]
437
+ ],
438
+ [
439
+ "007_tuna_fish_can.object_config.json",
440
+ [
441
+ [
442
+ 0.99697,
443
+ 1e-05,
444
+ -0.07783,
445
+ 0.65831
446
+ ],
447
+ [
448
+ -1e-05,
449
+ 1.0,
450
+ 0.0,
451
+ 0.87655
452
+ ],
453
+ [
454
+ 0.07783,
455
+ 0.0,
456
+ 0.99697,
457
+ 5.92565
458
+ ],
459
+ [
460
+ 0.0,
461
+ 0.0,
462
+ 0.0,
463
+ 1.0
464
+ ]
465
+ ]
466
+ ],
467
+ [
468
+ "003_cracker_box.object_config.json",
469
+ [
470
+ [
471
+ 0.51241,
472
+ 0.02799,
473
+ 0.85828,
474
+ 4.09689
475
+ ],
476
+ [
477
+ -0.04412,
478
+ 0.99901,
479
+ -0.00624,
480
+ 0.86935
481
+ ],
482
+ [
483
+ -0.85761,
484
+ -0.03467,
485
+ 0.51314,
486
+ 5.93596
487
+ ],
488
+ [
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 1.0
493
+ ]
494
+ ]
495
+ ],
496
+ [
497
+ "005_tomato_soup_can.object_config.json",
498
+ [
499
+ [
500
+ -0.20136,
501
+ 5e-05,
502
+ 0.97952,
503
+ 0.64601
504
+ ],
505
+ [
506
+ 0.00025,
507
+ 1.0,
508
+ -0.0,
509
+ 0.91084
510
+ ],
511
+ [
512
+ -0.97952,
513
+ 0.00024,
514
+ -0.20136,
515
+ 7.62625
516
+ ],
517
+ [
518
+ 0.0,
519
+ 0.0,
520
+ 0.0,
521
+ 1.0
522
+ ]
523
+ ]
524
+ ],
525
+ [
526
+ "008_pudding_box.object_config.json",
527
+ [
528
+ [
529
+ 0.67257,
530
+ -0.01136,
531
+ 0.73994,
532
+ 3.91468
533
+ ],
534
+ [
535
+ -0.0072,
536
+ 0.99973,
537
+ 0.0219,
538
+ 0.78232
539
+ ],
540
+ [
541
+ -0.74,
542
+ -0.02006,
543
+ 0.67231,
544
+ 5.0288
545
+ ],
546
+ [
547
+ 0.0,
548
+ 0.0,
549
+ 0.0,
550
+ 1.0
551
+ ]
552
+ ]
553
+ ],
554
+ [
555
+ "003_cracker_box.object_config.json",
556
+ [
557
+ [
558
+ -0.99387,
559
+ -0.047,
560
+ -0.10005,
561
+ 0.78179
562
+ ],
563
+ [
564
+ -0.04594,
565
+ 0.99886,
566
+ -0.01288,
567
+ 1.35862
568
+ ],
569
+ [
570
+ 0.10054,
571
+ -0.00821,
572
+ -0.9949,
573
+ 4.65095
574
+ ],
575
+ [
576
+ 0.0,
577
+ 0.0,
578
+ 0.0,
579
+ 1.0
580
+ ]
581
+ ]
582
+ ],
583
+ [
584
+ "005_tomato_soup_can.object_config.json",
585
+ [
586
+ [
587
+ 0.65207,
588
+ -0.00641,
589
+ -0.75813,
590
+ 3.85375
591
+ ],
592
+ [
593
+ 0.00755,
594
+ 0.99997,
595
+ -0.00195,
596
+ 0.98368
597
+ ],
598
+ [
599
+ 0.75812,
600
+ -0.00445,
601
+ 0.6521,
602
+ 1.10534
603
+ ],
604
+ [
605
+ 0.0,
606
+ 0.0,
607
+ 0.0,
608
+ 1.0
609
+ ]
610
+ ]
611
+ ],
612
+ [
613
+ "010_potted_meat_can.object_config.json",
614
+ [
615
+ [
616
+ 0.99708,
617
+ 3e-05,
618
+ 0.07639,
619
+ 0.42054
620
+ ],
621
+ [
622
+ -3e-05,
623
+ 1.0,
624
+ -7e-05,
625
+ 0.90168
626
+ ],
627
+ [
628
+ -0.07639,
629
+ 7e-05,
630
+ 0.99708,
631
+ 6.18454
632
+ ],
633
+ [
634
+ 0.0,
635
+ 0.0,
636
+ 0.0,
637
+ 1.0
638
+ ]
639
+ ]
640
+ ],
641
+ [
642
+ "004_sugar_box.object_config.json",
643
+ [
644
+ [
645
+ 0.94052,
646
+ -0.04494,
647
+ 0.33674,
648
+ 0.5666
649
+ ],
650
+ [
651
+ 0.03905,
652
+ 0.99894,
653
+ 0.02424,
654
+ 0.9477
655
+ ],
656
+ [
657
+ -0.33747,
658
+ -0.00965,
659
+ 0.94129,
660
+ 6.2326
661
+ ],
662
+ [
663
+ 0.0,
664
+ 0.0,
665
+ 0.0,
666
+ 1.0
667
+ ]
668
+ ]
669
+ ],
670
+ [
671
+ "002_master_chef_can.object_config.json",
672
+ [
673
+ [
674
+ -0.7888,
675
+ -0.0011,
676
+ -0.61465,
677
+ 3.85218
678
+ ],
679
+ [
680
+ -0.00187,
681
+ 1.0,
682
+ 0.0006,
683
+ 0.69732
684
+ ],
685
+ [
686
+ 0.61464,
687
+ 0.00162,
688
+ -0.7888,
689
+ 3.2981
690
+ ],
691
+ [
692
+ 0.0,
693
+ 0.0,
694
+ 0.0,
695
+ 1.0
696
+ ]
697
+ ]
698
+ ],
699
+ [
700
+ "024_bowl.object_config.json",
701
+ [
702
+ [
703
+ -0.90279,
704
+ -0.00186,
705
+ -0.43008,
706
+ 0.60604
707
+ ],
708
+ [
709
+ -0.00133,
710
+ 1.0,
711
+ -0.00153,
712
+ 0.88714
713
+ ],
714
+ [
715
+ 0.43008,
716
+ -0.00081,
717
+ -0.90279,
718
+ 5.09341
719
+ ],
720
+ [
721
+ 0.0,
722
+ 0.0,
723
+ 0.0,
724
+ 1.0
725
+ ]
726
+ ]
727
+ ],
728
+ [
729
+ "009_gelatin_box.object_config.json",
730
+ [
731
+ [
732
+ -0.84047,
733
+ -0.00472,
734
+ -0.54184,
735
+ 3.74414
736
+ ],
737
+ [
738
+ -0.003,
739
+ 0.99999,
740
+ -0.00406,
741
+ 0.95044
742
+ ],
743
+ [
744
+ 0.54186,
745
+ -0.00179,
746
+ -0.84047,
747
+ 1.87384
748
+ ],
749
+ [
750
+ 0.0,
751
+ 0.0,
752
+ 0.0,
753
+ 1.0
754
+ ]
755
+ ]
756
+ ],
757
+ [
758
+ "024_bowl.object_config.json",
759
+ [
760
+ [
761
+ -0.06854,
762
+ -5e-05,
763
+ -0.99765,
764
+ 0.54218
765
+ ],
766
+ [
767
+ -1e-05,
768
+ 1.0,
769
+ -5e-05,
770
+ 0.88719
771
+ ],
772
+ [
773
+ 0.99765,
774
+ 1e-05,
775
+ -0.06854,
776
+ 5.43298
777
+ ],
778
+ [
779
+ 0.0,
780
+ 0.0,
781
+ 0.0,
782
+ 1.0
783
+ ]
784
+ ]
785
+ ],
786
+ [
787
+ "024_bowl.object_config.json",
788
+ [
789
+ [
790
+ 0.99727,
791
+ 8e-05,
792
+ -0.07385,
793
+ 3.50733
794
+ ],
795
+ [
796
+ -8e-05,
797
+ 1.0,
798
+ -9e-05,
799
+ 0.65414
800
+ ],
801
+ [
802
+ 0.07385,
803
+ 0.0001,
804
+ 0.99727,
805
+ 3.2791
806
+ ],
807
+ [
808
+ 0.0,
809
+ 0.0,
810
+ 0.0,
811
+ 1.0
812
+ ]
813
+ ]
814
+ ],
815
+ [
816
+ "010_potted_meat_can.object_config.json",
817
+ [
818
+ [
819
+ 0.90297,
820
+ -0.00125,
821
+ 0.4297,
822
+ 0.52552
823
+ ],
824
+ [
825
+ -0.00211,
826
+ 0.99997,
827
+ 0.00734,
828
+ 1.2921
829
+ ],
830
+ [
831
+ -0.4297,
832
+ -0.00753,
833
+ 0.90294,
834
+ 4.31577
835
+ ],
836
+ [
837
+ 0.0,
838
+ 0.0,
839
+ 0.0,
840
+ 1.0
841
+ ]
842
+ ]
843
+ ],
844
+ [
845
+ "024_bowl.object_config.json",
846
+ [
847
+ [
848
+ 0.27961,
849
+ 0.0008,
850
+ 0.96011,
851
+ 0.53519
852
+ ],
853
+ [
854
+ -0.00652,
855
+ 0.99998,
856
+ 0.00106,
857
+ 1.27913
858
+ ],
859
+ [
860
+ -0.96009,
861
+ -0.00655,
862
+ 0.2796,
863
+ 4.58673
864
+ ],
865
+ [
866
+ 0.0,
867
+ 0.0,
868
+ 0.0,
869
+ 1.0
870
+ ]
871
+ ]
872
+ ],
873
+ [
874
+ "002_master_chef_can.object_config.json",
875
+ [
876
+ [
877
+ -0.31078,
878
+ -2e-05,
879
+ -0.95048,
880
+ 0.38901
881
+ ],
882
+ [
883
+ -2e-05,
884
+ 1.0,
885
+ -2e-05,
886
+ 0.9303
887
+ ],
888
+ [
889
+ 0.95048,
890
+ 1e-05,
891
+ -0.31078,
892
+ 7.48968
893
+ ],
894
+ [
895
+ 0.0,
896
+ 0.0,
897
+ 0.0,
898
+ 1.0
899
+ ]
900
+ ]
901
+ ]
902
+ ],
903
+ "targets": {
904
+ "010_potted_meat_can_:0002": [
905
+ [
906
+ -0.96343,
907
+ 0.0,
908
+ -0.26797,
909
+ 0.41632
910
+ ],
911
+ [
912
+ 0.0,
913
+ 1.0,
914
+ 0.0,
915
+ 0.90087
916
+ ],
917
+ [
918
+ 0.26797,
919
+ 0.0,
920
+ -0.96343,
921
+ 7.11202
922
+ ],
923
+ [
924
+ 0.0,
925
+ 0.0,
926
+ 0.0,
927
+ 1.0
928
+ ]
929
+ ],
930
+ "024_bowl_:0005": [
931
+ [
932
+ 0.3295,
933
+ 0.0,
934
+ -0.94415,
935
+ 0.82413
936
+ ],
937
+ [
938
+ 0.0,
939
+ 1.0,
940
+ 0.0,
941
+ 0.8866
942
+ ],
943
+ [
944
+ 0.94415,
945
+ 0.0,
946
+ 0.3295,
947
+ 7.5119
948
+ ],
949
+ [
950
+ 0.0,
951
+ 0.0,
952
+ 0.0,
953
+ 1.0
954
+ ]
955
+ ],
956
+ "002_master_chef_can_:0002": [
957
+ [
958
+ -0.58232,
959
+ 0.0,
960
+ 0.81296,
961
+ 0.43394
962
+ ],
963
+ [
964
+ 0.0,
965
+ 1.0,
966
+ 0.0,
967
+ 1.32024
968
+ ],
969
+ [
970
+ -0.81296,
971
+ 0.0,
972
+ -0.58232,
973
+ 4.42889
974
+ ],
975
+ [
976
+ 0.0,
977
+ 0.0,
978
+ 0.0,
979
+ 1.0
980
+ ]
981
+ ]
982
+ },
983
+ "markers": [
984
+ {
985
+ "name": "cab_push_point_7",
986
+ "type": "articulated_object",
987
+ "params": {
988
+ "offset": [
989
+ 0.3,
990
+ 0.0,
991
+ 0
992
+ ],
993
+ "link": "drawer1_top",
994
+ "object": "kitchen_counter_:0000"
995
+ }
996
+ },
997
+ {
998
+ "name": "cab_push_point_6",
999
+ "type": "articulated_object",
1000
+ "params": {
1001
+ "offset": [
1002
+ 0.3,
1003
+ 0.0,
1004
+ 0
1005
+ ],
1006
+ "link": "drawer2_top",
1007
+ "object": "kitchen_counter_:0000"
1008
+ }
1009
+ },
1010
+ {
1011
+ "name": "cab_push_point_5",
1012
+ "type": "articulated_object",
1013
+ "params": {
1014
+ "offset": [
1015
+ 0.3,
1016
+ 0.0,
1017
+ 0
1018
+ ],
1019
+ "link": "drawer3",
1020
+ "object": "kitchen_counter_:0000"
1021
+ }
1022
+ },
1023
+ {
1024
+ "name": "cab_push_point_4",
1025
+ "type": "articulated_object",
1026
+ "params": {
1027
+ "offset": [
1028
+ 0.3,
1029
+ 0.0,
1030
+ 0
1031
+ ],
1032
+ "link": "drawer4",
1033
+ "object": "kitchen_counter_:0000"
1034
+ }
1035
+ },
1036
+ {
1037
+ "name": "fridge_push_point",
1038
+ "type": "articulated_object",
1039
+ "params": {
1040
+ "offset": [
1041
+ 0.1,
1042
+ -0.62,
1043
+ 0.2
1044
+ ],
1045
+ "link": "top_door",
1046
+ "object": "fridge_:0000"
1047
+ }
1048
+ }
1049
+ ],
1050
+ "target_receptacles": [
1051
+ [
1052
+ "fridge_:0000",
1053
+ 0
1054
+ ],
1055
+ [
1056
+ "fridge_:0000",
1057
+ 0
1058
+ ],
1059
+ [
1060
+ "kitchen_counter_:0000",
1061
+ 0
1062
+ ]
1063
+ ],
1064
+ "goal_receptacles": [
1065
+ [
1066
+ "kitchen_counter_:0000",
1067
+ 0
1068
+ ],
1069
+ [
1070
+ "kitchen_counter_:0000",
1071
+ 0
1072
+ ],
1073
+ [
1074
+ "fridge_:0000",
1075
+ 0
1076
+ ]
1077
+ ]
1078
+ }
rearrange/v1_extracted/train/prepare_groceries/episode_1015.json ADDED
@@ -0,0 +1,1078 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_id": "1015",
3
+ "scene_id": "data/replica_cad/configs/scenes/v3_sc1_staging_03.scene_instance.json",
4
+ "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
5
+ "additional_obj_config_paths": [
6
+ "data/objects/ycb/"
7
+ ],
8
+ "start_position": [
9
+ 0,
10
+ 0,
11
+ 0
12
+ ],
13
+ "start_rotation": [
14
+ 0,
15
+ 0,
16
+ 0,
17
+ 1
18
+ ],
19
+ "info": {
20
+ "object_labels": {
21
+ "002_master_chef_can_:0000": "obj0_target|0",
22
+ "003_cracker_box_:0007": "obj1_target|1",
23
+ "024_bowl_:0003": "obj2_target|2"
24
+ }
25
+ },
26
+ "ao_states": {
27
+ "fridge_:0000": {
28
+ "2": 1.5
29
+ }
30
+ },
31
+ "rigid_objs": [
32
+ [
33
+ "024_bowl.object_config.json",
34
+ [
35
+ [
36
+ -0.9996,
37
+ -0.00143,
38
+ -0.02833,
39
+ 2.62553
40
+ ],
41
+ [
42
+ -0.00138,
43
+ 1.0,
44
+ -0.00162,
45
+ 0.96164
46
+ ],
47
+ [
48
+ 0.02833,
49
+ -0.00159,
50
+ -0.9996,
51
+ 6.0826
52
+ ],
53
+ [
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 1.0
58
+ ]
59
+ ]
60
+ ],
61
+ [
62
+ "024_bowl.object_config.json",
63
+ [
64
+ [
65
+ -0.8692,
66
+ -0.00027,
67
+ -0.49445,
68
+ -1.98435
69
+ ],
70
+ [
71
+ -0.00013,
72
+ 1.0,
73
+ -0.00032,
74
+ 0.88719
75
+ ],
76
+ [
77
+ 0.49445,
78
+ -0.00022,
79
+ -0.8692,
80
+ 1.76971
81
+ ],
82
+ [
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ 1.0
87
+ ]
88
+ ]
89
+ ],
90
+ [
91
+ "003_cracker_box.object_config.json",
92
+ [
93
+ [
94
+ -0.18064,
95
+ -0.01547,
96
+ -0.98343,
97
+ 3.88739
98
+ ],
99
+ [
100
+ -0.04583,
101
+ 0.99892,
102
+ -0.0073,
103
+ 0.52138
104
+ ],
105
+ [
106
+ 0.98248,
107
+ 0.04375,
108
+ -0.18115,
109
+ 6.77167
110
+ ],
111
+ [
112
+ 0.0,
113
+ 0.0,
114
+ 0.0,
115
+ 1.0
116
+ ]
117
+ ]
118
+ ],
119
+ [
120
+ "003_cracker_box.object_config.json",
121
+ [
122
+ [
123
+ 0.97125,
124
+ 0.07469,
125
+ 0.22604,
126
+ -2.28117
127
+ ],
128
+ [
129
+ -0.07798,
130
+ 0.99694,
131
+ 0.00566,
132
+ 1.35732
133
+ ],
134
+ [
135
+ -0.22493,
136
+ -0.02312,
137
+ 0.9741,
138
+ -1.11016
139
+ ],
140
+ [
141
+ 0.0,
142
+ 0.0,
143
+ 0.0,
144
+ 1.0
145
+ ]
146
+ ]
147
+ ],
148
+ [
149
+ "005_tomato_soup_can.object_config.json",
150
+ [
151
+ [
152
+ 0.58294,
153
+ 0.00154,
154
+ 0.81251,
155
+ 4.04602
156
+ ],
157
+ [
158
+ -0.00234,
159
+ 1.0,
160
+ -0.00022,
161
+ 0.46606
162
+ ],
163
+ [
164
+ -0.81251,
165
+ -0.00177,
166
+ 0.58294,
167
+ 5.5973
168
+ ],
169
+ [
170
+ 0.0,
171
+ 0.0,
172
+ 0.0,
173
+ 1.0
174
+ ]
175
+ ]
176
+ ],
177
+ [
178
+ "003_cracker_box.object_config.json",
179
+ [
180
+ [
181
+ 0.89414,
182
+ 0.03772,
183
+ -0.44619,
184
+ -2.04781
185
+ ],
186
+ [
187
+ -0.04323,
188
+ 0.99906,
189
+ -0.00218,
190
+ 1.35881
191
+ ],
192
+ [
193
+ 0.44569,
194
+ 0.02124,
195
+ 0.89493,
196
+ -0.81506
197
+ ],
198
+ [
199
+ 0.0,
200
+ 0.0,
201
+ 0.0,
202
+ 1.0
203
+ ]
204
+ ]
205
+ ],
206
+ [
207
+ "010_potted_meat_can.object_config.json",
208
+ [
209
+ [
210
+ -0.42079,
211
+ 0.00083,
212
+ -0.90716,
213
+ -2.41331
214
+ ],
215
+ [
216
+ 0.00043,
217
+ 1.0,
218
+ 0.00071,
219
+ 0.90168
220
+ ],
221
+ [
222
+ 0.90716,
223
+ -9e-05,
224
+ -0.42079,
225
+ 0.08322
226
+ ],
227
+ [
228
+ 0.0,
229
+ 0.0,
230
+ 0.0,
231
+ 1.0
232
+ ]
233
+ ]
234
+ ],
235
+ [
236
+ "008_pudding_box.object_config.json",
237
+ [
238
+ [
239
+ -0.88159,
240
+ -0.01593,
241
+ 0.47174,
242
+ -2.13983
243
+ ],
244
+ [
245
+ -0.00571,
246
+ 0.99972,
247
+ 0.02309,
248
+ 0.87927
249
+ ],
250
+ [
251
+ -0.47198,
252
+ 0.01766,
253
+ -0.88143,
254
+ 1.722
255
+ ],
256
+ [
257
+ 0.0,
258
+ 0.0,
259
+ 0.0,
260
+ 1.0
261
+ ]
262
+ ]
263
+ ],
264
+ [
265
+ "009_gelatin_box.object_config.json",
266
+ [
267
+ [
268
+ 0.42031,
269
+ 0.00013,
270
+ -0.90738,
271
+ 0.1323
272
+ ],
273
+ [
274
+ -0.00018,
275
+ 1.0,
276
+ 6e-05,
277
+ 0.41926
278
+ ],
279
+ [
280
+ 0.90738,
281
+ 0.00013,
282
+ 0.42031,
283
+ 0.17871
284
+ ],
285
+ [
286
+ 0.0,
287
+ 0.0,
288
+ 0.0,
289
+ 1.0
290
+ ]
291
+ ]
292
+ ],
293
+ [
294
+ "003_cracker_box.object_config.json",
295
+ [
296
+ [
297
+ -0.51562,
298
+ -0.01715,
299
+ 0.85665,
300
+ -2.03912
301
+ ],
302
+ [
303
+ -0.04558,
304
+ 0.99893,
305
+ -0.00744,
306
+ 0.96628
307
+ ],
308
+ [
309
+ -0.85561,
310
+ -0.04288,
311
+ -0.51585,
312
+ 2.36094
313
+ ],
314
+ [
315
+ 0.0,
316
+ 0.0,
317
+ 0.0,
318
+ 1.0
319
+ ]
320
+ ]
321
+ ],
322
+ [
323
+ "003_cracker_box.object_config.json",
324
+ [
325
+ [
326
+ 0.06675,
327
+ 0.00998,
328
+ 0.99772,
329
+ -2.18409
330
+ ],
331
+ [
332
+ -0.04422,
333
+ 0.999,
334
+ -0.00703,
335
+ 0.81376
336
+ ],
337
+ [
338
+ -0.99679,
339
+ -0.04365,
340
+ 0.06713,
341
+ 1.30721
342
+ ],
343
+ [
344
+ 0.0,
345
+ 0.0,
346
+ 0.0,
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ [
352
+ "007_tuna_fish_can.object_config.json",
353
+ [
354
+ [
355
+ 0.40527,
356
+ 0.00261,
357
+ 0.91419,
358
+ 3.87329
359
+ ],
360
+ [
361
+ -0.00284,
362
+ 0.99999,
363
+ -0.0016,
364
+ 0.43185
365
+ ],
366
+ [
367
+ -0.91419,
368
+ -0.00195,
369
+ 0.40527,
370
+ 5.51933
371
+ ],
372
+ [
373
+ 0.0,
374
+ 0.0,
375
+ 0.0,
376
+ 1.0
377
+ ]
378
+ ]
379
+ ],
380
+ [
381
+ "004_sugar_box.object_config.json",
382
+ [
383
+ [
384
+ 0.74632,
385
+ -0.01278,
386
+ -0.66546,
387
+ 0.32834
388
+ ],
389
+ [
390
+ 0.03883,
391
+ 0.99895,
392
+ 0.02437,
393
+ 0.71464
394
+ ],
395
+ [
396
+ 0.66445,
397
+ -0.04403,
398
+ 0.74604,
399
+ 7.07224
400
+ ],
401
+ [
402
+ 0.0,
403
+ 0.0,
404
+ 0.0,
405
+ 1.0
406
+ ]
407
+ ]
408
+ ],
409
+ [
410
+ "008_pudding_box.object_config.json",
411
+ [
412
+ [
413
+ -0.70741,
414
+ -0.01853,
415
+ 0.70656,
416
+ 3.97199
417
+ ],
418
+ [
419
+ -0.00531,
420
+ 0.99977,
421
+ 0.02091,
422
+ 0.4345
423
+ ],
424
+ [
425
+ -0.70678,
426
+ 0.01104,
427
+ -0.70735,
428
+ 5.74283
429
+ ],
430
+ [
431
+ 0.0,
432
+ 0.0,
433
+ 0.0,
434
+ 1.0
435
+ ]
436
+ ]
437
+ ],
438
+ [
439
+ "010_potted_meat_can.object_config.json",
440
+ [
441
+ [
442
+ 0.98592,
443
+ 0.00013,
444
+ 0.16721,
445
+ -2.10544
446
+ ],
447
+ [
448
+ -7e-05,
449
+ 1.0,
450
+ -0.00036,
451
+ 0.90168
452
+ ],
453
+ [
454
+ -0.16721,
455
+ 0.00034,
456
+ 0.98592,
457
+ 0.06226
458
+ ],
459
+ [
460
+ 0.0,
461
+ 0.0,
462
+ 0.0,
463
+ 1.0
464
+ ]
465
+ ]
466
+ ],
467
+ [
468
+ "008_pudding_box.object_config.json",
469
+ [
470
+ [
471
+ 0.30179,
472
+ 0.02418,
473
+ -0.95307,
474
+ 0.4831
475
+ ],
476
+ [
477
+ -0.0059,
478
+ 0.99971,
479
+ 0.0235,
480
+ 0.42377
481
+ ],
482
+ [
483
+ 0.95336,
484
+ -0.00146,
485
+ 0.30184,
486
+ 0.23452
487
+ ],
488
+ [
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 1.0
493
+ ]
494
+ ]
495
+ ],
496
+ [
497
+ "010_potted_meat_can.object_config.json",
498
+ [
499
+ [
500
+ 0.87273,
501
+ -0.00015,
502
+ -0.48821,
503
+ -2.14981
504
+ ],
505
+ [
506
+ -0.00029,
507
+ 1.0,
508
+ -0.00082,
509
+ 0.74913
510
+ ],
511
+ [
512
+ 0.48821,
513
+ 0.00085,
514
+ 0.87273,
515
+ 1.15142
516
+ ],
517
+ [
518
+ 0.0,
519
+ 0.0,
520
+ 0.0,
521
+ 1.0
522
+ ]
523
+ ]
524
+ ],
525
+ [
526
+ "003_cracker_box.object_config.json",
527
+ [
528
+ [
529
+ 0.89819,
530
+ 0.03905,
531
+ -0.43787,
532
+ 3.84138
533
+ ],
534
+ [
535
+ -0.04696,
536
+ 0.99887,
537
+ -0.00725,
538
+ 0.52167
539
+ ],
540
+ [
541
+ 0.43709,
542
+ 0.02707,
543
+ 0.89901,
544
+ 5.65271
545
+ ],
546
+ [
547
+ 0.0,
548
+ 0.0,
549
+ 0.0,
550
+ 1.0
551
+ ]
552
+ ]
553
+ ],
554
+ [
555
+ "024_bowl.object_config.json",
556
+ [
557
+ [
558
+ -0.02908,
559
+ -0.0002,
560
+ 0.99958,
561
+ 0.61813
562
+ ],
563
+ [
564
+ 0.0002,
565
+ 1.0,
566
+ 0.00021,
567
+ 0.43169
568
+ ],
569
+ [
570
+ -0.99958,
571
+ 0.00021,
572
+ -0.02908,
573
+ 0.35116
574
+ ],
575
+ [
576
+ 0.0,
577
+ 0.0,
578
+ 0.0,
579
+ 1.0
580
+ ]
581
+ ]
582
+ ],
583
+ [
584
+ "003_cracker_box.object_config.json",
585
+ [
586
+ [
587
+ 0.62498,
588
+ 0.10411,
589
+ -0.77367,
590
+ 0.08486
591
+ ],
592
+ [
593
+ -0.14532,
594
+ 0.98926,
595
+ 0.01573,
596
+ 0.51122
597
+ ],
598
+ [
599
+ 0.767,
600
+ 0.1026,
601
+ 0.6334,
602
+ 0.13598
603
+ ],
604
+ [
605
+ 0.0,
606
+ 0.0,
607
+ 0.0,
608
+ 1.0
609
+ ]
610
+ ]
611
+ ],
612
+ [
613
+ "004_sugar_box.object_config.json",
614
+ [
615
+ [
616
+ 0.42928,
617
+ 0.00545,
618
+ -0.90315,
619
+ 2.1876
620
+ ],
621
+ [
622
+ 0.04255,
623
+ 0.99875,
624
+ 0.02625,
625
+ 1.02229
626
+ ],
627
+ [
628
+ 0.90217,
629
+ -0.0497,
630
+ 0.42851,
631
+ 5.49324
632
+ ],
633
+ [
634
+ 0.0,
635
+ 0.0,
636
+ 0.0,
637
+ 1.0
638
+ ]
639
+ ]
640
+ ],
641
+ [
642
+ "009_gelatin_box.object_config.json",
643
+ [
644
+ [
645
+ 0.4922,
646
+ -4e-05,
647
+ 0.87048,
648
+ -2.47114
649
+ ],
650
+ [
651
+ 0.0001,
652
+ 1.0,
653
+ -1e-05,
654
+ 0.87476
655
+ ],
656
+ [
657
+ -0.87048,
658
+ 9e-05,
659
+ 0.4922,
660
+ -0.00269
661
+ ],
662
+ [
663
+ 0.0,
664
+ 0.0,
665
+ 0.0,
666
+ 1.0
667
+ ]
668
+ ]
669
+ ],
670
+ [
671
+ "004_sugar_box.object_config.json",
672
+ [
673
+ [
674
+ -0.97488,
675
+ 0.03326,
676
+ 0.22025,
677
+ -2.02375
678
+ ],
679
+ [
680
+ 0.03827,
681
+ 0.9991,
682
+ 0.01853,
683
+ 1.33743
684
+ ],
685
+ [
686
+ -0.21944,
687
+ 0.02649,
688
+ -0.97527,
689
+ -1.29908
690
+ ],
691
+ [
692
+ 0.0,
693
+ 0.0,
694
+ 0.0,
695
+ 1.0
696
+ ]
697
+ ]
698
+ ],
699
+ [
700
+ "005_tomato_soup_can.object_config.json",
701
+ [
702
+ [
703
+ -0.99489,
704
+ -0.00021,
705
+ -0.10093,
706
+ -2.07378
707
+ ],
708
+ [
709
+ -0.00021,
710
+ 1.0,
711
+ -7e-05,
712
+ 0.7583
713
+ ],
714
+ [
715
+ 0.10093,
716
+ -5e-05,
717
+ -0.99489,
718
+ 1.03255
719
+ ],
720
+ [
721
+ 0.0,
722
+ 0.0,
723
+ 0.0,
724
+ 1.0
725
+ ]
726
+ ]
727
+ ],
728
+ [
729
+ "008_pudding_box.object_config.json",
730
+ [
731
+ [
732
+ 0.17479,
733
+ -0.02214,
734
+ 0.98436,
735
+ 2.58762
736
+ ],
737
+ [
738
+ -0.00592,
739
+ 0.99971,
740
+ 0.02353,
741
+ 0.95374
742
+ ],
743
+ [
744
+ -0.98459,
745
+ -0.00994,
746
+ 0.17461,
747
+ 5.85545
748
+ ],
749
+ [
750
+ 0.0,
751
+ 0.0,
752
+ 0.0,
753
+ 1.0
754
+ ]
755
+ ]
756
+ ],
757
+ [
758
+ "009_gelatin_box.object_config.json",
759
+ [
760
+ [
761
+ 0.33772,
762
+ -1e-05,
763
+ 0.94125,
764
+ 0.5592
765
+ ],
766
+ [
767
+ 1e-05,
768
+ 1.0,
769
+ 1e-05,
770
+ 0.64169
771
+ ],
772
+ [
773
+ -0.94125,
774
+ 1e-05,
775
+ 0.33772,
776
+ 6.49078
777
+ ],
778
+ [
779
+ 0.0,
780
+ 0.0,
781
+ 0.0,
782
+ 1.0
783
+ ]
784
+ ]
785
+ ],
786
+ [
787
+ "010_potted_meat_can.object_config.json",
788
+ [
789
+ [
790
+ 0.16974,
791
+ -0.00423,
792
+ -0.98548,
793
+ 2.33411
794
+ ],
795
+ [
796
+ -0.00254,
797
+ 0.99999,
798
+ -0.00473,
799
+ 0.97619
800
+ ],
801
+ [
802
+ 0.98549,
803
+ 0.00331,
804
+ 0.16973,
805
+ 6.71095
806
+ ],
807
+ [
808
+ 0.0,
809
+ 0.0,
810
+ 0.0,
811
+ 1.0
812
+ ]
813
+ ]
814
+ ],
815
+ [
816
+ "002_master_chef_can.object_config.json",
817
+ [
818
+ [
819
+ 0.85998,
820
+ -0.00073,
821
+ -0.51033,
822
+ -2.26214
823
+ ],
824
+ [
825
+ 0.00339,
826
+ 0.99999,
827
+ 0.00428,
828
+ 1.32198
829
+ ],
830
+ [
831
+ 0.51032,
832
+ -0.00541,
833
+ 0.85997,
834
+ -0.9638
835
+ ],
836
+ [
837
+ 0.0,
838
+ 0.0,
839
+ 0.0,
840
+ 1.0
841
+ ]
842
+ ]
843
+ ],
844
+ [
845
+ "003_cracker_box.object_config.json",
846
+ [
847
+ [
848
+ 0.79517,
849
+ 0.03212,
850
+ -0.60553,
851
+ -2.11583
852
+ ],
853
+ [
854
+ -0.04238,
855
+ 0.9991,
856
+ -0.00267,
857
+ 1.35833
858
+ ],
859
+ [
860
+ 0.6049,
861
+ 0.02778,
862
+ 0.79581,
863
+ -0.89784
864
+ ],
865
+ [
866
+ 0.0,
867
+ 0.0,
868
+ 0.0,
869
+ 1.0
870
+ ]
871
+ ]
872
+ ],
873
+ [
874
+ "024_bowl.object_config.json",
875
+ [
876
+ [
877
+ 0.09186,
878
+ 4e-05,
879
+ -0.99577,
880
+ -2.44056
881
+ ],
882
+ [
883
+ 2e-05,
884
+ 1.0,
885
+ 4e-05,
886
+ 0.88719
887
+ ],
888
+ [
889
+ 0.99577,
890
+ -3e-05,
891
+ 0.09186,
892
+ 0.71608
893
+ ],
894
+ [
895
+ 0.0,
896
+ 0.0,
897
+ 0.0,
898
+ 1.0
899
+ ]
900
+ ]
901
+ ]
902
+ ],
903
+ "targets": {
904
+ "002_master_chef_can_:0000": [
905
+ [
906
+ 0.68656,
907
+ 0.0,
908
+ 0.72707,
909
+ -1.90965
910
+ ],
911
+ [
912
+ 0.0,
913
+ 1.0,
914
+ 0.0,
915
+ 0.92919
916
+ ],
917
+ [
918
+ -0.72707,
919
+ 0.0,
920
+ 0.68656,
921
+ 0.3624
922
+ ],
923
+ [
924
+ 0.0,
925
+ 0.0,
926
+ 0.0,
927
+ 1.0
928
+ ]
929
+ ],
930
+ "003_cracker_box_:0007": [
931
+ [
932
+ 0.46083,
933
+ 0.0,
934
+ 0.88749,
935
+ -2.37715
936
+ ],
937
+ [
938
+ 0.0,
939
+ 1.0,
940
+ 0.0,
941
+ 0.96582
942
+ ],
943
+ [
944
+ -0.88749,
945
+ 0.0,
946
+ 0.46083,
947
+ 0.31665
948
+ ],
949
+ [
950
+ 0.0,
951
+ 0.0,
952
+ 0.0,
953
+ 1.0
954
+ ]
955
+ ],
956
+ "024_bowl_:0003": [
957
+ [
958
+ 0.04047,
959
+ 0.0,
960
+ -0.99918,
961
+ -2.09486
962
+ ],
963
+ [
964
+ 0.0,
965
+ 1.0,
966
+ 0.0,
967
+ 1.27752
968
+ ],
969
+ [
970
+ 0.99918,
971
+ 0.0,
972
+ 0.04047,
973
+ -1.09419
974
+ ],
975
+ [
976
+ 0.0,
977
+ 0.0,
978
+ 0.0,
979
+ 1.0
980
+ ]
981
+ ]
982
+ },
983
+ "markers": [
984
+ {
985
+ "name": "cab_push_point_7",
986
+ "type": "articulated_object",
987
+ "params": {
988
+ "offset": [
989
+ 0.3,
990
+ 0.0,
991
+ 0
992
+ ],
993
+ "link": "drawer1_top",
994
+ "object": "kitchen_counter_:0000"
995
+ }
996
+ },
997
+ {
998
+ "name": "cab_push_point_6",
999
+ "type": "articulated_object",
1000
+ "params": {
1001
+ "offset": [
1002
+ 0.3,
1003
+ 0.0,
1004
+ 0
1005
+ ],
1006
+ "link": "drawer2_top",
1007
+ "object": "kitchen_counter_:0000"
1008
+ }
1009
+ },
1010
+ {
1011
+ "name": "cab_push_point_5",
1012
+ "type": "articulated_object",
1013
+ "params": {
1014
+ "offset": [
1015
+ 0.3,
1016
+ 0.0,
1017
+ 0
1018
+ ],
1019
+ "link": "drawer3",
1020
+ "object": "kitchen_counter_:0000"
1021
+ }
1022
+ },
1023
+ {
1024
+ "name": "cab_push_point_4",
1025
+ "type": "articulated_object",
1026
+ "params": {
1027
+ "offset": [
1028
+ 0.3,
1029
+ 0.0,
1030
+ 0
1031
+ ],
1032
+ "link": "drawer4",
1033
+ "object": "kitchen_counter_:0000"
1034
+ }
1035
+ },
1036
+ {
1037
+ "name": "fridge_push_point",
1038
+ "type": "articulated_object",
1039
+ "params": {
1040
+ "offset": [
1041
+ 0.1,
1042
+ -0.62,
1043
+ 0.2
1044
+ ],
1045
+ "link": "top_door",
1046
+ "object": "fridge_:0000"
1047
+ }
1048
+ }
1049
+ ],
1050
+ "target_receptacles": [
1051
+ [
1052
+ "fridge_:0000",
1053
+ 0
1054
+ ],
1055
+ [
1056
+ "fridge_:0000",
1057
+ 0
1058
+ ],
1059
+ [
1060
+ "kitchen_counter_:0000",
1061
+ 0
1062
+ ]
1063
+ ],
1064
+ "goal_receptacles": [
1065
+ [
1066
+ "kitchen_counter_:0000",
1067
+ 0
1068
+ ],
1069
+ [
1070
+ "kitchen_counter_:0000",
1071
+ 0
1072
+ ],
1073
+ [
1074
+ "fridge_:0000",
1075
+ 0
1076
+ ]
1077
+ ]
1078
+ }
rearrange/v1_extracted/train/prepare_groceries/episode_1016.json ADDED
@@ -0,0 +1,1078 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_id": "1016",
3
+ "scene_id": "data/replica_cad/configs/scenes/v3_sc1_staging_03.scene_instance.json",
4
+ "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
5
+ "additional_obj_config_paths": [
6
+ "data/objects/ycb/"
7
+ ],
8
+ "start_position": [
9
+ 0,
10
+ 0,
11
+ 0
12
+ ],
13
+ "start_rotation": [
14
+ 0,
15
+ 0,
16
+ 0,
17
+ 1
18
+ ],
19
+ "info": {
20
+ "object_labels": {
21
+ "010_potted_meat_can_:0002": "obj0_target|0",
22
+ "004_sugar_box_:0005": "obj1_target|1",
23
+ "003_cracker_box_:0004": "obj2_target|2"
24
+ }
25
+ },
26
+ "ao_states": {
27
+ "fridge_:0000": {
28
+ "2": 1.5
29
+ }
30
+ },
31
+ "rigid_objs": [
32
+ [
33
+ "003_cracker_box.object_config.json",
34
+ [
35
+ [
36
+ -0.99652,
37
+ -0.04517,
38
+ 0.07009,
39
+ -2.45347
40
+ ],
41
+ [
42
+ -0.0458,
43
+ 0.99892,
44
+ -0.00735,
45
+ 0.96627
46
+ ],
47
+ [
48
+ -0.06968,
49
+ -0.01054,
50
+ -0.99751,
51
+ 2.14742
52
+ ],
53
+ [
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 1.0
58
+ ]
59
+ ]
60
+ ],
61
+ [
62
+ "005_tomato_soup_can.object_config.json",
63
+ [
64
+ [
65
+ -0.65174,
66
+ -0.00497,
67
+ -0.75842,
68
+ 2.07883
69
+ ],
70
+ [
71
+ -0.00734,
72
+ 0.99997,
73
+ -0.00025,
74
+ 0.98535
75
+ ],
76
+ [
77
+ 0.75841,
78
+ 0.00541,
79
+ -0.65176,
80
+ 5.94523
81
+ ],
82
+ [
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ 1.0
87
+ ]
88
+ ]
89
+ ],
90
+ [
91
+ "009_gelatin_box.object_config.json",
92
+ [
93
+ [
94
+ 0.16102,
95
+ -0.0,
96
+ -0.98695,
97
+ 4.01245
98
+ ],
99
+ [
100
+ 1e-05,
101
+ 1.0,
102
+ -0.0,
103
+ 0.42987
104
+ ],
105
+ [
106
+ 0.98695,
107
+ -1e-05,
108
+ 0.16102,
109
+ 6.62312
110
+ ],
111
+ [
112
+ 0.0,
113
+ 0.0,
114
+ 0.0,
115
+ 1.0
116
+ ]
117
+ ]
118
+ ],
119
+ [
120
+ "002_master_chef_can.object_config.json",
121
+ [
122
+ [
123
+ 0.85726,
124
+ -2e-05,
125
+ 0.51489,
126
+ 4.02207
127
+ ],
128
+ [
129
+ 0.0,
130
+ 1.0,
131
+ 3e-05,
132
+ 0.48552
133
+ ],
134
+ [
135
+ -0.51489,
136
+ -2e-05,
137
+ 0.85726,
138
+ 5.6566
139
+ ],
140
+ [
141
+ 0.0,
142
+ 0.0,
143
+ 0.0,
144
+ 1.0
145
+ ]
146
+ ]
147
+ ],
148
+ [
149
+ "009_gelatin_box.object_config.json",
150
+ [
151
+ [
152
+ -0.9672,
153
+ -0.01817,
154
+ -0.25335,
155
+ 4.15204
156
+ ],
157
+ [
158
+ -0.02544,
159
+ 0.99935,
160
+ 0.02545,
161
+ 0.43054
162
+ ],
163
+ [
164
+ 0.25273,
165
+ 0.03106,
166
+ -0.96704,
167
+ 5.48217
168
+ ],
169
+ [
170
+ 0.0,
171
+ 0.0,
172
+ 0.0,
173
+ 1.0
174
+ ]
175
+ ]
176
+ ],
177
+ [
178
+ "003_cracker_box.object_config.json",
179
+ [
180
+ [
181
+ 0.36378,
182
+ 0.01069,
183
+ -0.93142,
184
+ 2.44982
185
+ ],
186
+ [
187
+ -0.04669,
188
+ 0.99889,
189
+ -0.00677,
190
+ 1.04088
191
+ ],
192
+ [
193
+ 0.93031,
194
+ 0.04595,
195
+ 0.36388,
196
+ 6.18344
197
+ ],
198
+ [
199
+ 0.0,
200
+ 0.0,
201
+ 0.0,
202
+ 1.0
203
+ ]
204
+ ]
205
+ ],
206
+ [
207
+ "009_gelatin_box.object_config.json",
208
+ [
209
+ [
210
+ 0.16785,
211
+ -6e-05,
212
+ 0.98581,
213
+ 3.85316
214
+ ],
215
+ [
216
+ 0.0007,
217
+ 1.0,
218
+ -6e-05,
219
+ 0.42995
220
+ ],
221
+ [
222
+ -0.98581,
223
+ 0.0007,
224
+ 0.16785,
225
+ 5.72593
226
+ ],
227
+ [
228
+ 0.0,
229
+ 0.0,
230
+ 0.0,
231
+ 1.0
232
+ ]
233
+ ]
234
+ ],
235
+ [
236
+ "004_sugar_box.object_config.json",
237
+ [
238
+ [
239
+ -0.99764,
240
+ 0.03753,
241
+ 0.0575,
242
+ -2.33959
243
+ ],
244
+ [
245
+ 0.03898,
246
+ 0.99895,
247
+ 0.02422,
248
+ 0.9477
249
+ ],
250
+ [
251
+ -0.05653,
252
+ 0.0264,
253
+ -0.99805,
254
+ 0.60105
255
+ ],
256
+ [
257
+ 0.0,
258
+ 0.0,
259
+ 0.0,
260
+ 1.0
261
+ ]
262
+ ]
263
+ ],
264
+ [
265
+ "004_sugar_box.object_config.json",
266
+ [
267
+ [
268
+ 0.58238,
269
+ -0.04251,
270
+ 0.81181,
271
+ -2.14302
272
+ ],
273
+ [
274
+ 0.03438,
275
+ 0.99903,
276
+ 0.02765,
277
+ 1.33913
278
+ ],
279
+ [
280
+ -0.81219,
281
+ 0.01181,
282
+ 0.58327,
283
+ -1.00507
284
+ ],
285
+ [
286
+ 0.0,
287
+ 0.0,
288
+ 0.0,
289
+ 1.0
290
+ ]
291
+ ]
292
+ ],
293
+ [
294
+ "024_bowl.object_config.json",
295
+ [
296
+ [
297
+ 0.80809,
298
+ 0.00023,
299
+ -0.58906,
300
+ 3.78256
301
+ ],
302
+ [
303
+ -0.00032,
304
+ 1.0,
305
+ -5e-05,
306
+ 0.44241
307
+ ],
308
+ [
309
+ 0.58906,
310
+ 0.00023,
311
+ 0.80809,
312
+ 5.46858
313
+ ],
314
+ [
315
+ 0.0,
316
+ 0.0,
317
+ 0.0,
318
+ 1.0
319
+ ]
320
+ ]
321
+ ],
322
+ [
323
+ "008_pudding_box.object_config.json",
324
+ [
325
+ [
326
+ 0.93601,
327
+ -0.00233,
328
+ 0.35196,
329
+ 0.71577
330
+ ],
331
+ [
332
+ -0.00561,
333
+ 0.99975,
334
+ 0.02154,
335
+ 0.6463
336
+ ],
337
+ [
338
+ -0.35192,
339
+ -0.02214,
340
+ 0.93577,
341
+ 7.54441
342
+ ],
343
+ [
344
+ 0.0,
345
+ 0.0,
346
+ 0.0,
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ [
352
+ "004_sugar_box.object_config.json",
353
+ [
354
+ [
355
+ -0.9038,
356
+ 0.0257,
357
+ 0.42717,
358
+ -2.19459
359
+ ],
360
+ [
361
+ 0.03936,
362
+ 0.99896,
363
+ 0.02318,
364
+ 0.79512
365
+ ],
366
+ [
367
+ -0.42613,
368
+ 0.03777,
369
+ -0.90387,
370
+ 1.25909
371
+ ],
372
+ [
373
+ 0.0,
374
+ 0.0,
375
+ 0.0,
376
+ 1.0
377
+ ]
378
+ ]
379
+ ],
380
+ [
381
+ "010_potted_meat_can.object_config.json",
382
+ [
383
+ [
384
+ 0.38151,
385
+ 0.00725,
386
+ 0.92433,
387
+ -2.13313
388
+ ],
389
+ [
390
+ -0.00763,
391
+ 0.99996,
392
+ -0.0047,
393
+ 1.29226
394
+ ],
395
+ [
396
+ -0.92433,
397
+ -0.00526,
398
+ 0.38155,
399
+ -1.15107
400
+ ],
401
+ [
402
+ 0.0,
403
+ 0.0,
404
+ 0.0,
405
+ 1.0
406
+ ]
407
+ ]
408
+ ],
409
+ [
410
+ "024_bowl.object_config.json",
411
+ [
412
+ [
413
+ 0.9897,
414
+ -0.0002,
415
+ 0.14317,
416
+ 3.99347
417
+ ],
418
+ [
419
+ 0.0002,
420
+ 1.0,
421
+ -2e-05,
422
+ 0.44205
423
+ ],
424
+ [
425
+ -0.14317,
426
+ 5e-05,
427
+ 0.9897,
428
+ 6.77336
429
+ ],
430
+ [
431
+ 0.0,
432
+ 0.0,
433
+ 0.0,
434
+ 1.0
435
+ ]
436
+ ]
437
+ ],
438
+ [
439
+ "008_pudding_box.object_config.json",
440
+ [
441
+ [
442
+ 0.05959,
443
+ -0.02593,
444
+ 0.99789,
445
+ -2.32425
446
+ ],
447
+ [
448
+ -0.00462,
449
+ 0.99964,
450
+ 0.02625,
451
+ 0.78237
452
+ ],
453
+ [
454
+ -0.99821,
455
+ -0.00617,
456
+ 0.05945,
457
+ 3.06605
458
+ ],
459
+ [
460
+ 0.0,
461
+ 0.0,
462
+ 0.0,
463
+ 1.0
464
+ ]
465
+ ]
466
+ ],
467
+ [
468
+ "003_cracker_box.object_config.json",
469
+ [
470
+ [
471
+ 0.11078,
472
+ 0.03178,
473
+ -0.99334,
474
+ -1.88076
475
+ ],
476
+ [
477
+ -0.14824,
478
+ 0.98884,
479
+ 0.01511,
480
+ 0.96665
481
+ ],
482
+ [
483
+ 0.98273,
484
+ 0.14558,
485
+ 0.11425,
486
+ 0.88048
487
+ ],
488
+ [
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 1.0
493
+ ]
494
+ ]
495
+ ],
496
+ [
497
+ "003_cracker_box.object_config.json",
498
+ [
499
+ [
500
+ 0.56609,
501
+ 0.07786,
502
+ 0.82066,
503
+ 1.15546
504
+ ],
505
+ [
506
+ -0.16098,
507
+ 0.9868,
508
+ 0.01743,
509
+ 0.51118
510
+ ],
511
+ [
512
+ -0.80847,
513
+ -0.14198,
514
+ 0.57116,
515
+ 0.16348
516
+ ],
517
+ [
518
+ 0.0,
519
+ 0.0,
520
+ 0.0,
521
+ 1.0
522
+ ]
523
+ ]
524
+ ],
525
+ [
526
+ "008_pudding_box.object_config.json",
527
+ [
528
+ [
529
+ -0.41005,
530
+ 0.01928,
531
+ -0.91186,
532
+ -2.01495
533
+ ],
534
+ [
535
+ -6e-05,
536
+ 0.99978,
537
+ 0.02116,
538
+ 1.2719
539
+ ],
540
+ [
541
+ 0.91206,
542
+ 0.00874,
543
+ -0.40996,
544
+ -0.805
545
+ ],
546
+ [
547
+ 0.0,
548
+ 0.0,
549
+ 0.0,
550
+ 1.0
551
+ ]
552
+ ]
553
+ ],
554
+ [
555
+ "004_sugar_box.object_config.json",
556
+ [
557
+ [
558
+ -0.39544,
559
+ -0.00701,
560
+ 0.91847,
561
+ -1.66112
562
+ ],
563
+ [
564
+ 0.0398,
565
+ 0.9989,
566
+ 0.02476,
567
+ 0.85086
568
+ ],
569
+ [
570
+ -0.91763,
571
+ 0.04635,
572
+ -0.39473,
573
+ 3.0559
574
+ ],
575
+ [
576
+ 0.0,
577
+ 0.0,
578
+ 0.0,
579
+ 1.0
580
+ ]
581
+ ]
582
+ ],
583
+ [
584
+ "024_bowl.object_config.json",
585
+ [
586
+ [
587
+ 0.12095,
588
+ -0.00175,
589
+ -0.99266,
590
+ 4.22027
591
+ ],
592
+ [
593
+ -0.00111,
594
+ 1.0,
595
+ -0.0019,
596
+ 0.44226
597
+ ],
598
+ [
599
+ 0.99266,
600
+ 0.00134,
601
+ 0.12095,
602
+ 6.62745
603
+ ],
604
+ [
605
+ 0.0,
606
+ 0.0,
607
+ 0.0,
608
+ 1.0
609
+ ]
610
+ ]
611
+ ],
612
+ [
613
+ "008_pudding_box.object_config.json",
614
+ [
615
+ [
616
+ -0.99436,
617
+ -0.003,
618
+ -0.10603,
619
+ 1.25055
620
+ ],
621
+ [
622
+ -0.00524,
623
+ 0.99977,
624
+ 0.02082,
625
+ 0.42378
626
+ ],
627
+ [
628
+ 0.10594,
629
+ 0.02125,
630
+ -0.99415,
631
+ 0.11567
632
+ ],
633
+ [
634
+ 0.0,
635
+ 0.0,
636
+ 0.0,
637
+ 1.0
638
+ ]
639
+ ]
640
+ ],
641
+ [
642
+ "009_gelatin_box.object_config.json",
643
+ [
644
+ [
645
+ -0.60092,
646
+ 0.00076,
647
+ 0.79931,
648
+ -2.20431
649
+ ],
650
+ [
651
+ 0.00159,
652
+ 1.0,
653
+ 0.00024,
654
+ 0.87479
655
+ ],
656
+ [
657
+ -0.79931,
658
+ 0.00141,
659
+ -0.60092,
660
+ -0.02993
661
+ ],
662
+ [
663
+ 0.0,
664
+ 0.0,
665
+ 0.0,
666
+ 1.0
667
+ ]
668
+ ]
669
+ ],
670
+ [
671
+ "010_potted_meat_can.object_config.json",
672
+ [
673
+ [
674
+ -0.97071,
675
+ 0.00054,
676
+ -0.24026,
677
+ 0.03489
678
+ ],
679
+ [
680
+ 0.00029,
681
+ 1.0,
682
+ 0.0011,
683
+ 0.4462
684
+ ],
685
+ [
686
+ 0.24026,
687
+ 0.001,
688
+ -0.97071,
689
+ 0.37774
690
+ ],
691
+ [
692
+ 0.0,
693
+ 0.0,
694
+ 0.0,
695
+ 1.0
696
+ ]
697
+ ]
698
+ ],
699
+ [
700
+ "009_gelatin_box.object_config.json",
701
+ [
702
+ [
703
+ -0.7691,
704
+ -0.00035,
705
+ -0.63913,
706
+ 0.82637
707
+ ],
708
+ [
709
+ -0.0024,
710
+ 0.99999,
711
+ 0.00234,
712
+ 0.41931
713
+ ],
714
+ [
715
+ 0.63912,
716
+ 0.00334,
717
+ -0.7691,
718
+ 0.3016
719
+ ],
720
+ [
721
+ 0.0,
722
+ 0.0,
723
+ 0.0,
724
+ 1.0
725
+ ]
726
+ ]
727
+ ],
728
+ [
729
+ "004_sugar_box.object_config.json",
730
+ [
731
+ [
732
+ -0.76837,
733
+ 0.04172,
734
+ -0.63865,
735
+ -2.27922
736
+ ],
737
+ [
738
+ 0.03579,
739
+ 0.99911,
740
+ 0.02221,
741
+ 0.94773
742
+ ],
743
+ [
744
+ 0.63901,
745
+ -0.00579,
746
+ -0.76918,
747
+ 2.31022
748
+ ],
749
+ [
750
+ 0.0,
751
+ 0.0,
752
+ 0.0,
753
+ 1.0
754
+ ]
755
+ ]
756
+ ],
757
+ [
758
+ "002_master_chef_can.object_config.json",
759
+ [
760
+ [
761
+ -0.38009,
762
+ 6e-05,
763
+ -0.92495,
764
+ -1.91041
765
+ ],
766
+ [
767
+ 0.00537,
768
+ 0.99998,
769
+ -0.00214,
770
+ 0.76585
771
+ ],
772
+ [
773
+ 0.92493,
774
+ -0.00578,
775
+ -0.38009,
776
+ -1.09994
777
+ ],
778
+ [
779
+ 0.0,
780
+ 0.0,
781
+ 0.0,
782
+ 1.0
783
+ ]
784
+ ]
785
+ ],
786
+ [
787
+ "005_tomato_soup_can.object_config.json",
788
+ [
789
+ [
790
+ 0.69514,
791
+ 0.00422,
792
+ 0.71886,
793
+ -1.98223
794
+ ],
795
+ [
796
+ -0.0062,
797
+ 0.99998,
798
+ 0.00013,
799
+ 0.81386
800
+ ],
801
+ [
802
+ -0.71885,
803
+ -0.00455,
804
+ 0.69515,
805
+ 2.87963
806
+ ],
807
+ [
808
+ 0.0,
809
+ 0.0,
810
+ 0.0,
811
+ 1.0
812
+ ]
813
+ ]
814
+ ],
815
+ [
816
+ "010_potted_meat_can.object_config.json",
817
+ [
818
+ [
819
+ -0.96041,
820
+ -0.00052,
821
+ -0.2786,
822
+ -2.26415
823
+ ],
824
+ [
825
+ 0.00097,
826
+ 0.99999,
827
+ -0.00522,
828
+ 1.29357
829
+ ],
830
+ [
831
+ 0.2786,
832
+ -0.00529,
833
+ -0.96039,
834
+ -0.92096
835
+ ],
836
+ [
837
+ 0.0,
838
+ 0.0,
839
+ 0.0,
840
+ 1.0
841
+ ]
842
+ ]
843
+ ],
844
+ [
845
+ "004_sugar_box.object_config.json",
846
+ [
847
+ [
848
+ -0.46884,
849
+ -0.00257,
850
+ 0.88328,
851
+ -2.12921
852
+ ],
853
+ [
854
+ 0.03532,
855
+ 0.99914,
856
+ 0.02165,
857
+ 1.33971
858
+ ],
859
+ [
860
+ -0.88258,
861
+ 0.04135,
862
+ -0.46834,
863
+ -0.90861
864
+ ],
865
+ [
866
+ 0.0,
867
+ 0.0,
868
+ 0.0,
869
+ 1.0
870
+ ]
871
+ ]
872
+ ],
873
+ [
874
+ "003_cracker_box.object_config.json",
875
+ [
876
+ [
877
+ -0.9263,
878
+ -0.0452,
879
+ -0.37407,
880
+ -2.06982
881
+ ],
882
+ [
883
+ -0.04578,
884
+ 0.99892,
885
+ -0.00734,
886
+ 0.96627
887
+ ],
888
+ [
889
+ 0.374,
890
+ 0.01033,
891
+ -0.92737,
892
+ 0.84534
893
+ ],
894
+ [
895
+ 0.0,
896
+ 0.0,
897
+ 0.0,
898
+ 1.0
899
+ ]
900
+ ]
901
+ ]
902
+ ],
903
+ "targets": {
904
+ "010_potted_meat_can_:0002": [
905
+ [
906
+ 0.56185,
907
+ 0.0,
908
+ 0.82724,
909
+ -1.91553
910
+ ],
911
+ [
912
+ 0.0,
913
+ 1.0,
914
+ 0.0,
915
+ 0.90087
916
+ ],
917
+ [
918
+ -0.82724,
919
+ 0.0,
920
+ 0.56185,
921
+ 1.62717
922
+ ],
923
+ [
924
+ 0.0,
925
+ 0.0,
926
+ 0.0,
927
+ 1.0
928
+ ]
929
+ ],
930
+ "004_sugar_box_:0005": [
931
+ [
932
+ -0.62596,
933
+ 0.0,
934
+ -0.77986,
935
+ -1.97769
936
+ ],
937
+ [
938
+ 0.0,
939
+ 1.0,
940
+ 0.0,
941
+ 0.94711
942
+ ],
943
+ [
944
+ 0.77986,
945
+ 0.0,
946
+ -0.62596,
947
+ -0.41193
948
+ ],
949
+ [
950
+ 0.0,
951
+ 0.0,
952
+ 0.0,
953
+ 1.0
954
+ ]
955
+ ],
956
+ "003_cracker_box_:0004": [
957
+ [
958
+ 0.89528,
959
+ 0.0,
960
+ 0.4455,
961
+ -2.25379
962
+ ],
963
+ [
964
+ 0.0,
965
+ 1.0,
966
+ 0.0,
967
+ 1.35668
968
+ ],
969
+ [
970
+ -0.4455,
971
+ 0.0,
972
+ 0.89528,
973
+ -1.10396
974
+ ],
975
+ [
976
+ 0.0,
977
+ 0.0,
978
+ 0.0,
979
+ 1.0
980
+ ]
981
+ ]
982
+ },
983
+ "markers": [
984
+ {
985
+ "name": "cab_push_point_7",
986
+ "type": "articulated_object",
987
+ "params": {
988
+ "offset": [
989
+ 0.3,
990
+ 0.0,
991
+ 0
992
+ ],
993
+ "link": "drawer1_top",
994
+ "object": "kitchen_counter_:0000"
995
+ }
996
+ },
997
+ {
998
+ "name": "cab_push_point_6",
999
+ "type": "articulated_object",
1000
+ "params": {
1001
+ "offset": [
1002
+ 0.3,
1003
+ 0.0,
1004
+ 0
1005
+ ],
1006
+ "link": "drawer2_top",
1007
+ "object": "kitchen_counter_:0000"
1008
+ }
1009
+ },
1010
+ {
1011
+ "name": "cab_push_point_5",
1012
+ "type": "articulated_object",
1013
+ "params": {
1014
+ "offset": [
1015
+ 0.3,
1016
+ 0.0,
1017
+ 0
1018
+ ],
1019
+ "link": "drawer3",
1020
+ "object": "kitchen_counter_:0000"
1021
+ }
1022
+ },
1023
+ {
1024
+ "name": "cab_push_point_4",
1025
+ "type": "articulated_object",
1026
+ "params": {
1027
+ "offset": [
1028
+ 0.3,
1029
+ 0.0,
1030
+ 0
1031
+ ],
1032
+ "link": "drawer4",
1033
+ "object": "kitchen_counter_:0000"
1034
+ }
1035
+ },
1036
+ {
1037
+ "name": "fridge_push_point",
1038
+ "type": "articulated_object",
1039
+ "params": {
1040
+ "offset": [
1041
+ 0.1,
1042
+ -0.62,
1043
+ 0.2
1044
+ ],
1045
+ "link": "top_door",
1046
+ "object": "fridge_:0000"
1047
+ }
1048
+ }
1049
+ ],
1050
+ "target_receptacles": [
1051
+ [
1052
+ "fridge_:0000",
1053
+ 0
1054
+ ],
1055
+ [
1056
+ "fridge_:0000",
1057
+ 0
1058
+ ],
1059
+ [
1060
+ "kitchen_counter_:0000",
1061
+ 0
1062
+ ]
1063
+ ],
1064
+ "goal_receptacles": [
1065
+ [
1066
+ "kitchen_counter_:0000",
1067
+ 0
1068
+ ],
1069
+ [
1070
+ "kitchen_counter_:0000",
1071
+ 0
1072
+ ],
1073
+ [
1074
+ "fridge_:0000",
1075
+ 0
1076
+ ]
1077
+ ]
1078
+ }
rearrange/v1_extracted/train/prepare_groceries/episode_1017.json ADDED
@@ -0,0 +1,1078 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_id": "1017",
3
+ "scene_id": "data/replica_cad/configs/scenes/v3_sc1_staging_19.scene_instance.json",
4
+ "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
5
+ "additional_obj_config_paths": [
6
+ "data/objects/ycb/"
7
+ ],
8
+ "start_position": [
9
+ 0,
10
+ 0,
11
+ 0
12
+ ],
13
+ "start_rotation": [
14
+ 0,
15
+ 0,
16
+ 0,
17
+ 1
18
+ ],
19
+ "info": {
20
+ "object_labels": {
21
+ "007_tuna_fish_can_:0006": "obj0_target|0",
22
+ "009_gelatin_box_:0003": "obj1_target|1",
23
+ "009_gelatin_box_:0004": "obj2_target|2"
24
+ }
25
+ },
26
+ "ao_states": {
27
+ "fridge_:0000": {
28
+ "2": 1.5
29
+ }
30
+ },
31
+ "rigid_objs": [
32
+ [
33
+ "010_potted_meat_can.object_config.json",
34
+ [
35
+ [
36
+ 0.05016,
37
+ 0.00415,
38
+ -0.99873,
39
+ 2.8686
40
+ ],
41
+ [
42
+ 0.00161,
43
+ 0.99999,
44
+ 0.00424,
45
+ 0.45682
46
+ ],
47
+ [
48
+ 0.99874,
49
+ -0.00182,
50
+ 0.05015,
51
+ 0.70918
52
+ ],
53
+ [
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 1.0
58
+ ]
59
+ ]
60
+ ],
61
+ [
62
+ "003_cracker_box.object_config.json",
63
+ [
64
+ [
65
+ 0.1298,
66
+ -0.00139,
67
+ -0.99154,
68
+ -1.76889
69
+ ],
70
+ [
71
+ -0.04581,
72
+ 0.99892,
73
+ -0.0074,
74
+ 0.67488
75
+ ],
76
+ [
77
+ 0.99048,
78
+ 0.04638,
79
+ 0.1296,
80
+ 3.06199
81
+ ],
82
+ [
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ 1.0
87
+ ]
88
+ ]
89
+ ],
90
+ [
91
+ "008_pudding_box.object_config.json",
92
+ [
93
+ [
94
+ 0.70667,
95
+ 0.01809,
96
+ -0.70731,
97
+ -1.82451
98
+ ],
99
+ [
100
+ -0.00679,
101
+ 0.9998,
102
+ 0.01879,
103
+ 0.95384
104
+ ],
105
+ [
106
+ 0.70751,
107
+ -0.00847,
108
+ 0.70665,
109
+ 3.04751
110
+ ],
111
+ [
112
+ 0.0,
113
+ 0.0,
114
+ 0.0,
115
+ 1.0
116
+ ]
117
+ ]
118
+ ],
119
+ [
120
+ "007_tuna_fish_can.object_config.json",
121
+ [
122
+ [
123
+ 0.10235,
124
+ -0.0,
125
+ -0.99475,
126
+ 3.46667
127
+ ],
128
+ [
129
+ -0.0,
130
+ 1.0,
131
+ -0.0,
132
+ 0.42105
133
+ ],
134
+ [
135
+ 0.99475,
136
+ 0.0,
137
+ 0.10235,
138
+ 6.54467
139
+ ],
140
+ [
141
+ 0.0,
142
+ 0.0,
143
+ 0.0,
144
+ 1.0
145
+ ]
146
+ ]
147
+ ],
148
+ [
149
+ "008_pudding_box.object_config.json",
150
+ [
151
+ [
152
+ 0.52964,
153
+ -0.0166,
154
+ 0.84806,
155
+ -2.08576
156
+ ],
157
+ [
158
+ -0.00597,
159
+ 0.99971,
160
+ 0.0233,
161
+ 0.72673
162
+ ],
163
+ [
164
+ -0.8482,
165
+ -0.0174,
166
+ 0.52939,
167
+ 1.17753
168
+ ],
169
+ [
170
+ 0.0,
171
+ 0.0,
172
+ 0.0,
173
+ 1.0
174
+ ]
175
+ ]
176
+ ],
177
+ [
178
+ "007_tuna_fish_can.object_config.json",
179
+ [
180
+ [
181
+ -0.09672,
182
+ 0.0,
183
+ 0.99531,
184
+ -2.03173
185
+ ],
186
+ [
187
+ 0.0,
188
+ 1.0,
189
+ -0.0,
190
+ 0.87655
191
+ ],
192
+ [
193
+ -0.99531,
194
+ 0.0,
195
+ -0.09672,
196
+ -0.05994
197
+ ],
198
+ [
199
+ 0.0,
200
+ 0.0,
201
+ 0.0,
202
+ 1.0
203
+ ]
204
+ ]
205
+ ],
206
+ [
207
+ "004_sugar_box.object_config.json",
208
+ [
209
+ [
210
+ -0.80431,
211
+ 0.0472,
212
+ -0.59233,
213
+ -1.91022
214
+ ],
215
+ [
216
+ 0.04008,
217
+ 0.99888,
218
+ 0.02518,
219
+ 1.02233
220
+ ],
221
+ [
222
+ 0.59285,
223
+ -0.00349,
224
+ -0.8053,
225
+ 3.23473
226
+ ],
227
+ [
228
+ 0.0,
229
+ 0.0,
230
+ 0.0,
231
+ 1.0
232
+ ]
233
+ ]
234
+ ],
235
+ [
236
+ "009_gelatin_box.object_config.json",
237
+ [
238
+ [
239
+ 0.67447,
240
+ 0.0,
241
+ -0.73831,
242
+ 3.29025
243
+ ],
244
+ [
245
+ 0.0,
246
+ 1.0,
247
+ 0.0,
248
+ 0.41926
249
+ ],
250
+ [
251
+ 0.73831,
252
+ -0.0,
253
+ 0.67447,
254
+ 6.95849
255
+ ],
256
+ [
257
+ 0.0,
258
+ 0.0,
259
+ 0.0,
260
+ 1.0
261
+ ]
262
+ ]
263
+ ],
264
+ [
265
+ "005_tomato_soup_can.object_config.json",
266
+ [
267
+ [
268
+ 0.61936,
269
+ -0.00054,
270
+ -0.7851,
271
+ -2.44128
272
+ ],
273
+ [
274
+ 0.00513,
275
+ 0.99998,
276
+ 0.00336,
277
+ 0.15159
278
+ ],
279
+ [
280
+ 0.78509,
281
+ -0.00611,
282
+ 0.61936,
283
+ -1.0626
284
+ ],
285
+ [
286
+ 0.0,
287
+ 0.0,
288
+ 0.0,
289
+ 1.0
290
+ ]
291
+ ]
292
+ ],
293
+ [
294
+ "008_pudding_box.object_config.json",
295
+ [
296
+ [
297
+ -0.73941,
298
+ -0.02014,
299
+ 0.67295,
300
+ -2.42011
301
+ ],
302
+ [
303
+ -0.00589,
304
+ 0.99971,
305
+ 0.02345,
306
+ 0.87927
307
+ ],
308
+ [
309
+ -0.67322,
310
+ 0.01337,
311
+ -0.73932,
312
+ -0.49971
313
+ ],
314
+ [
315
+ 0.0,
316
+ 0.0,
317
+ 0.0,
318
+ 1.0
319
+ ]
320
+ ]
321
+ ],
322
+ [
323
+ "009_gelatin_box.object_config.json",
324
+ [
325
+ [
326
+ -0.71818,
327
+ -6e-05,
328
+ 0.69585,
329
+ 3.19795
330
+ ],
331
+ [
332
+ -3e-05,
333
+ 1.0,
334
+ 5e-05,
335
+ 0.42998
336
+ ],
337
+ [
338
+ -0.69585,
339
+ 1e-05,
340
+ -0.71818,
341
+ 2.92064
342
+ ],
343
+ [
344
+ 0.0,
345
+ 0.0,
346
+ 0.0,
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ [
352
+ "024_bowl.object_config.json",
353
+ [
354
+ [
355
+ 0.46713,
356
+ -0.0,
357
+ -0.88419,
358
+ 1.88207
359
+ ],
360
+ [
361
+ 4e-05,
362
+ 1.0,
363
+ 2e-05,
364
+ 0.79011
365
+ ],
366
+ [
367
+ 0.88419,
368
+ -5e-05,
369
+ 0.46713,
370
+ 2.00821
371
+ ],
372
+ [
373
+ 0.0,
374
+ 0.0,
375
+ 0.0,
376
+ 1.0
377
+ ]
378
+ ]
379
+ ],
380
+ [
381
+ "010_potted_meat_can.object_config.json",
382
+ [
383
+ [
384
+ 0.55695,
385
+ -0.00083,
386
+ -0.83055,
387
+ 3.38614
388
+ ],
389
+ [
390
+ -0.00061,
391
+ 1.0,
392
+ -0.00141,
393
+ 0.4462
394
+ ],
395
+ [
396
+ 0.83055,
397
+ 0.0013,
398
+ 0.55695,
399
+ 7.18956
400
+ ],
401
+ [
402
+ 0.0,
403
+ 0.0,
404
+ 0.0,
405
+ 1.0
406
+ ]
407
+ ]
408
+ ],
409
+ [
410
+ "024_bowl.object_config.json",
411
+ [
412
+ [
413
+ 0.53286,
414
+ -8e-05,
415
+ 0.8462,
416
+ 3.31342
417
+ ],
418
+ [
419
+ 6e-05,
420
+ 1.0,
421
+ 6e-05,
422
+ 0.44222
423
+ ],
424
+ [
425
+ -0.8462,
426
+ 2e-05,
427
+ 0.53286,
428
+ 3.17438
429
+ ],
430
+ [
431
+ 0.0,
432
+ 0.0,
433
+ 0.0,
434
+ 1.0
435
+ ]
436
+ ]
437
+ ],
438
+ [
439
+ "004_sugar_box.object_config.json",
440
+ [
441
+ [
442
+ 0.48289,
443
+ -0.03898,
444
+ 0.87481,
445
+ 3.41468
446
+ ],
447
+ [
448
+ 0.04019,
449
+ 0.99894,
450
+ 0.02232,
451
+ 0.50303
452
+ ],
453
+ [
454
+ -0.87476,
455
+ 0.02438,
456
+ 0.48394,
457
+ 3.02847
458
+ ],
459
+ [
460
+ 0.0,
461
+ 0.0,
462
+ 0.0,
463
+ 1.0
464
+ ]
465
+ ]
466
+ ],
467
+ [
468
+ "007_tuna_fish_can.object_config.json",
469
+ [
470
+ [
471
+ 0.94692,
472
+ -0.0,
473
+ -0.32147,
474
+ -2.43968
475
+ ],
476
+ [
477
+ 0.0,
478
+ 1.0,
479
+ 0.0,
480
+ 0.87655
481
+ ],
482
+ [
483
+ 0.32147,
484
+ -0.0,
485
+ 0.94692,
486
+ -0.10659
487
+ ],
488
+ [
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 1.0
493
+ ]
494
+ ]
495
+ ],
496
+ [
497
+ "008_pudding_box.object_config.json",
498
+ [
499
+ [
500
+ 0.4335,
501
+ 0.02373,
502
+ -0.90084,
503
+ -2.01515
504
+ ],
505
+ [
506
+ -0.00069,
507
+ 0.99966,
508
+ 0.02601,
509
+ 1.27182
510
+ ],
511
+ [
512
+ 0.90115,
513
+ -0.01066,
514
+ 0.43337,
515
+ -0.81303
516
+ ],
517
+ [
518
+ 0.0,
519
+ 0.0,
520
+ 0.0,
521
+ 1.0
522
+ ]
523
+ ]
524
+ ],
525
+ [
526
+ "003_cracker_box.object_config.json",
527
+ [
528
+ [
529
+ 0.51952,
530
+ 0.01742,
531
+ -0.85428,
532
+ -2.43946
533
+ ],
534
+ [
535
+ -0.0456,
536
+ 0.99893,
537
+ -0.00736,
538
+ 0.96627
539
+ ],
540
+ [
541
+ 0.85324,
542
+ 0.04278,
543
+ 0.51976,
544
+ 0.80221
545
+ ],
546
+ [
547
+ 0.0,
548
+ 0.0,
549
+ 0.0,
550
+ 1.0
551
+ ]
552
+ ]
553
+ ],
554
+ [
555
+ "008_pudding_box.object_config.json",
556
+ [
557
+ [
558
+ 0.4379,
559
+ -0.01853,
560
+ 0.89883,
561
+ -1.93947
562
+ ],
563
+ [
564
+ -0.0059,
565
+ 0.99971,
566
+ 0.02348,
567
+ 0.87927
568
+ ],
569
+ [
570
+ -0.89901,
571
+ -0.01558,
572
+ 0.43766,
573
+ 0.79169
574
+ ],
575
+ [
576
+ 0.0,
577
+ 0.0,
578
+ 0.0,
579
+ 1.0
580
+ ]
581
+ ]
582
+ ],
583
+ [
584
+ "010_potted_meat_can.object_config.json",
585
+ [
586
+ [
587
+ -0.28816,
588
+ 1e-05,
589
+ 0.95758,
590
+ 1.77062
591
+ ],
592
+ [
593
+ -2e-05,
594
+ 1.0,
595
+ -2e-05,
596
+ 0.80465
597
+ ],
598
+ [
599
+ -0.95758,
600
+ -2e-05,
601
+ -0.28816,
602
+ 1.65693
603
+ ],
604
+ [
605
+ 0.0,
606
+ 0.0,
607
+ 0.0,
608
+ 1.0
609
+ ]
610
+ ]
611
+ ],
612
+ [
613
+ "009_gelatin_box.object_config.json",
614
+ [
615
+ [
616
+ -0.64057,
617
+ -0.00163,
618
+ 0.7679,
619
+ -2.2231
620
+ ],
621
+ [
622
+ -0.00121,
623
+ 1.0,
624
+ 0.00112,
625
+ 0.949
626
+ ],
627
+ [
628
+ -0.7679,
629
+ -0.00021,
630
+ -0.64057,
631
+ 2.72378
632
+ ],
633
+ [
634
+ 0.0,
635
+ 0.0,
636
+ 0.0,
637
+ 1.0
638
+ ]
639
+ ]
640
+ ],
641
+ [
642
+ "007_tuna_fish_can.object_config.json",
643
+ [
644
+ [
645
+ 0.00937,
646
+ -0.0,
647
+ -0.99996,
648
+ -2.39742
649
+ ],
650
+ [
651
+ -0.0,
652
+ 1.0,
653
+ -0.0,
654
+ 0.87655
655
+ ],
656
+ [
657
+ 0.99996,
658
+ 0.0,
659
+ 0.00937,
660
+ 2.36788
661
+ ],
662
+ [
663
+ 0.0,
664
+ 0.0,
665
+ 0.0,
666
+ 1.0
667
+ ]
668
+ ]
669
+ ],
670
+ [
671
+ "008_pudding_box.object_config.json",
672
+ [
673
+ [
674
+ 0.11065,
675
+ -0.02263,
676
+ 0.9936,
677
+ -2.08742
678
+ ],
679
+ [
680
+ -0.0059,
681
+ 0.99971,
682
+ 0.02343,
683
+ 0.87927
684
+ ],
685
+ [
686
+ -0.99384,
687
+ -0.00845,
688
+ 0.11048,
689
+ 0.11676
690
+ ],
691
+ [
692
+ 0.0,
693
+ 0.0,
694
+ 0.0,
695
+ 1.0
696
+ ]
697
+ ]
698
+ ],
699
+ [
700
+ "007_tuna_fish_can.object_config.json",
701
+ [
702
+ [
703
+ 0.74847,
704
+ 0.0,
705
+ 0.66317,
706
+ -1.99712
707
+ ],
708
+ [
709
+ -0.0,
710
+ 1.0,
711
+ -0.0,
712
+ 0.87655
713
+ ],
714
+ [
715
+ -0.66317,
716
+ 0.0,
717
+ 0.74847,
718
+ -0.22638
719
+ ],
720
+ [
721
+ 0.0,
722
+ 0.0,
723
+ 0.0,
724
+ 1.0
725
+ ]
726
+ ]
727
+ ],
728
+ [
729
+ "004_sugar_box.object_config.json",
730
+ [
731
+ [
732
+ -0.71479,
733
+ 0.01099,
734
+ 0.69925,
735
+ -2.34216
736
+ ],
737
+ [
738
+ 0.03912,
739
+ 0.99894,
740
+ 0.02429,
741
+ 0.9477
742
+ ],
743
+ [
744
+ -0.69825,
745
+ 0.04472,
746
+ -0.71446,
747
+ 1.9179
748
+ ],
749
+ [
750
+ 0.0,
751
+ 0.0,
752
+ 0.0,
753
+ 1.0
754
+ ]
755
+ ]
756
+ ],
757
+ [
758
+ "007_tuna_fish_can.object_config.json",
759
+ [
760
+ [
761
+ -0.25523,
762
+ 2e-05,
763
+ -0.96688,
764
+ -2.21152
765
+ ],
766
+ [
767
+ -0.00028,
768
+ 1.0,
769
+ 9e-05,
770
+ 0.72401
771
+ ],
772
+ [
773
+ 0.96688,
774
+ 0.00029,
775
+ -0.25523,
776
+ 1.3301
777
+ ],
778
+ [
779
+ 0.0,
780
+ 0.0,
781
+ 0.0,
782
+ 1.0
783
+ ]
784
+ ]
785
+ ],
786
+ [
787
+ "024_bowl.object_config.json",
788
+ [
789
+ [
790
+ -0.03937,
791
+ -0.00295,
792
+ -0.99922,
793
+ 1.09262
794
+ ],
795
+ [
796
+ 0.00129,
797
+ 0.99999,
798
+ -0.00301,
799
+ 0.7901
800
+ ],
801
+ [
802
+ 0.99922,
803
+ -0.00141,
804
+ -0.03937,
805
+ 1.42223
806
+ ],
807
+ [
808
+ 0.0,
809
+ 0.0,
810
+ 0.0,
811
+ 1.0
812
+ ]
813
+ ]
814
+ ],
815
+ [
816
+ "007_tuna_fish_can.object_config.json",
817
+ [
818
+ [
819
+ -0.3016,
820
+ 0.00049,
821
+ 0.95343,
822
+ -2.19201
823
+ ],
824
+ [
825
+ -0.00555,
826
+ 0.99998,
827
+ -0.00227,
828
+ 1.26828
829
+ ],
830
+ [
831
+ -0.95342,
832
+ -0.00598,
833
+ -0.30159,
834
+ -0.95387
835
+ ],
836
+ [
837
+ 0.0,
838
+ 0.0,
839
+ 0.0,
840
+ 1.0
841
+ ]
842
+ ]
843
+ ],
844
+ [
845
+ "009_gelatin_box.object_config.json",
846
+ [
847
+ [
848
+ 0.97398,
849
+ 0.00185,
850
+ -0.22661,
851
+ -2.08254
852
+ ],
853
+ [
854
+ -0.00052,
855
+ 0.99998,
856
+ 0.00595,
857
+ 1.26525
858
+ ],
859
+ [
860
+ 0.22662,
861
+ -0.00568,
862
+ 0.97397,
863
+ -1.16577
864
+ ],
865
+ [
866
+ 0.0,
867
+ 0.0,
868
+ 0.0,
869
+ 1.0
870
+ ]
871
+ ]
872
+ ],
873
+ [
874
+ "009_gelatin_box.object_config.json",
875
+ [
876
+ [
877
+ 0.59884,
878
+ -1e-05,
879
+ 0.80087,
880
+ -2.10577
881
+ ],
882
+ [
883
+ -2e-05,
884
+ 1.0,
885
+ 3e-05,
886
+ 0.87476
887
+ ],
888
+ [
889
+ -0.80087,
890
+ -3e-05,
891
+ 0.59884,
892
+ -0.30478
893
+ ],
894
+ [
895
+ 0.0,
896
+ 0.0,
897
+ 0.0,
898
+ 1.0
899
+ ]
900
+ ]
901
+ ]
902
+ ],
903
+ "targets": {
904
+ "007_tuna_fish_can_:0006": [
905
+ [
906
+ 0.14802,
907
+ 0.0,
908
+ -0.98898,
909
+ -1.95882
910
+ ],
911
+ [
912
+ 0.0,
913
+ 1.0,
914
+ 0.0,
915
+ 0.87587
916
+ ],
917
+ [
918
+ 0.98898,
919
+ 0.0,
920
+ 0.14802,
921
+ 0.26805
922
+ ],
923
+ [
924
+ 0.0,
925
+ 0.0,
926
+ 0.0,
927
+ 1.0
928
+ ]
929
+ ],
930
+ "009_gelatin_box_:0003": [
931
+ [
932
+ 0.96804,
933
+ 0.0,
934
+ 0.2508,
935
+ -1.88657
936
+ ],
937
+ [
938
+ 0.0,
939
+ 1.0,
940
+ 0.0,
941
+ 0.87414
942
+ ],
943
+ [
944
+ -0.2508,
945
+ 0.0,
946
+ 0.96804,
947
+ -0.46266
948
+ ],
949
+ [
950
+ 0.0,
951
+ 0.0,
952
+ 0.0,
953
+ 1.0
954
+ ]
955
+ ],
956
+ "009_gelatin_box_:0004": [
957
+ [
958
+ 0.38628,
959
+ 0.0,
960
+ -0.92238,
961
+ -2.12042
962
+ ],
963
+ [
964
+ 0.0,
965
+ 1.0,
966
+ 0.0,
967
+ 1.26618
968
+ ],
969
+ [
970
+ 0.92238,
971
+ 0.0,
972
+ 0.38628,
973
+ -0.89923
974
+ ],
975
+ [
976
+ 0.0,
977
+ 0.0,
978
+ 0.0,
979
+ 1.0
980
+ ]
981
+ ]
982
+ },
983
+ "markers": [
984
+ {
985
+ "name": "cab_push_point_7",
986
+ "type": "articulated_object",
987
+ "params": {
988
+ "offset": [
989
+ 0.3,
990
+ 0.0,
991
+ 0
992
+ ],
993
+ "link": "drawer1_top",
994
+ "object": "kitchen_counter_:0000"
995
+ }
996
+ },
997
+ {
998
+ "name": "cab_push_point_6",
999
+ "type": "articulated_object",
1000
+ "params": {
1001
+ "offset": [
1002
+ 0.3,
1003
+ 0.0,
1004
+ 0
1005
+ ],
1006
+ "link": "drawer2_top",
1007
+ "object": "kitchen_counter_:0000"
1008
+ }
1009
+ },
1010
+ {
1011
+ "name": "cab_push_point_5",
1012
+ "type": "articulated_object",
1013
+ "params": {
1014
+ "offset": [
1015
+ 0.3,
1016
+ 0.0,
1017
+ 0
1018
+ ],
1019
+ "link": "drawer3",
1020
+ "object": "kitchen_counter_:0000"
1021
+ }
1022
+ },
1023
+ {
1024
+ "name": "cab_push_point_4",
1025
+ "type": "articulated_object",
1026
+ "params": {
1027
+ "offset": [
1028
+ 0.3,
1029
+ 0.0,
1030
+ 0
1031
+ ],
1032
+ "link": "drawer4",
1033
+ "object": "kitchen_counter_:0000"
1034
+ }
1035
+ },
1036
+ {
1037
+ "name": "fridge_push_point",
1038
+ "type": "articulated_object",
1039
+ "params": {
1040
+ "offset": [
1041
+ 0.1,
1042
+ -0.62,
1043
+ 0.2
1044
+ ],
1045
+ "link": "top_door",
1046
+ "object": "fridge_:0000"
1047
+ }
1048
+ }
1049
+ ],
1050
+ "target_receptacles": [
1051
+ [
1052
+ "fridge_:0000",
1053
+ 0
1054
+ ],
1055
+ [
1056
+ "fridge_:0000",
1057
+ 0
1058
+ ],
1059
+ [
1060
+ "kitchen_counter_:0000",
1061
+ 0
1062
+ ]
1063
+ ],
1064
+ "goal_receptacles": [
1065
+ [
1066
+ "kitchen_counter_:0000",
1067
+ 0
1068
+ ],
1069
+ [
1070
+ "kitchen_counter_:0000",
1071
+ 0
1072
+ ],
1073
+ [
1074
+ "fridge_:0000",
1075
+ 0
1076
+ ]
1077
+ ]
1078
+ }
rearrange/v1_extracted/train/prepare_groceries/episode_1018.json ADDED
@@ -0,0 +1,1078 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_id": "1018",
3
+ "scene_id": "data/replica_cad/configs/scenes/v3_sc2_staging_05.scene_instance.json",
4
+ "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
5
+ "additional_obj_config_paths": [
6
+ "data/objects/ycb/"
7
+ ],
8
+ "start_position": [
9
+ 0,
10
+ 0,
11
+ 0
12
+ ],
13
+ "start_rotation": [
14
+ 0,
15
+ 0,
16
+ 0,
17
+ 1
18
+ ],
19
+ "info": {
20
+ "object_labels": {
21
+ "009_gelatin_box_:0004": "obj0_target|0",
22
+ "009_gelatin_box_:0005": "obj1_target|1",
23
+ "024_bowl_:0003": "obj2_target|2"
24
+ }
25
+ },
26
+ "ao_states": {
27
+ "fridge_:0000": {
28
+ "2": 1.5
29
+ }
30
+ },
31
+ "rigid_objs": [
32
+ [
33
+ "009_gelatin_box.object_config.json",
34
+ [
35
+ [
36
+ -0.56868,
37
+ 0.0,
38
+ -0.82256,
39
+ 1.77147
40
+ ],
41
+ [
42
+ 0.0,
43
+ 1.0,
44
+ 0.0,
45
+ 0.41926
46
+ ],
47
+ [
48
+ 0.82256,
49
+ -0.0,
50
+ -0.56868,
51
+ 7.16332
52
+ ],
53
+ [
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 1.0
58
+ ]
59
+ ]
60
+ ],
61
+ [
62
+ "009_gelatin_box.object_config.json",
63
+ [
64
+ [
65
+ -0.53245,
66
+ 0.0,
67
+ 0.84646,
68
+ -2.01704
69
+ ],
70
+ [
71
+ -0.00491,
72
+ 0.99998,
73
+ -0.00309,
74
+ 1.26526
75
+ ],
76
+ [
77
+ -0.84645,
78
+ -0.0058,
79
+ -0.53244,
80
+ -0.3663
81
+ ],
82
+ [
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ 1.0
87
+ ]
88
+ ]
89
+ ],
90
+ [
91
+ "010_potted_meat_can.object_config.json",
92
+ [
93
+ [
94
+ 0.98084,
95
+ 0.0012,
96
+ 0.19483,
97
+ -0.27384
98
+ ],
99
+ [
100
+ -0.00156,
101
+ 1.0,
102
+ 0.00167,
103
+ 0.66874
104
+ ],
105
+ [
106
+ -0.19482,
107
+ -0.00194,
108
+ 0.98084,
109
+ -0.00177
110
+ ],
111
+ [
112
+ 0.0,
113
+ 0.0,
114
+ 0.0,
115
+ 1.0
116
+ ]
117
+ ]
118
+ ],
119
+ [
120
+ "003_cracker_box.object_config.json",
121
+ [
122
+ [
123
+ 0.89819,
124
+ 0.04107,
125
+ -0.43768,
126
+ -2.28805
127
+ ],
128
+ [
129
+ -0.04681,
130
+ 0.9989,
131
+ -0.00233,
132
+ 1.3567
133
+ ],
134
+ [
135
+ 0.4371,
136
+ 0.02258,
137
+ 0.89913,
138
+ -0.36779
139
+ ],
140
+ [
141
+ 0.0,
142
+ 0.0,
143
+ 0.0,
144
+ 1.0
145
+ ]
146
+ ]
147
+ ],
148
+ [
149
+ "002_master_chef_can.object_config.json",
150
+ [
151
+ [
152
+ -0.86417,
153
+ 0.00057,
154
+ -0.5032,
155
+ -2.08479
156
+ ],
157
+ [
158
+ 0.00031,
159
+ 1.0,
160
+ 0.00059,
161
+ 0.77777
162
+ ],
163
+ [
164
+ 0.5032,
165
+ 0.00036,
166
+ -0.86417,
167
+ 2.02945
168
+ ],
169
+ [
170
+ 0.0,
171
+ 0.0,
172
+ 0.0,
173
+ 1.0
174
+ ]
175
+ ]
176
+ ],
177
+ [
178
+ "005_tomato_soup_can.object_config.json",
179
+ [
180
+ [
181
+ 0.90683,
182
+ 4e-05,
183
+ 0.42151,
184
+ 3.73247
185
+ ],
186
+ [
187
+ -3e-05,
188
+ 1.0,
189
+ -3e-05,
190
+ 0.46605
191
+ ],
192
+ [
193
+ -0.42151,
194
+ 1e-05,
195
+ 0.90683,
196
+ 3.27739
197
+ ],
198
+ [
199
+ 0.0,
200
+ 0.0,
201
+ 0.0,
202
+ 1.0
203
+ ]
204
+ ]
205
+ ],
206
+ [
207
+ "024_bowl.object_config.json",
208
+ [
209
+ [
210
+ -0.99941,
211
+ 0.00199,
212
+ 0.03441,
213
+ 0.93019
214
+ ],
215
+ [
216
+ 0.00203,
217
+ 1.0,
218
+ 0.00097,
219
+ 0.7901
220
+ ],
221
+ [
222
+ -0.0344,
223
+ 0.00104,
224
+ -0.99941,
225
+ 5.87895
226
+ ],
227
+ [
228
+ 0.0,
229
+ 0.0,
230
+ 0.0,
231
+ 1.0
232
+ ]
233
+ ]
234
+ ],
235
+ [
236
+ "007_tuna_fish_can.object_config.json",
237
+ [
238
+ [
239
+ 0.80137,
240
+ 1e-05,
241
+ -0.59816,
242
+ 3.79919
243
+ ],
244
+ [
245
+ -1e-05,
246
+ 1.0,
247
+ -0.0,
248
+ 0.43176
249
+ ],
250
+ [
251
+ 0.59816,
252
+ 1e-05,
253
+ 0.80137,
254
+ 3.59589
255
+ ],
256
+ [
257
+ 0.0,
258
+ 0.0,
259
+ 0.0,
260
+ 1.0
261
+ ]
262
+ ]
263
+ ],
264
+ [
265
+ "007_tuna_fish_can.object_config.json",
266
+ [
267
+ [
268
+ -0.77705,
269
+ 5e-05,
270
+ -0.62944,
271
+ -2.18462
272
+ ],
273
+ [
274
+ 3e-05,
275
+ 1.0,
276
+ 4e-05,
277
+ 0.72401
278
+ ],
279
+ [
280
+ 0.62944,
281
+ 1e-05,
282
+ -0.77705,
283
+ 1.97437
284
+ ],
285
+ [
286
+ 0.0,
287
+ 0.0,
288
+ 0.0,
289
+ 1.0
290
+ ]
291
+ ]
292
+ ],
293
+ [
294
+ "008_pudding_box.object_config.json",
295
+ [
296
+ [
297
+ 0.13499,
298
+ 0.02408,
299
+ -0.99055,
300
+ -2.01183
301
+ ],
302
+ [
303
+ -0.0059,
304
+ 0.99971,
305
+ 0.0235,
306
+ 0.87927
307
+ ],
308
+ [
309
+ 0.99083,
310
+ 0.00268,
311
+ 0.13509,
312
+ 1.10983
313
+ ],
314
+ [
315
+ 0.0,
316
+ 0.0,
317
+ 0.0,
318
+ 1.0
319
+ ]
320
+ ]
321
+ ],
322
+ [
323
+ "008_pudding_box.object_config.json",
324
+ [
325
+ [
326
+ 0.99554,
327
+ 0.00911,
328
+ -0.09395,
329
+ 3.68747
330
+ ],
331
+ [
332
+ -0.00699,
333
+ 0.99971,
334
+ 0.0229,
335
+ 0.43444
336
+ ],
337
+ [
338
+ 0.09413,
339
+ -0.02214,
340
+ 0.99531,
341
+ 0.58549
342
+ ],
343
+ [
344
+ 0.0,
345
+ 0.0,
346
+ 0.0,
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ [
352
+ "004_sugar_box.object_config.json",
353
+ [
354
+ [
355
+ -0.99348,
356
+ 0.03707,
357
+ 0.10779,
358
+ -2.01653
359
+ ],
360
+ [
361
+ 0.03991,
362
+ 0.99891,
363
+ 0.02426,
364
+ 0.9477
365
+ ],
366
+ [
367
+ -0.10677,
368
+ 0.02841,
369
+ -0.99388,
370
+ 0.98842
371
+ ],
372
+ [
373
+ 0.0,
374
+ 0.0,
375
+ 0.0,
376
+ 1.0
377
+ ]
378
+ ]
379
+ ],
380
+ [
381
+ "024_bowl.object_config.json",
382
+ [
383
+ [
384
+ -0.92942,
385
+ 0.00095,
386
+ 0.36902,
387
+ 0.71451
388
+ ],
389
+ [
390
+ 0.0006,
391
+ 1.0,
392
+ -0.00105,
393
+ 0.79015
394
+ ],
395
+ [
396
+ -0.36902,
397
+ -0.00076,
398
+ -0.92942,
399
+ 5.95984
400
+ ],
401
+ [
402
+ 0.0,
403
+ 0.0,
404
+ 0.0,
405
+ 1.0
406
+ ]
407
+ ]
408
+ ],
409
+ [
410
+ "004_sugar_box.object_config.json",
411
+ [
412
+ [
413
+ 0.85604,
414
+ -0.04495,
415
+ 0.51495,
416
+ 1.20254
417
+ ],
418
+ [
419
+ 0.03922,
420
+ 0.99899,
421
+ 0.02199,
422
+ 0.85078
423
+ ],
424
+ [
425
+ -0.51542,
426
+ 0.00137,
427
+ 0.85694,
428
+ 5.81009
429
+ ],
430
+ [
431
+ 0.0,
432
+ 0.0,
433
+ 0.0,
434
+ 1.0
435
+ ]
436
+ ]
437
+ ],
438
+ [
439
+ "010_potted_meat_can.object_config.json",
440
+ [
441
+ [
442
+ 0.44106,
443
+ 0.00305,
444
+ -0.89747,
445
+ 2.45542
446
+ ],
447
+ [
448
+ -4e-05,
449
+ 0.99999,
450
+ 0.00338,
451
+ 0.44623
452
+ ],
453
+ [
454
+ 0.89748,
455
+ -0.00145,
456
+ 0.44106,
457
+ 7.36884
458
+ ],
459
+ [
460
+ 0.0,
461
+ 0.0,
462
+ 0.0,
463
+ 1.0
464
+ ]
465
+ ]
466
+ ],
467
+ [
468
+ "010_potted_meat_can.object_config.json",
469
+ [
470
+ [
471
+ -0.74226,
472
+ 0.00055,
473
+ 0.67011,
474
+ 3.60534
475
+ ],
476
+ [
477
+ -0.00332,
478
+ 0.99998,
479
+ -0.0045,
480
+ 0.45684
481
+ ],
482
+ [
483
+ -0.6701,
484
+ -0.00556,
485
+ -0.74225,
486
+ 0.51382
487
+ ],
488
+ [
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 1.0
493
+ ]
494
+ ]
495
+ ],
496
+ [
497
+ "007_tuna_fish_can.object_config.json",
498
+ [
499
+ [
500
+ -0.85546,
501
+ -5e-05,
502
+ -0.51787,
503
+ -2.30631
504
+ ],
505
+ [
506
+ -8e-05,
507
+ 1.0,
508
+ 3e-05,
509
+ 0.87655
510
+ ],
511
+ [
512
+ 0.51787,
513
+ 6e-05,
514
+ -0.85546,
515
+ 3.11215
516
+ ],
517
+ [
518
+ 0.0,
519
+ 0.0,
520
+ 0.0,
521
+ 1.0
522
+ ]
523
+ ]
524
+ ],
525
+ [
526
+ "009_gelatin_box.object_config.json",
527
+ [
528
+ [
529
+ -0.975,
530
+ -0.0,
531
+ -0.22219,
532
+ 3.86355
533
+ ],
534
+ [
535
+ -0.0,
536
+ 1.0,
537
+ -0.0,
538
+ 0.42987
539
+ ],
540
+ [
541
+ 0.22219,
542
+ 0.0,
543
+ -0.975,
544
+ 0.58481
545
+ ],
546
+ [
547
+ 0.0,
548
+ 0.0,
549
+ 0.0,
550
+ 1.0
551
+ ]
552
+ ]
553
+ ],
554
+ [
555
+ "009_gelatin_box.object_config.json",
556
+ [
557
+ [
558
+ -0.99873,
559
+ 1e-05,
560
+ 0.05042,
561
+ -2.22293
562
+ ],
563
+ [
564
+ 1e-05,
565
+ 1.0,
566
+ -1e-05,
567
+ 0.87476
568
+ ],
569
+ [
570
+ -0.05042,
571
+ -0.0,
572
+ -0.99873,
573
+ 2.34519
574
+ ],
575
+ [
576
+ 0.0,
577
+ 0.0,
578
+ 0.0,
579
+ 1.0
580
+ ]
581
+ ]
582
+ ],
583
+ [
584
+ "008_pudding_box.object_config.json",
585
+ [
586
+ [
587
+ -0.01415,
588
+ -0.02076,
589
+ 0.99968,
590
+ 2.97366
591
+ ],
592
+ [
593
+ -0.00523,
594
+ 0.99977,
595
+ 0.02069,
596
+ 0.42378
597
+ ],
598
+ [
599
+ -0.99989,
600
+ -0.00493,
601
+ -0.01425,
602
+ 7.33755
603
+ ],
604
+ [
605
+ 0.0,
606
+ 0.0,
607
+ 0.0,
608
+ 1.0
609
+ ]
610
+ ]
611
+ ],
612
+ [
613
+ "005_tomato_soup_can.object_config.json",
614
+ [
615
+ [
616
+ -0.98557,
617
+ -3e-05,
618
+ 0.16927,
619
+ -2.21923
620
+ ],
621
+ [
622
+ -2e-05,
623
+ 1.0,
624
+ 6e-05,
625
+ 0.75829
626
+ ],
627
+ [
628
+ -0.16927,
629
+ 6e-05,
630
+ -0.98557,
631
+ 1.81475
632
+ ],
633
+ [
634
+ 0.0,
635
+ 0.0,
636
+ 0.0,
637
+ 1.0
638
+ ]
639
+ ]
640
+ ],
641
+ [
642
+ "004_sugar_box.object_config.json",
643
+ [
644
+ [
645
+ 0.6124,
646
+ -0.00472,
647
+ -0.79053,
648
+ -1.76839
649
+ ],
650
+ [
651
+ 0.03884,
652
+ 0.99895,
653
+ 0.02412,
654
+ 1.02216
655
+ ],
656
+ [
657
+ 0.78959,
658
+ -0.04548,
659
+ 0.61194,
660
+ -1.79278
661
+ ],
662
+ [
663
+ 0.0,
664
+ 0.0,
665
+ 0.0,
666
+ 1.0
667
+ ]
668
+ ]
669
+ ],
670
+ [
671
+ "003_cracker_box.object_config.json",
672
+ [
673
+ [
674
+ 0.50114,
675
+ 0.09493,
676
+ -0.86014,
677
+ 1.06714
678
+ ],
679
+ [
680
+ -0.14827,
681
+ 0.98869,
682
+ 0.02273,
683
+ 0.73353
684
+ ],
685
+ [
686
+ 0.85257,
687
+ 0.11614,
688
+ 0.50955,
689
+ -0.19687
690
+ ],
691
+ [
692
+ 0.0,
693
+ 0.0,
694
+ 0.0,
695
+ 1.0
696
+ ]
697
+ ]
698
+ ],
699
+ [
700
+ "002_master_chef_can.object_config.json",
701
+ [
702
+ [
703
+ 0.09314,
704
+ -0.00077,
705
+ 0.99565,
706
+ 1.99872
707
+ ],
708
+ [
709
+ -0.00166,
710
+ 1.0,
711
+ 0.00093,
712
+ 0.47489
713
+ ],
714
+ [
715
+ -0.99565,
716
+ -0.00174,
717
+ 0.09314,
718
+ 7.06001
719
+ ],
720
+ [
721
+ 0.0,
722
+ 0.0,
723
+ 0.0,
724
+ 1.0
725
+ ]
726
+ ]
727
+ ],
728
+ [
729
+ "007_tuna_fish_can.object_config.json",
730
+ [
731
+ [
732
+ -0.93615,
733
+ -0.0,
734
+ -0.35161,
735
+ 0.53881
736
+ ],
737
+ [
738
+ -0.0,
739
+ 1.0,
740
+ -0.0,
741
+ 0.77952
742
+ ],
743
+ [
744
+ 0.35161,
745
+ -0.0,
746
+ -0.93615,
747
+ 6.32172
748
+ ],
749
+ [
750
+ 0.0,
751
+ 0.0,
752
+ 0.0,
753
+ 1.0
754
+ ]
755
+ ]
756
+ ],
757
+ [
758
+ "007_tuna_fish_can.object_config.json",
759
+ [
760
+ [
761
+ -0.77237,
762
+ -6e-05,
763
+ 0.63517,
764
+ -1.9579
765
+ ],
766
+ [
767
+ -3e-05,
768
+ 1.0,
769
+ 5e-05,
770
+ 0.95101
771
+ ],
772
+ [
773
+ -0.63517,
774
+ 2e-05,
775
+ -0.77237,
776
+ -1.41837
777
+ ],
778
+ [
779
+ 0.0,
780
+ 0.0,
781
+ 0.0,
782
+ 1.0
783
+ ]
784
+ ]
785
+ ],
786
+ [
787
+ "024_bowl.object_config.json",
788
+ [
789
+ [
790
+ 0.97976,
791
+ 0.00055,
792
+ 0.20019,
793
+ -2.09427
794
+ ],
795
+ [
796
+ -0.00055,
797
+ 1.0,
798
+ -7e-05,
799
+ 0.73463
800
+ ],
801
+ [
802
+ -0.20019,
803
+ -4e-05,
804
+ 0.97976,
805
+ 1.84839
806
+ ],
807
+ [
808
+ 0.0,
809
+ 0.0,
810
+ 0.0,
811
+ 1.0
812
+ ]
813
+ ]
814
+ ],
815
+ [
816
+ "009_gelatin_box.object_config.json",
817
+ [
818
+ [
819
+ -0.61823,
820
+ 3e-05,
821
+ -0.78599,
822
+ -2.17889
823
+ ],
824
+ [
825
+ 0.00458,
826
+ 0.99998,
827
+ -0.00357,
828
+ 1.26555
829
+ ],
830
+ [
831
+ 0.78598,
832
+ -0.00581,
833
+ -0.61822,
834
+ -0.3168
835
+ ],
836
+ [
837
+ 0.0,
838
+ 0.0,
839
+ 0.0,
840
+ 1.0
841
+ ]
842
+ ]
843
+ ],
844
+ [
845
+ "009_gelatin_box.object_config.json",
846
+ [
847
+ [
848
+ 0.24429,
849
+ -0.0001,
850
+ 0.9697,
851
+ -2.25392
852
+ ],
853
+ [
854
+ -0.00536,
855
+ 0.99998,
856
+ 0.00146,
857
+ 1.26674
858
+ ],
859
+ [
860
+ -0.96969,
861
+ -0.00555,
862
+ 0.24429,
863
+ -0.11212
864
+ ],
865
+ [
866
+ 0.0,
867
+ 0.0,
868
+ 0.0,
869
+ 1.0
870
+ ]
871
+ ]
872
+ ],
873
+ [
874
+ "024_bowl.object_config.json",
875
+ [
876
+ [
877
+ -0.97031,
878
+ 4e-05,
879
+ -0.24188,
880
+ -2.18957
881
+ ],
882
+ [
883
+ 3e-05,
884
+ 1.0,
885
+ 4e-05,
886
+ 0.88719
887
+ ],
888
+ [
889
+ 0.24188,
890
+ 3e-05,
891
+ -0.97031,
892
+ 2.56227
893
+ ],
894
+ [
895
+ 0.0,
896
+ 0.0,
897
+ 0.0,
898
+ 1.0
899
+ ]
900
+ ]
901
+ ]
902
+ ],
903
+ "targets": {
904
+ "009_gelatin_box_:0004": [
905
+ [
906
+ -0.93256,
907
+ 0.0,
908
+ 0.36102,
909
+ -1.97253
910
+ ],
911
+ [
912
+ 0.0,
913
+ 1.0,
914
+ 0.0,
915
+ 0.87413
916
+ ],
917
+ [
918
+ -0.36102,
919
+ 0.0,
920
+ -0.93256,
921
+ 2.53126
922
+ ],
923
+ [
924
+ 0.0,
925
+ 0.0,
926
+ 0.0,
927
+ 1.0
928
+ ]
929
+ ],
930
+ "009_gelatin_box_:0005": [
931
+ [
932
+ 0.31348,
933
+ 0.0,
934
+ -0.94959,
935
+ -1.90082
936
+ ],
937
+ [
938
+ 0.0,
939
+ 1.0,
940
+ 0.0,
941
+ 0.87413
942
+ ],
943
+ [
944
+ 0.94959,
945
+ 0.0,
946
+ 0.31348,
947
+ 2.2815
948
+ ],
949
+ [
950
+ 0.0,
951
+ 0.0,
952
+ 0.0,
953
+ 1.0
954
+ ]
955
+ ],
956
+ "024_bowl_:0003": [
957
+ [
958
+ 0.08432,
959
+ 0.0,
960
+ -0.99644,
961
+ -2.13927
962
+ ],
963
+ [
964
+ 0.0,
965
+ 1.0,
966
+ 0.0,
967
+ 1.27863
968
+ ],
969
+ [
970
+ 0.99644,
971
+ 0.0,
972
+ 0.08432,
973
+ -0.10258
974
+ ],
975
+ [
976
+ 0.0,
977
+ 0.0,
978
+ 0.0,
979
+ 1.0
980
+ ]
981
+ ]
982
+ },
983
+ "markers": [
984
+ {
985
+ "name": "cab_push_point_7",
986
+ "type": "articulated_object",
987
+ "params": {
988
+ "offset": [
989
+ 0.3,
990
+ 0.0,
991
+ 0
992
+ ],
993
+ "link": "drawer1_top",
994
+ "object": "kitchen_counter_:0000"
995
+ }
996
+ },
997
+ {
998
+ "name": "cab_push_point_6",
999
+ "type": "articulated_object",
1000
+ "params": {
1001
+ "offset": [
1002
+ 0.3,
1003
+ 0.0,
1004
+ 0
1005
+ ],
1006
+ "link": "drawer2_top",
1007
+ "object": "kitchen_counter_:0000"
1008
+ }
1009
+ },
1010
+ {
1011
+ "name": "cab_push_point_5",
1012
+ "type": "articulated_object",
1013
+ "params": {
1014
+ "offset": [
1015
+ 0.3,
1016
+ 0.0,
1017
+ 0
1018
+ ],
1019
+ "link": "drawer3",
1020
+ "object": "kitchen_counter_:0000"
1021
+ }
1022
+ },
1023
+ {
1024
+ "name": "cab_push_point_4",
1025
+ "type": "articulated_object",
1026
+ "params": {
1027
+ "offset": [
1028
+ 0.3,
1029
+ 0.0,
1030
+ 0
1031
+ ],
1032
+ "link": "drawer4",
1033
+ "object": "kitchen_counter_:0000"
1034
+ }
1035
+ },
1036
+ {
1037
+ "name": "fridge_push_point",
1038
+ "type": "articulated_object",
1039
+ "params": {
1040
+ "offset": [
1041
+ 0.1,
1042
+ -0.62,
1043
+ 0.2
1044
+ ],
1045
+ "link": "top_door",
1046
+ "object": "fridge_:0000"
1047
+ }
1048
+ }
1049
+ ],
1050
+ "target_receptacles": [
1051
+ [
1052
+ "fridge_:0000",
1053
+ 0
1054
+ ],
1055
+ [
1056
+ "fridge_:0000",
1057
+ 0
1058
+ ],
1059
+ [
1060
+ "kitchen_counter_:0000",
1061
+ 0
1062
+ ]
1063
+ ],
1064
+ "goal_receptacles": [
1065
+ [
1066
+ "kitchen_counter_:0000",
1067
+ 0
1068
+ ],
1069
+ [
1070
+ "kitchen_counter_:0000",
1071
+ 0
1072
+ ],
1073
+ [
1074
+ "fridge_:0000",
1075
+ 0
1076
+ ]
1077
+ ]
1078
+ }
rearrange/v1_extracted/train/prepare_groceries/episode_1019.json ADDED
@@ -0,0 +1,1078 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_id": "1019",
3
+ "scene_id": "data/replica_cad/configs/scenes/v3_sc1_staging_16.scene_instance.json",
4
+ "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
5
+ "additional_obj_config_paths": [
6
+ "data/objects/ycb/"
7
+ ],
8
+ "start_position": [
9
+ 0,
10
+ 0,
11
+ 0
12
+ ],
13
+ "start_rotation": [
14
+ 0,
15
+ 0,
16
+ 0,
17
+ 1
18
+ ],
19
+ "info": {
20
+ "object_labels": {
21
+ "002_master_chef_can_:0006": "obj0_target|0",
22
+ "004_sugar_box_:0003": "obj1_target|1",
23
+ "004_sugar_box_:0004": "obj2_target|2"
24
+ }
25
+ },
26
+ "ao_states": {
27
+ "fridge_:0000": {
28
+ "2": 1.5
29
+ }
30
+ },
31
+ "rigid_objs": [
32
+ [
33
+ "024_bowl.object_config.json",
34
+ [
35
+ [
36
+ 0.99802,
37
+ 0.00595,
38
+ -0.06259,
39
+ -2.02699
40
+ ],
41
+ [
42
+ -0.00592,
43
+ 0.99998,
44
+ 0.00071,
45
+ 1.27785
46
+ ],
47
+ [
48
+ 0.06259,
49
+ -0.00034,
50
+ 0.99804,
51
+ -1.0812
52
+ ],
53
+ [
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 1.0
58
+ ]
59
+ ]
60
+ ],
61
+ [
62
+ "002_master_chef_can.object_config.json",
63
+ [
64
+ [
65
+ -0.95438,
66
+ 0.00016,
67
+ -0.2986,
68
+ 0.77431
69
+ ],
70
+ [
71
+ 9e-05,
72
+ 1.0,
73
+ 0.00024,
74
+ 0.69724
75
+ ],
76
+ [
77
+ 0.2986,
78
+ 0.00021,
79
+ -0.95438,
80
+ 6.72967
81
+ ],
82
+ [
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ 1.0
87
+ ]
88
+ ]
89
+ ],
90
+ [
91
+ "024_bowl.object_config.json",
92
+ [
93
+ [
94
+ -0.44437,
95
+ -0.00063,
96
+ 0.89584,
97
+ -2.20704
98
+ ],
99
+ [
100
+ -0.00512,
101
+ 0.99999,
102
+ -0.00184,
103
+ 1.27895
104
+ ],
105
+ [
106
+ -0.89583,
107
+ -0.00541,
108
+ -0.44437,
109
+ -0.9088
110
+ ],
111
+ [
112
+ 0.0,
113
+ 0.0,
114
+ 0.0,
115
+ 1.0
116
+ ]
117
+ ]
118
+ ],
119
+ [
120
+ "002_master_chef_can.object_config.json",
121
+ [
122
+ [
123
+ 0.07044,
124
+ 0.00033,
125
+ -0.99752,
126
+ 2.24896
127
+ ],
128
+ [
129
+ 0.00036,
130
+ 1.0,
131
+ 0.00036,
132
+ 1.00477
133
+ ],
134
+ [
135
+ 0.99752,
136
+ -0.00038,
137
+ 0.07044,
138
+ 6.11706
139
+ ],
140
+ [
141
+ 0.0,
142
+ 0.0,
143
+ 0.0,
144
+ 1.0
145
+ ]
146
+ ]
147
+ ],
148
+ [
149
+ "003_cracker_box.object_config.json",
150
+ [
151
+ [
152
+ -0.78769,
153
+ -0.0314,
154
+ 0.61528,
155
+ -2.13771
156
+ ],
157
+ [
158
+ -0.04554,
159
+ 0.99894,
160
+ -0.00733,
161
+ 0.81374
162
+ ],
163
+ [
164
+ -0.61439,
165
+ -0.0338,
166
+ -0.78828,
167
+ 1.24053
168
+ ],
169
+ [
170
+ 0.0,
171
+ 0.0,
172
+ 0.0,
173
+ 1.0
174
+ ]
175
+ ]
176
+ ],
177
+ [
178
+ "005_tomato_soup_can.object_config.json",
179
+ [
180
+ [
181
+ -0.77497,
182
+ -0.00031,
183
+ -0.632,
184
+ 2.37403
185
+ ],
186
+ [
187
+ -0.00082,
188
+ 1.0,
189
+ 0.00051,
190
+ 0.46592
191
+ ],
192
+ [
193
+ 0.632,
194
+ 0.00092,
195
+ -0.77497,
196
+ 7.51268
197
+ ],
198
+ [
199
+ 0.0,
200
+ 0.0,
201
+ 0.0,
202
+ 1.0
203
+ ]
204
+ ]
205
+ ],
206
+ [
207
+ "002_master_chef_can.object_config.json",
208
+ [
209
+ [
210
+ 0.88577,
211
+ 0.00022,
212
+ 0.46412,
213
+ -2.14108
214
+ ],
215
+ [
216
+ -0.00031,
217
+ 1.0,
218
+ 0.00011,
219
+ 0.77777
220
+ ],
221
+ [
222
+ -0.46412,
223
+ -0.00024,
224
+ 0.88577,
225
+ 1.07197
226
+ ],
227
+ [
228
+ 0.0,
229
+ 0.0,
230
+ 0.0,
231
+ 1.0
232
+ ]
233
+ ]
234
+ ],
235
+ [
236
+ "007_tuna_fish_can.object_config.json",
237
+ [
238
+ [
239
+ 0.92808,
240
+ 0.00314,
241
+ 0.37238,
242
+ 2.1755
243
+ ],
244
+ [
245
+ -0.00229,
246
+ 0.99999,
247
+ -0.00273,
248
+ 0.43187
249
+ ],
250
+ [
251
+ -0.37238,
252
+ 0.00168,
253
+ 0.92808,
254
+ 4.34787
255
+ ],
256
+ [
257
+ 0.0,
258
+ 0.0,
259
+ 0.0,
260
+ 1.0
261
+ ]
262
+ ]
263
+ ],
264
+ [
265
+ "004_sugar_box.object_config.json",
266
+ [
267
+ [
268
+ 0.98,
269
+ -0.03389,
270
+ -0.1961,
271
+ 2.2295
272
+ ],
273
+ [
274
+ 0.03945,
275
+ 0.99892,
276
+ 0.02449,
277
+ 0.50309
278
+ ],
279
+ [
280
+ 0.19506,
281
+ -0.03174,
282
+ 0.98028,
283
+ 4.52342
284
+ ],
285
+ [
286
+ 0.0,
287
+ 0.0,
288
+ 0.0,
289
+ 1.0
290
+ ]
291
+ ]
292
+ ],
293
+ [
294
+ "002_master_chef_can.object_config.json",
295
+ [
296
+ [
297
+ 0.65413,
298
+ 4e-05,
299
+ -0.75638,
300
+ 3.84382
301
+ ],
302
+ [
303
+ -1e-05,
304
+ 1.0,
305
+ 5e-05,
306
+ 0.83327
307
+ ],
308
+ [
309
+ 0.75638,
310
+ -3e-05,
311
+ 0.65413,
312
+ 3.47063
313
+ ],
314
+ [
315
+ 0.0,
316
+ 0.0,
317
+ 0.0,
318
+ 1.0
319
+ ]
320
+ ]
321
+ ],
322
+ [
323
+ "005_tomato_soup_can.object_config.json",
324
+ [
325
+ [
326
+ 0.63501,
327
+ 0.00019,
328
+ -0.7725,
329
+ 2.11096
330
+ ],
331
+ [
332
+ -0.0013,
333
+ 1.0,
334
+ -0.00081,
335
+ 0.9853
336
+ ],
337
+ [
338
+ 0.7725,
339
+ 0.00152,
340
+ 0.63501,
341
+ 5.99785
342
+ ],
343
+ [
344
+ 0.0,
345
+ 0.0,
346
+ 0.0,
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ [
352
+ "024_bowl.object_config.json",
353
+ [
354
+ [
355
+ -0.96558,
356
+ 0.0001,
357
+ 0.26012,
358
+ -2.06205
359
+ ],
360
+ [
361
+ -0.0,
362
+ 1.0,
363
+ -0.00041,
364
+ 0.88718
365
+ ],
366
+ [
367
+ -0.26012,
368
+ -0.00039,
369
+ -0.96558,
370
+ 0.18143
371
+ ],
372
+ [
373
+ 0.0,
374
+ 0.0,
375
+ 0.0,
376
+ 1.0
377
+ ]
378
+ ]
379
+ ],
380
+ [
381
+ "010_potted_meat_can.object_config.json",
382
+ [
383
+ [
384
+ 0.91872,
385
+ 1e-05,
386
+ -0.39491,
387
+ -1.87994
388
+ ],
389
+ [
390
+ -4e-05,
391
+ 1.0,
392
+ -5e-05,
393
+ 0.90168
394
+ ],
395
+ [
396
+ 0.39491,
397
+ 6e-05,
398
+ 0.91872,
399
+ 2.01167
400
+ ],
401
+ [
402
+ 0.0,
403
+ 0.0,
404
+ 0.0,
405
+ 1.0
406
+ ]
407
+ ]
408
+ ],
409
+ [
410
+ "024_bowl.object_config.json",
411
+ [
412
+ [
413
+ 0.82231,
414
+ 0.00159,
415
+ -0.56903,
416
+ 2.25086
417
+ ],
418
+ [
419
+ 0.00018,
420
+ 1.0,
421
+ 0.00306,
422
+ 0.96161
423
+ ],
424
+ [
425
+ 0.56904,
426
+ -0.00262,
427
+ 0.82231,
428
+ 5.74449
429
+ ],
430
+ [
431
+ 0.0,
432
+ 0.0,
433
+ 0.0,
434
+ 1.0
435
+ ]
436
+ ]
437
+ ],
438
+ [
439
+ "005_tomato_soup_can.object_config.json",
440
+ [
441
+ [
442
+ -0.92072,
443
+ -0.00024,
444
+ 0.39023,
445
+ -2.23186
446
+ ],
447
+ [
448
+ -0.00025,
449
+ 1.0,
450
+ 2e-05,
451
+ 0.7583
452
+ ],
453
+ [
454
+ -0.39023,
455
+ -8e-05,
456
+ -0.92072,
457
+ 1.21228
458
+ ],
459
+ [
460
+ 0.0,
461
+ 0.0,
462
+ 0.0,
463
+ 1.0
464
+ ]
465
+ ]
466
+ ],
467
+ [
468
+ "007_tuna_fish_can.object_config.json",
469
+ [
470
+ [
471
+ 0.21098,
472
+ -0.0,
473
+ 0.97749,
474
+ 2.25011
475
+ ],
476
+ [
477
+ 0.0,
478
+ 1.0,
479
+ 0.0,
480
+ 0.43166
481
+ ],
482
+ [
483
+ -0.97749,
484
+ 0.0,
485
+ 0.21098,
486
+ 7.39754
487
+ ],
488
+ [
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 1.0
493
+ ]
494
+ ]
495
+ ],
496
+ [
497
+ "007_tuna_fish_can.object_config.json",
498
+ [
499
+ [
500
+ -0.97682,
501
+ 1e-05,
502
+ -0.21406,
503
+ -2.08389
504
+ ],
505
+ [
506
+ 1e-05,
507
+ 1.0,
508
+ -1e-05,
509
+ 0.87655
510
+ ],
511
+ [
512
+ 0.21406,
513
+ -1e-05,
514
+ -0.97682,
515
+ -0.29686
516
+ ],
517
+ [
518
+ 0.0,
519
+ 0.0,
520
+ 0.0,
521
+ 1.0
522
+ ]
523
+ ]
524
+ ],
525
+ [
526
+ "004_sugar_box.object_config.json",
527
+ [
528
+ [
529
+ -0.16727,
530
+ 0.03058,
531
+ -0.98544,
532
+ -2.02478
533
+ ],
534
+ [
535
+ 0.03923,
536
+ 0.99893,
537
+ 0.02434,
538
+ 0.9477
539
+ ],
540
+ [
541
+ 0.98513,
542
+ -0.03459,
543
+ -0.1683,
544
+ 0.03284
545
+ ],
546
+ [
547
+ 0.0,
548
+ 0.0,
549
+ 0.0,
550
+ 1.0
551
+ ]
552
+ ]
553
+ ],
554
+ [
555
+ "002_master_chef_can.object_config.json",
556
+ [
557
+ [
558
+ -0.27806,
559
+ 2e-05,
560
+ 0.96056,
561
+ -1.98113
562
+ ],
563
+ [
564
+ 5e-05,
565
+ 1.0,
566
+ -0.0,
567
+ 0.9303
568
+ ],
569
+ [
570
+ -0.96056,
571
+ 5e-05,
572
+ -0.27806,
573
+ 2.2683
574
+ ],
575
+ [
576
+ 0.0,
577
+ 0.0,
578
+ 0.0,
579
+ 1.0
580
+ ]
581
+ ]
582
+ ],
583
+ [
584
+ "002_master_chef_can.object_config.json",
585
+ [
586
+ [
587
+ -0.38666,
588
+ 0.0,
589
+ -0.92222,
590
+ 2.36939
591
+ ],
592
+ [
593
+ 5e-05,
594
+ 1.0,
595
+ -2e-05,
596
+ 0.48541
597
+ ],
598
+ [
599
+ 0.92222,
600
+ -5e-05,
601
+ -0.38666,
602
+ 7.41531
603
+ ],
604
+ [
605
+ 0.0,
606
+ 0.0,
607
+ 0.0,
608
+ 1.0
609
+ ]
610
+ ]
611
+ ],
612
+ [
613
+ "024_bowl.object_config.json",
614
+ [
615
+ [
616
+ -0.82022,
617
+ -0.0043,
618
+ -0.57203,
619
+ -2.39274
620
+ ],
621
+ [
622
+ -0.00112,
623
+ 0.99998,
624
+ -0.00591,
625
+ 0.12732
626
+ ],
627
+ [
628
+ 0.57205,
629
+ -0.00421,
630
+ -0.82021,
631
+ -1.16117
632
+ ],
633
+ [
634
+ 0.0,
635
+ 0.0,
636
+ 0.0,
637
+ 1.0
638
+ ]
639
+ ]
640
+ ],
641
+ [
642
+ "007_tuna_fish_can.object_config.json",
643
+ [
644
+ [
645
+ 0.20243,
646
+ 2e-05,
647
+ -0.9793,
648
+ 3.71315
649
+ ],
650
+ [
651
+ -1e-05,
652
+ 1.0,
653
+ 2e-05,
654
+ 0.42105
655
+ ],
656
+ [
657
+ 0.9793,
658
+ 1e-05,
659
+ 0.20243,
660
+ 6.2219
661
+ ],
662
+ [
663
+ 0.0,
664
+ 0.0,
665
+ 0.0,
666
+ 1.0
667
+ ]
668
+ ]
669
+ ],
670
+ [
671
+ "004_sugar_box.object_config.json",
672
+ [
673
+ [
674
+ 0.76604,
675
+ -0.0127,
676
+ -0.64267,
677
+ 2.12694
678
+ ],
679
+ [
680
+ 0.03647,
681
+ 0.99905,
682
+ 0.02373,
683
+ 1.02233
684
+ ],
685
+ [
686
+ 0.64176,
687
+ -0.04162,
688
+ 0.76578,
689
+ 6.54126
690
+ ],
691
+ [
692
+ 0.0,
693
+ 0.0,
694
+ 0.0,
695
+ 1.0
696
+ ]
697
+ ]
698
+ ],
699
+ [
700
+ "005_tomato_soup_can.object_config.json",
701
+ [
702
+ [
703
+ -0.87905,
704
+ -0.00716,
705
+ -0.47667,
706
+ -2.18681
707
+ ],
708
+ [
709
+ -0.0071,
710
+ 0.99997,
711
+ -0.00194,
712
+ 0.75827
713
+ ],
714
+ [
715
+ 0.47667,
716
+ 0.00168,
717
+ -0.87908,
718
+ 1.15599
719
+ ],
720
+ [
721
+ 0.0,
722
+ 0.0,
723
+ 0.0,
724
+ 1.0
725
+ ]
726
+ ]
727
+ ],
728
+ [
729
+ "008_pudding_box.object_config.json",
730
+ [
731
+ [
732
+ -0.86276,
733
+ -0.01554,
734
+ 0.50538,
735
+ -2.09698
736
+ ],
737
+ [
738
+ -0.00828,
739
+ 0.99983,
740
+ 0.01661,
741
+ 1.27194
742
+ ],
743
+ [
744
+ -0.50555,
745
+ 0.01015,
746
+ -0.86274,
747
+ -0.79331
748
+ ],
749
+ [
750
+ 0.0,
751
+ 0.0,
752
+ 0.0,
753
+ 1.0
754
+ ]
755
+ ]
756
+ ],
757
+ [
758
+ "008_pudding_box.object_config.json",
759
+ [
760
+ [
761
+ -0.97154,
762
+ -0.01131,
763
+ 0.2366,
764
+ -2.03058
765
+ ],
766
+ [
767
+ -0.00728,
768
+ 0.99981,
769
+ 0.0179,
770
+ 1.27109
771
+ ],
772
+ [
773
+ -0.23675,
774
+ 0.01567,
775
+ -0.97144,
776
+ -0.93816
777
+ ],
778
+ [
779
+ 0.0,
780
+ 0.0,
781
+ 0.0,
782
+ 1.0
783
+ ]
784
+ ]
785
+ ],
786
+ [
787
+ "024_bowl.object_config.json",
788
+ [
789
+ [
790
+ -0.06995,
791
+ 0.00145,
792
+ -0.99755,
793
+ 2.4662
794
+ ],
795
+ [
796
+ 0.00138,
797
+ 1.0,
798
+ 0.00136,
799
+ 0.96161
800
+ ],
801
+ [
802
+ 0.99755,
803
+ -0.00128,
804
+ -0.06995,
805
+ 6.28346
806
+ ],
807
+ [
808
+ 0.0,
809
+ 0.0,
810
+ 0.0,
811
+ 1.0
812
+ ]
813
+ ]
814
+ ],
815
+ [
816
+ "002_master_chef_can.object_config.json",
817
+ [
818
+ [
819
+ -0.26784,
820
+ -0.00132,
821
+ -0.96346,
822
+ -2.24832
823
+ ],
824
+ [
825
+ 0.00443,
826
+ 0.99999,
827
+ -0.0026,
828
+ 1.32099
829
+ ],
830
+ [
831
+ 0.96345,
832
+ -0.00497,
833
+ -0.26783,
834
+ -1.14157
835
+ ],
836
+ [
837
+ 0.0,
838
+ 0.0,
839
+ 0.0,
840
+ 1.0
841
+ ]
842
+ ]
843
+ ],
844
+ [
845
+ "004_sugar_box.object_config.json",
846
+ [
847
+ [
848
+ -0.99635,
849
+ 0.03715,
850
+ 0.07683,
851
+ -2.30375
852
+ ],
853
+ [
854
+ 0.03868,
855
+ 0.99908,
856
+ 0.01851,
857
+ 1.33891
858
+ ],
859
+ [
860
+ -0.07608,
861
+ 0.02142,
862
+ -0.99687,
863
+ -1.04335
864
+ ],
865
+ [
866
+ 0.0,
867
+ 0.0,
868
+ 0.0,
869
+ 1.0
870
+ ]
871
+ ]
872
+ ],
873
+ [
874
+ "004_sugar_box.object_config.json",
875
+ [
876
+ [
877
+ -0.9367,
878
+ 0.04507,
879
+ -0.34722,
880
+ -2.059
881
+ ],
882
+ [
883
+ 0.03906,
884
+ 0.99894,
885
+ 0.02427,
886
+ 0.9477
887
+ ],
888
+ [
889
+ 0.34795,
890
+ 0.00917,
891
+ -0.93747,
892
+ 2.3134
893
+ ],
894
+ [
895
+ 0.0,
896
+ 0.0,
897
+ 0.0,
898
+ 1.0
899
+ ]
900
+ ]
901
+ ]
902
+ ],
903
+ "targets": {
904
+ "002_master_chef_can_:0006": [
905
+ [
906
+ -0.0337,
907
+ 0.0,
908
+ -0.99943,
909
+ -2.1231
910
+ ],
911
+ [
912
+ 0.0,
913
+ 1.0,
914
+ 0.0,
915
+ 0.92919
916
+ ],
917
+ [
918
+ 0.99943,
919
+ 0.0,
920
+ -0.0337,
921
+ 0.31156
922
+ ],
923
+ [
924
+ 0.0,
925
+ 0.0,
926
+ 0.0,
927
+ 1.0
928
+ ]
929
+ ],
930
+ "004_sugar_box_:0003": [
931
+ [
932
+ -0.70386,
933
+ 0.0,
934
+ -0.71034,
935
+ -2.46212
936
+ ],
937
+ [
938
+ 0.0,
939
+ 1.0,
940
+ 0.0,
941
+ 0.94711
942
+ ],
943
+ [
944
+ 0.71034,
945
+ 0.0,
946
+ -0.70386,
947
+ 0.14932
948
+ ],
949
+ [
950
+ 0.0,
951
+ 0.0,
952
+ 0.0,
953
+ 1.0
954
+ ]
955
+ ],
956
+ "004_sugar_box_:0004": [
957
+ [
958
+ -0.99691,
959
+ 0.0,
960
+ 0.07852,
961
+ -2.14528
962
+ ],
963
+ [
964
+ 0.0,
965
+ 1.0,
966
+ 0.0,
967
+ 1.33838
968
+ ],
969
+ [
970
+ -0.07852,
971
+ 0.0,
972
+ -0.99691,
973
+ -1.03222
974
+ ],
975
+ [
976
+ 0.0,
977
+ 0.0,
978
+ 0.0,
979
+ 1.0
980
+ ]
981
+ ]
982
+ },
983
+ "markers": [
984
+ {
985
+ "name": "cab_push_point_7",
986
+ "type": "articulated_object",
987
+ "params": {
988
+ "offset": [
989
+ 0.3,
990
+ 0.0,
991
+ 0
992
+ ],
993
+ "link": "drawer1_top",
994
+ "object": "kitchen_counter_:0000"
995
+ }
996
+ },
997
+ {
998
+ "name": "cab_push_point_6",
999
+ "type": "articulated_object",
1000
+ "params": {
1001
+ "offset": [
1002
+ 0.3,
1003
+ 0.0,
1004
+ 0
1005
+ ],
1006
+ "link": "drawer2_top",
1007
+ "object": "kitchen_counter_:0000"
1008
+ }
1009
+ },
1010
+ {
1011
+ "name": "cab_push_point_5",
1012
+ "type": "articulated_object",
1013
+ "params": {
1014
+ "offset": [
1015
+ 0.3,
1016
+ 0.0,
1017
+ 0
1018
+ ],
1019
+ "link": "drawer3",
1020
+ "object": "kitchen_counter_:0000"
1021
+ }
1022
+ },
1023
+ {
1024
+ "name": "cab_push_point_4",
1025
+ "type": "articulated_object",
1026
+ "params": {
1027
+ "offset": [
1028
+ 0.3,
1029
+ 0.0,
1030
+ 0
1031
+ ],
1032
+ "link": "drawer4",
1033
+ "object": "kitchen_counter_:0000"
1034
+ }
1035
+ },
1036
+ {
1037
+ "name": "fridge_push_point",
1038
+ "type": "articulated_object",
1039
+ "params": {
1040
+ "offset": [
1041
+ 0.1,
1042
+ -0.62,
1043
+ 0.2
1044
+ ],
1045
+ "link": "top_door",
1046
+ "object": "fridge_:0000"
1047
+ }
1048
+ }
1049
+ ],
1050
+ "target_receptacles": [
1051
+ [
1052
+ "fridge_:0000",
1053
+ 0
1054
+ ],
1055
+ [
1056
+ "fridge_:0000",
1057
+ 0
1058
+ ],
1059
+ [
1060
+ "kitchen_counter_:0000",
1061
+ 0
1062
+ ]
1063
+ ],
1064
+ "goal_receptacles": [
1065
+ [
1066
+ "kitchen_counter_:0000",
1067
+ 0
1068
+ ],
1069
+ [
1070
+ "kitchen_counter_:0000",
1071
+ 0
1072
+ ],
1073
+ [
1074
+ "fridge_:0000",
1075
+ 0
1076
+ ]
1077
+ ]
1078
+ }
rearrange/v1_extracted/train/prepare_groceries/episode_102.json ADDED
@@ -0,0 +1,1078 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_id": "102",
3
+ "scene_id": "data/replica_cad/configs/scenes/v3_sc2_staging_00.scene_instance.json",
4
+ "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
5
+ "additional_obj_config_paths": [
6
+ "data/objects/ycb/"
7
+ ],
8
+ "start_position": [
9
+ 0,
10
+ 0,
11
+ 0
12
+ ],
13
+ "start_rotation": [
14
+ 0,
15
+ 0,
16
+ 0,
17
+ 1
18
+ ],
19
+ "info": {
20
+ "object_labels": {
21
+ "003_cracker_box_:0003": "obj0_target|0",
22
+ "003_cracker_box_:0004": "obj1_target|1",
23
+ "003_cracker_box_:0005": "obj2_target|2"
24
+ }
25
+ },
26
+ "ao_states": {
27
+ "fridge_:0000": {
28
+ "2": 1.5
29
+ }
30
+ },
31
+ "rigid_objs": [
32
+ [
33
+ "007_tuna_fish_can.object_config.json",
34
+ [
35
+ [
36
+ -0.1436,
37
+ -0.0,
38
+ 0.98964,
39
+ -2.45153
40
+ ],
41
+ [
42
+ 0.0,
43
+ 1.0,
44
+ 0.0,
45
+ 0.87655
46
+ ],
47
+ [
48
+ -0.98964,
49
+ 0.0,
50
+ -0.1436,
51
+ 2.71144
52
+ ],
53
+ [
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 1.0
58
+ ]
59
+ ]
60
+ ],
61
+ [
62
+ "024_bowl.object_config.json",
63
+ [
64
+ [
65
+ -0.54964,
66
+ -2e-05,
67
+ -0.8354,
68
+ -2.0061
69
+ ],
70
+ [
71
+ 0.00358,
72
+ 0.99999,
73
+ -0.00237,
74
+ 1.27901
75
+ ],
76
+ [
77
+ 0.83539,
78
+ -0.00429,
79
+ -0.54964,
80
+ -0.11941
81
+ ],
82
+ [
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ 1.0
87
+ ]
88
+ ]
89
+ ],
90
+ [
91
+ "004_sugar_box.object_config.json",
92
+ [
93
+ [
94
+ -0.0423,
95
+ -0.02056,
96
+ 0.99889,
97
+ 3.68503
98
+ ],
99
+ [
100
+ 0.03994,
101
+ 0.99895,
102
+ 0.02225,
103
+ 0.50292
104
+ ],
105
+ [
106
+ -0.99831,
107
+ 0.04084,
108
+ -0.04144,
109
+ 5.71768
110
+ ],
111
+ [
112
+ 0.0,
113
+ 0.0,
114
+ 0.0,
115
+ 1.0
116
+ ]
117
+ ]
118
+ ],
119
+ [
120
+ "009_gelatin_box.object_config.json",
121
+ [
122
+ [
123
+ 0.92819,
124
+ 0.0,
125
+ 0.3721,
126
+ -1.8974
127
+ ],
128
+ [
129
+ -0.0,
130
+ 1.0,
131
+ 0.0,
132
+ 0.87476
133
+ ],
134
+ [
135
+ -0.3721,
136
+ -0.0,
137
+ 0.92819,
138
+ 0.53736
139
+ ],
140
+ [
141
+ 0.0,
142
+ 0.0,
143
+ 0.0,
144
+ 1.0
145
+ ]
146
+ ]
147
+ ],
148
+ [
149
+ "003_cracker_box.object_config.json",
150
+ [
151
+ [
152
+ 0.08062,
153
+ -0.0031,
154
+ -0.99674,
155
+ -2.19875
156
+ ],
157
+ [
158
+ -0.04755,
159
+ 0.99884,
160
+ -0.00695,
161
+ 0.96629
162
+ ],
163
+ [
164
+ 0.99561,
165
+ 0.04796,
166
+ 0.08038,
167
+ 0.9893
168
+ ],
169
+ [
170
+ 0.0,
171
+ 0.0,
172
+ 0.0,
173
+ 1.0
174
+ ]
175
+ ]
176
+ ],
177
+ [
178
+ "024_bowl.object_config.json",
179
+ [
180
+ [
181
+ -0.499,
182
+ -0.0,
183
+ 0.8666,
184
+ 3.84471
185
+ ],
186
+ [
187
+ 1e-05,
188
+ 1.0,
189
+ 1e-05,
190
+ 0.4423
191
+ ],
192
+ [
193
+ -0.8666,
194
+ 2e-05,
195
+ -0.499,
196
+ 5.70917
197
+ ],
198
+ [
199
+ 0.0,
200
+ 0.0,
201
+ 0.0,
202
+ 1.0
203
+ ]
204
+ ]
205
+ ],
206
+ [
207
+ "004_sugar_box.object_config.json",
208
+ [
209
+ [
210
+ 0.98185,
211
+ -0.04217,
212
+ 0.1849,
213
+ 3.25642
214
+ ],
215
+ [
216
+ 0.0386,
217
+ 0.99899,
218
+ 0.02286,
219
+ 0.50304
220
+ ],
221
+ [
222
+ -0.18568,
223
+ -0.01531,
224
+ 0.98249,
225
+ 7.34108
226
+ ],
227
+ [
228
+ 0.0,
229
+ 0.0,
230
+ 0.0,
231
+ 1.0
232
+ ]
233
+ ]
234
+ ],
235
+ [
236
+ "004_sugar_box.object_config.json",
237
+ [
238
+ [
239
+ -0.90789,
240
+ 0.04563,
241
+ -0.41672,
242
+ -1.88164
243
+ ],
244
+ [
245
+ 0.03907,
246
+ 0.99894,
247
+ 0.02427,
248
+ 0.9477
249
+ ],
250
+ [
251
+ 0.41739,
252
+ 0.00575,
253
+ -0.90871,
254
+ 2.89366
255
+ ],
256
+ [
257
+ 0.0,
258
+ 0.0,
259
+ 0.0,
260
+ 1.0
261
+ ]
262
+ ]
263
+ ],
264
+ [
265
+ "003_cracker_box.object_config.json",
266
+ [
267
+ [
268
+ 0.99647,
269
+ -0.0836,
270
+ -0.00739,
271
+ -2.13271
272
+ ],
273
+ [
274
+ 0.08369,
275
+ 0.9964,
276
+ 0.01357,
277
+ 0.81586
278
+ ],
279
+ [
280
+ 0.00623,
281
+ -0.01414,
282
+ 0.99988,
283
+ 2.06854
284
+ ],
285
+ [
286
+ 0.0,
287
+ 0.0,
288
+ 0.0,
289
+ 1.0
290
+ ]
291
+ ]
292
+ ],
293
+ [
294
+ "010_potted_meat_can.object_config.json",
295
+ [
296
+ [
297
+ 0.98298,
298
+ -4e-05,
299
+ 0.18372,
300
+ -2.45396
301
+ ],
302
+ [
303
+ 2e-05,
304
+ 1.0,
305
+ 0.00012,
306
+ 0.90168
307
+ ],
308
+ [
309
+ -0.18372,
310
+ -0.00011,
311
+ 0.98298,
312
+ 3.14181
313
+ ],
314
+ [
315
+ 0.0,
316
+ 0.0,
317
+ 0.0,
318
+ 1.0
319
+ ]
320
+ ]
321
+ ],
322
+ [
323
+ "005_tomato_soup_can.object_config.json",
324
+ [
325
+ [
326
+ 0.9956,
327
+ 0.00129,
328
+ -0.09366,
329
+ 0.99963
330
+ ],
331
+ [
332
+ -0.0013,
333
+ 1.0,
334
+ -2e-05,
335
+ 0.45534
336
+ ],
337
+ [
338
+ 0.09366,
339
+ 0.00014,
340
+ 0.9956,
341
+ 4.65628
342
+ ],
343
+ [
344
+ 0.0,
345
+ 0.0,
346
+ 0.0,
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ [
352
+ "009_gelatin_box.object_config.json",
353
+ [
354
+ [
355
+ -0.80891,
356
+ 0.0,
357
+ 0.58793,
358
+ -2.2825
359
+ ],
360
+ [
361
+ 0.0,
362
+ 1.0,
363
+ -0.0,
364
+ 0.87476
365
+ ],
366
+ [
367
+ -0.58793,
368
+ -0.0,
369
+ -0.80891,
370
+ 2.66803
371
+ ],
372
+ [
373
+ 0.0,
374
+ 0.0,
375
+ 0.0,
376
+ 1.0
377
+ ]
378
+ ]
379
+ ],
380
+ [
381
+ "003_cracker_box.object_config.json",
382
+ [
383
+ [
384
+ 0.94284,
385
+ 0.14225,
386
+ 0.30137,
387
+ 4.00859
388
+ ],
389
+ [
390
+ -0.1546,
391
+ 0.98782,
392
+ 0.01741,
393
+ 0.52181
394
+ ],
395
+ [
396
+ -0.29522,
397
+ -0.063,
398
+ 0.95335,
399
+ 5.55185
400
+ ],
401
+ [
402
+ 0.0,
403
+ 0.0,
404
+ 0.0,
405
+ 1.0
406
+ ]
407
+ ]
408
+ ],
409
+ [
410
+ "007_tuna_fish_can.object_config.json",
411
+ [
412
+ [
413
+ 0.25462,
414
+ -2e-05,
415
+ 0.96704,
416
+ -1.09589
417
+ ],
418
+ [
419
+ 1e-05,
420
+ 1.0,
421
+ 2e-05,
422
+ 0.95101
423
+ ],
424
+ [
425
+ -0.96704,
426
+ 1e-05,
427
+ 0.25462,
428
+ 3.85565
429
+ ],
430
+ [
431
+ 0.0,
432
+ 0.0,
433
+ 0.0,
434
+ 1.0
435
+ ]
436
+ ]
437
+ ],
438
+ [
439
+ "002_master_chef_can.object_config.json",
440
+ [
441
+ [
442
+ -0.67947,
443
+ 4e-05,
444
+ 0.7337,
445
+ 3.89386
446
+ ],
447
+ [
448
+ 2e-05,
449
+ 1.0,
450
+ -4e-05,
451
+ 0.48541
452
+ ],
453
+ [
454
+ -0.7337,
455
+ -1e-05,
456
+ -0.67947,
457
+ 5.56476
458
+ ],
459
+ [
460
+ 0.0,
461
+ 0.0,
462
+ 0.0,
463
+ 1.0
464
+ ]
465
+ ]
466
+ ],
467
+ [
468
+ "002_master_chef_can.object_config.json",
469
+ [
470
+ [
471
+ -0.6419,
472
+ -0.0,
473
+ -0.76679,
474
+ 2.12254
475
+ ],
476
+ [
477
+ 6e-05,
478
+ 1.0,
479
+ -5e-05,
480
+ 0.4748
481
+ ],
482
+ [
483
+ 0.76679,
484
+ -8e-05,
485
+ -0.6419,
486
+ 4.57904
487
+ ],
488
+ [
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 1.0
493
+ ]
494
+ ]
495
+ ],
496
+ [
497
+ "004_sugar_box.object_config.json",
498
+ [
499
+ [
500
+ -0.3208,
501
+ 0.03553,
502
+ -0.94648,
503
+ -2.01487
504
+ ],
505
+ [
506
+ 0.03908,
507
+ 0.99894,
508
+ 0.02425,
509
+ 0.9477
510
+ ],
511
+ [
512
+ 0.94634,
513
+ -0.02921,
514
+ -0.32185,
515
+ 2.68525
516
+ ],
517
+ [
518
+ 0.0,
519
+ 0.0,
520
+ 0.0,
521
+ 1.0
522
+ ]
523
+ ]
524
+ ],
525
+ [
526
+ "007_tuna_fish_can.object_config.json",
527
+ [
528
+ [
529
+ -0.12068,
530
+ -0.0001,
531
+ 0.99269,
532
+ 1.54016
533
+ ],
534
+ [
535
+ -0.00019,
536
+ 1.0,
537
+ 8e-05,
538
+ 0.77952
539
+ ],
540
+ [
541
+ -0.99269,
542
+ -0.00018,
543
+ -0.12068,
544
+ 7.77473
545
+ ],
546
+ [
547
+ 0.0,
548
+ 0.0,
549
+ 0.0,
550
+ 1.0
551
+ ]
552
+ ]
553
+ ],
554
+ [
555
+ "007_tuna_fish_can.object_config.json",
556
+ [
557
+ [
558
+ -0.15118,
559
+ -0.0,
560
+ 0.98851,
561
+ -2.1219
562
+ ],
563
+ [
564
+ -0.0,
565
+ 1.0,
566
+ 0.0,
567
+ 0.87655
568
+ ],
569
+ [
570
+ -0.98851,
571
+ -0.0,
572
+ -0.15118,
573
+ 2.4089
574
+ ],
575
+ [
576
+ 0.0,
577
+ 0.0,
578
+ 0.0,
579
+ 1.0
580
+ ]
581
+ ]
582
+ ],
583
+ [
584
+ "008_pudding_box.object_config.json",
585
+ [
586
+ [
587
+ 0.99693,
588
+ 0.00772,
589
+ -0.07789,
590
+ 3.34729
591
+ ],
592
+ [
593
+ -0.00591,
594
+ 0.99971,
595
+ 0.0235,
596
+ 0.43449
597
+ ],
598
+ [
599
+ 0.07805,
600
+ -0.02297,
601
+ 0.99668,
602
+ 7.63282
603
+ ],
604
+ [
605
+ 0.0,
606
+ 0.0,
607
+ 0.0,
608
+ 1.0
609
+ ]
610
+ ]
611
+ ],
612
+ [
613
+ "007_tuna_fish_can.object_config.json",
614
+ [
615
+ [
616
+ 0.05435,
617
+ -0.00142,
618
+ 0.99852,
619
+ 2.0302
620
+ ],
621
+ [
622
+ 0.00113,
623
+ 1.0,
624
+ 0.00136,
625
+ 0.42106
626
+ ],
627
+ [
628
+ -0.99852,
629
+ 0.00105,
630
+ 0.05435,
631
+ 4.44745
632
+ ],
633
+ [
634
+ 0.0,
635
+ 0.0,
636
+ 0.0,
637
+ 1.0
638
+ ]
639
+ ]
640
+ ],
641
+ [
642
+ "009_gelatin_box.object_config.json",
643
+ [
644
+ [
645
+ -0.88604,
646
+ 0.0,
647
+ 0.4636,
648
+ -2.04508
649
+ ],
650
+ [
651
+ -0.00268,
652
+ 0.99998,
653
+ -0.00514,
654
+ 1.26484
655
+ ],
656
+ [
657
+ -0.4636,
658
+ -0.0058,
659
+ -0.88603,
660
+ -0.43785
661
+ ],
662
+ [
663
+ 0.0,
664
+ 0.0,
665
+ 0.0,
666
+ 1.0
667
+ ]
668
+ ]
669
+ ],
670
+ [
671
+ "004_sugar_box.object_config.json",
672
+ [
673
+ [
674
+ -0.97825,
675
+ 0.0433,
676
+ -0.20287,
677
+ 1.72735
678
+ ],
679
+ [
680
+ 0.03922,
681
+ 0.99894,
682
+ 0.0241,
683
+ 0.85085
684
+ ],
685
+ [
686
+ 0.2037,
687
+ 0.01562,
688
+ -0.97891,
689
+ 7.18221
690
+ ],
691
+ [
692
+ 0.0,
693
+ 0.0,
694
+ 0.0,
695
+ 1.0
696
+ ]
697
+ ]
698
+ ],
699
+ [
700
+ "008_pudding_box.object_config.json",
701
+ [
702
+ [
703
+ 0.83544,
704
+ -0.00798,
705
+ 0.54952,
706
+ 1.55432
707
+ ],
708
+ [
709
+ -0.00592,
710
+ 0.99971,
711
+ 0.02352,
712
+ 0.42377
713
+ ],
714
+ [
715
+ -0.54955,
716
+ -0.02291,
717
+ 0.83515,
718
+ 4.62832
719
+ ],
720
+ [
721
+ 0.0,
722
+ 0.0,
723
+ 0.0,
724
+ 1.0
725
+ ]
726
+ ]
727
+ ],
728
+ [
729
+ "024_bowl.object_config.json",
730
+ [
731
+ [
732
+ 0.77424,
733
+ 0.01148,
734
+ -0.63279,
735
+ -2.1921
736
+ ],
737
+ [
738
+ -0.00947,
739
+ 0.99993,
740
+ 0.00654,
741
+ 0.73509
742
+ ],
743
+ [
744
+ 0.63282,
745
+ 0.00093,
746
+ 0.77429,
747
+ 1.86493
748
+ ],
749
+ [
750
+ 0.0,
751
+ 0.0,
752
+ 0.0,
753
+ 1.0
754
+ ]
755
+ ]
756
+ ],
757
+ [
758
+ "008_pudding_box.object_config.json",
759
+ [
760
+ [
761
+ 0.15809,
762
+ -0.0222,
763
+ 0.98718,
764
+ -2.06808
765
+ ],
766
+ [
767
+ -0.00591,
768
+ 0.99971,
769
+ 0.02343,
770
+ 0.87927
771
+ ],
772
+ [
773
+ -0.98741,
774
+ -0.00954,
775
+ 0.15791,
776
+ 0.93562
777
+ ],
778
+ [
779
+ 0.0,
780
+ 0.0,
781
+ 0.0,
782
+ 1.0
783
+ ]
784
+ ]
785
+ ],
786
+ [
787
+ "010_potted_meat_can.object_config.json",
788
+ [
789
+ [
790
+ -0.30332,
791
+ 0.00024,
792
+ 0.95289,
793
+ 1.40939
794
+ ],
795
+ [
796
+ -0.00012,
797
+ 1.0,
798
+ -0.00029,
799
+ 0.44618
800
+ ],
801
+ [
802
+ -0.95289,
803
+ -0.0002,
804
+ -0.30332,
805
+ 4.84156
806
+ ],
807
+ [
808
+ 0.0,
809
+ 0.0,
810
+ 0.0,
811
+ 1.0
812
+ ]
813
+ ]
814
+ ],
815
+ [
816
+ "003_cracker_box.object_config.json",
817
+ [
818
+ [
819
+ -0.30991,
820
+ -0.02112,
821
+ -0.95053,
822
+ -2.23608
823
+ ],
824
+ [
825
+ -0.03961,
826
+ 0.99917,
827
+ -0.00929,
828
+ 1.35763
829
+ ],
830
+ [
831
+ 0.94994,
832
+ 0.03477,
833
+ -0.31049,
834
+ -0.21774
835
+ ],
836
+ [
837
+ 0.0,
838
+ 0.0,
839
+ 0.0,
840
+ 1.0
841
+ ]
842
+ ]
843
+ ],
844
+ [
845
+ "003_cracker_box.object_config.json",
846
+ [
847
+ [
848
+ -0.18214,
849
+ -0.01556,
850
+ -0.98315,
851
+ -2.30346
852
+ ],
853
+ [
854
+ -0.03997,
855
+ 0.99917,
856
+ -0.00841,
857
+ 1.35693
858
+ ],
859
+ [
860
+ 0.98246,
861
+ 0.03776,
862
+ -0.18261,
863
+ -0.3393
864
+ ],
865
+ [
866
+ 0.0,
867
+ 0.0,
868
+ 0.0,
869
+ 1.0
870
+ ]
871
+ ]
872
+ ],
873
+ [
874
+ "003_cracker_box.object_config.json",
875
+ [
876
+ [
877
+ -0.41855,
878
+ -0.02577,
879
+ -0.90783,
880
+ -1.96274
881
+ ],
882
+ [
883
+ -0.04556,
884
+ 0.99893,
885
+ -0.00735,
886
+ 0.96627
887
+ ],
888
+ [
889
+ 0.90705,
890
+ 0.03829,
891
+ -0.41928,
892
+ 2.6041
893
+ ],
894
+ [
895
+ 0.0,
896
+ 0.0,
897
+ 0.0,
898
+ 1.0
899
+ ]
900
+ ]
901
+ ]
902
+ ],
903
+ "targets": {
904
+ "003_cracker_box_:0003": [
905
+ [
906
+ -0.71192,
907
+ 0.0,
908
+ -0.70226,
909
+ -1.90127
910
+ ],
911
+ [
912
+ 0.0,
913
+ 1.0,
914
+ 0.0,
915
+ 0.96582
916
+ ],
917
+ [
918
+ 0.70226,
919
+ 0.0,
920
+ -0.71192,
921
+ 3.05396
922
+ ],
923
+ [
924
+ 0.0,
925
+ 0.0,
926
+ 0.0,
927
+ 1.0
928
+ ]
929
+ ],
930
+ "003_cracker_box_:0004": [
931
+ [
932
+ 0.37237,
933
+ 0.0,
934
+ -0.92808,
935
+ -2.12283
936
+ ],
937
+ [
938
+ 0.0,
939
+ 1.0,
940
+ 0.0,
941
+ 0.96582
942
+ ],
943
+ [
944
+ 0.92808,
945
+ 0.0,
946
+ 0.37237,
947
+ 0.60276
948
+ ],
949
+ [
950
+ 0.0,
951
+ 0.0,
952
+ 0.0,
953
+ 1.0
954
+ ]
955
+ ],
956
+ "003_cracker_box_:0005": [
957
+ [
958
+ -0.98565,
959
+ 0.0,
960
+ -0.16879,
961
+ -2.12959
962
+ ],
963
+ [
964
+ 0.0,
965
+ 1.0,
966
+ 0.0,
967
+ 1.35644
968
+ ],
969
+ [
970
+ 0.16879,
971
+ 0.0,
972
+ -0.98565,
973
+ -0.3442
974
+ ],
975
+ [
976
+ 0.0,
977
+ 0.0,
978
+ 0.0,
979
+ 1.0
980
+ ]
981
+ ]
982
+ },
983
+ "markers": [
984
+ {
985
+ "name": "cab_push_point_7",
986
+ "type": "articulated_object",
987
+ "params": {
988
+ "offset": [
989
+ 0.3,
990
+ 0.0,
991
+ 0
992
+ ],
993
+ "link": "drawer1_top",
994
+ "object": "kitchen_counter_:0000"
995
+ }
996
+ },
997
+ {
998
+ "name": "cab_push_point_6",
999
+ "type": "articulated_object",
1000
+ "params": {
1001
+ "offset": [
1002
+ 0.3,
1003
+ 0.0,
1004
+ 0
1005
+ ],
1006
+ "link": "drawer2_top",
1007
+ "object": "kitchen_counter_:0000"
1008
+ }
1009
+ },
1010
+ {
1011
+ "name": "cab_push_point_5",
1012
+ "type": "articulated_object",
1013
+ "params": {
1014
+ "offset": [
1015
+ 0.3,
1016
+ 0.0,
1017
+ 0
1018
+ ],
1019
+ "link": "drawer3",
1020
+ "object": "kitchen_counter_:0000"
1021
+ }
1022
+ },
1023
+ {
1024
+ "name": "cab_push_point_4",
1025
+ "type": "articulated_object",
1026
+ "params": {
1027
+ "offset": [
1028
+ 0.3,
1029
+ 0.0,
1030
+ 0
1031
+ ],
1032
+ "link": "drawer4",
1033
+ "object": "kitchen_counter_:0000"
1034
+ }
1035
+ },
1036
+ {
1037
+ "name": "fridge_push_point",
1038
+ "type": "articulated_object",
1039
+ "params": {
1040
+ "offset": [
1041
+ 0.1,
1042
+ -0.62,
1043
+ 0.2
1044
+ ],
1045
+ "link": "top_door",
1046
+ "object": "fridge_:0000"
1047
+ }
1048
+ }
1049
+ ],
1050
+ "target_receptacles": [
1051
+ [
1052
+ "fridge_:0000",
1053
+ 0
1054
+ ],
1055
+ [
1056
+ "fridge_:0000",
1057
+ 0
1058
+ ],
1059
+ [
1060
+ "kitchen_counter_:0000",
1061
+ 0
1062
+ ]
1063
+ ],
1064
+ "goal_receptacles": [
1065
+ [
1066
+ "kitchen_counter_:0000",
1067
+ 0
1068
+ ],
1069
+ [
1070
+ "kitchen_counter_:0000",
1071
+ 0
1072
+ ],
1073
+ [
1074
+ "fridge_:0000",
1075
+ 0
1076
+ ]
1077
+ ]
1078
+ }
rearrange/v1_extracted/train/prepare_groceries/episode_1020.json ADDED
@@ -0,0 +1,1078 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_id": "1020",
3
+ "scene_id": "data/replica_cad/configs/scenes/v3_sc0_staging_17.scene_instance.json",
4
+ "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
5
+ "additional_obj_config_paths": [
6
+ "data/objects/ycb/"
7
+ ],
8
+ "start_position": [
9
+ 0,
10
+ 0,
11
+ 0
12
+ ],
13
+ "start_rotation": [
14
+ 0,
15
+ 0,
16
+ 0,
17
+ 1
18
+ ],
19
+ "info": {
20
+ "object_labels": {
21
+ "007_tuna_fish_can_:0002": "obj0_target|0",
22
+ "009_gelatin_box_:0002": "obj1_target|1",
23
+ "007_tuna_fish_can_:0003": "obj2_target|2"
24
+ }
25
+ },
26
+ "ao_states": {
27
+ "fridge_:0000": {
28
+ "2": 1.5
29
+ }
30
+ },
31
+ "rigid_objs": [
32
+ [
33
+ "008_pudding_box.object_config.json",
34
+ [
35
+ [
36
+ 0.9229,
37
+ -0.00511,
38
+ 0.38501,
39
+ 3.69111
40
+ ],
41
+ [
42
+ -0.00451,
43
+ 0.9997,
44
+ 0.02408,
45
+ 0.4345
46
+ ],
47
+ [
48
+ -0.38502,
49
+ -0.02396,
50
+ 0.9226,
51
+ 3.9577
52
+ ],
53
+ [
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 1.0
58
+ ]
59
+ ]
60
+ ],
61
+ [
62
+ "008_pudding_box.object_config.json",
63
+ [
64
+ [
65
+ -0.91153,
66
+ -0.01379,
67
+ 0.41101,
68
+ 0.32136
69
+ ],
70
+ [
71
+ -0.0054,
72
+ 0.99975,
73
+ 0.02157,
74
+ 0.78225
75
+ ],
76
+ [
77
+ -0.4112,
78
+ 0.01744,
79
+ -0.91138,
80
+ 0.63128
81
+ ],
82
+ [
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ 1.0
87
+ ]
88
+ ]
89
+ ],
90
+ [
91
+ "007_tuna_fish_can.object_config.json",
92
+ [
93
+ [
94
+ -0.6581,
95
+ 0.00022,
96
+ 0.75293,
97
+ 0.52039
98
+ ],
99
+ [
100
+ 0.00043,
101
+ 1.0,
102
+ 9e-05,
103
+ 0.72401
104
+ ],
105
+ [
106
+ -0.75293,
107
+ 0.00039,
108
+ -0.6581,
109
+ 6.80545
110
+ ],
111
+ [
112
+ 0.0,
113
+ 0.0,
114
+ 0.0,
115
+ 1.0
116
+ ]
117
+ ]
118
+ ],
119
+ [
120
+ "004_sugar_box.object_config.json",
121
+ [
122
+ [
123
+ -0.362,
124
+ 0.03508,
125
+ -0.93152,
126
+ 3.68376
127
+ ],
128
+ [
129
+ 0.03958,
130
+ 0.99897,
131
+ 0.02224,
132
+ 0.49229
133
+ ],
134
+ [
135
+ 0.93134,
136
+ -0.02882,
137
+ -0.36301,
138
+ 0.03957
139
+ ],
140
+ [
141
+ 0.0,
142
+ 0.0,
143
+ 0.0,
144
+ 1.0
145
+ ]
146
+ ]
147
+ ],
148
+ [
149
+ "004_sugar_box.object_config.json",
150
+ [
151
+ [
152
+ 0.12009,
153
+ 0.01922,
154
+ -0.99258,
155
+ 0.47529
156
+ ],
157
+ [
158
+ 0.04448,
159
+ 0.9987,
160
+ 0.02472,
161
+ 1.33952
162
+ ],
163
+ [
164
+ 0.99177,
165
+ -0.04712,
166
+ 0.11908,
167
+ 4.56101
168
+ ],
169
+ [
170
+ 0.0,
171
+ 0.0,
172
+ 0.0,
173
+ 1.0
174
+ ]
175
+ ]
176
+ ],
177
+ [
178
+ "010_potted_meat_can.object_config.json",
179
+ [
180
+ [
181
+ 0.99347,
182
+ 0.01001,
183
+ 0.11368,
184
+ 2.72815
185
+ ],
186
+ [
187
+ -0.00865,
188
+ 0.99988,
189
+ -0.01249,
190
+ 0.97603
191
+ ],
192
+ [
193
+ -0.11379,
194
+ 0.01143,
195
+ 0.99344,
196
+ 6.46025
197
+ ],
198
+ [
199
+ 0.0,
200
+ 0.0,
201
+ 0.0,
202
+ 1.0
203
+ ]
204
+ ]
205
+ ],
206
+ [
207
+ "010_potted_meat_can.object_config.json",
208
+ [
209
+ [
210
+ -0.71634,
211
+ -1e-05,
212
+ 0.69775,
213
+ 3.87948
214
+ ],
215
+ [
216
+ -0.0,
217
+ 1.0,
218
+ 2e-05,
219
+ 0.4569
220
+ ],
221
+ [
222
+ -0.69775,
223
+ 1e-05,
224
+ -0.71634,
225
+ 3.35584
226
+ ],
227
+ [
228
+ 0.0,
229
+ 0.0,
230
+ 0.0,
231
+ 1.0
232
+ ]
233
+ ]
234
+ ],
235
+ [
236
+ "003_cracker_box.object_config.json",
237
+ [
238
+ [
239
+ 0.95598,
240
+ 0.04154,
241
+ -0.29049,
242
+ 0.48735
243
+ ],
244
+ [
245
+ -0.04564,
246
+ 0.99893,
247
+ -0.00734,
248
+ 0.96627
249
+ ],
250
+ [
251
+ 0.28987,
252
+ 0.02027,
253
+ 0.95685,
254
+ 5.52914
255
+ ],
256
+ [
257
+ 0.0,
258
+ 0.0,
259
+ 0.0,
260
+ 1.0
261
+ ]
262
+ ]
263
+ ],
264
+ [
265
+ "009_gelatin_box.object_config.json",
266
+ [
267
+ [
268
+ 0.60698,
269
+ -1e-05,
270
+ -0.79472,
271
+ 3.0716
272
+ ],
273
+ [
274
+ 0.0,
275
+ 1.0,
276
+ -1e-05,
277
+ 0.94922
278
+ ],
279
+ [
280
+ 0.79472,
281
+ -0.0,
282
+ 0.60698,
283
+ 5.7716
284
+ ],
285
+ [
286
+ 0.0,
287
+ 0.0,
288
+ 0.0,
289
+ 1.0
290
+ ]
291
+ ]
292
+ ],
293
+ [
294
+ "004_sugar_box.object_config.json",
295
+ [
296
+ [
297
+ 0.66061,
298
+ -0.04408,
299
+ 0.74944,
300
+ 2.65468
301
+ ],
302
+ [
303
+ 0.03909,
304
+ 0.99894,
305
+ 0.02429,
306
+ 1.02216
307
+ ],
308
+ [
309
+ -0.74972,
310
+ 0.01325,
311
+ 0.66163,
312
+ 5.25892
313
+ ],
314
+ [
315
+ 0.0,
316
+ 0.0,
317
+ 0.0,
318
+ 1.0
319
+ ]
320
+ ]
321
+ ],
322
+ [
323
+ "010_potted_meat_can.object_config.json",
324
+ [
325
+ [
326
+ -0.93078,
327
+ -0.00158,
328
+ -0.36557,
329
+ 0.58505
330
+ ],
331
+ [
332
+ 0.00015,
333
+ 0.99999,
334
+ -0.0047,
335
+ 1.29188
336
+ ],
337
+ [
338
+ 0.36557,
339
+ -0.00443,
340
+ -0.93077,
341
+ 4.28514
342
+ ],
343
+ [
344
+ 0.0,
345
+ 0.0,
346
+ 0.0,
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ [
352
+ "002_master_chef_can.object_config.json",
353
+ [
354
+ [
355
+ 0.71665,
356
+ -4e-05,
357
+ 0.69743,
358
+ 0.31377
359
+ ],
360
+ [
361
+ 8e-05,
362
+ 1.0,
363
+ -3e-05,
364
+ 0.9303
365
+ ],
366
+ [
367
+ -0.69743,
368
+ 7e-05,
369
+ 0.71665,
370
+ 7.32654
371
+ ],
372
+ [
373
+ 0.0,
374
+ 0.0,
375
+ 0.0,
376
+ 1.0
377
+ ]
378
+ ]
379
+ ],
380
+ [
381
+ "003_cracker_box.object_config.json",
382
+ [
383
+ [
384
+ -0.61571,
385
+ -0.02363,
386
+ 0.78762,
387
+ 0.60855
388
+ ],
389
+ [
390
+ -0.04613,
391
+ 0.99892,
392
+ -0.00609,
393
+ 0.86934
394
+ ],
395
+ [
396
+ -0.78662,
397
+ -0.04008,
398
+ -0.61614,
399
+ -0.562
400
+ ],
401
+ [
402
+ 0.0,
403
+ 0.0,
404
+ 0.0,
405
+ 1.0
406
+ ]
407
+ ]
408
+ ],
409
+ [
410
+ "024_bowl.object_config.json",
411
+ [
412
+ [
413
+ 0.95656,
414
+ -0.00026,
415
+ 0.29154,
416
+ 2.51518
417
+ ],
418
+ [
419
+ 0.00023,
420
+ 1.0,
421
+ 0.00011,
422
+ 0.96166
423
+ ],
424
+ [
425
+ -0.29154,
426
+ -4e-05,
427
+ 0.95656,
428
+ 6.14766
429
+ ],
430
+ [
431
+ 0.0,
432
+ 0.0,
433
+ 0.0,
434
+ 1.0
435
+ ]
436
+ ]
437
+ ],
438
+ [
439
+ "008_pudding_box.object_config.json",
440
+ [
441
+ [
442
+ 0.79895,
443
+ 0.01884,
444
+ -0.60111,
445
+ 0.91446
446
+ ],
447
+ [
448
+ -0.0059,
449
+ 0.99971,
450
+ 0.02349,
451
+ 0.64621
452
+ ],
453
+ [
454
+ 0.60137,
455
+ -0.01522,
456
+ 0.79882,
457
+ 3.81606
458
+ ],
459
+ [
460
+ 0.0,
461
+ 0.0,
462
+ 0.0,
463
+ 1.0
464
+ ]
465
+ ]
466
+ ],
467
+ [
468
+ "010_potted_meat_can.object_config.json",
469
+ [
470
+ [
471
+ 0.34636,
472
+ 0.00153,
473
+ -0.9381,
474
+ 0.63721
475
+ ],
476
+ [
477
+ 0.00041,
478
+ 1.0,
479
+ 0.00178,
480
+ 0.90171
481
+ ],
482
+ [
483
+ 0.9381,
484
+ -0.001,
485
+ 0.34636,
486
+ 7.32632
487
+ ],
488
+ [
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 1.0
493
+ ]
494
+ ]
495
+ ],
496
+ [
497
+ "009_gelatin_box.object_config.json",
498
+ [
499
+ [
500
+ -0.23126,
501
+ 0.00135,
502
+ -0.97289,
503
+ 0.42642
504
+ ],
505
+ [
506
+ 0.00033,
507
+ 1.0,
508
+ 0.0013,
509
+ 0.64161
510
+ ],
511
+ [
512
+ 0.97289,
513
+ -2e-05,
514
+ -0.23126,
515
+ 3.42492
516
+ ],
517
+ [
518
+ 0.0,
519
+ 0.0,
520
+ 0.0,
521
+ 1.0
522
+ ]
523
+ ]
524
+ ],
525
+ [
526
+ "004_sugar_box.object_config.json",
527
+ [
528
+ [
529
+ -0.74062,
530
+ 0.01272,
531
+ 0.67181,
532
+ 0.60705
533
+ ],
534
+ [
535
+ 0.03895,
536
+ 0.99895,
537
+ 0.02402,
538
+ 0.94769
539
+ ],
540
+ [
541
+ -0.6708,
542
+ 0.04395,
543
+ -0.74034,
544
+ 7.12231
545
+ ],
546
+ [
547
+ 0.0,
548
+ 0.0,
549
+ 0.0,
550
+ 1.0
551
+ ]
552
+ ]
553
+ ],
554
+ [
555
+ "002_master_chef_can.object_config.json",
556
+ [
557
+ [
558
+ -0.05682,
559
+ 0.00011,
560
+ 0.99838,
561
+ 0.55295
562
+ ],
563
+ [
564
+ -0.00565,
565
+ 0.99998,
566
+ -0.00043,
567
+ 1.32289
568
+ ],
569
+ [
570
+ -0.99837,
571
+ -0.00566,
572
+ -0.05681,
573
+ 4.69395
574
+ ],
575
+ [
576
+ 0.0,
577
+ 0.0,
578
+ 0.0,
579
+ 1.0
580
+ ]
581
+ ]
582
+ ],
583
+ [
584
+ "005_tomato_soup_can.object_config.json",
585
+ [
586
+ [
587
+ 0.77752,
588
+ 0.0024,
589
+ -0.62885,
590
+ 0.73404
591
+ ],
592
+ [
593
+ 0.00052,
594
+ 0.99999,
595
+ 0.00445,
596
+ 1.30333
597
+ ],
598
+ [
599
+ 0.62886,
600
+ -0.00378,
601
+ 0.77751,
602
+ 4.675
603
+ ],
604
+ [
605
+ 0.0,
606
+ 0.0,
607
+ 0.0,
608
+ 1.0
609
+ ]
610
+ ]
611
+ ],
612
+ [
613
+ "003_cracker_box.object_config.json",
614
+ [
615
+ [
616
+ 0.02175,
617
+ -0.00636,
618
+ -0.99974,
619
+ 0.73405
620
+ ],
621
+ [
622
+ -0.04564,
623
+ 0.99893,
624
+ -0.00735,
625
+ 0.96627
626
+ ],
627
+ [
628
+ 0.99872,
629
+ 0.04578,
630
+ 0.02144,
631
+ 6.21723
632
+ ],
633
+ [
634
+ 0.0,
635
+ 0.0,
636
+ 0.0,
637
+ 1.0
638
+ ]
639
+ ]
640
+ ],
641
+ [
642
+ "003_cracker_box.object_config.json",
643
+ [
644
+ [
645
+ -0.97059,
646
+ 0.0075,
647
+ -0.24061,
648
+ 0.28384
649
+ ],
650
+ [
651
+ 0.00881,
652
+ 0.99995,
653
+ -0.00438,
654
+ 0.20775
655
+ ],
656
+ [
657
+ 0.24057,
658
+ -0.00637,
659
+ -0.97061,
660
+ 4.37046
661
+ ],
662
+ [
663
+ 0.0,
664
+ 0.0,
665
+ 0.0,
666
+ 1.0
667
+ ]
668
+ ]
669
+ ],
670
+ [
671
+ "010_potted_meat_can.object_config.json",
672
+ [
673
+ [
674
+ -0.24221,
675
+ 0.00199,
676
+ -0.97022,
677
+ 1.13022
678
+ ],
679
+ [
680
+ -0.0034,
681
+ 0.99999,
682
+ 0.0029,
683
+ 0.66866
684
+ ],
685
+ [
686
+ 0.97022,
687
+ 0.004,
688
+ -0.2422,
689
+ 3.64947
690
+ ],
691
+ [
692
+ 0.0,
693
+ 0.0,
694
+ 0.0,
695
+ 1.0
696
+ ]
697
+ ]
698
+ ],
699
+ [
700
+ "010_potted_meat_can.object_config.json",
701
+ [
702
+ [
703
+ 0.99997,
704
+ -8e-05,
705
+ -0.0075,
706
+ 3.53165
707
+ ],
708
+ [
709
+ 8e-05,
710
+ 1.0,
711
+ 0.00016,
712
+ 0.44618
713
+ ],
714
+ [
715
+ 0.0075,
716
+ -0.00016,
717
+ 0.99997,
718
+ -0.31913
719
+ ],
720
+ [
721
+ 0.0,
722
+ 0.0,
723
+ 0.0,
724
+ 1.0
725
+ ]
726
+ ]
727
+ ],
728
+ [
729
+ "008_pudding_box.object_config.json",
730
+ [
731
+ [
732
+ 0.9639,
733
+ -0.00053,
734
+ 0.26626,
735
+ 3.55648
736
+ ],
737
+ [
738
+ -0.00587,
739
+ 0.99971,
740
+ 0.02324,
741
+ 0.42377
742
+ ],
743
+ [
744
+ -0.2662,
745
+ -0.02397,
746
+ 0.96362,
747
+ 0.03326
748
+ ],
749
+ [
750
+ 0.0,
751
+ 0.0,
752
+ 0.0,
753
+ 1.0
754
+ ]
755
+ ]
756
+ ],
757
+ [
758
+ "005_tomato_soup_can.object_config.json",
759
+ [
760
+ [
761
+ -0.42519,
762
+ 6e-05,
763
+ -0.9051,
764
+ 3.98203
765
+ ],
766
+ [
767
+ 0.00011,
768
+ 1.0,
769
+ 1e-05,
770
+ 0.46605
771
+ ],
772
+ [
773
+ 0.9051,
774
+ -0.0001,
775
+ -0.42519,
776
+ 3.1962
777
+ ],
778
+ [
779
+ 0.0,
780
+ 0.0,
781
+ 0.0,
782
+ 1.0
783
+ ]
784
+ ]
785
+ ],
786
+ [
787
+ "007_tuna_fish_can.object_config.json",
788
+ [
789
+ [
790
+ -0.69152,
791
+ -2e-05,
792
+ -0.72236,
793
+ 0.42726
794
+ ],
795
+ [
796
+ -2e-05,
797
+ 1.0,
798
+ -0.0,
799
+ 0.77952
800
+ ],
801
+ [
802
+ 0.72236,
803
+ 1e-05,
804
+ -0.69152,
805
+ 0.71201
806
+ ],
807
+ [
808
+ 0.0,
809
+ 0.0,
810
+ 0.0,
811
+ 1.0
812
+ ]
813
+ ]
814
+ ],
815
+ [
816
+ "007_tuna_fish_can.object_config.json",
817
+ [
818
+ [
819
+ 0.4619,
820
+ 0.0023,
821
+ -0.88693,
822
+ 0.40033
823
+ ],
824
+ [
825
+ 0.00727,
826
+ 0.99995,
827
+ 0.00638,
828
+ 1.26738
829
+ ],
830
+ [
831
+ 0.8869,
832
+ -0.0094,
833
+ 0.46186,
834
+ 4.41978
835
+ ],
836
+ [
837
+ 0.0,
838
+ 0.0,
839
+ 0.0,
840
+ 1.0
841
+ ]
842
+ ]
843
+ ],
844
+ [
845
+ "009_gelatin_box.object_config.json",
846
+ [
847
+ [
848
+ 0.96674,
849
+ -0.00214,
850
+ 0.25573,
851
+ 0.66309
852
+ ],
853
+ [
854
+ 9e-05,
855
+ 0.99997,
856
+ 0.00803,
857
+ 1.26528
858
+ ],
859
+ [
860
+ -0.25574,
861
+ -0.00774,
862
+ 0.96671,
863
+ 4.35144
864
+ ],
865
+ [
866
+ 0.0,
867
+ 0.0,
868
+ 0.0,
869
+ 1.0
870
+ ]
871
+ ]
872
+ ],
873
+ [
874
+ "007_tuna_fish_can.object_config.json",
875
+ [
876
+ [
877
+ -0.39089,
878
+ 1e-05,
879
+ -0.92044,
880
+ 0.64911
881
+ ],
882
+ [
883
+ -0.0,
884
+ 1.0,
885
+ 1e-05,
886
+ 0.87655
887
+ ],
888
+ [
889
+ 0.92044,
890
+ 1e-05,
891
+ -0.39089,
892
+ 5.25903
893
+ ],
894
+ [
895
+ 0.0,
896
+ 0.0,
897
+ 0.0,
898
+ 1.0
899
+ ]
900
+ ]
901
+ ]
902
+ ],
903
+ "targets": {
904
+ "007_tuna_fish_can_:0002": [
905
+ [
906
+ -0.76052,
907
+ 0.0,
908
+ 0.64931,
909
+ 0.37027
910
+ ],
911
+ [
912
+ 0.0,
913
+ 1.0,
914
+ 0.0,
915
+ 0.87587
916
+ ],
917
+ [
918
+ -0.64931,
919
+ 0.0,
920
+ -0.76052,
921
+ 7.88886
922
+ ],
923
+ [
924
+ 0.0,
925
+ 0.0,
926
+ 0.0,
927
+ 1.0
928
+ ]
929
+ ],
930
+ "009_gelatin_box_:0002": [
931
+ [
932
+ 0.99996,
933
+ 0.0,
934
+ 0.00928,
935
+ 0.83211
936
+ ],
937
+ [
938
+ 0.0,
939
+ 1.0,
940
+ 0.0,
941
+ 0.87414
942
+ ],
943
+ [
944
+ -0.00928,
945
+ 0.0,
946
+ 0.99996,
947
+ 5.31116
948
+ ],
949
+ [
950
+ 0.0,
951
+ 0.0,
952
+ 0.0,
953
+ 1.0
954
+ ]
955
+ ],
956
+ "007_tuna_fish_can_:0003": [
957
+ [
958
+ 0.35256,
959
+ 0.0,
960
+ -0.93579,
961
+ 0.64668
962
+ ],
963
+ [
964
+ 0.0,
965
+ 1.0,
966
+ 0.0,
967
+ 1.26771
968
+ ],
969
+ [
970
+ 0.93579,
971
+ 0.0,
972
+ 0.35256,
973
+ 4.5643
974
+ ],
975
+ [
976
+ 0.0,
977
+ 0.0,
978
+ 0.0,
979
+ 1.0
980
+ ]
981
+ ]
982
+ },
983
+ "markers": [
984
+ {
985
+ "name": "cab_push_point_7",
986
+ "type": "articulated_object",
987
+ "params": {
988
+ "offset": [
989
+ 0.3,
990
+ 0.0,
991
+ 0
992
+ ],
993
+ "link": "drawer1_top",
994
+ "object": "kitchen_counter_:0000"
995
+ }
996
+ },
997
+ {
998
+ "name": "cab_push_point_6",
999
+ "type": "articulated_object",
1000
+ "params": {
1001
+ "offset": [
1002
+ 0.3,
1003
+ 0.0,
1004
+ 0
1005
+ ],
1006
+ "link": "drawer2_top",
1007
+ "object": "kitchen_counter_:0000"
1008
+ }
1009
+ },
1010
+ {
1011
+ "name": "cab_push_point_5",
1012
+ "type": "articulated_object",
1013
+ "params": {
1014
+ "offset": [
1015
+ 0.3,
1016
+ 0.0,
1017
+ 0
1018
+ ],
1019
+ "link": "drawer3",
1020
+ "object": "kitchen_counter_:0000"
1021
+ }
1022
+ },
1023
+ {
1024
+ "name": "cab_push_point_4",
1025
+ "type": "articulated_object",
1026
+ "params": {
1027
+ "offset": [
1028
+ 0.3,
1029
+ 0.0,
1030
+ 0
1031
+ ],
1032
+ "link": "drawer4",
1033
+ "object": "kitchen_counter_:0000"
1034
+ }
1035
+ },
1036
+ {
1037
+ "name": "fridge_push_point",
1038
+ "type": "articulated_object",
1039
+ "params": {
1040
+ "offset": [
1041
+ 0.1,
1042
+ -0.62,
1043
+ 0.2
1044
+ ],
1045
+ "link": "top_door",
1046
+ "object": "fridge_:0000"
1047
+ }
1048
+ }
1049
+ ],
1050
+ "target_receptacles": [
1051
+ [
1052
+ "fridge_:0000",
1053
+ 0
1054
+ ],
1055
+ [
1056
+ "fridge_:0000",
1057
+ 0
1058
+ ],
1059
+ [
1060
+ "kitchen_counter_:0000",
1061
+ 0
1062
+ ]
1063
+ ],
1064
+ "goal_receptacles": [
1065
+ [
1066
+ "kitchen_counter_:0000",
1067
+ 0
1068
+ ],
1069
+ [
1070
+ "kitchen_counter_:0000",
1071
+ 0
1072
+ ],
1073
+ [
1074
+ "fridge_:0000",
1075
+ 0
1076
+ ]
1077
+ ]
1078
+ }
rearrange/v1_extracted/train/prepare_groceries/episode_1021.json ADDED
@@ -0,0 +1,1078 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_id": "1021",
3
+ "scene_id": "data/replica_cad/configs/scenes/v3_sc0_staging_01.scene_instance.json",
4
+ "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
5
+ "additional_obj_config_paths": [
6
+ "data/objects/ycb/"
7
+ ],
8
+ "start_position": [
9
+ 0,
10
+ 0,
11
+ 0
12
+ ],
13
+ "start_rotation": [
14
+ 0,
15
+ 0,
16
+ 0,
17
+ 1
18
+ ],
19
+ "info": {
20
+ "object_labels": {
21
+ "007_tuna_fish_can_:0004": "obj0_target|0",
22
+ "010_potted_meat_can_:0002": "obj1_target|1",
23
+ "005_tomato_soup_can_:0004": "obj2_target|2"
24
+ }
25
+ },
26
+ "ao_states": {
27
+ "fridge_:0000": {
28
+ "2": 1.5
29
+ }
30
+ },
31
+ "rigid_objs": [
32
+ [
33
+ "005_tomato_soup_can.object_config.json",
34
+ [
35
+ [
36
+ 0.99101,
37
+ 0.00015,
38
+ 0.13377,
39
+ 0.65416
40
+ ],
41
+ [
42
+ -0.00016,
43
+ 1.0,
44
+ 5e-05,
45
+ 0.7583
46
+ ],
47
+ [
48
+ -0.13377,
49
+ -7e-05,
50
+ 0.99101,
51
+ 6.82343
52
+ ],
53
+ [
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 1.0
58
+ ]
59
+ ]
60
+ ],
61
+ [
62
+ "007_tuna_fish_can.object_config.json",
63
+ [
64
+ [
65
+ 0.9905,
66
+ -0.00049,
67
+ -0.13748,
68
+ 3.40881
69
+ ],
70
+ [
71
+ 0.00072,
72
+ 1.0,
73
+ 0.00159,
74
+ 0.77951
75
+ ],
76
+ [
77
+ 0.13748,
78
+ -0.00167,
79
+ 0.9905,
80
+ 5.30394
81
+ ],
82
+ [
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ 1.0
87
+ ]
88
+ ]
89
+ ],
90
+ [
91
+ "004_sugar_box.object_config.json",
92
+ [
93
+ [
94
+ -0.99421,
95
+ 0.03907,
96
+ 0.10014,
97
+ -1.50241
98
+ ],
99
+ [
100
+ 0.04193,
101
+ 0.99877,
102
+ 0.02664,
103
+ 0.49233
104
+ ],
105
+ [
106
+ -0.09898,
107
+ 0.03069,
108
+ -0.99462,
109
+ 1.99453
110
+ ],
111
+ [
112
+ 0.0,
113
+ 0.0,
114
+ 0.0,
115
+ 1.0
116
+ ]
117
+ ]
118
+ ],
119
+ [
120
+ "002_master_chef_can.object_config.json",
121
+ [
122
+ [
123
+ -0.88555,
124
+ -0.0,
125
+ 0.46454,
126
+ 0.72484
127
+ ],
128
+ [
129
+ 3e-05,
130
+ 1.0,
131
+ 6e-05,
132
+ 0.9303
133
+ ],
134
+ [
135
+ -0.46454,
136
+ 7e-05,
137
+ -0.88555,
138
+ 7.35311
139
+ ],
140
+ [
141
+ 0.0,
142
+ 0.0,
143
+ 0.0,
144
+ 1.0
145
+ ]
146
+ ]
147
+ ],
148
+ [
149
+ "005_tomato_soup_can.object_config.json",
150
+ [
151
+ [
152
+ -0.00723,
153
+ 1e-05,
154
+ 0.99997,
155
+ 0.75685
156
+ ],
157
+ [
158
+ -6e-05,
159
+ 1.0,
160
+ -1e-05,
161
+ 0.91083
162
+ ],
163
+ [
164
+ -0.99997,
165
+ -6e-05,
166
+ -0.00723,
167
+ 5.43524
168
+ ],
169
+ [
170
+ 0.0,
171
+ 0.0,
172
+ 0.0,
173
+ 1.0
174
+ ]
175
+ ]
176
+ ],
177
+ [
178
+ "004_sugar_box.object_config.json",
179
+ [
180
+ [
181
+ -0.75496,
182
+ 0.00726,
183
+ 0.65573,
184
+ -1.32142
185
+ ],
186
+ [
187
+ 0.0119,
188
+ 0.99993,
189
+ 0.00263,
190
+ 0.50325
191
+ ],
192
+ [
193
+ -0.65567,
194
+ 0.00979,
195
+ -0.75499,
196
+ 2.65116
197
+ ],
198
+ [
199
+ 0.0,
200
+ 0.0,
201
+ 0.0,
202
+ 1.0
203
+ ]
204
+ ]
205
+ ],
206
+ [
207
+ "005_tomato_soup_can.object_config.json",
208
+ [
209
+ [
210
+ -0.64688,
211
+ -0.00637,
212
+ 0.76256,
213
+ 3.86564
214
+ ],
215
+ [
216
+ -0.00743,
217
+ 0.99997,
218
+ 0.00205,
219
+ 0.98324
220
+ ],
221
+ [
222
+ -0.76255,
223
+ -0.00434,
224
+ -0.64691,
225
+ 0.99144
226
+ ],
227
+ [
228
+ 0.0,
229
+ 0.0,
230
+ 0.0,
231
+ 1.0
232
+ ]
233
+ ]
234
+ ],
235
+ [
236
+ "007_tuna_fish_can.object_config.json",
237
+ [
238
+ [
239
+ 0.99199,
240
+ 2e-05,
241
+ -0.12632,
242
+ -1.44044
243
+ ],
244
+ [
245
+ -1e-05,
246
+ 1.0,
247
+ 2e-05,
248
+ 0.42105
249
+ ],
250
+ [
251
+ 0.12632,
252
+ -2e-05,
253
+ 0.99199,
254
+ 1.59737
255
+ ],
256
+ [
257
+ 0.0,
258
+ 0.0,
259
+ 0.0,
260
+ 1.0
261
+ ]
262
+ ]
263
+ ],
264
+ [
265
+ "007_tuna_fish_can.object_config.json",
266
+ [
267
+ [
268
+ -0.75925,
269
+ 0.0,
270
+ 0.65079,
271
+ 0.8592
272
+ ],
273
+ [
274
+ 0.0,
275
+ 1.0,
276
+ 0.0,
277
+ 0.87655
278
+ ],
279
+ [
280
+ -0.65079,
281
+ 0.0,
282
+ -0.75925,
283
+ 7.25557
284
+ ],
285
+ [
286
+ 0.0,
287
+ 0.0,
288
+ 0.0,
289
+ 1.0
290
+ ]
291
+ ]
292
+ ],
293
+ [
294
+ "004_sugar_box.object_config.json",
295
+ [
296
+ [
297
+ -0.50279,
298
+ 0.02984,
299
+ -0.8639,
300
+ 3.96635
301
+ ],
302
+ [
303
+ 0.02864,
304
+ 0.99943,
305
+ 0.01785,
306
+ 0.85078
307
+ ],
308
+ [
309
+ 0.86394,
310
+ -0.01576,
311
+ -0.50336,
312
+ 5.49075
313
+ ],
314
+ [
315
+ 0.0,
316
+ 0.0,
317
+ 0.0,
318
+ 1.0
319
+ ]
320
+ ]
321
+ ],
322
+ [
323
+ "024_bowl.object_config.json",
324
+ [
325
+ [
326
+ 0.92634,
327
+ -2e-05,
328
+ -0.37669,
329
+ -1.54723
330
+ ],
331
+ [
332
+ 2e-05,
333
+ 1.0,
334
+ 0.0,
335
+ 0.43169
336
+ ],
337
+ [
338
+ 0.37669,
339
+ -1e-05,
340
+ 0.92634,
341
+ 1.77906
342
+ ],
343
+ [
344
+ 0.0,
345
+ 0.0,
346
+ 0.0,
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ [
352
+ "004_sugar_box.object_config.json",
353
+ [
354
+ [
355
+ 0.93359,
356
+ -0.02788,
357
+ -0.35725,
358
+ 0.41313
359
+ ],
360
+ [
361
+ 0.03911,
362
+ 0.99894,
363
+ 0.02424,
364
+ 0.9477
365
+ ],
366
+ [
367
+ 0.35619,
368
+ -0.0366,
369
+ 0.9337,
370
+ 5.79056
371
+ ],
372
+ [
373
+ 0.0,
374
+ 0.0,
375
+ 0.0,
376
+ 1.0
377
+ ]
378
+ ]
379
+ ],
380
+ [
381
+ "002_master_chef_can.object_config.json",
382
+ [
383
+ [
384
+ -0.08894,
385
+ -0.0,
386
+ 0.99604,
387
+ 0.61186
388
+ ],
389
+ [
390
+ -2e-05,
391
+ 1.0,
392
+ 0.0,
393
+ 0.9303
394
+ ],
395
+ [
396
+ -0.99604,
397
+ -2e-05,
398
+ -0.08894,
399
+ 7.2804
400
+ ],
401
+ [
402
+ 0.0,
403
+ 0.0,
404
+ 0.0,
405
+ 1.0
406
+ ]
407
+ ]
408
+ ],
409
+ [
410
+ "024_bowl.object_config.json",
411
+ [
412
+ [
413
+ 0.46708,
414
+ 3e-05,
415
+ -0.88422,
416
+ 0.65161
417
+ ],
418
+ [
419
+ -4e-05,
420
+ 1.0,
421
+ 1e-05,
422
+ 0.88719
423
+ ],
424
+ [
425
+ 0.88422,
426
+ 3e-05,
427
+ 0.46708,
428
+ 7.50253
429
+ ],
430
+ [
431
+ 0.0,
432
+ 0.0,
433
+ 0.0,
434
+ 1.0
435
+ ]
436
+ ]
437
+ ],
438
+ [
439
+ "003_cracker_box.object_config.json",
440
+ [
441
+ [
442
+ 0.21339,
443
+ 0.01644,
444
+ 0.97683,
445
+ -1.38099
446
+ ],
447
+ [
448
+ -0.04358,
449
+ 0.99902,
450
+ -0.0073,
451
+ 0.5216
452
+ ],
453
+ [
454
+ -0.97599,
455
+ -0.04102,
456
+ 0.2139,
457
+ 2.72934
458
+ ],
459
+ [
460
+ 0.0,
461
+ 0.0,
462
+ 0.0,
463
+ 1.0
464
+ ]
465
+ ]
466
+ ],
467
+ [
468
+ "005_tomato_soup_can.object_config.json",
469
+ [
470
+ [
471
+ -0.0628,
472
+ -6e-05,
473
+ -0.99803,
474
+ 0.33988
475
+ ],
476
+ [
477
+ 0.00487,
478
+ 0.99999,
479
+ -0.00037,
480
+ 0.15315
481
+ ],
482
+ [
483
+ 0.99801,
484
+ -0.00488,
485
+ -0.0628,
486
+ 4.7057
487
+ ],
488
+ [
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 1.0
493
+ ]
494
+ ]
495
+ ],
496
+ [
497
+ "010_potted_meat_can.object_config.json",
498
+ [
499
+ [
500
+ 0.92162,
501
+ -0.00052,
502
+ 0.38809,
503
+ -1.1669
504
+ ],
505
+ [
506
+ 0.00025,
507
+ 1.0,
508
+ 0.00076,
509
+ 0.45679
510
+ ],
511
+ [
512
+ -0.38809,
513
+ -0.0006,
514
+ 0.92162,
515
+ 2.67723
516
+ ],
517
+ [
518
+ 0.0,
519
+ 0.0,
520
+ 0.0,
521
+ 1.0
522
+ ]
523
+ ]
524
+ ],
525
+ [
526
+ "009_gelatin_box.object_config.json",
527
+ [
528
+ [
529
+ -0.80244,
530
+ 2e-05,
531
+ -0.59673,
532
+ -1.89838
533
+ ],
534
+ [
535
+ 3e-05,
536
+ 1.0,
537
+ -1e-05,
538
+ 0.42998
539
+ ],
540
+ [
541
+ 0.59673,
542
+ -3e-05,
543
+ -0.80244,
544
+ -0.29914
545
+ ],
546
+ [
547
+ 0.0,
548
+ 0.0,
549
+ 0.0,
550
+ 1.0
551
+ ]
552
+ ]
553
+ ],
554
+ [
555
+ "010_potted_meat_can.object_config.json",
556
+ [
557
+ [
558
+ 0.72837,
559
+ -0.04282,
560
+ 0.68385,
561
+ -1.4195
562
+ ],
563
+ [
564
+ 0.01102,
565
+ 0.99865,
566
+ 0.05079,
567
+ 0.45746
568
+ ],
569
+ [
570
+ -0.6851,
571
+ -0.02946,
572
+ 0.72786,
573
+ 3.01174
574
+ ],
575
+ [
576
+ 0.0,
577
+ 0.0,
578
+ 0.0,
579
+ 1.0
580
+ ]
581
+ ]
582
+ ],
583
+ [
584
+ "002_master_chef_can.object_config.json",
585
+ [
586
+ [
587
+ -0.56619,
588
+ -0.0,
589
+ 0.82428,
590
+ 3.59344
591
+ ],
592
+ [
593
+ 2e-05,
594
+ 1.0,
595
+ 2e-05,
596
+ 0.69724
597
+ ],
598
+ [
599
+ -0.82428,
600
+ 2e-05,
601
+ -0.56619,
602
+ 2.81497
603
+ ],
604
+ [
605
+ 0.0,
606
+ 0.0,
607
+ 0.0,
608
+ 1.0
609
+ ]
610
+ ]
611
+ ],
612
+ [
613
+ "003_cracker_box.object_config.json",
614
+ [
615
+ [
616
+ -0.9273,
617
+ -0.04762,
618
+ -0.37128,
619
+ -1.79657
620
+ ],
621
+ [
622
+ -0.0491,
623
+ 0.99878,
624
+ -0.00546,
625
+ 0.51088
626
+ ],
627
+ [
628
+ 0.37108,
629
+ 0.01317,
630
+ -0.92851,
631
+ 1.31502
632
+ ],
633
+ [
634
+ 0.0,
635
+ 0.0,
636
+ 0.0,
637
+ 1.0
638
+ ]
639
+ ]
640
+ ],
641
+ [
642
+ "008_pudding_box.object_config.json",
643
+ [
644
+ [
645
+ 0.77558,
646
+ 0.01941,
647
+ -0.63095,
648
+ 3.36021
649
+ ],
650
+ [
651
+ -0.00591,
652
+ 0.99971,
653
+ 0.0235,
654
+ 0.78224
655
+ ],
656
+ [
657
+ 0.63122,
658
+ -0.0145,
659
+ 0.77547,
660
+ 5.15407
661
+ ],
662
+ [
663
+ 0.0,
664
+ 0.0,
665
+ 0.0,
666
+ 1.0
667
+ ]
668
+ ]
669
+ ],
670
+ [
671
+ "009_gelatin_box.object_config.json",
672
+ [
673
+ [
674
+ 0.31528,
675
+ -0.0,
676
+ 0.949,
677
+ 0.32984
678
+ ],
679
+ [
680
+ 1e-05,
681
+ 1.0,
682
+ -0.0,
683
+ 0.87476
684
+ ],
685
+ [
686
+ -0.949,
687
+ 1e-05,
688
+ 0.31528,
689
+ 7.71934
690
+ ],
691
+ [
692
+ 0.0,
693
+ 0.0,
694
+ 0.0,
695
+ 1.0
696
+ ]
697
+ ]
698
+ ],
699
+ [
700
+ "004_sugar_box.object_config.json",
701
+ [
702
+ [
703
+ -0.25675,
704
+ 0.04259,
705
+ -0.96554,
706
+ 0.54621
707
+ ],
708
+ [
709
+ 0.03418,
710
+ 0.9988,
711
+ 0.03497,
712
+ 0.79558
713
+ ],
714
+ [
715
+ 0.96587,
716
+ -0.02402,
717
+ -0.2579,
718
+ 6.53269
719
+ ],
720
+ [
721
+ 0.0,
722
+ 0.0,
723
+ 0.0,
724
+ 1.0
725
+ ]
726
+ ]
727
+ ],
728
+ [
729
+ "024_bowl.object_config.json",
730
+ [
731
+ [
732
+ 0.99634,
733
+ -0.00072,
734
+ -0.08552,
735
+ -2.12193
736
+ ],
737
+ [
738
+ 0.00079,
739
+ 1.0,
740
+ 0.00081,
741
+ 0.44243
742
+ ],
743
+ [
744
+ 0.08551,
745
+ -0.00087,
746
+ 0.99634,
747
+ -0.3522
748
+ ],
749
+ [
750
+ 0.0,
751
+ 0.0,
752
+ 0.0,
753
+ 1.0
754
+ ]
755
+ ]
756
+ ],
757
+ [
758
+ "024_bowl.object_config.json",
759
+ [
760
+ [
761
+ 0.98401,
762
+ -6e-05,
763
+ 0.17813,
764
+ 0.65916
765
+ ],
766
+ [
767
+ 0.00016,
768
+ 1.0,
769
+ -0.00053,
770
+ 0.8872
771
+ ],
772
+ [
773
+ -0.17813,
774
+ 0.00054,
775
+ 0.98401,
776
+ 7.88891
777
+ ],
778
+ [
779
+ 0.0,
780
+ 0.0,
781
+ 0.0,
782
+ 1.0
783
+ ]
784
+ ]
785
+ ],
786
+ [
787
+ "007_tuna_fish_can.object_config.json",
788
+ [
789
+ [
790
+ -0.86082,
791
+ 3e-05,
792
+ 0.50891,
793
+ 0.38691
794
+ ],
795
+ [
796
+ -0.00295,
797
+ 0.99998,
798
+ -0.00505,
799
+ 1.26908
800
+ ],
801
+ [
802
+ -0.5089,
803
+ -0.00585,
804
+ -0.8608,
805
+ 4.68436
806
+ ],
807
+ [
808
+ 0.0,
809
+ 0.0,
810
+ 0.0,
811
+ 1.0
812
+ ]
813
+ ]
814
+ ],
815
+ [
816
+ "007_tuna_fish_can.object_config.json",
817
+ [
818
+ [
819
+ -0.41329,
820
+ 0.00041,
821
+ 0.9106,
822
+ 0.46328
823
+ ],
824
+ [
825
+ -0.00518,
826
+ 0.99998,
827
+ -0.0028,
828
+ 1.26854
829
+ ],
830
+ [
831
+ -0.91059,
832
+ -0.00587,
833
+ -0.41328,
834
+ 4.58985
835
+ ],
836
+ [
837
+ 0.0,
838
+ 0.0,
839
+ 0.0,
840
+ 1.0
841
+ ]
842
+ ]
843
+ ],
844
+ [
845
+ "010_potted_meat_can.object_config.json",
846
+ [
847
+ [
848
+ -0.87848,
849
+ -0.00082,
850
+ 0.47777,
851
+ 0.5353
852
+ ],
853
+ [
854
+ -0.00253,
855
+ 0.99999,
856
+ -0.00293,
857
+ 1.29324
858
+ ],
859
+ [
860
+ -0.47776,
861
+ -0.00378,
862
+ -0.87848,
863
+ 4.51239
864
+ ],
865
+ [
866
+ 0.0,
867
+ 0.0,
868
+ 0.0,
869
+ 1.0
870
+ ]
871
+ ]
872
+ ],
873
+ [
874
+ "005_tomato_soup_can.object_config.json",
875
+ [
876
+ [
877
+ -0.23679,
878
+ 1e-05,
879
+ 0.97156,
880
+ 0.62543
881
+ ],
882
+ [
883
+ 5e-05,
884
+ 1.0,
885
+ -0.0,
886
+ 0.91083
887
+ ],
888
+ [
889
+ -0.97156,
890
+ 5e-05,
891
+ -0.23679,
892
+ 5.64198
893
+ ],
894
+ [
895
+ 0.0,
896
+ 0.0,
897
+ 0.0,
898
+ 1.0
899
+ ]
900
+ ]
901
+ ]
902
+ ],
903
+ "targets": {
904
+ "007_tuna_fish_can_:0004": [
905
+ [
906
+ 0.16535,
907
+ 0.0,
908
+ -0.98623,
909
+ 0.45467
910
+ ],
911
+ [
912
+ 0.0,
913
+ 1.0,
914
+ 0.0,
915
+ 0.87587
916
+ ],
917
+ [
918
+ 0.98623,
919
+ 0.0,
920
+ 0.16535,
921
+ 7.62843
922
+ ],
923
+ [
924
+ 0.0,
925
+ 0.0,
926
+ 0.0,
927
+ 1.0
928
+ ]
929
+ ],
930
+ "010_potted_meat_can_:0002": [
931
+ [
932
+ 0.99646,
933
+ 0.0,
934
+ 0.08402,
935
+ 0.37025
936
+ ],
937
+ [
938
+ 0.0,
939
+ 1.0,
940
+ 0.0,
941
+ 0.90087
942
+ ],
943
+ [
944
+ -0.08402,
945
+ 0.0,
946
+ 0.99646,
947
+ 7.24473
948
+ ],
949
+ [
950
+ 0.0,
951
+ 0.0,
952
+ 0.0,
953
+ 1.0
954
+ ]
955
+ ],
956
+ "005_tomato_soup_can_:0004": [
957
+ [
958
+ -0.14781,
959
+ 0.0,
960
+ -0.98902,
961
+ 0.4306
962
+ ],
963
+ [
964
+ 0.0,
965
+ 1.0,
966
+ 0.0,
967
+ 1.30059
968
+ ],
969
+ [
970
+ 0.98902,
971
+ 0.0,
972
+ -0.14781,
973
+ 4.34465
974
+ ],
975
+ [
976
+ 0.0,
977
+ 0.0,
978
+ 0.0,
979
+ 1.0
980
+ ]
981
+ ]
982
+ },
983
+ "markers": [
984
+ {
985
+ "name": "cab_push_point_7",
986
+ "type": "articulated_object",
987
+ "params": {
988
+ "offset": [
989
+ 0.3,
990
+ 0.0,
991
+ 0
992
+ ],
993
+ "link": "drawer1_top",
994
+ "object": "kitchen_counter_:0000"
995
+ }
996
+ },
997
+ {
998
+ "name": "cab_push_point_6",
999
+ "type": "articulated_object",
1000
+ "params": {
1001
+ "offset": [
1002
+ 0.3,
1003
+ 0.0,
1004
+ 0
1005
+ ],
1006
+ "link": "drawer2_top",
1007
+ "object": "kitchen_counter_:0000"
1008
+ }
1009
+ },
1010
+ {
1011
+ "name": "cab_push_point_5",
1012
+ "type": "articulated_object",
1013
+ "params": {
1014
+ "offset": [
1015
+ 0.3,
1016
+ 0.0,
1017
+ 0
1018
+ ],
1019
+ "link": "drawer3",
1020
+ "object": "kitchen_counter_:0000"
1021
+ }
1022
+ },
1023
+ {
1024
+ "name": "cab_push_point_4",
1025
+ "type": "articulated_object",
1026
+ "params": {
1027
+ "offset": [
1028
+ 0.3,
1029
+ 0.0,
1030
+ 0
1031
+ ],
1032
+ "link": "drawer4",
1033
+ "object": "kitchen_counter_:0000"
1034
+ }
1035
+ },
1036
+ {
1037
+ "name": "fridge_push_point",
1038
+ "type": "articulated_object",
1039
+ "params": {
1040
+ "offset": [
1041
+ 0.1,
1042
+ -0.62,
1043
+ 0.2
1044
+ ],
1045
+ "link": "top_door",
1046
+ "object": "fridge_:0000"
1047
+ }
1048
+ }
1049
+ ],
1050
+ "target_receptacles": [
1051
+ [
1052
+ "fridge_:0000",
1053
+ 0
1054
+ ],
1055
+ [
1056
+ "fridge_:0000",
1057
+ 0
1058
+ ],
1059
+ [
1060
+ "kitchen_counter_:0000",
1061
+ 0
1062
+ ]
1063
+ ],
1064
+ "goal_receptacles": [
1065
+ [
1066
+ "kitchen_counter_:0000",
1067
+ 0
1068
+ ],
1069
+ [
1070
+ "kitchen_counter_:0000",
1071
+ 0
1072
+ ],
1073
+ [
1074
+ "fridge_:0000",
1075
+ 0
1076
+ ]
1077
+ ]
1078
+ }
rearrange/v1_extracted/train/prepare_groceries/episode_1022.json ADDED
@@ -0,0 +1,1078 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_id": "1022",
3
+ "scene_id": "data/replica_cad/configs/scenes/v3_sc0_staging_16.scene_instance.json",
4
+ "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
5
+ "additional_obj_config_paths": [
6
+ "data/objects/ycb/"
7
+ ],
8
+ "start_position": [
9
+ 0,
10
+ 0,
11
+ 0
12
+ ],
13
+ "start_rotation": [
14
+ 0,
15
+ 0,
16
+ 0,
17
+ 1
18
+ ],
19
+ "info": {
20
+ "object_labels": {
21
+ "003_cracker_box_:0004": "obj0_target|0",
22
+ "003_cracker_box_:0005": "obj1_target|1",
23
+ "003_cracker_box_:0006": "obj2_target|2"
24
+ }
25
+ },
26
+ "ao_states": {
27
+ "fridge_:0000": {
28
+ "2": 1.5
29
+ }
30
+ },
31
+ "rigid_objs": [
32
+ [
33
+ "008_pudding_box.object_config.json",
34
+ [
35
+ [
36
+ -0.75267,
37
+ -0.01776,
38
+ 0.65816,
39
+ 3.93669
40
+ ],
41
+ [
42
+ -0.00411,
43
+ 0.99974,
44
+ 0.02227,
45
+ 0.64637
46
+ ],
47
+ [
48
+ -0.65839,
49
+ 0.01405,
50
+ -0.75255,
51
+ 2.61483
52
+ ],
53
+ [
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 1.0
58
+ ]
59
+ ]
60
+ ],
61
+ [
62
+ "003_cracker_box.object_config.json",
63
+ [
64
+ [
65
+ -0.7232,
66
+ -0.01511,
67
+ 0.69048,
68
+ -1.75917
69
+ ],
70
+ [
71
+ -0.02545,
72
+ 0.99966,
73
+ -0.00478,
74
+ 0.5221
75
+ ],
76
+ [
77
+ -0.69017,
78
+ -0.02103,
79
+ -0.72334,
80
+ 0.2773
81
+ ],
82
+ [
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ 1.0
87
+ ]
88
+ ]
89
+ ],
90
+ [
91
+ "007_tuna_fish_can.object_config.json",
92
+ [
93
+ [
94
+ -0.20379,
95
+ -0.0,
96
+ 0.97901,
97
+ 0.72507
98
+ ],
99
+ [
100
+ -0.0,
101
+ 1.0,
102
+ 0.0,
103
+ 0.87655
104
+ ],
105
+ [
106
+ -0.97901,
107
+ -0.0,
108
+ -0.20379,
109
+ 5.70607
110
+ ],
111
+ [
112
+ 0.0,
113
+ 0.0,
114
+ 0.0,
115
+ 1.0
116
+ ]
117
+ ]
118
+ ],
119
+ [
120
+ "009_gelatin_box.object_config.json",
121
+ [
122
+ [
123
+ -1.0,
124
+ 0.0,
125
+ 0.00306,
126
+ 0.62976
127
+ ],
128
+ [
129
+ 0.0,
130
+ 1.0,
131
+ 0.0,
132
+ 0.41926
133
+ ],
134
+ [
135
+ -0.00306,
136
+ 0.0,
137
+ -1.0,
138
+ 1.16458
139
+ ],
140
+ [
141
+ 0.0,
142
+ 0.0,
143
+ 0.0,
144
+ 1.0
145
+ ]
146
+ ]
147
+ ],
148
+ [
149
+ "005_tomato_soup_can.object_config.json",
150
+ [
151
+ [
152
+ -0.84972,
153
+ -0.00082,
154
+ 0.52724,
155
+ 0.61644
156
+ ],
157
+ [
158
+ -0.00456,
159
+ 0.99997,
160
+ -0.00579,
161
+ 1.30089
162
+ ],
163
+ [
164
+ -0.52722,
165
+ -0.00733,
166
+ -0.8497,
167
+ 4.26571
168
+ ],
169
+ [
170
+ 0.0,
171
+ 0.0,
172
+ 0.0,
173
+ 1.0
174
+ ]
175
+ ]
176
+ ],
177
+ [
178
+ "007_tuna_fish_can.object_config.json",
179
+ [
180
+ [
181
+ -0.80582,
182
+ -0.0,
183
+ 0.59216,
184
+ 0.64761
185
+ ],
186
+ [
187
+ -0.0,
188
+ 1.0,
189
+ 0.0,
190
+ 0.87655
191
+ ],
192
+ [
193
+ -0.59216,
194
+ 0.0,
195
+ -0.80582,
196
+ 7.77167
197
+ ],
198
+ [
199
+ 0.0,
200
+ 0.0,
201
+ 0.0,
202
+ 1.0
203
+ ]
204
+ ]
205
+ ],
206
+ [
207
+ "004_sugar_box.object_config.json",
208
+ [
209
+ [
210
+ 0.91928,
211
+ -0.04585,
212
+ 0.39093,
213
+ 0.65766
214
+ ],
215
+ [
216
+ 0.03938,
217
+ 0.99892,
218
+ 0.02454,
219
+ 0.79515
220
+ ],
221
+ [
222
+ -0.39164,
223
+ -0.00716,
224
+ 0.92009,
225
+ 6.7314
226
+ ],
227
+ [
228
+ 0.0,
229
+ 0.0,
230
+ 0.0,
231
+ 1.0
232
+ ]
233
+ ]
234
+ ],
235
+ [
236
+ "024_bowl.object_config.json",
237
+ [
238
+ [
239
+ -0.97502,
240
+ -1e-05,
241
+ 0.22211,
242
+ 0.60268
243
+ ],
244
+ [
245
+ -1e-05,
246
+ 1.0,
247
+ 0.0,
248
+ 0.88719
249
+ ],
250
+ [
251
+ -0.22211,
252
+ 0.0,
253
+ -0.97502,
254
+ 7.60093
255
+ ],
256
+ [
257
+ 0.0,
258
+ 0.0,
259
+ 0.0,
260
+ 1.0
261
+ ]
262
+ ]
263
+ ],
264
+ [
265
+ "008_pudding_box.object_config.json",
266
+ [
267
+ [
268
+ 0.50278,
269
+ -0.01734,
270
+ 0.86424,
271
+ 0.8592
272
+ ],
273
+ [
274
+ -0.0059,
275
+ 0.99971,
276
+ 0.02349,
277
+ 0.87927
278
+ ],
279
+ [
280
+ -0.86439,
281
+ -0.01691,
282
+ 0.50253,
283
+ 7.58354
284
+ ],
285
+ [
286
+ 0.0,
287
+ 0.0,
288
+ 0.0,
289
+ 1.0
290
+ ]
291
+ ]
292
+ ],
293
+ [
294
+ "003_cracker_box.object_config.json",
295
+ [
296
+ [
297
+ -0.2401,
298
+ -0.00478,
299
+ 0.97074,
300
+ 1.72695
301
+ ],
302
+ [
303
+ -0.0445,
304
+ 0.99899,
305
+ -0.00609,
306
+ 0.52149
307
+ ],
308
+ [
309
+ -0.96973,
310
+ -0.04466,
311
+ -0.24007,
312
+ -0.44817
313
+ ],
314
+ [
315
+ 0.0,
316
+ 0.0,
317
+ 0.0,
318
+ 1.0
319
+ ]
320
+ ]
321
+ ],
322
+ [
323
+ "007_tuna_fish_can.object_config.json",
324
+ [
325
+ [
326
+ -0.31501,
327
+ -0.0,
328
+ -0.94909,
329
+ 0.37065
330
+ ],
331
+ [
332
+ -0.0,
333
+ 1.0,
334
+ -0.0,
335
+ 0.87655
336
+ ],
337
+ [
338
+ 0.94909,
339
+ 0.0,
340
+ -0.31501,
341
+ 5.08671
342
+ ],
343
+ [
344
+ 0.0,
345
+ 0.0,
346
+ 0.0,
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ [
352
+ "009_gelatin_box.object_config.json",
353
+ [
354
+ [
355
+ 0.9282,
356
+ -0.0,
357
+ -0.37208,
358
+ 3.98563
359
+ ],
360
+ [
361
+ 0.0,
362
+ 1.0,
363
+ -0.0,
364
+ 0.6417
365
+ ],
366
+ [
367
+ 0.37208,
368
+ 0.0,
369
+ 0.9282,
370
+ 2.03039
371
+ ],
372
+ [
373
+ 0.0,
374
+ 0.0,
375
+ 0.0,
376
+ 1.0
377
+ ]
378
+ ]
379
+ ],
380
+ [
381
+ "008_pudding_box.object_config.json",
382
+ [
383
+ [
384
+ -0.85898,
385
+ 0.00482,
386
+ -0.51199,
387
+ -0.17864
388
+ ],
389
+ [
390
+ -0.00765,
391
+ 0.99972,
392
+ 0.02226,
393
+ 0.78234
394
+ ],
395
+ [
396
+ 0.51196,
397
+ 0.02303,
398
+ -0.8587,
399
+ 3.22871
400
+ ],
401
+ [
402
+ 0.0,
403
+ 0.0,
404
+ 0.0,
405
+ 1.0
406
+ ]
407
+ ]
408
+ ],
409
+ [
410
+ "010_potted_meat_can.object_config.json",
411
+ [
412
+ [
413
+ -0.53765,
414
+ -0.00032,
415
+ -0.84317,
416
+ -1.98837
417
+ ],
418
+ [
419
+ 0.00222,
420
+ 1.0,
421
+ -0.00179,
422
+ 0.45703
423
+ ],
424
+ [
425
+ 0.84317,
426
+ -0.00283,
427
+ -0.53764,
428
+ 0.20284
429
+ ],
430
+ [
431
+ 0.0,
432
+ 0.0,
433
+ 0.0,
434
+ 1.0
435
+ ]
436
+ ]
437
+ ],
438
+ [
439
+ "024_bowl.object_config.json",
440
+ [
441
+ [
442
+ -0.96817,
443
+ -0.00446,
444
+ 0.25026,
445
+ -2.04782
446
+ ],
447
+ [
448
+ -0.0027,
449
+ 0.99997,
450
+ 0.00737,
451
+ 0.96202
452
+ ],
453
+ [
454
+ -0.25029,
455
+ 0.00646,
456
+ -0.96815,
457
+ 1.4514
458
+ ],
459
+ [
460
+ 0.0,
461
+ 0.0,
462
+ 0.0,
463
+ 1.0
464
+ ]
465
+ ]
466
+ ],
467
+ [
468
+ "005_tomato_soup_can.object_config.json",
469
+ [
470
+ [
471
+ 0.19939,
472
+ -5e-05,
473
+ -0.97992,
474
+ 0.61055
475
+ ],
476
+ [
477
+ 0.00523,
478
+ 0.99999,
479
+ 0.00102,
480
+ 1.30347
481
+ ],
482
+ [
483
+ 0.97991,
484
+ -0.00533,
485
+ 0.19938,
486
+ 4.70172
487
+ ],
488
+ [
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 1.0
493
+ ]
494
+ ]
495
+ ],
496
+ [
497
+ "002_master_chef_can.object_config.json",
498
+ [
499
+ [
500
+ 0.31852,
501
+ -2e-05,
502
+ 0.94792,
503
+ 0.70389
504
+ ],
505
+ [
506
+ 1e-05,
507
+ 1.0,
508
+ 2e-05,
509
+ 0.9303
510
+ ],
511
+ [
512
+ -0.94792,
513
+ 0.0,
514
+ 0.31852,
515
+ 5.54383
516
+ ],
517
+ [
518
+ 0.0,
519
+ 0.0,
520
+ 0.0,
521
+ 1.0
522
+ ]
523
+ ]
524
+ ],
525
+ [
526
+ "009_gelatin_box.object_config.json",
527
+ [
528
+ [
529
+ -0.84478,
530
+ -0.00104,
531
+ 0.53511,
532
+ 3.88646
533
+ ],
534
+ [
535
+ -0.00063,
536
+ 1.0,
537
+ 0.00094,
538
+ 0.64168
539
+ ],
540
+ [
541
+ -0.53511,
542
+ 0.00046,
543
+ -0.84478,
544
+ 2.43494
545
+ ],
546
+ [
547
+ 0.0,
548
+ 0.0,
549
+ 0.0,
550
+ 1.0
551
+ ]
552
+ ]
553
+ ],
554
+ [
555
+ "003_cracker_box.object_config.json",
556
+ [
557
+ [
558
+ -0.47588,
559
+ -0.11589,
560
+ -0.87185,
561
+ 0.32706
562
+ ],
563
+ [
564
+ -0.08257,
565
+ 0.99279,
566
+ -0.08689,
567
+ 1.35799
568
+ ],
569
+ [
570
+ 0.87563,
571
+ 0.03064,
572
+ -0.48201,
573
+ 4.6834
574
+ ],
575
+ [
576
+ 0.0,
577
+ 0.0,
578
+ 0.0,
579
+ 1.0
580
+ ]
581
+ ]
582
+ ],
583
+ [
584
+ "024_bowl.object_config.json",
585
+ [
586
+ [
587
+ 0.80086,
588
+ 0.00054,
589
+ 0.59885,
590
+ -0.25918
591
+ ],
592
+ [
593
+ -0.0002,
594
+ 1.0,
595
+ -0.00064,
596
+ 0.79015
597
+ ],
598
+ [
599
+ -0.59885,
600
+ 0.0004,
601
+ 0.80086,
602
+ 3.81006
603
+ ],
604
+ [
605
+ 0.0,
606
+ 0.0,
607
+ 0.0,
608
+ 1.0
609
+ ]
610
+ ]
611
+ ],
612
+ [
613
+ "008_pudding_box.object_config.json",
614
+ [
615
+ [
616
+ -0.06135,
617
+ -0.02559,
618
+ 0.99779,
619
+ 0.42695
620
+ ],
621
+ [
622
+ -0.00502,
623
+ 0.99967,
624
+ 0.02533,
625
+ 0.78233
626
+ ],
627
+ [
628
+ -0.9981,
629
+ -0.00345,
630
+ -0.06146,
631
+ 3.89505
632
+ ],
633
+ [
634
+ 0.0,
635
+ 0.0,
636
+ 0.0,
637
+ 1.0
638
+ ]
639
+ ]
640
+ ],
641
+ [
642
+ "003_cracker_box.object_config.json",
643
+ [
644
+ [
645
+ 0.97514,
646
+ 0.04684,
647
+ 0.2166,
648
+ 0.52187
649
+ ],
650
+ [
651
+ -0.0464,
652
+ 0.9989,
653
+ -0.00711,
654
+ 0.51078
655
+ ],
656
+ [
657
+ -0.21669,
658
+ -0.00311,
659
+ 0.97623,
660
+ 1.12464
661
+ ],
662
+ [
663
+ 0.0,
664
+ 0.0,
665
+ 0.0,
666
+ 1.0
667
+ ]
668
+ ]
669
+ ],
670
+ [
671
+ "008_pudding_box.object_config.json",
672
+ [
673
+ [
674
+ 0.3949,
675
+ 0.02392,
676
+ -0.91841,
677
+ -1.93833
678
+ ],
679
+ [
680
+ -0.0059,
681
+ 0.99971,
682
+ 0.02349,
683
+ 0.43449
684
+ ],
685
+ [
686
+ 0.9187,
687
+ -0.00386,
688
+ 0.39493,
689
+ 0.34461
690
+ ],
691
+ [
692
+ 0.0,
693
+ 0.0,
694
+ 0.0,
695
+ 1.0
696
+ ]
697
+ ]
698
+ ],
699
+ [
700
+ "002_master_chef_can.object_config.json",
701
+ [
702
+ [
703
+ -0.99977,
704
+ -3e-05,
705
+ -0.02125,
706
+ 0.57589
707
+ ],
708
+ [
709
+ -3e-05,
710
+ 1.0,
711
+ 3e-05,
712
+ 0.77776
713
+ ],
714
+ [
715
+ 0.02125,
716
+ 3e-05,
717
+ -0.99977,
718
+ 6.82625
719
+ ],
720
+ [
721
+ 0.0,
722
+ 0.0,
723
+ 0.0,
724
+ 1.0
725
+ ]
726
+ ]
727
+ ],
728
+ [
729
+ "004_sugar_box.object_config.json",
730
+ [
731
+ [
732
+ -0.10116,
733
+ -0.02454,
734
+ 0.99457,
735
+ -1.80649
736
+ ],
737
+ [
738
+ 0.04398,
739
+ 0.99861,
740
+ 0.02911,
741
+ 1.0206
742
+ ],
743
+ [
744
+ -0.9939,
745
+ 0.04669,
746
+ -0.09994,
747
+ 1.94489
748
+ ],
749
+ [
750
+ 0.0,
751
+ 0.0,
752
+ 0.0,
753
+ 1.0
754
+ ]
755
+ ]
756
+ ],
757
+ [
758
+ "002_master_chef_can.object_config.json",
759
+ [
760
+ [
761
+ 0.81375,
762
+ -0.00014,
763
+ 0.58122,
764
+ 0.36733
765
+ ],
766
+ [
767
+ 0.00013,
768
+ 1.0,
769
+ 7e-05,
770
+ 0.9303
771
+ ],
772
+ [
773
+ -0.58122,
774
+ 2e-05,
775
+ 0.81375,
776
+ 7.18896
777
+ ],
778
+ [
779
+ 0.0,
780
+ 0.0,
781
+ 0.0,
782
+ 1.0
783
+ ]
784
+ ]
785
+ ],
786
+ [
787
+ "009_gelatin_box.object_config.json",
788
+ [
789
+ [
790
+ -0.45002,
791
+ 0.0,
792
+ -0.89302,
793
+ 0.642
794
+ ],
795
+ [
796
+ 3e-05,
797
+ 1.0,
798
+ -1e-05,
799
+ 0.77773
800
+ ],
801
+ [
802
+ 0.89302,
803
+ -3e-05,
804
+ -0.45002,
805
+ 3.67048
806
+ ],
807
+ [
808
+ 0.0,
809
+ 0.0,
810
+ 0.0,
811
+ 1.0
812
+ ]
813
+ ]
814
+ ],
815
+ [
816
+ "003_cracker_box.object_config.json",
817
+ [
818
+ [
819
+ -0.95692,
820
+ -0.04169,
821
+ 0.28735,
822
+ 0.64276
823
+ ],
824
+ [
825
+ -0.04739,
826
+ 0.99879,
827
+ -0.01291,
828
+ 1.35732
829
+ ],
830
+ [
831
+ -0.28647,
832
+ -0.02597,
833
+ -0.95774,
834
+ 4.42805
835
+ ],
836
+ [
837
+ 0.0,
838
+ 0.0,
839
+ 0.0,
840
+ 1.0
841
+ ]
842
+ ]
843
+ ],
844
+ [
845
+ "003_cracker_box.object_config.json",
846
+ [
847
+ [
848
+ -0.47187,
849
+ -0.0575,
850
+ -0.87979,
851
+ 0.50365
852
+ ],
853
+ [
854
+ -0.1492,
855
+ 0.98869,
856
+ 0.01541,
857
+ 1.35809
858
+ ],
859
+ [
860
+ 0.86896,
861
+ 0.13853,
862
+ -0.47511,
863
+ 4.51574
864
+ ],
865
+ [
866
+ 0.0,
867
+ 0.0,
868
+ 0.0,
869
+ 1.0
870
+ ]
871
+ ]
872
+ ],
873
+ [
874
+ "003_cracker_box.object_config.json",
875
+ [
876
+ [
877
+ -0.08562,
878
+ 0.00341,
879
+ 0.99632,
880
+ 0.4953
881
+ ],
882
+ [
883
+ -0.04561,
884
+ 0.99893,
885
+ -0.00734,
886
+ 0.96627
887
+ ],
888
+ [
889
+ -0.99528,
890
+ -0.04607,
891
+ -0.08537,
892
+ 7.43631
893
+ ],
894
+ [
895
+ 0.0,
896
+ 0.0,
897
+ 0.0,
898
+ 1.0
899
+ ]
900
+ ]
901
+ ]
902
+ ],
903
+ "targets": {
904
+ "003_cracker_box_:0004": [
905
+ [
906
+ 0.94738,
907
+ 0.0,
908
+ 0.32012,
909
+ 0.42014
910
+ ],
911
+ [
912
+ 0.0,
913
+ 1.0,
914
+ 0.0,
915
+ 0.96582
916
+ ],
917
+ [
918
+ -0.32012,
919
+ 0.0,
920
+ 0.94738,
921
+ 6.02009
922
+ ],
923
+ [
924
+ 0.0,
925
+ 0.0,
926
+ 0.0,
927
+ 1.0
928
+ ]
929
+ ],
930
+ "003_cracker_box_:0005": [
931
+ [
932
+ 0.53393,
933
+ 0.0,
934
+ -0.84553,
935
+ 0.37283
936
+ ],
937
+ [
938
+ 0.0,
939
+ 1.0,
940
+ 0.0,
941
+ 0.96582
942
+ ],
943
+ [
944
+ 0.84553,
945
+ 0.0,
946
+ 0.53393,
947
+ 7.33824
948
+ ],
949
+ [
950
+ 0.0,
951
+ 0.0,
952
+ 0.0,
953
+ 1.0
954
+ ]
955
+ ],
956
+ "003_cracker_box_:0006": [
957
+ [
958
+ 0.90907,
959
+ 0.0,
960
+ -0.41664,
961
+ 0.40524
962
+ ],
963
+ [
964
+ 0.0,
965
+ 1.0,
966
+ 0.0,
967
+ 1.35684
968
+ ],
969
+ [
970
+ 0.41664,
971
+ 0.0,
972
+ 0.90907,
973
+ 4.42425
974
+ ],
975
+ [
976
+ 0.0,
977
+ 0.0,
978
+ 0.0,
979
+ 1.0
980
+ ]
981
+ ]
982
+ },
983
+ "markers": [
984
+ {
985
+ "name": "cab_push_point_7",
986
+ "type": "articulated_object",
987
+ "params": {
988
+ "offset": [
989
+ 0.3,
990
+ 0.0,
991
+ 0
992
+ ],
993
+ "link": "drawer1_top",
994
+ "object": "kitchen_counter_:0000"
995
+ }
996
+ },
997
+ {
998
+ "name": "cab_push_point_6",
999
+ "type": "articulated_object",
1000
+ "params": {
1001
+ "offset": [
1002
+ 0.3,
1003
+ 0.0,
1004
+ 0
1005
+ ],
1006
+ "link": "drawer2_top",
1007
+ "object": "kitchen_counter_:0000"
1008
+ }
1009
+ },
1010
+ {
1011
+ "name": "cab_push_point_5",
1012
+ "type": "articulated_object",
1013
+ "params": {
1014
+ "offset": [
1015
+ 0.3,
1016
+ 0.0,
1017
+ 0
1018
+ ],
1019
+ "link": "drawer3",
1020
+ "object": "kitchen_counter_:0000"
1021
+ }
1022
+ },
1023
+ {
1024
+ "name": "cab_push_point_4",
1025
+ "type": "articulated_object",
1026
+ "params": {
1027
+ "offset": [
1028
+ 0.3,
1029
+ 0.0,
1030
+ 0
1031
+ ],
1032
+ "link": "drawer4",
1033
+ "object": "kitchen_counter_:0000"
1034
+ }
1035
+ },
1036
+ {
1037
+ "name": "fridge_push_point",
1038
+ "type": "articulated_object",
1039
+ "params": {
1040
+ "offset": [
1041
+ 0.1,
1042
+ -0.62,
1043
+ 0.2
1044
+ ],
1045
+ "link": "top_door",
1046
+ "object": "fridge_:0000"
1047
+ }
1048
+ }
1049
+ ],
1050
+ "target_receptacles": [
1051
+ [
1052
+ "fridge_:0000",
1053
+ 0
1054
+ ],
1055
+ [
1056
+ "fridge_:0000",
1057
+ 0
1058
+ ],
1059
+ [
1060
+ "kitchen_counter_:0000",
1061
+ 0
1062
+ ]
1063
+ ],
1064
+ "goal_receptacles": [
1065
+ [
1066
+ "kitchen_counter_:0000",
1067
+ 0
1068
+ ],
1069
+ [
1070
+ "kitchen_counter_:0000",
1071
+ 0
1072
+ ],
1073
+ [
1074
+ "fridge_:0000",
1075
+ 0
1076
+ ]
1077
+ ]
1078
+ }
rearrange/v1_extracted/train/prepare_groceries/episode_1023.json ADDED
@@ -0,0 +1,1078 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_id": "1023",
3
+ "scene_id": "data/replica_cad/configs/scenes/v3_sc1_staging_10.scene_instance.json",
4
+ "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
5
+ "additional_obj_config_paths": [
6
+ "data/objects/ycb/"
7
+ ],
8
+ "start_position": [
9
+ 0,
10
+ 0,
11
+ 0
12
+ ],
13
+ "start_rotation": [
14
+ 0,
15
+ 0,
16
+ 0,
17
+ 1
18
+ ],
19
+ "info": {
20
+ "object_labels": {
21
+ "024_bowl_:0003": "obj0_target|0",
22
+ "024_bowl_:0004": "obj1_target|1",
23
+ "004_sugar_box_:0001": "obj2_target|2"
24
+ }
25
+ },
26
+ "ao_states": {
27
+ "fridge_:0000": {
28
+ "2": 1.5
29
+ }
30
+ },
31
+ "rigid_objs": [
32
+ [
33
+ "009_gelatin_box.object_config.json",
34
+ [
35
+ [
36
+ 0.50909,
37
+ 0.0,
38
+ 0.86071,
39
+ -2.17322
40
+ ],
41
+ [
42
+ 0.0,
43
+ 1.0,
44
+ -0.0,
45
+ 0.72222
46
+ ],
47
+ [
48
+ -0.86071,
49
+ 0.0,
50
+ 0.50909,
51
+ 1.07569
52
+ ],
53
+ [
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 1.0
58
+ ]
59
+ ]
60
+ ],
61
+ [
62
+ "005_tomato_soup_can.object_config.json",
63
+ [
64
+ [
65
+ -0.36021,
66
+ -0.00113,
67
+ -0.93287,
68
+ 0.88406
69
+ ],
70
+ [
71
+ -0.00258,
72
+ 1.0,
73
+ -0.00021,
74
+ 0.45535
75
+ ],
76
+ [
77
+ 0.93287,
78
+ 0.00233,
79
+ -0.36021,
80
+ 5.78063
81
+ ],
82
+ [
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ 1.0
87
+ ]
88
+ ]
89
+ ],
90
+ [
91
+ "010_potted_meat_can.object_config.json",
92
+ [
93
+ [
94
+ -0.7386,
95
+ 5e-05,
96
+ 0.67414,
97
+ -2.15832
98
+ ],
99
+ [
100
+ -5e-05,
101
+ 1.0,
102
+ -0.00013,
103
+ 0.90168
104
+ ],
105
+ [
106
+ -0.67414,
107
+ -0.00013,
108
+ -0.7386,
109
+ 1.64843
110
+ ],
111
+ [
112
+ 0.0,
113
+ 0.0,
114
+ 0.0,
115
+ 1.0
116
+ ]
117
+ ]
118
+ ],
119
+ [
120
+ "009_gelatin_box.object_config.json",
121
+ [
122
+ [
123
+ -0.46641,
124
+ 2e-05,
125
+ -0.88457,
126
+ -2.14784
127
+ ],
128
+ [
129
+ 1e-05,
130
+ 1.0,
131
+ 1e-05,
132
+ 0.72222
133
+ ],
134
+ [
135
+ 0.88457,
136
+ -0.0,
137
+ -0.46641,
138
+ 1.30313
139
+ ],
140
+ [
141
+ 0.0,
142
+ 0.0,
143
+ 0.0,
144
+ 1.0
145
+ ]
146
+ ]
147
+ ],
148
+ [
149
+ "002_master_chef_can.object_config.json",
150
+ [
151
+ [
152
+ -0.85963,
153
+ -2e-05,
154
+ -0.51092,
155
+ 2.67704
156
+ ],
157
+ [
158
+ -2e-05,
159
+ 1.0,
160
+ 1e-05,
161
+ 1.00476
162
+ ],
163
+ [
164
+ 0.51092,
165
+ 2e-05,
166
+ -0.85963,
167
+ 5.8589
168
+ ],
169
+ [
170
+ 0.0,
171
+ 0.0,
172
+ 0.0,
173
+ 1.0
174
+ ]
175
+ ]
176
+ ],
177
+ [
178
+ "005_tomato_soup_can.object_config.json",
179
+ [
180
+ [
181
+ -0.84859,
182
+ 9e-05,
183
+ -0.52905,
184
+ 4.04401
185
+ ],
186
+ [
187
+ 0.00019,
188
+ 1.0,
189
+ -0.00013,
190
+ 0.46595
191
+ ],
192
+ [
193
+ 0.52905,
194
+ -0.00021,
195
+ -0.84859,
196
+ 0.52447
197
+ ],
198
+ [
199
+ 0.0,
200
+ 0.0,
201
+ 0.0,
202
+ 1.0
203
+ ]
204
+ ]
205
+ ],
206
+ [
207
+ "008_pudding_box.object_config.json",
208
+ [
209
+ [
210
+ -0.66356,
211
+ -0.02328,
212
+ 0.74776,
213
+ 3.8799
214
+ ],
215
+ [
216
+ -0.00632,
217
+ 0.99965,
218
+ 0.02551,
219
+ 0.43456
220
+ ],
221
+ [
222
+ -0.7481,
223
+ 0.0122,
224
+ -0.66348,
225
+ 0.46511
226
+ ],
227
+ [
228
+ 0.0,
229
+ 0.0,
230
+ 0.0,
231
+ 1.0
232
+ ]
233
+ ]
234
+ ],
235
+ [
236
+ "008_pudding_box.object_config.json",
237
+ [
238
+ [
239
+ -0.25913,
240
+ 0.02116,
241
+ -0.96561,
242
+ 3.66727
243
+ ],
244
+ [
245
+ -0.0059,
246
+ 0.99971,
247
+ 0.02349,
248
+ 0.43449
249
+ ],
250
+ [
251
+ 0.96582,
252
+ 0.01179,
253
+ -0.25893,
254
+ -0.4476
255
+ ],
256
+ [
257
+ 0.0,
258
+ 0.0,
259
+ 0.0,
260
+ 1.0
261
+ ]
262
+ ]
263
+ ],
264
+ [
265
+ "003_cracker_box.object_config.json",
266
+ [
267
+ [
268
+ -0.4558,
269
+ -0.05422,
270
+ -0.88843,
271
+ -2.30917
272
+ ],
273
+ [
274
+ -0.15152,
275
+ 0.9883,
276
+ 0.01742,
277
+ 0.96653
278
+ ],
279
+ [
280
+ 0.87709,
281
+ 0.14255,
282
+ -0.45869,
283
+ 0.40019
284
+ ],
285
+ [
286
+ 0.0,
287
+ 0.0,
288
+ 0.0,
289
+ 1.0
290
+ ]
291
+ ]
292
+ ],
293
+ [
294
+ "024_bowl.object_config.json",
295
+ [
296
+ [
297
+ -0.98813,
298
+ 5e-05,
299
+ -0.15365,
300
+ 2.33022
301
+ ],
302
+ [
303
+ 4e-05,
304
+ 1.0,
305
+ 0.00012,
306
+ 0.96159
307
+ ],
308
+ [
309
+ 0.15365,
310
+ 0.00011,
311
+ -0.98813,
312
+ 6.14235
313
+ ],
314
+ [
315
+ 0.0,
316
+ 0.0,
317
+ 0.0,
318
+ 1.0
319
+ ]
320
+ ]
321
+ ],
322
+ [
323
+ "009_gelatin_box.object_config.json",
324
+ [
325
+ [
326
+ 0.91025,
327
+ -0.0003,
328
+ -0.41406,
329
+ -2.04238
330
+ ],
331
+ [
332
+ 0.00035,
333
+ 1.0,
334
+ 3e-05,
335
+ 0.77774
336
+ ],
337
+ [
338
+ 0.41406,
339
+ -0.00017,
340
+ 0.91025,
341
+ 3.78774
342
+ ],
343
+ [
344
+ 0.0,
345
+ 0.0,
346
+ 0.0,
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ [
352
+ "024_bowl.object_config.json",
353
+ [
354
+ [
355
+ 0.33678,
356
+ -0.00071,
357
+ 0.94158,
358
+ -2.26368
359
+ ],
360
+ [
361
+ 0.0014,
362
+ 1.0,
363
+ 0.00025,
364
+ 0.88717
365
+ ],
366
+ [
367
+ -0.94158,
368
+ 0.00124,
369
+ 0.33678,
370
+ 0.60497
371
+ ],
372
+ [
373
+ 0.0,
374
+ 0.0,
375
+ 0.0,
376
+ 1.0
377
+ ]
378
+ ]
379
+ ],
380
+ [
381
+ "009_gelatin_box.object_config.json",
382
+ [
383
+ [
384
+ -0.81881,
385
+ 7e-05,
386
+ 0.57406,
387
+ 4.09751
388
+ ],
389
+ [
390
+ 4e-05,
391
+ 1.0,
392
+ -7e-05,
393
+ 0.64169
394
+ ],
395
+ [
396
+ -0.57406,
397
+ -3e-05,
398
+ -0.81881,
399
+ 5.57774
400
+ ],
401
+ [
402
+ 0.0,
403
+ 0.0,
404
+ 0.0,
405
+ 1.0
406
+ ]
407
+ ]
408
+ ],
409
+ [
410
+ "002_master_chef_can.object_config.json",
411
+ [
412
+ [
413
+ -0.38957,
414
+ -3e-05,
415
+ 0.921,
416
+ -2.14582
417
+ ],
418
+ [
419
+ 0.0,
420
+ 1.0,
421
+ 4e-05,
422
+ 0.77776
423
+ ],
424
+ [
425
+ -0.921,
426
+ 2e-05,
427
+ -0.38957,
428
+ 1.20036
429
+ ],
430
+ [
431
+ 0.0,
432
+ 0.0,
433
+ 0.0,
434
+ 1.0
435
+ ]
436
+ ]
437
+ ],
438
+ [
439
+ "010_potted_meat_can.object_config.json",
440
+ [
441
+ [
442
+ -0.70988,
443
+ -0.00526,
444
+ 0.7043,
445
+ -2.05747
446
+ ],
447
+ [
448
+ -0.01459,
449
+ 0.99987,
450
+ -0.00724,
451
+ 0.7497
452
+ ],
453
+ [
454
+ -0.70417,
455
+ -0.01542,
456
+ -0.70987,
457
+ 1.13132
458
+ ],
459
+ [
460
+ 0.0,
461
+ 0.0,
462
+ 0.0,
463
+ 1.0
464
+ ]
465
+ ]
466
+ ],
467
+ [
468
+ "002_master_chef_can.object_config.json",
469
+ [
470
+ [
471
+ -0.07306,
472
+ -0.00015,
473
+ 0.99733,
474
+ -2.3557
475
+ ],
476
+ [
477
+ -3e-05,
478
+ 1.0,
479
+ 0.00014,
480
+ 0.9303
481
+ ],
482
+ [
483
+ -0.99733,
484
+ -2e-05,
485
+ -0.07306,
486
+ 2.14193
487
+ ],
488
+ [
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 1.0
493
+ ]
494
+ ]
495
+ ],
496
+ [
497
+ "005_tomato_soup_can.object_config.json",
498
+ [
499
+ [
500
+ -0.93115,
501
+ -7e-05,
502
+ -0.36463,
503
+ -2.16845
504
+ ],
505
+ [
506
+ 0.002,
507
+ 0.99998,
508
+ -0.0053,
509
+ 1.3033
510
+ ],
511
+ [
512
+ 0.36462,
513
+ -0.00567,
514
+ -0.93114,
515
+ -0.8276
516
+ ],
517
+ [
518
+ 0.0,
519
+ 0.0,
520
+ 0.0,
521
+ 1.0
522
+ ]
523
+ ]
524
+ ],
525
+ [
526
+ "003_cracker_box.object_config.json",
527
+ [
528
+ [
529
+ 0.9206,
530
+ 0.04166,
531
+ -0.38829,
532
+ 2.21963
533
+ ],
534
+ [
535
+ -0.04852,
536
+ 0.99879,
537
+ -0.00789,
538
+ 1.04086
539
+ ],
540
+ [
541
+ 0.38749,
542
+ 0.02611,
543
+ 0.9215,
544
+ 6.40077
545
+ ],
546
+ [
547
+ 0.0,
548
+ 0.0,
549
+ 0.0,
550
+ 1.0
551
+ ]
552
+ ]
553
+ ],
554
+ [
555
+ "009_gelatin_box.object_config.json",
556
+ [
557
+ [
558
+ 0.72105,
559
+ -0.00045,
560
+ 0.69289,
561
+ -2.04747
562
+ ],
563
+ [
564
+ -0.00468,
565
+ 0.99997,
566
+ 0.00553,
567
+ 1.26465
568
+ ],
569
+ [
570
+ -0.69287,
571
+ -0.00723,
572
+ 0.72103,
573
+ -1.27483
574
+ ],
575
+ [
576
+ 0.0,
577
+ 0.0,
578
+ 0.0,
579
+ 1.0
580
+ ]
581
+ ]
582
+ ],
583
+ [
584
+ "010_potted_meat_can.object_config.json",
585
+ [
586
+ [
587
+ 0.82431,
588
+ 0.0014,
589
+ 0.56614,
590
+ -1.99312
591
+ ],
592
+ [
593
+ -0.00408,
594
+ 0.99999,
595
+ 0.00347,
596
+ 1.29246
597
+ ],
598
+ [
599
+ -0.56613,
600
+ -0.00518,
601
+ 0.8243,
602
+ -1.11819
603
+ ],
604
+ [
605
+ 0.0,
606
+ 0.0,
607
+ 0.0,
608
+ 1.0
609
+ ]
610
+ ]
611
+ ],
612
+ [
613
+ "024_bowl.object_config.json",
614
+ [
615
+ [
616
+ 0.99869,
617
+ 0.00025,
618
+ 0.05109,
619
+ 3.98728
620
+ ],
621
+ [
622
+ -0.00029,
623
+ 1.0,
624
+ 0.00085,
625
+ 0.4423
626
+ ],
627
+ [
628
+ -0.05109,
629
+ -0.00086,
630
+ 0.99869,
631
+ 0.69544
632
+ ],
633
+ [
634
+ 0.0,
635
+ 0.0,
636
+ 0.0,
637
+ 1.0
638
+ ]
639
+ ]
640
+ ],
641
+ [
642
+ "007_tuna_fish_can.object_config.json",
643
+ [
644
+ [
645
+ 0.48674,
646
+ -4e-05,
647
+ -0.87355,
648
+ 2.10502
649
+ ],
650
+ [
651
+ -3e-05,
652
+ 1.0,
653
+ -6e-05,
654
+ 0.95101
655
+ ],
656
+ [
657
+ 0.87355,
658
+ 5e-05,
659
+ 0.48674,
660
+ 6.66516
661
+ ],
662
+ [
663
+ 0.0,
664
+ 0.0,
665
+ 0.0,
666
+ 1.0
667
+ ]
668
+ ]
669
+ ],
670
+ [
671
+ "003_cracker_box.object_config.json",
672
+ [
673
+ [
674
+ -0.88736,
675
+ -0.04254,
676
+ -0.4591,
677
+ 2.53828
678
+ ],
679
+ [
680
+ -0.0445,
681
+ 0.99899,
682
+ -0.00655,
683
+ 1.04092
684
+ ],
685
+ [
686
+ 0.45892,
687
+ 0.01462,
688
+ -0.88836,
689
+ 6.03784
690
+ ],
691
+ [
692
+ 0.0,
693
+ 0.0,
694
+ 0.0,
695
+ 1.0
696
+ ]
697
+ ]
698
+ ],
699
+ [
700
+ "010_potted_meat_can.object_config.json",
701
+ [
702
+ [
703
+ 0.92861,
704
+ -0.00015,
705
+ -0.37105,
706
+ -2.07593
707
+ ],
708
+ [
709
+ 0.00192,
710
+ 0.99999,
711
+ 0.0044,
712
+ 1.29288
713
+ ],
714
+ [
715
+ 0.37105,
716
+ -0.0048,
717
+ 0.9286,
718
+ -1.04339
719
+ ],
720
+ [
721
+ 0.0,
722
+ 0.0,
723
+ 0.0,
724
+ 1.0
725
+ ]
726
+ ]
727
+ ],
728
+ [
729
+ "003_cracker_box.object_config.json",
730
+ [
731
+ [
732
+ -0.19018,
733
+ -0.01589,
734
+ -0.98162,
735
+ -1.89553
736
+ ],
737
+ [
738
+ -0.0459,
739
+ 0.99892,
740
+ -0.00728,
741
+ 0.96627
742
+ ],
743
+ [
744
+ 0.98068,
745
+ 0.04367,
746
+ -0.1907,
747
+ 1.68646
748
+ ],
749
+ [
750
+ 0.0,
751
+ 0.0,
752
+ 0.0,
753
+ 1.0
754
+ ]
755
+ ]
756
+ ],
757
+ [
758
+ "009_gelatin_box.object_config.json",
759
+ [
760
+ [
761
+ 0.3317,
762
+ -0.0,
763
+ 0.94338,
764
+ -2.42472
765
+ ],
766
+ [
767
+ 0.0,
768
+ 1.0,
769
+ -0.0,
770
+ 0.87476
771
+ ],
772
+ [
773
+ -0.94338,
774
+ 0.0,
775
+ 0.3317,
776
+ 0.71435
777
+ ],
778
+ [
779
+ 0.0,
780
+ 0.0,
781
+ 0.0,
782
+ 1.0
783
+ ]
784
+ ]
785
+ ],
786
+ [
787
+ "004_sugar_box.object_config.json",
788
+ [
789
+ [
790
+ -0.93738,
791
+ 0.04525,
792
+ -0.34535,
793
+ -2.44603
794
+ ],
795
+ [
796
+ 0.03925,
797
+ 0.99893,
798
+ 0.02437,
799
+ 0.9477
800
+ ],
801
+ [
802
+ 0.34608,
803
+ 0.00929,
804
+ -0.93816,
805
+ 1.5507
806
+ ],
807
+ [
808
+ 0.0,
809
+ 0.0,
810
+ 0.0,
811
+ 1.0
812
+ ]
813
+ ]
814
+ ],
815
+ [
816
+ "024_bowl.object_config.json",
817
+ [
818
+ [
819
+ 0.95423,
820
+ 0.00152,
821
+ 0.29907,
822
+ -2.15139
823
+ ],
824
+ [
825
+ -0.00108,
826
+ 1.0,
827
+ -0.00165,
828
+ 1.27846
829
+ ],
830
+ [
831
+ -0.29907,
832
+ 0.00126,
833
+ 0.95423,
834
+ -0.94979
835
+ ],
836
+ [
837
+ 0.0,
838
+ 0.0,
839
+ 0.0,
840
+ 1.0
841
+ ]
842
+ ]
843
+ ],
844
+ [
845
+ "024_bowl.object_config.json",
846
+ [
847
+ [
848
+ 0.73052,
849
+ 0.0,
850
+ 0.68289,
851
+ -2.23299
852
+ ],
853
+ [
854
+ -0.00412,
855
+ 0.99998,
856
+ 0.0044,
857
+ 1.27767
858
+ ],
859
+ [
860
+ -0.68287,
861
+ -0.00603,
862
+ 0.73051,
863
+ -1.16879
864
+ ],
865
+ [
866
+ 0.0,
867
+ 0.0,
868
+ 0.0,
869
+ 1.0
870
+ ]
871
+ ]
872
+ ],
873
+ [
874
+ "004_sugar_box.object_config.json",
875
+ [
876
+ [
877
+ 0.32476,
878
+ 0.01027,
879
+ -0.94574,
880
+ -2.37035
881
+ ],
882
+ [
883
+ 0.03909,
884
+ 0.99894,
885
+ 0.02427,
886
+ 0.9477
887
+ ],
888
+ [
889
+ 0.94499,
890
+ -0.04485,
891
+ 0.32402,
892
+ 1.64569
893
+ ],
894
+ [
895
+ 0.0,
896
+ 0.0,
897
+ 0.0,
898
+ 1.0
899
+ ]
900
+ ]
901
+ ]
902
+ ],
903
+ "targets": {
904
+ "024_bowl_:0003": [
905
+ [
906
+ 0.82487,
907
+ 0.0,
908
+ -0.56532,
909
+ -1.96011
910
+ ],
911
+ [
912
+ 0.0,
913
+ 1.0,
914
+ 0.0,
915
+ 0.8866
916
+ ],
917
+ [
918
+ 0.56532,
919
+ 0.0,
920
+ 0.82487,
921
+ 1.89276
922
+ ],
923
+ [
924
+ 0.0,
925
+ 0.0,
926
+ 0.0,
927
+ 1.0
928
+ ]
929
+ ],
930
+ "024_bowl_:0004": [
931
+ [
932
+ 0.87393,
933
+ 0.0,
934
+ -0.48605,
935
+ -1.97338
936
+ ],
937
+ [
938
+ 0.0,
939
+ 1.0,
940
+ 0.0,
941
+ 0.8866
942
+ ],
943
+ [
944
+ 0.48605,
945
+ 0.0,
946
+ 0.87393,
947
+ 1.79282
948
+ ],
949
+ [
950
+ 0.0,
951
+ 0.0,
952
+ 0.0,
953
+ 1.0
954
+ ]
955
+ ],
956
+ "004_sugar_box_:0001": [
957
+ [
958
+ 0.06997,
959
+ 0.0,
960
+ -0.99755,
961
+ -2.0474
962
+ ],
963
+ [
964
+ 0.0,
965
+ 1.0,
966
+ 0.0,
967
+ 1.33748
968
+ ],
969
+ [
970
+ 0.99755,
971
+ 0.0,
972
+ 0.06997,
973
+ -1.18774
974
+ ],
975
+ [
976
+ 0.0,
977
+ 0.0,
978
+ 0.0,
979
+ 1.0
980
+ ]
981
+ ]
982
+ },
983
+ "markers": [
984
+ {
985
+ "name": "cab_push_point_7",
986
+ "type": "articulated_object",
987
+ "params": {
988
+ "offset": [
989
+ 0.3,
990
+ 0.0,
991
+ 0
992
+ ],
993
+ "link": "drawer1_top",
994
+ "object": "kitchen_counter_:0000"
995
+ }
996
+ },
997
+ {
998
+ "name": "cab_push_point_6",
999
+ "type": "articulated_object",
1000
+ "params": {
1001
+ "offset": [
1002
+ 0.3,
1003
+ 0.0,
1004
+ 0
1005
+ ],
1006
+ "link": "drawer2_top",
1007
+ "object": "kitchen_counter_:0000"
1008
+ }
1009
+ },
1010
+ {
1011
+ "name": "cab_push_point_5",
1012
+ "type": "articulated_object",
1013
+ "params": {
1014
+ "offset": [
1015
+ 0.3,
1016
+ 0.0,
1017
+ 0
1018
+ ],
1019
+ "link": "drawer3",
1020
+ "object": "kitchen_counter_:0000"
1021
+ }
1022
+ },
1023
+ {
1024
+ "name": "cab_push_point_4",
1025
+ "type": "articulated_object",
1026
+ "params": {
1027
+ "offset": [
1028
+ 0.3,
1029
+ 0.0,
1030
+ 0
1031
+ ],
1032
+ "link": "drawer4",
1033
+ "object": "kitchen_counter_:0000"
1034
+ }
1035
+ },
1036
+ {
1037
+ "name": "fridge_push_point",
1038
+ "type": "articulated_object",
1039
+ "params": {
1040
+ "offset": [
1041
+ 0.1,
1042
+ -0.62,
1043
+ 0.2
1044
+ ],
1045
+ "link": "top_door",
1046
+ "object": "fridge_:0000"
1047
+ }
1048
+ }
1049
+ ],
1050
+ "target_receptacles": [
1051
+ [
1052
+ "fridge_:0000",
1053
+ 0
1054
+ ],
1055
+ [
1056
+ "fridge_:0000",
1057
+ 0
1058
+ ],
1059
+ [
1060
+ "kitchen_counter_:0000",
1061
+ 0
1062
+ ]
1063
+ ],
1064
+ "goal_receptacles": [
1065
+ [
1066
+ "kitchen_counter_:0000",
1067
+ 0
1068
+ ],
1069
+ [
1070
+ "kitchen_counter_:0000",
1071
+ 0
1072
+ ],
1073
+ [
1074
+ "fridge_:0000",
1075
+ 0
1076
+ ]
1077
+ ]
1078
+ }
rearrange/v1_extracted/train/prepare_groceries/episode_1024.json ADDED
@@ -0,0 +1,1078 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_id": "1024",
3
+ "scene_id": "data/replica_cad/configs/scenes/v3_sc1_staging_15.scene_instance.json",
4
+ "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
5
+ "additional_obj_config_paths": [
6
+ "data/objects/ycb/"
7
+ ],
8
+ "start_position": [
9
+ 0,
10
+ 0,
11
+ 0
12
+ ],
13
+ "start_rotation": [
14
+ 0,
15
+ 0,
16
+ 0,
17
+ 1
18
+ ],
19
+ "info": {
20
+ "object_labels": {
21
+ "002_master_chef_can_:0004": "obj0_target|0",
22
+ "008_pudding_box_:0002": "obj1_target|1",
23
+ "004_sugar_box_:0003": "obj2_target|2"
24
+ }
25
+ },
26
+ "ao_states": {
27
+ "fridge_:0000": {
28
+ "2": 1.5
29
+ }
30
+ },
31
+ "rigid_objs": [
32
+ [
33
+ "010_potted_meat_can.object_config.json",
34
+ [
35
+ [
36
+ -0.999,
37
+ -0.00053,
38
+ 0.0448,
39
+ -2.2147
40
+ ],
41
+ [
42
+ -0.00059,
43
+ 1.0,
44
+ -0.0014,
45
+ 0.90169
46
+ ],
47
+ [
48
+ -0.0448,
49
+ -0.00142,
50
+ -0.999,
51
+ 0.0633
52
+ ],
53
+ [
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 1.0
58
+ ]
59
+ ]
60
+ ],
61
+ [
62
+ "024_bowl.object_config.json",
63
+ [
64
+ [
65
+ -0.53536,
66
+ 0.0004,
67
+ 0.84462,
68
+ -0.30903
69
+ ],
70
+ [
71
+ 0.00126,
72
+ 1.0,
73
+ 0.00032,
74
+ 0.4419
75
+ ],
76
+ [
77
+ -0.84462,
78
+ 0.00124,
79
+ -0.53536,
80
+ -0.38669
81
+ ],
82
+ [
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ 1.0
87
+ ]
88
+ ]
89
+ ],
90
+ [
91
+ "009_gelatin_box.object_config.json",
92
+ [
93
+ [
94
+ 0.94085,
95
+ 0.0,
96
+ -0.33884,
97
+ 4.07501
98
+ ],
99
+ [
100
+ -0.0,
101
+ 1.0,
102
+ -0.0,
103
+ 0.77773
104
+ ],
105
+ [
106
+ 0.33884,
107
+ 0.0,
108
+ 0.94085,
109
+ 6.4776
110
+ ],
111
+ [
112
+ 0.0,
113
+ 0.0,
114
+ 0.0,
115
+ 1.0
116
+ ]
117
+ ]
118
+ ],
119
+ [
120
+ "004_sugar_box.object_config.json",
121
+ [
122
+ [
123
+ 0.49304,
124
+ -0.0383,
125
+ 0.86916,
126
+ 3.8387
127
+ ],
128
+ [
129
+ 0.03664,
130
+ 0.99906,
131
+ 0.02323,
132
+ 0.85086
133
+ ],
134
+ [
135
+ -0.86924,
136
+ 0.02039,
137
+ 0.49398,
138
+ 5.77932
139
+ ],
140
+ [
141
+ 0.0,
142
+ 0.0,
143
+ 0.0,
144
+ 1.0
145
+ ]
146
+ ]
147
+ ],
148
+ [
149
+ "007_tuna_fish_can.object_config.json",
150
+ [
151
+ [
152
+ -0.32016,
153
+ 3e-05,
154
+ 0.94736,
155
+ -2.22175
156
+ ],
157
+ [
158
+ -2e-05,
159
+ 1.0,
160
+ -3e-05,
161
+ 0.87655
162
+ ],
163
+ [
164
+ -0.94736,
165
+ -3e-05,
166
+ -0.32016,
167
+ 1.56893
168
+ ],
169
+ [
170
+ 0.0,
171
+ 0.0,
172
+ 0.0,
173
+ 1.0
174
+ ]
175
+ ]
176
+ ],
177
+ [
178
+ "002_master_chef_can.object_config.json",
179
+ [
180
+ [
181
+ 0.02206,
182
+ 1e-05,
183
+ -0.99976,
184
+ 1.02061
185
+ ],
186
+ [
187
+ 0.0,
188
+ 1.0,
189
+ 1e-05,
190
+ 0.48541
191
+ ],
192
+ [
193
+ 0.99976,
194
+ -1e-05,
195
+ 0.02206,
196
+ 0.0195
197
+ ],
198
+ [
199
+ 0.0,
200
+ 0.0,
201
+ 0.0,
202
+ 1.0
203
+ ]
204
+ ]
205
+ ],
206
+ [
207
+ "024_bowl.object_config.json",
208
+ [
209
+ [
210
+ 0.1238,
211
+ -3e-05,
212
+ -0.99231,
213
+ 1.04646
214
+ ],
215
+ [
216
+ 6e-05,
217
+ 1.0,
218
+ -2e-05,
219
+ 0.43169
220
+ ],
221
+ [
222
+ 0.99231,
223
+ -5e-05,
224
+ 0.1238,
225
+ 6.52661
226
+ ],
227
+ [
228
+ 0.0,
229
+ 0.0,
230
+ 0.0,
231
+ 1.0
232
+ ]
233
+ ]
234
+ ],
235
+ [
236
+ "008_pudding_box.object_config.json",
237
+ [
238
+ [
239
+ -0.45011,
240
+ 0.01832,
241
+ -0.89279,
242
+ 2.42867
243
+ ],
244
+ [
245
+ -0.0059,
246
+ 0.99971,
247
+ 0.02349,
248
+ 0.95374
249
+ ],
250
+ [
251
+ 0.89295,
252
+ 0.01584,
253
+ -0.44987,
254
+ 1.6008
255
+ ],
256
+ [
257
+ 0.0,
258
+ 0.0,
259
+ 0.0,
260
+ 1.0
261
+ ]
262
+ ]
263
+ ],
264
+ [
265
+ "002_master_chef_can.object_config.json",
266
+ [
267
+ [
268
+ -0.70107,
269
+ -4e-05,
270
+ 0.71309,
271
+ 3.79259
272
+ ],
273
+ [
274
+ -6e-05,
275
+ 1.0,
276
+ 0.0,
277
+ 0.83327
278
+ ],
279
+ [
280
+ -0.71309,
281
+ -4e-05,
282
+ -0.70107,
283
+ 5.99618
284
+ ],
285
+ [
286
+ 0.0,
287
+ 0.0,
288
+ 0.0,
289
+ 1.0
290
+ ]
291
+ ]
292
+ ],
293
+ [
294
+ "007_tuna_fish_can.object_config.json",
295
+ [
296
+ [
297
+ 0.73222,
298
+ 1e-05,
299
+ 0.68107,
300
+ -2.136
301
+ ],
302
+ [
303
+ -3e-05,
304
+ 1.0,
305
+ 2e-05,
306
+ 0.87655
307
+ ],
308
+ [
309
+ -0.68107,
310
+ -3e-05,
311
+ 0.73222,
312
+ -0.29647
313
+ ],
314
+ [
315
+ 0.0,
316
+ 0.0,
317
+ 0.0,
318
+ 1.0
319
+ ]
320
+ ]
321
+ ],
322
+ [
323
+ "024_bowl.object_config.json",
324
+ [
325
+ [
326
+ -0.2531,
327
+ 0.00025,
328
+ -0.96744,
329
+ -1.96485
330
+ ],
331
+ [
332
+ -0.00011,
333
+ 1.0,
334
+ 0.00029,
335
+ 0.88719
336
+ ],
337
+ [
338
+ 0.96744,
339
+ 0.00018,
340
+ -0.2531,
341
+ -0.02759
342
+ ],
343
+ [
344
+ 0.0,
345
+ 0.0,
346
+ 0.0,
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ [
352
+ "024_bowl.object_config.json",
353
+ [
354
+ [
355
+ 0.14695,
356
+ 0.00082,
357
+ 0.98914,
358
+ 1.12299
359
+ ],
360
+ [
361
+ 0.00127,
362
+ 1.0,
363
+ -0.00102,
364
+ 0.4423
365
+ ],
366
+ [
367
+ -0.98914,
368
+ 0.00141,
369
+ 0.14695,
370
+ -0.27197
371
+ ],
372
+ [
373
+ 0.0,
374
+ 0.0,
375
+ 0.0,
376
+ 1.0
377
+ ]
378
+ ]
379
+ ],
380
+ [
381
+ "008_pudding_box.object_config.json",
382
+ [
383
+ [
384
+ 0.20129,
385
+ -0.01672,
386
+ 0.97939,
387
+ 1.2519
388
+ ],
389
+ [
390
+ -0.00421,
391
+ 0.99983,
392
+ 0.01793,
393
+ 0.42376
394
+ ],
395
+ [
396
+ -0.97952,
397
+ -0.00773,
398
+ 0.20119,
399
+ 6.10794
400
+ ],
401
+ [
402
+ 0.0,
403
+ 0.0,
404
+ 0.0,
405
+ 1.0
406
+ ]
407
+ ]
408
+ ],
409
+ [
410
+ "007_tuna_fish_can.object_config.json",
411
+ [
412
+ [
413
+ 0.35181,
414
+ 3e-05,
415
+ 0.93607,
416
+ -2.03197
417
+ ],
418
+ [
419
+ -2e-05,
420
+ 1.0,
421
+ -3e-05,
422
+ 0.87655
423
+ ],
424
+ [
425
+ -0.93607,
426
+ -1e-05,
427
+ 0.35181,
428
+ 1.66451
429
+ ],
430
+ [
431
+ 0.0,
432
+ 0.0,
433
+ 0.0,
434
+ 1.0
435
+ ]
436
+ ]
437
+ ],
438
+ [
439
+ "005_tomato_soup_can.object_config.json",
440
+ [
441
+ [
442
+ -0.97289,
443
+ 0.00033,
444
+ 0.23128,
445
+ -1.99847
446
+ ],
447
+ [
448
+ 0.00029,
449
+ 1.0,
450
+ -0.00021,
451
+ 0.67777
452
+ ],
453
+ [
454
+ -0.23128,
455
+ -0.00013,
456
+ -0.97289,
457
+ 2.65037
458
+ ],
459
+ [
460
+ 0.0,
461
+ 0.0,
462
+ 0.0,
463
+ 1.0
464
+ ]
465
+ ]
466
+ ],
467
+ [
468
+ "010_potted_meat_can.object_config.json",
469
+ [
470
+ [
471
+ -0.87083,
472
+ 2e-05,
473
+ -0.49158,
474
+ -0.14842
475
+ ],
476
+ [
477
+ 1e-05,
478
+ 1.0,
479
+ 4e-05,
480
+ 0.4569
481
+ ],
482
+ [
483
+ 0.49158,
484
+ 3e-05,
485
+ -0.87083,
486
+ -0.29594
487
+ ],
488
+ [
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 1.0
493
+ ]
494
+ ]
495
+ ],
496
+ [
497
+ "002_master_chef_can.object_config.json",
498
+ [
499
+ [
500
+ 0.77487,
501
+ -1e-05,
502
+ 0.63213,
503
+ 3.48427
504
+ ],
505
+ [
506
+ 0.00016,
507
+ 1.0,
508
+ -0.00018,
509
+ 0.83328
510
+ ],
511
+ [
512
+ -0.63213,
513
+ 0.00024,
514
+ 0.77487,
515
+ 5.78455
516
+ ],
517
+ [
518
+ 0.0,
519
+ 0.0,
520
+ 0.0,
521
+ 1.0
522
+ ]
523
+ ]
524
+ ],
525
+ [
526
+ "010_potted_meat_can.object_config.json",
527
+ [
528
+ [
529
+ -0.67513,
530
+ -0.00645,
531
+ -0.73767,
532
+ -1.87679
533
+ ],
534
+ [
535
+ -0.00492,
536
+ 0.99998,
537
+ -0.00424,
538
+ 0.66878
539
+ ],
540
+ [
541
+ 0.73768,
542
+ 0.00077,
543
+ -0.67515,
544
+ 3.0491
545
+ ],
546
+ [
547
+ 0.0,
548
+ 0.0,
549
+ 0.0,
550
+ 1.0
551
+ ]
552
+ ]
553
+ ],
554
+ [
555
+ "024_bowl.object_config.json",
556
+ [
557
+ [
558
+ -0.90888,
559
+ 8e-05,
560
+ -0.41705,
561
+ 2.73922
562
+ ],
563
+ [
564
+ 3e-05,
565
+ 1.0,
566
+ 0.00013,
567
+ 0.96145
568
+ ],
569
+ [
570
+ 0.41705,
571
+ 0.00011,
572
+ -0.90888,
573
+ 1.47456
574
+ ],
575
+ [
576
+ 0.0,
577
+ 0.0,
578
+ 0.0,
579
+ 1.0
580
+ ]
581
+ ]
582
+ ],
583
+ [
584
+ "003_cracker_box.object_config.json",
585
+ [
586
+ [
587
+ -0.57619,
588
+ -0.01956,
589
+ 0.81708,
590
+ 3.5208
591
+ ],
592
+ [
593
+ -0.0458,
594
+ 0.99892,
595
+ -0.00839,
596
+ 0.86935
597
+ ],
598
+ [
599
+ -0.81603,
600
+ -0.04226,
601
+ -0.57646,
602
+ 6.60216
603
+ ],
604
+ [
605
+ 0.0,
606
+ 0.0,
607
+ 0.0,
608
+ 1.0
609
+ ]
610
+ ]
611
+ ],
612
+ [
613
+ "024_bowl.object_config.json",
614
+ [
615
+ [
616
+ -0.93581,
617
+ -0.00116,
618
+ -0.35251,
619
+ -2.33619
620
+ ],
621
+ [
622
+ -0.00124,
623
+ 1.0,
624
+ 0.0,
625
+ 0.88714
626
+ ],
627
+ [
628
+ 0.35251,
629
+ 0.00044,
630
+ -0.93581,
631
+ 2.1121
632
+ ],
633
+ [
634
+ 0.0,
635
+ 0.0,
636
+ 0.0,
637
+ 1.0
638
+ ]
639
+ ]
640
+ ],
641
+ [
642
+ "005_tomato_soup_can.object_config.json",
643
+ [
644
+ [
645
+ 0.74669,
646
+ 0.03843,
647
+ 0.66406,
648
+ -2.15
649
+ ],
650
+ [
651
+ -0.05606,
652
+ 0.99841,
653
+ 0.00526,
654
+ 1.30305
655
+ ],
656
+ [
657
+ -0.66281,
658
+ -0.04115,
659
+ 0.74766,
660
+ -0.89558
661
+ ],
662
+ [
663
+ 0.0,
664
+ 0.0,
665
+ 0.0,
666
+ 1.0
667
+ ]
668
+ ]
669
+ ],
670
+ [
671
+ "004_sugar_box.object_config.json",
672
+ [
673
+ [
674
+ 0.55981,
675
+ -0.00182,
676
+ -0.82862,
677
+ 1.21461
678
+ ],
679
+ [
680
+ 0.03907,
681
+ 0.99894,
682
+ 0.0242,
683
+ 0.4922
684
+ ],
685
+ [
686
+ 0.8277,
687
+ -0.04592,
688
+ 0.55929,
689
+ 5.89304
690
+ ],
691
+ [
692
+ 0.0,
693
+ 0.0,
694
+ 0.0,
695
+ 1.0
696
+ ]
697
+ ]
698
+ ],
699
+ [
700
+ "003_cracker_box.object_config.json",
701
+ [
702
+ [
703
+ -0.99385,
704
+ -0.04993,
705
+ -0.09889,
706
+ 2.43521
707
+ ],
708
+ [
709
+ -0.04941,
710
+ 0.99875,
711
+ -0.00771,
712
+ 1.04089
713
+ ],
714
+ [
715
+ 0.09915,
716
+ -0.00277,
717
+ -0.99507,
718
+ 1.20522
719
+ ],
720
+ [
721
+ 0.0,
722
+ 0.0,
723
+ 0.0,
724
+ 1.0
725
+ ]
726
+ ]
727
+ ],
728
+ [
729
+ "005_tomato_soup_can.object_config.json",
730
+ [
731
+ [
732
+ -0.33892,
733
+ -0.00126,
734
+ -0.94081,
735
+ -2.09489
736
+ ],
737
+ [
738
+ -0.00358,
739
+ 0.99999,
740
+ -5e-05,
741
+ 0.91085
742
+ ],
743
+ [
744
+ 0.94081,
745
+ 0.00335,
746
+ -0.33892,
747
+ 2.25983
748
+ ],
749
+ [
750
+ 0.0,
751
+ 0.0,
752
+ 0.0,
753
+ 1.0
754
+ ]
755
+ ]
756
+ ],
757
+ [
758
+ "002_master_chef_can.object_config.json",
759
+ [
760
+ [
761
+ 0.90373,
762
+ -2e-05,
763
+ 0.4281,
764
+ 1.62681
765
+ ],
766
+ [
767
+ 9e-05,
768
+ 1.0,
769
+ -0.00013,
770
+ 1.00477
771
+ ],
772
+ [
773
+ -0.4281,
774
+ 0.00015,
775
+ 0.90373,
776
+ 1.9779
777
+ ],
778
+ [
779
+ 0.0,
780
+ 0.0,
781
+ 0.0,
782
+ 1.0
783
+ ]
784
+ ]
785
+ ],
786
+ [
787
+ "004_sugar_box.object_config.json",
788
+ [
789
+ [
790
+ 0.99883,
791
+ -0.03686,
792
+ -0.03143,
793
+ -1.91522
794
+ ],
795
+ [
796
+ 0.03777,
797
+ 0.99886,
798
+ 0.02914,
799
+ 0.7828
800
+ ],
801
+ [
802
+ 0.03032,
803
+ -0.0303,
804
+ 0.99908,
805
+ -1.17694
806
+ ],
807
+ [
808
+ 0.0,
809
+ 0.0,
810
+ 0.0,
811
+ 1.0
812
+ ]
813
+ ]
814
+ ],
815
+ [
816
+ "002_master_chef_can.object_config.json",
817
+ [
818
+ [
819
+ -0.59246,
820
+ 0.00022,
821
+ -0.8056,
822
+ -2.10298
823
+ ],
824
+ [
825
+ 0.005,
826
+ 0.99998,
827
+ -0.0034,
828
+ 1.32078
829
+ ],
830
+ [
831
+ 0.80559,
832
+ -0.00605,
833
+ -0.59245,
834
+ -1.17101
835
+ ],
836
+ [
837
+ 0.0,
838
+ 0.0,
839
+ 0.0,
840
+ 1.0
841
+ ]
842
+ ]
843
+ ],
844
+ [
845
+ "008_pudding_box.object_config.json",
846
+ [
847
+ [
848
+ 0.34571,
849
+ 0.02407,
850
+ -0.93803,
851
+ -2.05311
852
+ ],
853
+ [
854
+ -0.0005,
855
+ 0.99968,
856
+ 0.02546,
857
+ 1.27125
858
+ ],
859
+ [
860
+ 0.93834,
861
+ -0.00833,
862
+ 0.34561,
863
+ -0.91089
864
+ ],
865
+ [
866
+ 0.0,
867
+ 0.0,
868
+ 0.0,
869
+ 1.0
870
+ ]
871
+ ]
872
+ ],
873
+ [
874
+ "004_sugar_box.object_config.json",
875
+ [
876
+ [
877
+ 0.88206,
878
+ -0.04594,
879
+ 0.46889,
880
+ -2.063
881
+ ],
882
+ [
883
+ 0.0391,
884
+ 0.99894,
885
+ 0.0243,
886
+ 0.9477
887
+ ],
888
+ [
889
+ -0.46951,
890
+ -0.0031,
891
+ 0.88292,
892
+ 2.14145
893
+ ],
894
+ [
895
+ 0.0,
896
+ 0.0,
897
+ 0.0,
898
+ 1.0
899
+ ]
900
+ ]
901
+ ]
902
+ ],
903
+ "targets": {
904
+ "002_master_chef_can_:0004": [
905
+ [
906
+ -0.79902,
907
+ 0.0,
908
+ -0.6013,
909
+ -1.93091
910
+ ],
911
+ [
912
+ 0.0,
913
+ 1.0,
914
+ 0.0,
915
+ 0.92919
916
+ ],
917
+ [
918
+ 0.6013,
919
+ 0.0,
920
+ -0.79902,
921
+ 0.37707
922
+ ],
923
+ [
924
+ 0.0,
925
+ 0.0,
926
+ 0.0,
927
+ 1.0
928
+ ]
929
+ ],
930
+ "008_pudding_box_:0002": [
931
+ [
932
+ -0.90124,
933
+ 0.0,
934
+ -0.43332,
935
+ -1.99421
936
+ ],
937
+ [
938
+ 0.0,
939
+ 1.0,
940
+ 0.0,
941
+ 0.87854
942
+ ],
943
+ [
944
+ 0.43332,
945
+ 0.0,
946
+ -0.90124,
947
+ 2.391
948
+ ],
949
+ [
950
+ 0.0,
951
+ 0.0,
952
+ 0.0,
953
+ 1.0
954
+ ]
955
+ ],
956
+ "004_sugar_box_:0003": [
957
+ [
958
+ 0.4547,
959
+ 0.0,
960
+ -0.89064,
961
+ -2.2857
962
+ ],
963
+ [
964
+ 0.0,
965
+ 1.0,
966
+ 0.0,
967
+ 1.33885
968
+ ],
969
+ [
970
+ 0.89064,
971
+ 0.0,
972
+ 0.4547,
973
+ -0.95076
974
+ ],
975
+ [
976
+ 0.0,
977
+ 0.0,
978
+ 0.0,
979
+ 1.0
980
+ ]
981
+ ]
982
+ },
983
+ "markers": [
984
+ {
985
+ "name": "cab_push_point_7",
986
+ "type": "articulated_object",
987
+ "params": {
988
+ "offset": [
989
+ 0.3,
990
+ 0.0,
991
+ 0
992
+ ],
993
+ "link": "drawer1_top",
994
+ "object": "kitchen_counter_:0000"
995
+ }
996
+ },
997
+ {
998
+ "name": "cab_push_point_6",
999
+ "type": "articulated_object",
1000
+ "params": {
1001
+ "offset": [
1002
+ 0.3,
1003
+ 0.0,
1004
+ 0
1005
+ ],
1006
+ "link": "drawer2_top",
1007
+ "object": "kitchen_counter_:0000"
1008
+ }
1009
+ },
1010
+ {
1011
+ "name": "cab_push_point_5",
1012
+ "type": "articulated_object",
1013
+ "params": {
1014
+ "offset": [
1015
+ 0.3,
1016
+ 0.0,
1017
+ 0
1018
+ ],
1019
+ "link": "drawer3",
1020
+ "object": "kitchen_counter_:0000"
1021
+ }
1022
+ },
1023
+ {
1024
+ "name": "cab_push_point_4",
1025
+ "type": "articulated_object",
1026
+ "params": {
1027
+ "offset": [
1028
+ 0.3,
1029
+ 0.0,
1030
+ 0
1031
+ ],
1032
+ "link": "drawer4",
1033
+ "object": "kitchen_counter_:0000"
1034
+ }
1035
+ },
1036
+ {
1037
+ "name": "fridge_push_point",
1038
+ "type": "articulated_object",
1039
+ "params": {
1040
+ "offset": [
1041
+ 0.1,
1042
+ -0.62,
1043
+ 0.2
1044
+ ],
1045
+ "link": "top_door",
1046
+ "object": "fridge_:0000"
1047
+ }
1048
+ }
1049
+ ],
1050
+ "target_receptacles": [
1051
+ [
1052
+ "fridge_:0000",
1053
+ 0
1054
+ ],
1055
+ [
1056
+ "fridge_:0000",
1057
+ 0
1058
+ ],
1059
+ [
1060
+ "kitchen_counter_:0000",
1061
+ 0
1062
+ ]
1063
+ ],
1064
+ "goal_receptacles": [
1065
+ [
1066
+ "kitchen_counter_:0000",
1067
+ 0
1068
+ ],
1069
+ [
1070
+ "kitchen_counter_:0000",
1071
+ 0
1072
+ ],
1073
+ [
1074
+ "fridge_:0000",
1075
+ 0
1076
+ ]
1077
+ ]
1078
+ }
rearrange/v1_extracted/train/prepare_groceries/episode_1025.json ADDED
@@ -0,0 +1,1078 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_id": "1025",
3
+ "scene_id": "data/replica_cad/configs/scenes/v3_sc2_staging_10.scene_instance.json",
4
+ "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
5
+ "additional_obj_config_paths": [
6
+ "data/objects/ycb/"
7
+ ],
8
+ "start_position": [
9
+ 0,
10
+ 0,
11
+ 0
12
+ ],
13
+ "start_rotation": [
14
+ 0,
15
+ 0,
16
+ 0,
17
+ 1
18
+ ],
19
+ "info": {
20
+ "object_labels": {
21
+ "008_pudding_box_:0002": "obj0_target|0",
22
+ "004_sugar_box_:0003": "obj1_target|1",
23
+ "002_master_chef_can_:0002": "obj2_target|2"
24
+ }
25
+ },
26
+ "ao_states": {
27
+ "fridge_:0000": {
28
+ "2": 1.5
29
+ }
30
+ },
31
+ "rigid_objs": [
32
+ [
33
+ "003_cracker_box.object_config.json",
34
+ [
35
+ [
36
+ 0.11973,
37
+ 0.03804,
38
+ -0.99208,
39
+ -2.20627
40
+ ],
41
+ [
42
+ -0.15256,
43
+ 0.9881,
44
+ 0.01948,
45
+ 1.35636
46
+ ],
47
+ [
48
+ 0.98102,
49
+ 0.14902,
50
+ 0.1241,
51
+ -0.48248
52
+ ],
53
+ [
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 1.0
58
+ ]
59
+ ]
60
+ ],
61
+ [
62
+ "002_master_chef_can.object_config.json",
63
+ [
64
+ [
65
+ -0.2946,
66
+ -2e-05,
67
+ 0.95562,
68
+ -2.11055
69
+ ],
70
+ [
71
+ 4e-05,
72
+ 1.0,
73
+ 3e-05,
74
+ 0.9303
75
+ ],
76
+ [
77
+ -0.95562,
78
+ 4e-05,
79
+ -0.2946,
80
+ 0.94554
81
+ ],
82
+ [
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ 1.0
87
+ ]
88
+ ]
89
+ ],
90
+ [
91
+ "003_cracker_box.object_config.json",
92
+ [
93
+ [
94
+ 0.23945,
95
+ 0.01807,
96
+ 0.97074,
97
+ -2.20916
98
+ ],
99
+ [
100
+ -0.04562,
101
+ 0.99893,
102
+ -0.00734,
103
+ 0.96627
104
+ ],
105
+ [
106
+ -0.96984,
107
+ -0.04253,
108
+ 0.24002,
109
+ 2.74589
110
+ ],
111
+ [
112
+ 0.0,
113
+ 0.0,
114
+ 0.0,
115
+ 1.0
116
+ ]
117
+ ]
118
+ ],
119
+ [
120
+ "005_tomato_soup_can.object_config.json",
121
+ [
122
+ [
123
+ 0.96715,
124
+ 0.00393,
125
+ -0.25416,
126
+ 3.40184
127
+ ],
128
+ [
129
+ -0.00398,
130
+ 0.99999,
131
+ 0.00032,
132
+ 0.45499
133
+ ],
134
+ [
135
+ 0.25416,
136
+ 0.0007,
137
+ 0.96716,
138
+ 2.96956
139
+ ],
140
+ [
141
+ 0.0,
142
+ 0.0,
143
+ 0.0,
144
+ 1.0
145
+ ]
146
+ ]
147
+ ],
148
+ [
149
+ "005_tomato_soup_can.object_config.json",
150
+ [
151
+ [
152
+ -0.94711,
153
+ -6e-05,
154
+ 0.3209,
155
+ -1.96876
156
+ ],
157
+ [
158
+ -0.00193,
159
+ 0.99998,
160
+ -0.0055,
161
+ 1.30313
162
+ ],
163
+ [
164
+ -0.32089,
165
+ -0.00583,
166
+ -0.9471,
167
+ -0.05631
168
+ ],
169
+ [
170
+ 0.0,
171
+ 0.0,
172
+ 0.0,
173
+ 1.0
174
+ ]
175
+ ]
176
+ ],
177
+ [
178
+ "007_tuna_fish_can.object_config.json",
179
+ [
180
+ [
181
+ -0.77071,
182
+ -0.0,
183
+ 0.63718,
184
+ -2.1943
185
+ ],
186
+ [
187
+ 0.0,
188
+ 1.0,
189
+ 0.0,
190
+ 0.87655
191
+ ],
192
+ [
193
+ -0.63718,
194
+ 0.0,
195
+ -0.77071,
196
+ 0.39185
197
+ ],
198
+ [
199
+ 0.0,
200
+ 0.0,
201
+ 0.0,
202
+ 1.0
203
+ ]
204
+ ]
205
+ ],
206
+ [
207
+ "002_master_chef_can.object_config.json",
208
+ [
209
+ [
210
+ -0.98276,
211
+ -0.00041,
212
+ 0.18491,
213
+ -2.07704
214
+ ],
215
+ [
216
+ -0.0002,
217
+ 1.0,
218
+ 0.00115,
219
+ 0.77779
220
+ ],
221
+ [
222
+ -0.18491,
223
+ 0.00109,
224
+ -0.98275,
225
+ 1.93451
226
+ ],
227
+ [
228
+ 0.0,
229
+ 0.0,
230
+ 0.0,
231
+ 1.0
232
+ ]
233
+ ]
234
+ ],
235
+ [
236
+ "024_bowl.object_config.json",
237
+ [
238
+ [
239
+ -0.75572,
240
+ 0.0002,
241
+ -0.6549,
242
+ -2.17907
243
+ ],
244
+ [
245
+ 0.00042,
246
+ 1.0,
247
+ -0.00017,
248
+ 0.73464
249
+ ],
250
+ [
251
+ 0.6549,
252
+ -0.0004,
253
+ -0.75572,
254
+ 2.03838
255
+ ],
256
+ [
257
+ 0.0,
258
+ 0.0,
259
+ 0.0,
260
+ 1.0
261
+ ]
262
+ ]
263
+ ],
264
+ [
265
+ "003_cracker_box.object_config.json",
266
+ [
267
+ [
268
+ -0.73199,
269
+ -0.02845,
270
+ 0.68072,
271
+ -2.07992
272
+ ],
273
+ [
274
+ -0.04959,
275
+ 0.9987,
276
+ -0.01159,
277
+ 1.35683
278
+ ],
279
+ [
280
+ -0.67951,
281
+ -0.04224,
282
+ -0.73245,
283
+ -0.3558
284
+ ],
285
+ [
286
+ 0.0,
287
+ 0.0,
288
+ 0.0,
289
+ 1.0
290
+ ]
291
+ ]
292
+ ],
293
+ [
294
+ "007_tuna_fish_can.object_config.json",
295
+ [
296
+ [
297
+ -0.86117,
298
+ 1e-05,
299
+ 0.50831,
300
+ 3.48137
301
+ ],
302
+ [
303
+ -0.0,
304
+ 1.0,
305
+ -2e-05,
306
+ 0.42105
307
+ ],
308
+ [
309
+ -0.50831,
310
+ -2e-05,
311
+ -0.86117,
312
+ 3.02256
313
+ ],
314
+ [
315
+ 0.0,
316
+ 0.0,
317
+ 0.0,
318
+ 1.0
319
+ ]
320
+ ]
321
+ ],
322
+ [
323
+ "005_tomato_soup_can.object_config.json",
324
+ [
325
+ [
326
+ -0.83936,
327
+ -0.00078,
328
+ 0.54358,
329
+ 2.89695
330
+ ],
331
+ [
332
+ -0.00128,
333
+ 1.0,
334
+ -0.00053,
335
+ 0.81381
336
+ ],
337
+ [
338
+ -0.54358,
339
+ -0.00113,
340
+ -0.83936,
341
+ 7.28175
342
+ ],
343
+ [
344
+ 0.0,
345
+ 0.0,
346
+ 0.0,
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ [
352
+ "024_bowl.object_config.json",
353
+ [
354
+ [
355
+ 0.93393,
356
+ 0.00125,
357
+ -0.35746,
358
+ 0.71838
359
+ ],
360
+ [
361
+ -0.00112,
362
+ 1.0,
363
+ 0.00057,
364
+ 0.96167
365
+ ],
366
+ [
367
+ 0.35746,
368
+ -0.00013,
369
+ 0.93393,
370
+ 4.14406
371
+ ],
372
+ [
373
+ 0.0,
374
+ 0.0,
375
+ 0.0,
376
+ 1.0
377
+ ]
378
+ ]
379
+ ],
380
+ [
381
+ "024_bowl.object_config.json",
382
+ [
383
+ [
384
+ -0.75948,
385
+ -0.00147,
386
+ -0.65053,
387
+ -2.28711
388
+ ],
389
+ [
390
+ 0.00347,
391
+ 0.99997,
392
+ -0.00631,
393
+ 1.27815
394
+ ],
395
+ [
396
+ 0.65053,
397
+ -0.00705,
398
+ -0.75945,
399
+ -0.24568
400
+ ],
401
+ [
402
+ 0.0,
403
+ 0.0,
404
+ 0.0,
405
+ 1.0
406
+ ]
407
+ ]
408
+ ],
409
+ [
410
+ "024_bowl.object_config.json",
411
+ [
412
+ [
413
+ -0.10409,
414
+ 1e-05,
415
+ -0.99457,
416
+ -2.44716
417
+ ],
418
+ [
419
+ -2e-05,
420
+ 1.0,
421
+ 2e-05,
422
+ 0.88699
423
+ ],
424
+ [
425
+ 0.99457,
426
+ 3e-05,
427
+ -0.10409,
428
+ 0.6098
429
+ ],
430
+ [
431
+ 0.0,
432
+ 0.0,
433
+ 0.0,
434
+ 1.0
435
+ ]
436
+ ]
437
+ ],
438
+ [
439
+ "008_pudding_box.object_config.json",
440
+ [
441
+ [
442
+ 0.89051,
443
+ -0.00543,
444
+ 0.45493,
445
+ -2.08586
446
+ ],
447
+ [
448
+ -0.0059,
449
+ 0.99971,
450
+ 0.0235,
451
+ 0.87927
452
+ ],
453
+ [
454
+ -0.45492,
455
+ -0.02361,
456
+ 0.89022,
457
+ 2.42849
458
+ ],
459
+ [
460
+ 0.0,
461
+ 0.0,
462
+ 0.0,
463
+ 1.0
464
+ ]
465
+ ]
466
+ ],
467
+ [
468
+ "024_bowl.object_config.json",
469
+ [
470
+ [
471
+ 0.48197,
472
+ 0.00017,
473
+ 0.87619,
474
+ -2.3471
475
+ ],
476
+ [
477
+ -0.00539,
478
+ 0.99998,
479
+ 0.00278,
480
+ 1.27963
481
+ ],
482
+ [
483
+ -0.87617,
484
+ -0.00607,
485
+ 0.48196,
486
+ -0.03404
487
+ ],
488
+ [
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 1.0
493
+ ]
494
+ ]
495
+ ],
496
+ [
497
+ "004_sugar_box.object_config.json",
498
+ [
499
+ [
500
+ -0.58109,
501
+ 0.04669,
502
+ -0.8125,
503
+ -2.17843
504
+ ],
505
+ [
506
+ 0.04766,
507
+ 0.99859,
508
+ 0.0233,
509
+ 1.3402
510
+ ],
511
+ [
512
+ 0.81244,
513
+ -0.02519,
514
+ -0.58249,
515
+ -0.01461
516
+ ],
517
+ [
518
+ 0.0,
519
+ 0.0,
520
+ 0.0,
521
+ 1.0
522
+ ]
523
+ ]
524
+ ],
525
+ [
526
+ "004_sugar_box.object_config.json",
527
+ [
528
+ [
529
+ -0.35055,
530
+ 0.03582,
531
+ -0.93586,
532
+ 2.59338
533
+ ],
534
+ [
535
+ 0.03566,
536
+ 0.99905,
537
+ 0.02488,
538
+ 0.49231
539
+ ],
540
+ [
541
+ 0.93586,
542
+ -0.02465,
543
+ -0.3515,
544
+ 2.59391
545
+ ],
546
+ [
547
+ 0.0,
548
+ 0.0,
549
+ 0.0,
550
+ 1.0
551
+ ]
552
+ ]
553
+ ],
554
+ [
555
+ "007_tuna_fish_can.object_config.json",
556
+ [
557
+ [
558
+ 0.9447,
559
+ 0.00028,
560
+ -0.32795,
561
+ -1.95457
562
+ ],
563
+ [
564
+ 0.00191,
565
+ 0.99998,
566
+ 0.00637,
567
+ 1.26643
568
+ ],
569
+ [
570
+ 0.32794,
571
+ -0.00664,
572
+ 0.94467,
573
+ -0.47336
574
+ ],
575
+ [
576
+ 0.0,
577
+ 0.0,
578
+ 0.0,
579
+ 1.0
580
+ ]
581
+ ]
582
+ ],
583
+ [
584
+ "008_pudding_box.object_config.json",
585
+ [
586
+ [
587
+ -0.87304,
588
+ 0.0063,
589
+ -0.4876,
590
+ -1.99199
591
+ ],
592
+ [
593
+ -0.0059,
594
+ 0.99971,
595
+ 0.02349,
596
+ 0.87927
597
+ ],
598
+ [
599
+ 0.4876,
600
+ 0.02339,
601
+ -0.87275,
602
+ 0.43742
603
+ ],
604
+ [
605
+ 0.0,
606
+ 0.0,
607
+ 0.0,
608
+ 1.0
609
+ ]
610
+ ]
611
+ ],
612
+ [
613
+ "005_tomato_soup_can.object_config.json",
614
+ [
615
+ [
616
+ 0.97842,
617
+ 0.00453,
618
+ 0.20656,
619
+ 3.35083
620
+ ],
621
+ [
622
+ -0.00466,
623
+ 0.99999,
624
+ 0.00012,
625
+ 0.81384
626
+ ],
627
+ [
628
+ -0.20655,
629
+ -0.00108,
630
+ 0.97843,
631
+ 7.59129
632
+ ],
633
+ [
634
+ 0.0,
635
+ 0.0,
636
+ 0.0,
637
+ 1.0
638
+ ]
639
+ ]
640
+ ],
641
+ [
642
+ "009_gelatin_box.object_config.json",
643
+ [
644
+ [
645
+ 0.80552,
646
+ -2e-05,
647
+ 0.59257,
648
+ 3.79899
649
+ ],
650
+ [
651
+ 2e-05,
652
+ 1.0,
653
+ 1e-05,
654
+ 0.42998
655
+ ],
656
+ [
657
+ -0.59257,
658
+ 0.0,
659
+ 0.80552,
660
+ 5.57239
661
+ ],
662
+ [
663
+ 0.0,
664
+ 0.0,
665
+ 0.0,
666
+ 1.0
667
+ ]
668
+ ]
669
+ ],
670
+ [
671
+ "005_tomato_soup_can.object_config.json",
672
+ [
673
+ [
674
+ -0.95,
675
+ 0.00019,
676
+ -0.31226,
677
+ -2.25343
678
+ ],
679
+ [
680
+ 0.00017,
681
+ 1.0,
682
+ 9e-05,
683
+ 0.91083
684
+ ],
685
+ [
686
+ 0.31226,
687
+ 3e-05,
688
+ -0.95,
689
+ 2.82503
690
+ ],
691
+ [
692
+ 0.0,
693
+ 0.0,
694
+ 0.0,
695
+ 1.0
696
+ ]
697
+ ]
698
+ ],
699
+ [
700
+ "003_cracker_box.object_config.json",
701
+ [
702
+ [
703
+ 0.74046,
704
+ 0.03598,
705
+ 0.67114,
706
+ 2.91557
707
+ ],
708
+ [
709
+ -0.04134,
710
+ 0.99911,
711
+ -0.00796,
712
+ 0.51096
713
+ ],
714
+ [
715
+ -0.67083,
716
+ -0.02186,
717
+ 0.74129,
718
+ 2.77637
719
+ ],
720
+ [
721
+ 0.0,
722
+ 0.0,
723
+ 0.0,
724
+ 1.0
725
+ ]
726
+ ]
727
+ ],
728
+ [
729
+ "004_sugar_box.object_config.json",
730
+ [
731
+ [
732
+ 0.98071,
733
+ -0.03051,
734
+ -0.19305,
735
+ -2.46445
736
+ ],
737
+ [
738
+ 0.03541,
739
+ 0.99913,
740
+ 0.02198,
741
+ 0.94774
742
+ ],
743
+ [
744
+ 0.19221,
745
+ -0.02839,
746
+ 0.98094,
747
+ 2.71473
748
+ ],
749
+ [
750
+ 0.0,
751
+ 0.0,
752
+ 0.0,
753
+ 1.0
754
+ ]
755
+ ]
756
+ ],
757
+ [
758
+ "009_gelatin_box.object_config.json",
759
+ [
760
+ [
761
+ 0.79464,
762
+ -0.00044,
763
+ -0.60709,
764
+ -2.06101
765
+ ],
766
+ [
767
+ -0.00224,
768
+ 0.99999,
769
+ -0.00365,
770
+ 0.72238
771
+ ],
772
+ [
773
+ 0.60708,
774
+ 0.00426,
775
+ 0.79463,
776
+ 1.83134
777
+ ],
778
+ [
779
+ 0.0,
780
+ 0.0,
781
+ 0.0,
782
+ 1.0
783
+ ]
784
+ ]
785
+ ],
786
+ [
787
+ "003_cracker_box.object_config.json",
788
+ [
789
+ [
790
+ 0.26007,
791
+ 0.00938,
792
+ -0.96554,
793
+ -2.30074
794
+ ],
795
+ [
796
+ -0.05508,
797
+ 0.99847,
798
+ -0.00514,
799
+ 0.96635
800
+ ],
801
+ [
802
+ 0.96402,
803
+ 0.05452,
804
+ 0.26019,
805
+ 0.4849
806
+ ],
807
+ [
808
+ 0.0,
809
+ 0.0,
810
+ 0.0,
811
+ 1.0
812
+ ]
813
+ ]
814
+ ],
815
+ [
816
+ "008_pudding_box.object_config.json",
817
+ [
818
+ [
819
+ -0.98127,
820
+ -0.01121,
821
+ 0.19232,
822
+ -2.31104
823
+ ],
824
+ [
825
+ -0.0077,
826
+ 0.99979,
827
+ 0.01898,
828
+ 1.26977
829
+ ],
830
+ [
831
+ -0.19249,
832
+ 0.01714,
833
+ -0.98115,
834
+ -0.36587
835
+ ],
836
+ [
837
+ 0.0,
838
+ 0.0,
839
+ 0.0,
840
+ 1.0
841
+ ]
842
+ ]
843
+ ],
844
+ [
845
+ "004_sugar_box.object_config.json",
846
+ [
847
+ [
848
+ -0.16506,
849
+ 0.03084,
850
+ -0.9858,
851
+ -2.1893
852
+ ],
853
+ [
854
+ 0.04558,
855
+ 0.99868,
856
+ 0.02361,
857
+ 1.33949
858
+ ],
859
+ [
860
+ 0.98523,
861
+ -0.04104,
862
+ -0.16625,
863
+ -0.14192
864
+ ],
865
+ [
866
+ 0.0,
867
+ 0.0,
868
+ 0.0,
869
+ 1.0
870
+ ]
871
+ ]
872
+ ],
873
+ [
874
+ "002_master_chef_can.object_config.json",
875
+ [
876
+ [
877
+ 0.98586,
878
+ -7e-05,
879
+ -0.16755,
880
+ -2.24632
881
+ ],
882
+ [
883
+ 7e-05,
884
+ 1.0,
885
+ -4e-05,
886
+ 0.9303
887
+ ],
888
+ [
889
+ 0.16755,
890
+ 3e-05,
891
+ 0.98586,
892
+ 1.20124
893
+ ],
894
+ [
895
+ 0.0,
896
+ 0.0,
897
+ 0.0,
898
+ 1.0
899
+ ]
900
+ ]
901
+ ]
902
+ ],
903
+ "targets": {
904
+ "008_pudding_box_:0002": [
905
+ [
906
+ 0.98594,
907
+ 0.0,
908
+ 0.16709,
909
+ -1.91106
910
+ ],
911
+ [
912
+ 0.0,
913
+ 1.0,
914
+ 0.0,
915
+ 0.87854
916
+ ],
917
+ [
918
+ -0.16709,
919
+ 0.0,
920
+ 0.98594,
921
+ 2.91584
922
+ ],
923
+ [
924
+ 0.0,
925
+ 0.0,
926
+ 0.0,
927
+ 1.0
928
+ ]
929
+ ],
930
+ "004_sugar_box_:0003": [
931
+ [
932
+ -0.08137,
933
+ 0.0,
934
+ -0.99668,
935
+ -2.15861
936
+ ],
937
+ [
938
+ 0.0,
939
+ 1.0,
940
+ 0.0,
941
+ 0.94711
942
+ ],
943
+ [
944
+ 0.99668,
945
+ 0.0,
946
+ -0.08137,
947
+ 3.05336
948
+ ],
949
+ [
950
+ 0.0,
951
+ 0.0,
952
+ 0.0,
953
+ 1.0
954
+ ]
955
+ ],
956
+ "002_master_chef_can_:0002": [
957
+ [
958
+ -0.44121,
959
+ 0.0,
960
+ -0.89741,
961
+ -2.07368
962
+ ],
963
+ [
964
+ 0.0,
965
+ 1.0,
966
+ 0.0,
967
+ 1.32116
968
+ ],
969
+ [
970
+ 0.89741,
971
+ 0.0,
972
+ -0.44121,
973
+ -0.11197
974
+ ],
975
+ [
976
+ 0.0,
977
+ 0.0,
978
+ 0.0,
979
+ 1.0
980
+ ]
981
+ ]
982
+ },
983
+ "markers": [
984
+ {
985
+ "name": "cab_push_point_7",
986
+ "type": "articulated_object",
987
+ "params": {
988
+ "offset": [
989
+ 0.3,
990
+ 0.0,
991
+ 0
992
+ ],
993
+ "link": "drawer1_top",
994
+ "object": "kitchen_counter_:0000"
995
+ }
996
+ },
997
+ {
998
+ "name": "cab_push_point_6",
999
+ "type": "articulated_object",
1000
+ "params": {
1001
+ "offset": [
1002
+ 0.3,
1003
+ 0.0,
1004
+ 0
1005
+ ],
1006
+ "link": "drawer2_top",
1007
+ "object": "kitchen_counter_:0000"
1008
+ }
1009
+ },
1010
+ {
1011
+ "name": "cab_push_point_5",
1012
+ "type": "articulated_object",
1013
+ "params": {
1014
+ "offset": [
1015
+ 0.3,
1016
+ 0.0,
1017
+ 0
1018
+ ],
1019
+ "link": "drawer3",
1020
+ "object": "kitchen_counter_:0000"
1021
+ }
1022
+ },
1023
+ {
1024
+ "name": "cab_push_point_4",
1025
+ "type": "articulated_object",
1026
+ "params": {
1027
+ "offset": [
1028
+ 0.3,
1029
+ 0.0,
1030
+ 0
1031
+ ],
1032
+ "link": "drawer4",
1033
+ "object": "kitchen_counter_:0000"
1034
+ }
1035
+ },
1036
+ {
1037
+ "name": "fridge_push_point",
1038
+ "type": "articulated_object",
1039
+ "params": {
1040
+ "offset": [
1041
+ 0.1,
1042
+ -0.62,
1043
+ 0.2
1044
+ ],
1045
+ "link": "top_door",
1046
+ "object": "fridge_:0000"
1047
+ }
1048
+ }
1049
+ ],
1050
+ "target_receptacles": [
1051
+ [
1052
+ "fridge_:0000",
1053
+ 0
1054
+ ],
1055
+ [
1056
+ "fridge_:0000",
1057
+ 0
1058
+ ],
1059
+ [
1060
+ "kitchen_counter_:0000",
1061
+ 0
1062
+ ]
1063
+ ],
1064
+ "goal_receptacles": [
1065
+ [
1066
+ "kitchen_counter_:0000",
1067
+ 0
1068
+ ],
1069
+ [
1070
+ "kitchen_counter_:0000",
1071
+ 0
1072
+ ],
1073
+ [
1074
+ "fridge_:0000",
1075
+ 0
1076
+ ]
1077
+ ]
1078
+ }
rearrange/v1_extracted/train/prepare_groceries/episode_1026.json ADDED
@@ -0,0 +1,1078 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_id": "1026",
3
+ "scene_id": "data/replica_cad/configs/scenes/v3_sc0_staging_07.scene_instance.json",
4
+ "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
5
+ "additional_obj_config_paths": [
6
+ "data/objects/ycb/"
7
+ ],
8
+ "start_position": [
9
+ 0,
10
+ 0,
11
+ 0
12
+ ],
13
+ "start_rotation": [
14
+ 0,
15
+ 0,
16
+ 0,
17
+ 1
18
+ ],
19
+ "info": {
20
+ "object_labels": {
21
+ "002_master_chef_can_:0002": "obj0_target|0",
22
+ "024_bowl_:0003": "obj1_target|1",
23
+ "008_pudding_box_:0006": "obj2_target|2"
24
+ }
25
+ },
26
+ "ao_states": {
27
+ "fridge_:0000": {
28
+ "2": 1.5
29
+ }
30
+ },
31
+ "rigid_objs": [
32
+ [
33
+ "007_tuna_fish_can.object_config.json",
34
+ [
35
+ [
36
+ 0.01295,
37
+ 1e-05,
38
+ -0.99992,
39
+ 0.73724
40
+ ],
41
+ [
42
+ -1e-05,
43
+ 1.0,
44
+ 1e-05,
45
+ 0.87655
46
+ ],
47
+ [
48
+ 0.99992,
49
+ 1e-05,
50
+ 0.01295,
51
+ 6.25021
52
+ ],
53
+ [
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 1.0
58
+ ]
59
+ ]
60
+ ],
61
+ [
62
+ "007_tuna_fish_can.object_config.json",
63
+ [
64
+ [
65
+ -0.71317,
66
+ -0.00065,
67
+ -0.701,
68
+ 0.66405
69
+ ],
70
+ [
71
+ -0.00072,
72
+ 1.0,
73
+ -0.0002,
74
+ 0.87658
75
+ ],
76
+ [
77
+ 0.701,
78
+ 0.00036,
79
+ -0.71317,
80
+ 7.63673
81
+ ],
82
+ [
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ 1.0
87
+ ]
88
+ ]
89
+ ],
90
+ [
91
+ "024_bowl.object_config.json",
92
+ [
93
+ [
94
+ 0.54469,
95
+ 0.0,
96
+ -0.83864,
97
+ 3.42143
98
+ ],
99
+ [
100
+ -1e-05,
101
+ 1.0,
102
+ 0.0,
103
+ 0.65412
104
+ ],
105
+ [
106
+ 0.83864,
107
+ 0.0,
108
+ 0.54469,
109
+ -0.08552
110
+ ],
111
+ [
112
+ 0.0,
113
+ 0.0,
114
+ 0.0,
115
+ 1.0
116
+ ]
117
+ ]
118
+ ],
119
+ [
120
+ "007_tuna_fish_can.object_config.json",
121
+ [
122
+ [
123
+ -0.47977,
124
+ 0.00135,
125
+ -0.87739,
126
+ 0.50534
127
+ ],
128
+ [
129
+ 0.00051,
130
+ 1.0,
131
+ 0.00126,
132
+ 0.72396
133
+ ],
134
+ [
135
+ 0.8774,
136
+ 0.00016,
137
+ -0.47977,
138
+ 6.65908
139
+ ],
140
+ [
141
+ 0.0,
142
+ 0.0,
143
+ 0.0,
144
+ 1.0
145
+ ]
146
+ ]
147
+ ],
148
+ [
149
+ "005_tomato_soup_can.object_config.json",
150
+ [
151
+ [
152
+ -0.93622,
153
+ -0.00618,
154
+ 0.35135,
155
+ 3.59019
156
+ ],
157
+ [
158
+ -0.00661,
159
+ 0.99998,
160
+ -1e-05,
161
+ 0.67782
162
+ ],
163
+ [
164
+ -0.35134,
165
+ -0.00234,
166
+ -0.93624,
167
+ -0.03238
168
+ ],
169
+ [
170
+ 0.0,
171
+ 0.0,
172
+ 0.0,
173
+ 1.0
174
+ ]
175
+ ]
176
+ ],
177
+ [
178
+ "010_potted_meat_can.object_config.json",
179
+ [
180
+ [
181
+ 0.6945,
182
+ -0.0008,
183
+ -0.71949,
184
+ 0.66018
185
+ ],
186
+ [
187
+ -0.00203,
188
+ 0.99999,
189
+ -0.00307,
190
+ 0.74918
191
+ ],
192
+ [
193
+ 0.71949,
194
+ 0.00359,
195
+ 0.6945,
196
+ 6.65072
197
+ ],
198
+ [
199
+ 0.0,
200
+ 0.0,
201
+ 0.0,
202
+ 1.0
203
+ ]
204
+ ]
205
+ ],
206
+ [
207
+ "024_bowl.object_config.json",
208
+ [
209
+ [
210
+ -0.89322,
211
+ 0.00017,
212
+ -0.44961,
213
+ 3.39729
214
+ ],
215
+ [
216
+ 4e-05,
217
+ 1.0,
218
+ 0.00028,
219
+ 0.65374
220
+ ],
221
+ [
222
+ 0.44961,
223
+ 0.00023,
224
+ -0.89322,
225
+ -0.89145
226
+ ],
227
+ [
228
+ 0.0,
229
+ 0.0,
230
+ 0.0,
231
+ 1.0
232
+ ]
233
+ ]
234
+ ],
235
+ [
236
+ "008_pudding_box.object_config.json",
237
+ [
238
+ [
239
+ -0.56897,
240
+ -0.02262,
241
+ 0.82205,
242
+ 0.70381
243
+ ],
244
+ [
245
+ -0.00585,
246
+ 0.99971,
247
+ 0.02346,
248
+ 0.87927
249
+ ],
250
+ [
251
+ -0.82234,
252
+ 0.00854,
253
+ -0.56894,
254
+ 4.91085
255
+ ],
256
+ [
257
+ 0.0,
258
+ 0.0,
259
+ 0.0,
260
+ 1.0
261
+ ]
262
+ ]
263
+ ],
264
+ [
265
+ "007_tuna_fish_can.object_config.json",
266
+ [
267
+ [
268
+ 0.67317,
269
+ -0.0,
270
+ 0.73949,
271
+ 3.27632
272
+ ],
273
+ [
274
+ 2e-05,
275
+ 1.0,
276
+ -1e-05,
277
+ 0.64349
278
+ ],
279
+ [
280
+ -0.73949,
281
+ 2e-05,
282
+ 0.67317,
283
+ -0.27492
284
+ ],
285
+ [
286
+ 0.0,
287
+ 0.0,
288
+ 0.0,
289
+ 1.0
290
+ ]
291
+ ]
292
+ ],
293
+ [
294
+ "008_pudding_box.object_config.json",
295
+ [
296
+ [
297
+ 0.95153,
298
+ -0.00161,
299
+ 0.30756,
300
+ 0.46478
301
+ ],
302
+ [
303
+ -0.00769,
304
+ 0.99955,
305
+ 0.02902,
306
+ 1.27124
307
+ ],
308
+ [
309
+ -0.30747,
310
+ -0.02997,
311
+ 0.95109,
312
+ 4.58608
313
+ ],
314
+ [
315
+ 0.0,
316
+ 0.0,
317
+ 0.0,
318
+ 1.0
319
+ ]
320
+ ]
321
+ ],
322
+ [
323
+ "009_gelatin_box.object_config.json",
324
+ [
325
+ [
326
+ 0.69189,
327
+ 5e-05,
328
+ -0.722,
329
+ 3.47846
330
+ ],
331
+ [
332
+ -4e-05,
333
+ 1.0,
334
+ 2e-05,
335
+ 0.64169
336
+ ],
337
+ [
338
+ 0.722,
339
+ 2e-05,
340
+ 0.69189,
341
+ 0.44899
342
+ ],
343
+ [
344
+ 0.0,
345
+ 0.0,
346
+ 0.0,
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ [
352
+ "008_pudding_box.object_config.json",
353
+ [
354
+ [
355
+ 0.9988,
356
+ 0.00679,
357
+ -0.04845,
358
+ 0.48422
359
+ ],
360
+ [
361
+ -0.0054,
362
+ 0.99957,
363
+ 0.0288,
364
+ 1.27044
365
+ ],
366
+ [
367
+ 0.04863,
368
+ -0.0285,
369
+ 0.99841,
370
+ 4.45008
371
+ ],
372
+ [
373
+ 0.0,
374
+ 0.0,
375
+ 0.0,
376
+ 1.0
377
+ ]
378
+ ]
379
+ ],
380
+ [
381
+ "010_potted_meat_can.object_config.json",
382
+ [
383
+ [
384
+ -0.83244,
385
+ 0.00286,
386
+ 0.5541,
387
+ 0.51391
388
+ ],
389
+ [
390
+ 0.00227,
391
+ 1.0,
392
+ -0.00175,
393
+ 0.74926
394
+ ],
395
+ [
396
+ -0.5541,
397
+ -0.0002,
398
+ -0.83245,
399
+ 6.77586
400
+ ],
401
+ [
402
+ 0.0,
403
+ 0.0,
404
+ 0.0,
405
+ 1.0
406
+ ]
407
+ ]
408
+ ],
409
+ [
410
+ "007_tuna_fish_can.object_config.json",
411
+ [
412
+ [
413
+ -0.99585,
414
+ -0.0,
415
+ 0.09096,
416
+ 3.95753
417
+ ],
418
+ [
419
+ -0.0,
420
+ 1.0,
421
+ -0.0,
422
+ 0.77952
423
+ ],
424
+ [
425
+ -0.09096,
426
+ -0.0,
427
+ -0.99585,
428
+ 3.52141
429
+ ],
430
+ [
431
+ 0.0,
432
+ 0.0,
433
+ 0.0,
434
+ 1.0
435
+ ]
436
+ ]
437
+ ],
438
+ [
439
+ "008_pudding_box.object_config.json",
440
+ [
441
+ [
442
+ -0.47546,
443
+ -0.02342,
444
+ 0.87943,
445
+ -0.03094
446
+ ],
447
+ [
448
+ -0.00588,
449
+ 0.99971,
450
+ 0.02345,
451
+ 0.42377
452
+ ],
453
+ [
454
+ -0.87972,
455
+ 0.00598,
456
+ -0.47546,
457
+ 3.5042
458
+ ],
459
+ [
460
+ 0.0,
461
+ 0.0,
462
+ 0.0,
463
+ 1.0
464
+ ]
465
+ ]
466
+ ],
467
+ [
468
+ "002_master_chef_can.object_config.json",
469
+ [
470
+ [
471
+ 0.90306,
472
+ -0.00014,
473
+ -0.42951,
474
+ 3.74684
475
+ ],
476
+ [
477
+ 0.00014,
478
+ 1.0,
479
+ -1e-05,
480
+ 0.69725
481
+ ],
482
+ [
483
+ 0.42951,
484
+ -5e-05,
485
+ 0.90306,
486
+ -0.54732
487
+ ],
488
+ [
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 1.0
493
+ ]
494
+ ]
495
+ ],
496
+ [
497
+ "009_gelatin_box.object_config.json",
498
+ [
499
+ [
500
+ 0.41833,
501
+ -0.0,
502
+ -0.9083,
503
+ 0.30488
504
+ ],
505
+ [
506
+ 0.0,
507
+ 1.0,
508
+ -0.0,
509
+ 0.87476
510
+ ],
511
+ [
512
+ 0.9083,
513
+ -0.0,
514
+ 0.41833,
515
+ 5.8986
516
+ ],
517
+ [
518
+ 0.0,
519
+ 0.0,
520
+ 0.0,
521
+ 1.0
522
+ ]
523
+ ]
524
+ ],
525
+ [
526
+ "024_bowl.object_config.json",
527
+ [
528
+ [
529
+ 0.80532,
530
+ 0.00018,
531
+ 0.59284,
532
+ 3.36737
533
+ ],
534
+ [
535
+ -7e-05,
536
+ 1.0,
537
+ -0.00022,
538
+ 0.79015
539
+ ],
540
+ [
541
+ -0.59284,
542
+ 0.00014,
543
+ 0.80532,
544
+ 3.04465
545
+ ],
546
+ [
547
+ 0.0,
548
+ 0.0,
549
+ 0.0,
550
+ 1.0
551
+ ]
552
+ ]
553
+ ],
554
+ [
555
+ "010_potted_meat_can.object_config.json",
556
+ [
557
+ [
558
+ 0.9993,
559
+ 0.03738,
560
+ 0.0021,
561
+ 0.5117
562
+ ],
563
+ [
564
+ -0.03722,
565
+ 0.99795,
566
+ -0.0521,
567
+ 0.74996
568
+ ],
569
+ [
570
+ -0.00404,
571
+ 0.05198,
572
+ 0.99864,
573
+ 6.54832
574
+ ],
575
+ [
576
+ 0.0,
577
+ 0.0,
578
+ 0.0,
579
+ 1.0
580
+ ]
581
+ ]
582
+ ],
583
+ [
584
+ "005_tomato_soup_can.object_config.json",
585
+ [
586
+ [
587
+ 0.77725,
588
+ 0.00023,
589
+ -0.62919,
590
+ 3.47564
591
+ ],
592
+ [
593
+ -0.00039,
594
+ 1.0,
595
+ -0.00011,
596
+ 0.67777
597
+ ],
598
+ [
599
+ 0.62919,
600
+ 0.00033,
601
+ 0.77725,
602
+ 0.17688
603
+ ],
604
+ [
605
+ 0.0,
606
+ 0.0,
607
+ 0.0,
608
+ 1.0
609
+ ]
610
+ ]
611
+ ],
612
+ [
613
+ "008_pudding_box.object_config.json",
614
+ [
615
+ [
616
+ -0.2311,
617
+ 0.02163,
618
+ -0.97269,
619
+ 3.69392
620
+ ],
621
+ [
622
+ -0.00787,
623
+ 0.99968,
624
+ 0.0241,
625
+ 0.78232
626
+ ],
627
+ [
628
+ 0.9729,
629
+ 0.01322,
630
+ -0.23086,
631
+ 4.11548
632
+ ],
633
+ [
634
+ 0.0,
635
+ 0.0,
636
+ 0.0,
637
+ 1.0
638
+ ]
639
+ ]
640
+ ],
641
+ [
642
+ "002_master_chef_can.object_config.json",
643
+ [
644
+ [
645
+ -0.61506,
646
+ 3e-05,
647
+ -0.78848,
648
+ 0.80123
649
+ ],
650
+ [
651
+ 2e-05,
652
+ 1.0,
653
+ 3e-05,
654
+ 0.48541
655
+ ],
656
+ [
657
+ 0.78848,
658
+ 1e-05,
659
+ -0.61506,
660
+ 0.40122
661
+ ],
662
+ [
663
+ 0.0,
664
+ 0.0,
665
+ 0.0,
666
+ 1.0
667
+ ]
668
+ ]
669
+ ],
670
+ [
671
+ "005_tomato_soup_can.object_config.json",
672
+ [
673
+ [
674
+ 0.99903,
675
+ 0.00269,
676
+ 0.04395,
677
+ 0.71797
678
+ ],
679
+ [
680
+ -0.00267,
681
+ 1.0,
682
+ -0.00037,
683
+ 0.46595
684
+ ],
685
+ [
686
+ -0.04395,
687
+ 0.00025,
688
+ 0.99903,
689
+ 0.34193
690
+ ],
691
+ [
692
+ 0.0,
693
+ 0.0,
694
+ 0.0,
695
+ 1.0
696
+ ]
697
+ ]
698
+ ],
699
+ [
700
+ "008_pudding_box.object_config.json",
701
+ [
702
+ [
703
+ -0.44555,
704
+ 0.01839,
705
+ -0.89507,
706
+ 1.0159
707
+ ],
708
+ [
709
+ -0.00591,
710
+ 0.99971,
711
+ 0.02348,
712
+ 0.43438
713
+ ],
714
+ [
715
+ 0.89524,
716
+ 0.01575,
717
+ -0.44531,
718
+ 0.28154
719
+ ],
720
+ [
721
+ 0.0,
722
+ 0.0,
723
+ 0.0,
724
+ 1.0
725
+ ]
726
+ ]
727
+ ],
728
+ [
729
+ "003_cracker_box.object_config.json",
730
+ [
731
+ [
732
+ -0.31189,
733
+ -0.00845,
734
+ 0.95008,
735
+ 4.03225
736
+ ],
737
+ [
738
+ -0.04593,
739
+ 0.99893,
740
+ -0.0062,
741
+ 0.86933
742
+ ],
743
+ [
744
+ -0.94901,
745
+ -0.04557,
746
+ -0.31195,
747
+ 2.9091
748
+ ],
749
+ [
750
+ 0.0,
751
+ 0.0,
752
+ 0.0,
753
+ 1.0
754
+ ]
755
+ ]
756
+ ],
757
+ [
758
+ "005_tomato_soup_can.object_config.json",
759
+ [
760
+ [
761
+ -0.03357,
762
+ -0.00035,
763
+ -0.99944,
764
+ 2.45237
765
+ ],
766
+ [
767
+ -0.00142,
768
+ 1.0,
769
+ -0.0003,
770
+ 0.98518
771
+ ],
772
+ [
773
+ 0.99944,
774
+ 0.00141,
775
+ -0.03357,
776
+ 6.39673
777
+ ],
778
+ [
779
+ 0.0,
780
+ 0.0,
781
+ 0.0,
782
+ 1.0
783
+ ]
784
+ ]
785
+ ],
786
+ [
787
+ "005_tomato_soup_can.object_config.json",
788
+ [
789
+ [
790
+ -0.48896,
791
+ 0.00018,
792
+ 0.87231,
793
+ -0.05173
794
+ ],
795
+ [
796
+ 0.00018,
797
+ 1.0,
798
+ -0.0001,
799
+ 0.46605
800
+ ],
801
+ [
802
+ -0.87231,
803
+ 0.00011,
804
+ -0.48896,
805
+ 0.15812
806
+ ],
807
+ [
808
+ 0.0,
809
+ 0.0,
810
+ 0.0,
811
+ 1.0
812
+ ]
813
+ ]
814
+ ],
815
+ [
816
+ "002_master_chef_can.object_config.json",
817
+ [
818
+ [
819
+ 0.62475,
820
+ -0.00157,
821
+ -0.78083,
822
+ 0.64992
823
+ ],
824
+ [
825
+ 0.00472,
826
+ 0.99999,
827
+ 0.00176,
828
+ 1.32081
829
+ ],
830
+ [
831
+ 0.78081,
832
+ -0.00478,
833
+ 0.62475,
834
+ 4.34995
835
+ ],
836
+ [
837
+ 0.0,
838
+ 0.0,
839
+ 0.0,
840
+ 1.0
841
+ ]
842
+ ]
843
+ ],
844
+ [
845
+ "024_bowl.object_config.json",
846
+ [
847
+ [
848
+ -0.10666,
849
+ -0.0004,
850
+ -0.9943,
851
+ 0.66406
852
+ ],
853
+ [
854
+ 0.00405,
855
+ 0.99999,
856
+ -0.00084,
857
+ 1.27875
858
+ ],
859
+ [
860
+ 0.99429,
861
+ -0.00411,
862
+ -0.10666,
863
+ 4.53674
864
+ ],
865
+ [
866
+ 0.0,
867
+ 0.0,
868
+ 0.0,
869
+ 1.0
870
+ ]
871
+ ]
872
+ ],
873
+ [
874
+ "008_pudding_box.object_config.json",
875
+ [
876
+ [
877
+ -0.52567,
878
+ 0.01691,
879
+ -0.85052,
880
+ 0.39287
881
+ ],
882
+ [
883
+ -0.00592,
884
+ 0.99971,
885
+ 0.02354,
886
+ 0.87927
887
+ ],
888
+ [
889
+ 0.85067,
890
+ 0.01741,
891
+ -0.52541,
892
+ 5.68679
893
+ ],
894
+ [
895
+ 0.0,
896
+ 0.0,
897
+ 0.0,
898
+ 1.0
899
+ ]
900
+ ]
901
+ ]
902
+ ],
903
+ "targets": {
904
+ "002_master_chef_can_:0002": [
905
+ [
906
+ -0.14594,
907
+ 0.0,
908
+ -0.98929,
909
+ 0.3191
910
+ ],
911
+ [
912
+ 0.0,
913
+ 1.0,
914
+ 0.0,
915
+ 0.92919
916
+ ],
917
+ [
918
+ 0.98929,
919
+ 0.0,
920
+ -0.14594,
921
+ 7.63389
922
+ ],
923
+ [
924
+ 0.0,
925
+ 0.0,
926
+ 0.0,
927
+ 1.0
928
+ ]
929
+ ],
930
+ "024_bowl_:0003": [
931
+ [
932
+ -0.99876,
933
+ 0.0,
934
+ 0.04985,
935
+ 0.37643
936
+ ],
937
+ [
938
+ 0.0,
939
+ 1.0,
940
+ 0.0,
941
+ 0.8866
942
+ ],
943
+ [
944
+ -0.04985,
945
+ 0.0,
946
+ -0.99876,
947
+ 5.27786
948
+ ],
949
+ [
950
+ 0.0,
951
+ 0.0,
952
+ 0.0,
953
+ 1.0
954
+ ]
955
+ ],
956
+ "008_pudding_box_:0006": [
957
+ [
958
+ -0.49775,
959
+ 0.0,
960
+ 0.86732,
961
+ 0.40137
962
+ ],
963
+ [
964
+ 0.0,
965
+ 1.0,
966
+ 0.0,
967
+ 1.26911
968
+ ],
969
+ [
970
+ -0.86732,
971
+ 0.0,
972
+ -0.49775,
973
+ 4.34536
974
+ ],
975
+ [
976
+ 0.0,
977
+ 0.0,
978
+ 0.0,
979
+ 1.0
980
+ ]
981
+ ]
982
+ },
983
+ "markers": [
984
+ {
985
+ "name": "cab_push_point_7",
986
+ "type": "articulated_object",
987
+ "params": {
988
+ "offset": [
989
+ 0.3,
990
+ 0.0,
991
+ 0
992
+ ],
993
+ "link": "drawer1_top",
994
+ "object": "kitchen_counter_:0000"
995
+ }
996
+ },
997
+ {
998
+ "name": "cab_push_point_6",
999
+ "type": "articulated_object",
1000
+ "params": {
1001
+ "offset": [
1002
+ 0.3,
1003
+ 0.0,
1004
+ 0
1005
+ ],
1006
+ "link": "drawer2_top",
1007
+ "object": "kitchen_counter_:0000"
1008
+ }
1009
+ },
1010
+ {
1011
+ "name": "cab_push_point_5",
1012
+ "type": "articulated_object",
1013
+ "params": {
1014
+ "offset": [
1015
+ 0.3,
1016
+ 0.0,
1017
+ 0
1018
+ ],
1019
+ "link": "drawer3",
1020
+ "object": "kitchen_counter_:0000"
1021
+ }
1022
+ },
1023
+ {
1024
+ "name": "cab_push_point_4",
1025
+ "type": "articulated_object",
1026
+ "params": {
1027
+ "offset": [
1028
+ 0.3,
1029
+ 0.0,
1030
+ 0
1031
+ ],
1032
+ "link": "drawer4",
1033
+ "object": "kitchen_counter_:0000"
1034
+ }
1035
+ },
1036
+ {
1037
+ "name": "fridge_push_point",
1038
+ "type": "articulated_object",
1039
+ "params": {
1040
+ "offset": [
1041
+ 0.1,
1042
+ -0.62,
1043
+ 0.2
1044
+ ],
1045
+ "link": "top_door",
1046
+ "object": "fridge_:0000"
1047
+ }
1048
+ }
1049
+ ],
1050
+ "target_receptacles": [
1051
+ [
1052
+ "fridge_:0000",
1053
+ 0
1054
+ ],
1055
+ [
1056
+ "fridge_:0000",
1057
+ 0
1058
+ ],
1059
+ [
1060
+ "kitchen_counter_:0000",
1061
+ 0
1062
+ ]
1063
+ ],
1064
+ "goal_receptacles": [
1065
+ [
1066
+ "kitchen_counter_:0000",
1067
+ 0
1068
+ ],
1069
+ [
1070
+ "kitchen_counter_:0000",
1071
+ 0
1072
+ ],
1073
+ [
1074
+ "fridge_:0000",
1075
+ 0
1076
+ ]
1077
+ ]
1078
+ }
rearrange/v1_extracted/train/prepare_groceries/episode_1027.json ADDED
@@ -0,0 +1,1078 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_id": "1027",
3
+ "scene_id": "data/replica_cad/configs/scenes/v3_sc0_staging_04.scene_instance.json",
4
+ "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
5
+ "additional_obj_config_paths": [
6
+ "data/objects/ycb/"
7
+ ],
8
+ "start_position": [
9
+ 0,
10
+ 0,
11
+ 0
12
+ ],
13
+ "start_rotation": [
14
+ 0,
15
+ 0,
16
+ 0,
17
+ 1
18
+ ],
19
+ "info": {
20
+ "object_labels": {
21
+ "007_tuna_fish_can_:0001": "obj0_target|0",
22
+ "004_sugar_box_:0004": "obj1_target|1",
23
+ "003_cracker_box_:0002": "obj2_target|2"
24
+ }
25
+ },
26
+ "ao_states": {
27
+ "fridge_:0000": {
28
+ "2": 1.5
29
+ }
30
+ },
31
+ "rigid_objs": [
32
+ [
33
+ "009_gelatin_box.object_config.json",
34
+ [
35
+ [
36
+ -0.38074,
37
+ -0.0,
38
+ -0.92468,
39
+ 0.39671
40
+ ],
41
+ [
42
+ 0.0,
43
+ 1.0,
44
+ -0.0,
45
+ 0.87476
46
+ ],
47
+ [
48
+ 0.92468,
49
+ -0.0,
50
+ -0.38074,
51
+ 5.53341
52
+ ],
53
+ [
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 1.0
58
+ ]
59
+ ]
60
+ ],
61
+ [
62
+ "009_gelatin_box.object_config.json",
63
+ [
64
+ [
65
+ 0.29038,
66
+ 0.0,
67
+ -0.95691,
68
+ -1.75357
69
+ ],
70
+ [
71
+ -0.0,
72
+ 1.0,
73
+ 0.0,
74
+ 0.41926
75
+ ],
76
+ [
77
+ 0.95691,
78
+ -0.0,
79
+ 0.29038,
80
+ 0.74054
81
+ ],
82
+ [
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ 1.0
87
+ ]
88
+ ]
89
+ ],
90
+ [
91
+ "009_gelatin_box.object_config.json",
92
+ [
93
+ [
94
+ -0.53562,
95
+ -0.00086,
96
+ -0.84446,
97
+ 3.91784
98
+ ],
99
+ [
100
+ -0.00181,
101
+ 1.0,
102
+ 0.00013,
103
+ 0.6417
104
+ ],
105
+ [
106
+ 0.84446,
107
+ 0.0016,
108
+ -0.53562,
109
+ 6.38118
110
+ ],
111
+ [
112
+ 0.0,
113
+ 0.0,
114
+ 0.0,
115
+ 1.0
116
+ ]
117
+ ]
118
+ ],
119
+ [
120
+ "004_sugar_box.object_config.json",
121
+ [
122
+ [
123
+ 0.98703,
124
+ -0.03483,
125
+ -0.15673,
126
+ 0.72057
127
+ ],
128
+ [
129
+ 0.04001,
130
+ 0.99875,
131
+ 0.02999,
132
+ 1.34
133
+ ],
134
+ [
135
+ 0.15549,
136
+ -0.03587,
137
+ 0.98719,
138
+ 4.64486
139
+ ],
140
+ [
141
+ 0.0,
142
+ 0.0,
143
+ 0.0,
144
+ 1.0
145
+ ]
146
+ ]
147
+ ],
148
+ [
149
+ "004_sugar_box.object_config.json",
150
+ [
151
+ [
152
+ 0.974,
153
+ -0.03533,
154
+ -0.22379,
155
+ 0.6494
156
+ ],
157
+ [
158
+ 0.04088,
159
+ 0.99896,
160
+ 0.02021,
161
+ 0.795
162
+ ],
163
+ [
164
+ 0.22285,
165
+ -0.02883,
166
+ 0.97443,
167
+ 6.60762
168
+ ],
169
+ [
170
+ 0.0,
171
+ 0.0,
172
+ 0.0,
173
+ 1.0
174
+ ]
175
+ ]
176
+ ],
177
+ [
178
+ "005_tomato_soup_can.object_config.json",
179
+ [
180
+ [
181
+ 0.274,
182
+ 0.00218,
183
+ 0.96173,
184
+ 3.99574
185
+ ],
186
+ [
187
+ -0.00582,
188
+ 0.99998,
189
+ -0.00061,
190
+ 0.67784
191
+ ],
192
+ [
193
+ -0.96171,
194
+ -0.00543,
195
+ 0.27401,
196
+ 5.4612
197
+ ],
198
+ [
199
+ 0.0,
200
+ 0.0,
201
+ 0.0,
202
+ 1.0
203
+ ]
204
+ ]
205
+ ],
206
+ [
207
+ "002_master_chef_can.object_config.json",
208
+ [
209
+ [
210
+ -0.84037,
211
+ 2e-05,
212
+ 0.54202,
213
+ 0.74855
214
+ ],
215
+ [
216
+ -0.00311,
217
+ 0.99998,
218
+ -0.00486,
219
+ 1.32024
220
+ ],
221
+ [
222
+ -0.54201,
223
+ -0.00577,
224
+ -0.84035,
225
+ 4.23582
226
+ ],
227
+ [
228
+ 0.0,
229
+ 0.0,
230
+ 0.0,
231
+ 1.0
232
+ ]
233
+ ]
234
+ ],
235
+ [
236
+ "010_potted_meat_can.object_config.json",
237
+ [
238
+ [
239
+ 0.97317,
240
+ 3e-05,
241
+ 0.23009,
242
+ 0.52989
243
+ ],
244
+ [
245
+ -0.00134,
246
+ 0.99998,
247
+ 0.00555,
248
+ 1.29254
249
+ ],
250
+ [
251
+ -0.23008,
252
+ -0.00571,
253
+ 0.97315,
254
+ 4.39633
255
+ ],
256
+ [
257
+ 0.0,
258
+ 0.0,
259
+ 0.0,
260
+ 1.0
261
+ ]
262
+ ]
263
+ ],
264
+ [
265
+ "009_gelatin_box.object_config.json",
266
+ [
267
+ [
268
+ -0.91233,
269
+ -1e-05,
270
+ -0.40945,
271
+ 3.7823
272
+ ],
273
+ [
274
+ -1e-05,
275
+ 1.0,
276
+ 0.0,
277
+ 0.64169
278
+ ],
279
+ [
280
+ 0.40945,
281
+ 1e-05,
282
+ -0.91233,
283
+ 6.08037
284
+ ],
285
+ [
286
+ 0.0,
287
+ 0.0,
288
+ 0.0,
289
+ 1.0
290
+ ]
291
+ ]
292
+ ],
293
+ [
294
+ "003_cracker_box.object_config.json",
295
+ [
296
+ [
297
+ 0.61951,
298
+ 0.03407,
299
+ 0.78425,
300
+ 0.74884
301
+ ],
302
+ [
303
+ -0.04562,
304
+ 0.99893,
305
+ -0.00735,
306
+ 0.96627
307
+ ],
308
+ [
309
+ -0.78366,
310
+ -0.03123,
311
+ 0.62041,
312
+ 7.03487
313
+ ],
314
+ [
315
+ 0.0,
316
+ 0.0,
317
+ 0.0,
318
+ 1.0
319
+ ]
320
+ ]
321
+ ],
322
+ [
323
+ "024_bowl.object_config.json",
324
+ [
325
+ [
326
+ 0.88847,
327
+ 7e-05,
328
+ 0.45894,
329
+ 0.47256
330
+ ],
331
+ [
332
+ -7e-05,
333
+ 1.0,
334
+ -3e-05,
335
+ 0.88719
336
+ ],
337
+ [
338
+ -0.45894,
339
+ -0.0,
340
+ 0.88847,
341
+ 6.07635
342
+ ],
343
+ [
344
+ 0.0,
345
+ 0.0,
346
+ 0.0,
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ [
352
+ "008_pudding_box.object_config.json",
353
+ [
354
+ [
355
+ -0.1595,
356
+ -0.02358,
357
+ 0.98692,
358
+ 0.22023
359
+ ],
360
+ [
361
+ -0.00627,
362
+ 0.99972,
363
+ 0.02288,
364
+ 0.43463
365
+ ],
366
+ [
367
+ -0.98718,
368
+ -0.00254,
369
+ -0.15961,
370
+ 0.19179
371
+ ],
372
+ [
373
+ 0.0,
374
+ 0.0,
375
+ 0.0,
376
+ 1.0
377
+ ]
378
+ ]
379
+ ],
380
+ [
381
+ "009_gelatin_box.object_config.json",
382
+ [
383
+ [
384
+ -0.19674,
385
+ 0.0,
386
+ 0.98045,
387
+ 3.99158
388
+ ],
389
+ [
390
+ 3e-05,
391
+ 1.0,
392
+ 0.0,
393
+ 0.94922
394
+ ],
395
+ [
396
+ -0.98045,
397
+ 3e-05,
398
+ -0.19674,
399
+ 3.21943
400
+ ],
401
+ [
402
+ 0.0,
403
+ 0.0,
404
+ 0.0,
405
+ 1.0
406
+ ]
407
+ ]
408
+ ],
409
+ [
410
+ "010_potted_meat_can.object_config.json",
411
+ [
412
+ [
413
+ -0.63528,
414
+ 7e-05,
415
+ 0.77229,
416
+ 0.66514
417
+ ],
418
+ [
419
+ -0.00452,
420
+ 0.99998,
421
+ -0.00381,
422
+ 1.29232
423
+ ],
424
+ [
425
+ -0.77227,
426
+ -0.00591,
427
+ -0.63526,
428
+ 4.35665
429
+ ],
430
+ [
431
+ 0.0,
432
+ 0.0,
433
+ 0.0,
434
+ 1.0
435
+ ]
436
+ ]
437
+ ],
438
+ [
439
+ "008_pudding_box.object_config.json",
440
+ [
441
+ [
442
+ -0.32742,
443
+ 0.02027,
444
+ -0.94466,
445
+ 3.70482
446
+ ],
447
+ [
448
+ -0.0059,
449
+ 0.99971,
450
+ 0.0235,
451
+ 0.48934
452
+ ],
453
+ [
454
+ 0.94486,
455
+ 0.01327,
456
+ -0.3272,
457
+ 5.63033
458
+ ],
459
+ [
460
+ 0.0,
461
+ 0.0,
462
+ 0.0,
463
+ 1.0
464
+ ]
465
+ ]
466
+ ],
467
+ [
468
+ "004_sugar_box.object_config.json",
469
+ [
470
+ [
471
+ -0.99896,
472
+ 0.03706,
473
+ 0.02643,
474
+ -1.90446
475
+ ],
476
+ [
477
+ 0.03763,
478
+ 0.99907,
479
+ 0.02124,
480
+ 0.49231
481
+ ],
482
+ [
483
+ -0.02562,
484
+ 0.02221,
485
+ -0.99943,
486
+ 0.54463
487
+ ],
488
+ [
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 1.0
493
+ ]
494
+ ]
495
+ ],
496
+ [
497
+ "003_cracker_box.object_config.json",
498
+ [
499
+ [
500
+ 0.78501,
501
+ 0.05532,
502
+ 0.617,
503
+ -1.53476
504
+ ],
505
+ [
506
+ -0.06984,
507
+ 0.99756,
508
+ -0.00057,
509
+ 0.52164
510
+ ],
511
+ [
512
+ -0.61553,
513
+ -0.04264,
514
+ 0.78696,
515
+ 2.95836
516
+ ],
517
+ [
518
+ 0.0,
519
+ 0.0,
520
+ 0.0,
521
+ 1.0
522
+ ]
523
+ ]
524
+ ],
525
+ [
526
+ "005_tomato_soup_can.object_config.json",
527
+ [
528
+ [
529
+ 0.16002,
530
+ 0.0013,
531
+ -0.98711,
532
+ -1.95212
533
+ ],
534
+ [
535
+ -0.01024,
536
+ 0.99995,
537
+ -0.00034,
538
+ 0.4554
539
+ ],
540
+ [
541
+ 0.98706,
542
+ 0.01016,
543
+ 0.16003,
544
+ 1.35401
545
+ ],
546
+ [
547
+ 0.0,
548
+ 0.0,
549
+ 0.0,
550
+ 1.0
551
+ ]
552
+ ]
553
+ ],
554
+ [
555
+ "009_gelatin_box.object_config.json",
556
+ [
557
+ [
558
+ 0.04923,
559
+ 0.0,
560
+ 0.99879,
561
+ 0.43024
562
+ ],
563
+ [
564
+ 0.0,
565
+ 1.0,
566
+ -0.0,
567
+ 0.87476
568
+ ],
569
+ [
570
+ -0.99879,
571
+ 0.0,
572
+ 0.04923,
573
+ 5.17893
574
+ ],
575
+ [
576
+ 0.0,
577
+ 0.0,
578
+ 0.0,
579
+ 1.0
580
+ ]
581
+ ]
582
+ ],
583
+ [
584
+ "002_master_chef_can.object_config.json",
585
+ [
586
+ [
587
+ -0.9989,
588
+ -0.0,
589
+ -0.04684,
590
+ 0.39797
591
+ ],
592
+ [
593
+ -0.0,
594
+ 1.0,
595
+ 2e-05,
596
+ 0.48552
597
+ ],
598
+ [
599
+ 0.04684,
600
+ 2e-05,
601
+ -0.9989,
602
+ -0.11268
603
+ ],
604
+ [
605
+ 0.0,
606
+ 0.0,
607
+ 0.0,
608
+ 1.0
609
+ ]
610
+ ]
611
+ ],
612
+ [
613
+ "008_pudding_box.object_config.json",
614
+ [
615
+ [
616
+ -0.93615,
617
+ -0.01319,
618
+ 0.35136,
619
+ 3.67402
620
+ ],
621
+ [
622
+ -0.0052,
623
+ 0.99971,
624
+ 0.02367,
625
+ 0.6464
626
+ ],
627
+ [
628
+ -0.35156,
629
+ 0.02034,
630
+ -0.93594,
631
+ 6.27801
632
+ ],
633
+ [
634
+ 0.0,
635
+ 0.0,
636
+ 0.0,
637
+ 1.0
638
+ ]
639
+ ]
640
+ ],
641
+ [
642
+ "007_tuna_fish_can.object_config.json",
643
+ [
644
+ [
645
+ -0.97259,
646
+ -0.00239,
647
+ -0.23249,
648
+ 3.83118
649
+ ],
650
+ [
651
+ -0.00191,
652
+ 1.0,
653
+ -0.00232,
654
+ 0.95096
655
+ ],
656
+ [
657
+ 0.2325,
658
+ -0.00182,
659
+ -0.9726,
660
+ 4.03702
661
+ ],
662
+ [
663
+ 0.0,
664
+ 0.0,
665
+ 0.0,
666
+ 1.0
667
+ ]
668
+ ]
669
+ ],
670
+ [
671
+ "005_tomato_soup_can.object_config.json",
672
+ [
673
+ [
674
+ -0.72606,
675
+ -7e-05,
676
+ 0.68763,
677
+ -1.68506
678
+ ],
679
+ [
680
+ -0.0001,
681
+ 1.0,
682
+ -0.0,
683
+ 0.46594
684
+ ],
685
+ [
686
+ -0.68763,
687
+ -7e-05,
688
+ -0.72606,
689
+ 2.8122
690
+ ],
691
+ [
692
+ 0.0,
693
+ 0.0,
694
+ 0.0,
695
+ 1.0
696
+ ]
697
+ ]
698
+ ],
699
+ [
700
+ "005_tomato_soup_can.object_config.json",
701
+ [
702
+ [
703
+ 0.64977,
704
+ 0.00128,
705
+ -0.76013,
706
+ 0.61988
707
+ ],
708
+ [
709
+ -0.00124,
710
+ 1.0,
711
+ 0.00063,
712
+ 0.75832
713
+ ],
714
+ [
715
+ 0.76013,
716
+ 0.00054,
717
+ 0.64977,
718
+ 6.72207
719
+ ],
720
+ [
721
+ 0.0,
722
+ 0.0,
723
+ 0.0,
724
+ 1.0
725
+ ]
726
+ ]
727
+ ],
728
+ [
729
+ "004_sugar_box.object_config.json",
730
+ [
731
+ [
732
+ 0.97991,
733
+ -0.04412,
734
+ 0.19448,
735
+ 0.53041
736
+ ],
737
+ [
738
+ 0.04018,
739
+ 0.9989,
740
+ 0.02415,
741
+ 0.79517
742
+ ],
743
+ [
744
+ -0.19533,
745
+ -0.01585,
746
+ 0.98061,
747
+ 6.76199
748
+ ],
749
+ [
750
+ 0.0,
751
+ 0.0,
752
+ 0.0,
753
+ 1.0
754
+ ]
755
+ ]
756
+ ],
757
+ [
758
+ "002_master_chef_can.object_config.json",
759
+ [
760
+ [
761
+ -0.85998,
762
+ 0.00164,
763
+ -0.51032,
764
+ -1.62038
765
+ ],
766
+ [
767
+ 0.00158,
768
+ 1.0,
769
+ 0.00055,
770
+ 0.47484
771
+ ],
772
+ [
773
+ 0.51032,
774
+ -0.00033,
775
+ -0.85998,
776
+ 1.1882
777
+ ],
778
+ [
779
+ 0.0,
780
+ 0.0,
781
+ 0.0,
782
+ 1.0
783
+ ]
784
+ ]
785
+ ],
786
+ [
787
+ "005_tomato_soup_can.object_config.json",
788
+ [
789
+ [
790
+ 0.98063,
791
+ -0.00561,
792
+ 0.1958,
793
+ -1.57867
794
+ ],
795
+ [
796
+ 0.00239,
797
+ 0.99986,
798
+ 0.01665,
799
+ 0.46646
800
+ ],
801
+ [
802
+ -0.19586,
803
+ -0.01586,
804
+ 0.9805,
805
+ 3.13204
806
+ ],
807
+ [
808
+ 0.0,
809
+ 0.0,
810
+ 0.0,
811
+ 1.0
812
+ ]
813
+ ]
814
+ ],
815
+ [
816
+ "007_tuna_fish_can.object_config.json",
817
+ [
818
+ [
819
+ 0.63177,
820
+ -0.00084,
821
+ 0.77515,
822
+ 0.55194
823
+ ],
824
+ [
825
+ -0.00166,
826
+ 1.0,
827
+ 0.00243,
828
+ 1.26836
829
+ ],
830
+ [
831
+ -0.77515,
832
+ -0.00282,
833
+ 0.63177,
834
+ 4.59335
835
+ ],
836
+ [
837
+ 0.0,
838
+ 0.0,
839
+ 0.0,
840
+ 1.0
841
+ ]
842
+ ]
843
+ ],
844
+ [
845
+ "004_sugar_box.object_config.json",
846
+ [
847
+ [
848
+ -0.63633,
849
+ 0.04287,
850
+ -0.77023,
851
+ 0.46328
852
+ ],
853
+ [
854
+ 0.04288,
855
+ 0.99888,
856
+ 0.02018,
857
+ 1.33814
858
+ ],
859
+ [
860
+ 0.77023,
861
+ -0.02019,
862
+ -0.63745,
863
+ 4.32313
864
+ ],
865
+ [
866
+ 0.0,
867
+ 0.0,
868
+ 0.0,
869
+ 1.0
870
+ ]
871
+ ]
872
+ ],
873
+ [
874
+ "003_cracker_box.object_config.json",
875
+ [
876
+ [
877
+ -0.25498,
878
+ -0.00453,
879
+ 0.96694,
880
+ 0.39907
881
+ ],
882
+ [
883
+ -0.04561,
884
+ 0.99893,
885
+ -0.00735,
886
+ 0.96627
887
+ ],
888
+ [
889
+ -0.96587,
890
+ -0.04598,
891
+ -0.25491,
892
+ 7.71229
893
+ ],
894
+ [
895
+ 0.0,
896
+ 0.0,
897
+ 0.0,
898
+ 1.0
899
+ ]
900
+ ]
901
+ ]
902
+ ],
903
+ "targets": {
904
+ "007_tuna_fish_can_:0001": [
905
+ [
906
+ 0.99823,
907
+ 0.0,
908
+ 0.05943,
909
+ 0.69884
910
+ ],
911
+ [
912
+ 0.0,
913
+ 1.0,
914
+ 0.0,
915
+ 0.87587
916
+ ],
917
+ [
918
+ -0.05943,
919
+ 0.0,
920
+ 0.99823,
921
+ 7.2106
922
+ ],
923
+ [
924
+ 0.0,
925
+ 0.0,
926
+ 0.0,
927
+ 1.0
928
+ ]
929
+ ],
930
+ "004_sugar_box_:0004": [
931
+ [
932
+ 0.80387,
933
+ 0.0,
934
+ 0.5948,
935
+ 0.61307
936
+ ],
937
+ [
938
+ 0.0,
939
+ 1.0,
940
+ 0.0,
941
+ 0.94711
942
+ ],
943
+ [
944
+ -0.5948,
945
+ 0.0,
946
+ 0.80387,
947
+ 5.49484
948
+ ],
949
+ [
950
+ 0.0,
951
+ 0.0,
952
+ 0.0,
953
+ 1.0
954
+ ]
955
+ ],
956
+ "003_cracker_box_:0002": [
957
+ [
958
+ -0.99483,
959
+ 0.0,
960
+ -0.10151,
961
+ 0.41039
962
+ ],
963
+ [
964
+ 0.0,
965
+ 1.0,
966
+ 0.0,
967
+ 1.35782
968
+ ],
969
+ [
970
+ 0.10151,
971
+ 0.0,
972
+ -0.99483,
973
+ 4.59163
974
+ ],
975
+ [
976
+ 0.0,
977
+ 0.0,
978
+ 0.0,
979
+ 1.0
980
+ ]
981
+ ]
982
+ },
983
+ "markers": [
984
+ {
985
+ "name": "cab_push_point_7",
986
+ "type": "articulated_object",
987
+ "params": {
988
+ "offset": [
989
+ 0.3,
990
+ 0.0,
991
+ 0
992
+ ],
993
+ "link": "drawer1_top",
994
+ "object": "kitchen_counter_:0000"
995
+ }
996
+ },
997
+ {
998
+ "name": "cab_push_point_6",
999
+ "type": "articulated_object",
1000
+ "params": {
1001
+ "offset": [
1002
+ 0.3,
1003
+ 0.0,
1004
+ 0
1005
+ ],
1006
+ "link": "drawer2_top",
1007
+ "object": "kitchen_counter_:0000"
1008
+ }
1009
+ },
1010
+ {
1011
+ "name": "cab_push_point_5",
1012
+ "type": "articulated_object",
1013
+ "params": {
1014
+ "offset": [
1015
+ 0.3,
1016
+ 0.0,
1017
+ 0
1018
+ ],
1019
+ "link": "drawer3",
1020
+ "object": "kitchen_counter_:0000"
1021
+ }
1022
+ },
1023
+ {
1024
+ "name": "cab_push_point_4",
1025
+ "type": "articulated_object",
1026
+ "params": {
1027
+ "offset": [
1028
+ 0.3,
1029
+ 0.0,
1030
+ 0
1031
+ ],
1032
+ "link": "drawer4",
1033
+ "object": "kitchen_counter_:0000"
1034
+ }
1035
+ },
1036
+ {
1037
+ "name": "fridge_push_point",
1038
+ "type": "articulated_object",
1039
+ "params": {
1040
+ "offset": [
1041
+ 0.1,
1042
+ -0.62,
1043
+ 0.2
1044
+ ],
1045
+ "link": "top_door",
1046
+ "object": "fridge_:0000"
1047
+ }
1048
+ }
1049
+ ],
1050
+ "target_receptacles": [
1051
+ [
1052
+ "fridge_:0000",
1053
+ 0
1054
+ ],
1055
+ [
1056
+ "fridge_:0000",
1057
+ 0
1058
+ ],
1059
+ [
1060
+ "kitchen_counter_:0000",
1061
+ 0
1062
+ ]
1063
+ ],
1064
+ "goal_receptacles": [
1065
+ [
1066
+ "kitchen_counter_:0000",
1067
+ 0
1068
+ ],
1069
+ [
1070
+ "kitchen_counter_:0000",
1071
+ 0
1072
+ ],
1073
+ [
1074
+ "fridge_:0000",
1075
+ 0
1076
+ ]
1077
+ ]
1078
+ }
rearrange/v1_extracted/train/prepare_groceries/episode_1028.json ADDED
@@ -0,0 +1,1078 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_id": "1028",
3
+ "scene_id": "data/replica_cad/configs/scenes/v3_sc0_staging_18.scene_instance.json",
4
+ "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
5
+ "additional_obj_config_paths": [
6
+ "data/objects/ycb/"
7
+ ],
8
+ "start_position": [
9
+ 0,
10
+ 0,
11
+ 0
12
+ ],
13
+ "start_rotation": [
14
+ 0,
15
+ 0,
16
+ 0,
17
+ 1
18
+ ],
19
+ "info": {
20
+ "object_labels": {
21
+ "010_potted_meat_can_:0004": "obj0_target|0",
22
+ "005_tomato_soup_can_:0001": "obj1_target|1",
23
+ "005_tomato_soup_can_:0002": "obj2_target|2"
24
+ }
25
+ },
26
+ "ao_states": {
27
+ "fridge_:0000": {
28
+ "2": 1.5
29
+ }
30
+ },
31
+ "rigid_objs": [
32
+ [
33
+ "007_tuna_fish_can.object_config.json",
34
+ [
35
+ [
36
+ 0.62906,
37
+ 2e-05,
38
+ 0.77736,
39
+ -0.17918
40
+ ],
41
+ [
42
+ -0.0,
43
+ 1.0,
44
+ -3e-05,
45
+ 0.42105
46
+ ],
47
+ [
48
+ -0.77736,
49
+ 1e-05,
50
+ 0.62906,
51
+ 0.05683
52
+ ],
53
+ [
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 1.0
58
+ ]
59
+ ]
60
+ ],
61
+ [
62
+ "002_master_chef_can.object_config.json",
63
+ [
64
+ [
65
+ -0.2248,
66
+ 0.00154,
67
+ 0.9744,
68
+ 3.67664
69
+ ],
70
+ [
71
+ -0.00015,
72
+ 1.0,
73
+ -0.00161,
74
+ 0.69697
75
+ ],
76
+ [
77
+ -0.9744,
78
+ -0.00051,
79
+ -0.2248,
80
+ 7.61147
81
+ ],
82
+ [
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ 1.0
87
+ ]
88
+ ]
89
+ ],
90
+ [
91
+ "003_cracker_box.object_config.json",
92
+ [
93
+ [
94
+ 0.66464,
95
+ 0.02276,
96
+ -0.74682,
97
+ 3.61241
98
+ ],
99
+ [
100
+ -0.04309,
101
+ 0.99904,
102
+ -0.0079,
103
+ 0.52166
104
+ ],
105
+ [
106
+ 0.74592,
107
+ 0.03744,
108
+ 0.66498,
109
+ 2.62248
110
+ ],
111
+ [
112
+ 0.0,
113
+ 0.0,
114
+ 0.0,
115
+ 1.0
116
+ ]
117
+ ]
118
+ ],
119
+ [
120
+ "003_cracker_box.object_config.json",
121
+ [
122
+ [
123
+ 0.87196,
124
+ 0.04852,
125
+ 0.48717,
126
+ 3.54016
127
+ ],
128
+ [
129
+ -0.05235,
130
+ 0.99861,
131
+ -0.00576,
132
+ 0.52144
133
+ ],
134
+ [
135
+ -0.48677,
136
+ -0.02048,
137
+ 0.87329,
138
+ 0.85939
139
+ ],
140
+ [
141
+ 0.0,
142
+ 0.0,
143
+ 0.0,
144
+ 1.0
145
+ ]
146
+ ]
147
+ ],
148
+ [
149
+ "007_tuna_fish_can.object_config.json",
150
+ [
151
+ [
152
+ -0.90493,
153
+ 1e-05,
154
+ 0.42555,
155
+ 3.70708
156
+ ],
157
+ [
158
+ 1e-05,
159
+ 1.0,
160
+ -1e-05,
161
+ 0.43165
162
+ ],
163
+ [
164
+ -0.42555,
165
+ -0.0,
166
+ -0.90493,
167
+ 0.62196
168
+ ],
169
+ [
170
+ 0.0,
171
+ 0.0,
172
+ 0.0,
173
+ 1.0
174
+ ]
175
+ ]
176
+ ],
177
+ [
178
+ "007_tuna_fish_can.object_config.json",
179
+ [
180
+ [
181
+ -0.19278,
182
+ 0.0,
183
+ -0.98124,
184
+ 0.70605
185
+ ],
186
+ [
187
+ -0.0,
188
+ 1.0,
189
+ 1e-05,
190
+ 0.87655
191
+ ],
192
+ [
193
+ 0.98124,
194
+ 1e-05,
195
+ -0.19278,
196
+ 5.2798
197
+ ],
198
+ [
199
+ 0.0,
200
+ 0.0,
201
+ 0.0,
202
+ 1.0
203
+ ]
204
+ ]
205
+ ],
206
+ [
207
+ "003_cracker_box.object_config.json",
208
+ [
209
+ [
210
+ 0.23469,
211
+ 0.00394,
212
+ -0.97206,
213
+ 3.40158
214
+ ],
215
+ [
216
+ -0.04819,
217
+ 0.99881,
218
+ -0.00759,
219
+ 0.52162
220
+ ],
221
+ [
222
+ 0.97088,
223
+ 0.04862,
224
+ 0.2346,
225
+ 2.62733
226
+ ],
227
+ [
228
+ 0.0,
229
+ 0.0,
230
+ 0.0,
231
+ 1.0
232
+ ]
233
+ ]
234
+ ],
235
+ [
236
+ "008_pudding_box.object_config.json",
237
+ [
238
+ [
239
+ 0.25145,
240
+ 0.02163,
241
+ -0.96763,
242
+ 0.0462
243
+ ],
244
+ [
245
+ -0.005,
246
+ 0.99977,
247
+ 0.02105,
248
+ 0.42376
249
+ ],
250
+ [
251
+ 0.96786,
252
+ -0.00046,
253
+ 0.2515,
254
+ 0.29119
255
+ ],
256
+ [
257
+ 0.0,
258
+ 0.0,
259
+ 0.0,
260
+ 1.0
261
+ ]
262
+ ]
263
+ ],
264
+ [
265
+ "010_potted_meat_can.object_config.json",
266
+ [
267
+ [
268
+ -0.11705,
269
+ 0.0003,
270
+ 0.99313,
271
+ 0.61781
272
+ ],
273
+ [
274
+ -0.00015,
275
+ 1.0,
276
+ -0.00032,
277
+ 0.74914
278
+ ],
279
+ [
280
+ -0.99313,
281
+ -0.00018,
282
+ -0.11705,
283
+ 6.74914
284
+ ],
285
+ [
286
+ 0.0,
287
+ 0.0,
288
+ 0.0,
289
+ 1.0
290
+ ]
291
+ ]
292
+ ],
293
+ [
294
+ "007_tuna_fish_can.object_config.json",
295
+ [
296
+ [
297
+ -0.53146,
298
+ 9e-05,
299
+ 0.84708,
300
+ 0.50372
301
+ ],
302
+ [
303
+ -0.00027,
304
+ 1.0,
305
+ -0.00028,
306
+ 0.87655
307
+ ],
308
+ [
309
+ -0.84708,
310
+ -0.00037,
311
+ -0.53146,
312
+ 7.034
313
+ ],
314
+ [
315
+ 0.0,
316
+ 0.0,
317
+ 0.0,
318
+ 1.0
319
+ ]
320
+ ]
321
+ ],
322
+ [
323
+ "010_potted_meat_can.object_config.json",
324
+ [
325
+ [
326
+ -0.9067,
327
+ -0.00157,
328
+ -0.42176,
329
+ 0.55341
330
+ ],
331
+ [
332
+ 0.00018,
333
+ 0.99999,
334
+ -0.00411,
335
+ 1.29133
336
+ ],
337
+ [
338
+ 0.42177,
339
+ -0.00381,
340
+ -0.9067,
341
+ 4.20673
342
+ ],
343
+ [
344
+ 0.0,
345
+ 0.0,
346
+ 0.0,
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ [
352
+ "008_pudding_box.object_config.json",
353
+ [
354
+ [
355
+ -0.7748,
356
+ -0.01875,
357
+ 0.63193,
358
+ 0.39669
359
+ ],
360
+ [
361
+ -0.00931,
362
+ 0.99979,
363
+ 0.01824,
364
+ 1.2711
365
+ ],
366
+ [
367
+ -0.63214,
368
+ 0.00825,
369
+ -0.77481,
370
+ 4.5635
371
+ ],
372
+ [
373
+ 0.0,
374
+ 0.0,
375
+ 0.0,
376
+ 1.0
377
+ ]
378
+ ]
379
+ ],
380
+ [
381
+ "003_cracker_box.object_config.json",
382
+ [
383
+ [
384
+ -0.27852,
385
+ -0.00564,
386
+ 0.96041,
387
+ 0.50413
388
+ ],
389
+ [
390
+ -0.04553,
391
+ 0.99894,
392
+ -0.00733,
393
+ 0.96627
394
+ ],
395
+ [
396
+ -0.95935,
397
+ -0.04577,
398
+ -0.27848,
399
+ 7.29188
400
+ ],
401
+ [
402
+ 0.0,
403
+ 0.0,
404
+ 0.0,
405
+ 1.0
406
+ ]
407
+ ]
408
+ ],
409
+ [
410
+ "005_tomato_soup_can.object_config.json",
411
+ [
412
+ [
413
+ 0.99588,
414
+ -0.0002,
415
+ 0.09072,
416
+ 3.67133
417
+ ],
418
+ [
419
+ 0.00026,
420
+ 1.0,
421
+ -0.00065,
422
+ 0.46607
423
+ ],
424
+ [
425
+ -0.09072,
426
+ 0.00067,
427
+ 0.99588,
428
+ 2.72663
429
+ ],
430
+ [
431
+ 0.0,
432
+ 0.0,
433
+ 0.0,
434
+ 1.0
435
+ ]
436
+ ]
437
+ ],
438
+ [
439
+ "007_tuna_fish_can.object_config.json",
440
+ [
441
+ [
442
+ -0.85283,
443
+ 0.0,
444
+ -0.52219,
445
+ 0.42719
446
+ ],
447
+ [
448
+ 0.0,
449
+ 1.0,
450
+ 0.0,
451
+ 0.87655
452
+ ],
453
+ [
454
+ 0.52219,
455
+ 0.0,
456
+ -0.85283,
457
+ 7.09149
458
+ ],
459
+ [
460
+ 0.0,
461
+ 0.0,
462
+ 0.0,
463
+ 1.0
464
+ ]
465
+ ]
466
+ ],
467
+ [
468
+ "007_tuna_fish_can.object_config.json",
469
+ [
470
+ [
471
+ -0.86992,
472
+ -0.0,
473
+ -0.4932,
474
+ 0.94804
475
+ ],
476
+ [
477
+ 0.0,
478
+ 1.0,
479
+ -0.0,
480
+ 0.42105
481
+ ],
482
+ [
483
+ 0.4932,
484
+ -0.0,
485
+ -0.86992,
486
+ -0.01836
487
+ ],
488
+ [
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 1.0
493
+ ]
494
+ ]
495
+ ],
496
+ [
497
+ "024_bowl.object_config.json",
498
+ [
499
+ [
500
+ -0.10544,
501
+ -0.01015,
502
+ -0.99437,
503
+ 0.58
504
+ ],
505
+ [
506
+ -0.03306,
507
+ 0.99943,
508
+ -0.00669,
509
+ 0.73611
510
+ ],
511
+ [
512
+ 0.99388,
513
+ 0.03217,
514
+ -0.10571,
515
+ 6.61418
516
+ ],
517
+ [
518
+ 0.0,
519
+ 0.0,
520
+ 0.0,
521
+ 1.0
522
+ ]
523
+ ]
524
+ ],
525
+ [
526
+ "024_bowl.object_config.json",
527
+ [
528
+ [
529
+ -0.86453,
530
+ -0.00092,
531
+ 0.50258,
532
+ 0.76802
533
+ ],
534
+ [
535
+ -0.00157,
536
+ 1.0,
537
+ -0.00086,
538
+ 0.88715
539
+ ],
540
+ [
541
+ -0.50258,
542
+ -0.00153,
543
+ -0.86453,
544
+ 5.97858
545
+ ],
546
+ [
547
+ 0.0,
548
+ 0.0,
549
+ 0.0,
550
+ 1.0
551
+ ]
552
+ ]
553
+ ],
554
+ [
555
+ "008_pudding_box.object_config.json",
556
+ [
557
+ [
558
+ -0.31218,
559
+ 0.02028,
560
+ -0.94981,
561
+ 3.80152
562
+ ],
563
+ [
564
+ -0.00617,
565
+ 0.99971,
566
+ 0.02338,
567
+ 0.43456
568
+ ],
569
+ [
570
+ 0.95,
571
+ 0.01316,
572
+ -0.31197,
573
+ 0.70878
574
+ ],
575
+ [
576
+ 0.0,
577
+ 0.0,
578
+ 0.0,
579
+ 1.0
580
+ ]
581
+ ]
582
+ ],
583
+ [
584
+ "004_sugar_box.object_config.json",
585
+ [
586
+ [
587
+ -0.42512,
588
+ -0.00844,
589
+ 0.9051,
590
+ -0.07806
591
+ ],
592
+ [
593
+ 0.03771,
594
+ 0.99892,
595
+ 0.02702,
596
+ 1.02229
597
+ ],
598
+ [
599
+ -0.90435,
600
+ 0.04562,
601
+ -0.42435,
602
+ 3.89859
603
+ ],
604
+ [
605
+ 0.0,
606
+ 0.0,
607
+ 0.0,
608
+ 1.0
609
+ ]
610
+ ]
611
+ ],
612
+ [
613
+ "008_pudding_box.object_config.json",
614
+ [
615
+ [
616
+ -0.91213,
617
+ 0.00377,
618
+ -0.40987,
619
+ 3.75217
620
+ ],
621
+ [
622
+ -0.00328,
623
+ 0.99986,
624
+ 0.0165,
625
+ 0.64634
626
+ ],
627
+ [
628
+ 0.40988,
629
+ 0.01639,
630
+ -0.91199,
631
+ 7.25066
632
+ ],
633
+ [
634
+ 0.0,
635
+ 0.0,
636
+ 0.0,
637
+ 1.0
638
+ ]
639
+ ]
640
+ ],
641
+ [
642
+ "002_master_chef_can.object_config.json",
643
+ [
644
+ [
645
+ 0.93875,
646
+ -0.0001,
647
+ 0.3446,
648
+ -0.01415
649
+ ],
650
+ [
651
+ 7e-05,
652
+ 1.0,
653
+ 0.00012,
654
+ 0.4748
655
+ ],
656
+ [
657
+ -0.3446,
658
+ -8e-05,
659
+ 0.93875,
660
+ 0.41788
661
+ ],
662
+ [
663
+ 0.0,
664
+ 0.0,
665
+ 0.0,
666
+ 1.0
667
+ ]
668
+ ]
669
+ ],
670
+ [
671
+ "010_potted_meat_can.object_config.json",
672
+ [
673
+ [
674
+ 0.63689,
675
+ 7e-05,
676
+ 0.77095,
677
+ 0.11133
678
+ ],
679
+ [
680
+ -4e-05,
681
+ 1.0,
682
+ -6e-05,
683
+ 0.44618
684
+ ],
685
+ [
686
+ -0.77095,
687
+ 1e-05,
688
+ 0.63689,
689
+ 0.40609
690
+ ],
691
+ [
692
+ 0.0,
693
+ 0.0,
694
+ 0.0,
695
+ 1.0
696
+ ]
697
+ ]
698
+ ],
699
+ [
700
+ "024_bowl.object_config.json",
701
+ [
702
+ [
703
+ 0.8002,
704
+ -0.00022,
705
+ 0.59973,
706
+ 3.71286
707
+ ],
708
+ [
709
+ 0.00015,
710
+ 1.0,
711
+ 0.00016,
712
+ 0.4423
713
+ ],
714
+ [
715
+ -0.59973,
716
+ -4e-05,
717
+ 0.8002,
718
+ 0.84259
719
+ ],
720
+ [
721
+ 0.0,
722
+ 0.0,
723
+ 0.0,
724
+ 1.0
725
+ ]
726
+ ]
727
+ ],
728
+ [
729
+ "010_potted_meat_can.object_config.json",
730
+ [
731
+ [
732
+ -0.98749,
733
+ -2e-05,
734
+ 0.15771,
735
+ 0.62216
736
+ ],
737
+ [
738
+ -0.00095,
739
+ 0.99998,
740
+ -0.00582,
741
+ 1.29378
742
+ ],
743
+ [
744
+ -0.1577,
745
+ -0.0059,
746
+ -0.98747,
747
+ 4.60896
748
+ ],
749
+ [
750
+ 0.0,
751
+ 0.0,
752
+ 0.0,
753
+ 1.0
754
+ ]
755
+ ]
756
+ ],
757
+ [
758
+ "004_sugar_box.object_config.json",
759
+ [
760
+ [
761
+ 0.03443,
762
+ 0.02795,
763
+ 0.99902,
764
+ 0.64947
765
+ ],
766
+ [
767
+ -0.04315,
768
+ 0.99872,
769
+ -0.02645,
770
+ 0.79562
771
+ ],
772
+ [
773
+ -0.99848,
774
+ -0.0422,
775
+ 0.03559,
776
+ 6.51995
777
+ ],
778
+ [
779
+ 0.0,
780
+ 0.0,
781
+ 0.0,
782
+ 1.0
783
+ ]
784
+ ]
785
+ ],
786
+ [
787
+ "002_master_chef_can.object_config.json",
788
+ [
789
+ [
790
+ -0.50084,
791
+ 1e-05,
792
+ -0.86554,
793
+ 0.74147
794
+ ],
795
+ [
796
+ -2e-05,
797
+ 1.0,
798
+ 2e-05,
799
+ 0.9303
800
+ ],
801
+ [
802
+ 0.86554,
803
+ 2e-05,
804
+ -0.50084,
805
+ 7.03217
806
+ ],
807
+ [
808
+ 0.0,
809
+ 0.0,
810
+ 0.0,
811
+ 1.0
812
+ ]
813
+ ]
814
+ ],
815
+ [
816
+ "010_potted_meat_can.object_config.json",
817
+ [
818
+ [
819
+ -0.64636,
820
+ 0.00025,
821
+ 0.76303,
822
+ 0.5216
823
+ ],
824
+ [
825
+ -0.0047,
826
+ 0.99998,
827
+ -0.00431,
828
+ 1.29346
829
+ ],
830
+ [
831
+ -0.76302,
832
+ -0.00637,
833
+ -0.64635,
834
+ 4.55564
835
+ ],
836
+ [
837
+ 0.0,
838
+ 0.0,
839
+ 0.0,
840
+ 1.0
841
+ ]
842
+ ]
843
+ ],
844
+ [
845
+ "005_tomato_soup_can.object_config.json",
846
+ [
847
+ [
848
+ -0.49156,
849
+ -0.00053,
850
+ 0.87084,
851
+ 0.64549
852
+ ],
853
+ [
854
+ -0.00584,
855
+ 0.99998,
856
+ -0.00268,
857
+ 1.30126
858
+ ],
859
+ [
860
+ -0.87083,
861
+ -0.0064,
862
+ -0.49155,
863
+ 4.31976
864
+ ],
865
+ [
866
+ 0.0,
867
+ 0.0,
868
+ 0.0,
869
+ 1.0
870
+ ]
871
+ ]
872
+ ],
873
+ [
874
+ "005_tomato_soup_can.object_config.json",
875
+ [
876
+ [
877
+ -0.8472,
878
+ 0.00021,
879
+ 0.53128,
880
+ 0.65747
881
+ ],
882
+ [
883
+ 0.00021,
884
+ 1.0,
885
+ -6e-05,
886
+ 0.91084
887
+ ],
888
+ [
889
+ -0.53128,
890
+ 6e-05,
891
+ -0.8472,
892
+ 5.14406
893
+ ],
894
+ [
895
+ 0.0,
896
+ 0.0,
897
+ 0.0,
898
+ 1.0
899
+ ]
900
+ ]
901
+ ]
902
+ ],
903
+ "targets": {
904
+ "010_potted_meat_can_:0004": [
905
+ [
906
+ -0.62756,
907
+ 0.0,
908
+ -0.77856,
909
+ 0.37781
910
+ ],
911
+ [
912
+ 0.0,
913
+ 1.0,
914
+ 0.0,
915
+ 0.90087
916
+ ],
917
+ [
918
+ 0.77856,
919
+ 0.0,
920
+ -0.62756,
921
+ 5.62892
922
+ ],
923
+ [
924
+ 0.0,
925
+ 0.0,
926
+ 0.0,
927
+ 1.0
928
+ ]
929
+ ],
930
+ "005_tomato_soup_can_:0001": [
931
+ [
932
+ -0.9925,
933
+ 0.0,
934
+ -0.12227,
935
+ 0.3631
936
+ ],
937
+ [
938
+ 0.0,
939
+ 1.0,
940
+ 0.0,
941
+ 0.91003
942
+ ],
943
+ [
944
+ 0.12227,
945
+ 0.0,
946
+ -0.9925,
947
+ 5.86874
948
+ ],
949
+ [
950
+ 0.0,
951
+ 0.0,
952
+ 0.0,
953
+ 1.0
954
+ ]
955
+ ],
956
+ "005_tomato_soup_can_:0002": [
957
+ [
958
+ 0.78546,
959
+ 0.0,
960
+ 0.61892,
961
+ 0.41975
962
+ ],
963
+ [
964
+ 0.0,
965
+ 1.0,
966
+ 0.0,
967
+ 1.30071
968
+ ],
969
+ [
970
+ -0.61892,
971
+ 0.0,
972
+ 0.78546,
973
+ 4.3644
974
+ ],
975
+ [
976
+ 0.0,
977
+ 0.0,
978
+ 0.0,
979
+ 1.0
980
+ ]
981
+ ]
982
+ },
983
+ "markers": [
984
+ {
985
+ "name": "cab_push_point_7",
986
+ "type": "articulated_object",
987
+ "params": {
988
+ "offset": [
989
+ 0.3,
990
+ 0.0,
991
+ 0
992
+ ],
993
+ "link": "drawer1_top",
994
+ "object": "kitchen_counter_:0000"
995
+ }
996
+ },
997
+ {
998
+ "name": "cab_push_point_6",
999
+ "type": "articulated_object",
1000
+ "params": {
1001
+ "offset": [
1002
+ 0.3,
1003
+ 0.0,
1004
+ 0
1005
+ ],
1006
+ "link": "drawer2_top",
1007
+ "object": "kitchen_counter_:0000"
1008
+ }
1009
+ },
1010
+ {
1011
+ "name": "cab_push_point_5",
1012
+ "type": "articulated_object",
1013
+ "params": {
1014
+ "offset": [
1015
+ 0.3,
1016
+ 0.0,
1017
+ 0
1018
+ ],
1019
+ "link": "drawer3",
1020
+ "object": "kitchen_counter_:0000"
1021
+ }
1022
+ },
1023
+ {
1024
+ "name": "cab_push_point_4",
1025
+ "type": "articulated_object",
1026
+ "params": {
1027
+ "offset": [
1028
+ 0.3,
1029
+ 0.0,
1030
+ 0
1031
+ ],
1032
+ "link": "drawer4",
1033
+ "object": "kitchen_counter_:0000"
1034
+ }
1035
+ },
1036
+ {
1037
+ "name": "fridge_push_point",
1038
+ "type": "articulated_object",
1039
+ "params": {
1040
+ "offset": [
1041
+ 0.1,
1042
+ -0.62,
1043
+ 0.2
1044
+ ],
1045
+ "link": "top_door",
1046
+ "object": "fridge_:0000"
1047
+ }
1048
+ }
1049
+ ],
1050
+ "target_receptacles": [
1051
+ [
1052
+ "fridge_:0000",
1053
+ 0
1054
+ ],
1055
+ [
1056
+ "fridge_:0000",
1057
+ 0
1058
+ ],
1059
+ [
1060
+ "kitchen_counter_:0000",
1061
+ 0
1062
+ ]
1063
+ ],
1064
+ "goal_receptacles": [
1065
+ [
1066
+ "kitchen_counter_:0000",
1067
+ 0
1068
+ ],
1069
+ [
1070
+ "kitchen_counter_:0000",
1071
+ 0
1072
+ ],
1073
+ [
1074
+ "fridge_:0000",
1075
+ 0
1076
+ ]
1077
+ ]
1078
+ }
rearrange/v1_extracted/train/prepare_groceries/episode_1029.json ADDED
@@ -0,0 +1,1078 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_id": "1029",
3
+ "scene_id": "data/replica_cad/configs/scenes/v3_sc2_staging_08.scene_instance.json",
4
+ "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
5
+ "additional_obj_config_paths": [
6
+ "data/objects/ycb/"
7
+ ],
8
+ "start_position": [
9
+ 0,
10
+ 0,
11
+ 0
12
+ ],
13
+ "start_rotation": [
14
+ 0,
15
+ 0,
16
+ 0,
17
+ 1
18
+ ],
19
+ "info": {
20
+ "object_labels": {
21
+ "004_sugar_box_:0008": "obj0_target|0",
22
+ "002_master_chef_can_:0001": "obj1_target|1",
23
+ "009_gelatin_box_:0001": "obj2_target|2"
24
+ }
25
+ },
26
+ "ao_states": {
27
+ "fridge_:0000": {
28
+ "2": 1.5
29
+ }
30
+ },
31
+ "rigid_objs": [
32
+ [
33
+ "007_tuna_fish_can.object_config.json",
34
+ [
35
+ [
36
+ 0.95834,
37
+ 0.0,
38
+ -0.28563,
39
+ 2.74591
40
+ ],
41
+ [
42
+ -0.0,
43
+ 1.0,
44
+ -1e-05,
45
+ 0.42105
46
+ ],
47
+ [
48
+ 0.28563,
49
+ 1e-05,
50
+ 0.95834,
51
+ 4.69745
52
+ ],
53
+ [
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 1.0
58
+ ]
59
+ ]
60
+ ],
61
+ [
62
+ "008_pudding_box.object_config.json",
63
+ [
64
+ [
65
+ 0.3021,
66
+ -0.02049,
67
+ 0.95305,
68
+ 2.95091
69
+ ],
70
+ [
71
+ -0.00511,
72
+ 0.99972,
73
+ 0.02311,
74
+ 0.43453
75
+ ],
76
+ [
77
+ -0.95326,
78
+ -0.01185,
79
+ 0.30191,
80
+ 1.42878
81
+ ],
82
+ [
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ 1.0
87
+ ]
88
+ ]
89
+ ],
90
+ [
91
+ "007_tuna_fish_can.object_config.json",
92
+ [
93
+ [
94
+ -0.98524,
95
+ 0.0,
96
+ 0.1712,
97
+ -1.97228
98
+ ],
99
+ [
100
+ 0.0,
101
+ 1.0,
102
+ -0.0,
103
+ 0.87655
104
+ ],
105
+ [
106
+ -0.1712,
107
+ -0.0,
108
+ -0.98524,
109
+ 0.5953
110
+ ],
111
+ [
112
+ 0.0,
113
+ 0.0,
114
+ 0.0,
115
+ 1.0
116
+ ]
117
+ ]
118
+ ],
119
+ [
120
+ "008_pudding_box.object_config.json",
121
+ [
122
+ [
123
+ -0.97811,
124
+ -0.00087,
125
+ -0.20807,
126
+ 3.14741
127
+ ],
128
+ [
129
+ -0.00589,
130
+ 0.99971,
131
+ 0.02351,
132
+ 0.43438
133
+ ],
134
+ [
135
+ 0.20799,
136
+ 0.02422,
137
+ -0.97783,
138
+ 1.5895
139
+ ],
140
+ [
141
+ 0.0,
142
+ 0.0,
143
+ 0.0,
144
+ 1.0
145
+ ]
146
+ ]
147
+ ],
148
+ [
149
+ "004_sugar_box.object_config.json",
150
+ [
151
+ [
152
+ -0.65544,
153
+ 0.00756,
154
+ 0.75521,
155
+ 3.11596
156
+ ],
157
+ [
158
+ 0.04011,
159
+ 0.99889,
160
+ 0.02481,
161
+ 0.50299
162
+ ],
163
+ [
164
+ -0.75418,
165
+ 0.04655,
166
+ -0.65501,
167
+ 1.43479
168
+ ],
169
+ [
170
+ 0.0,
171
+ 0.0,
172
+ 0.0,
173
+ 1.0
174
+ ]
175
+ ]
176
+ ],
177
+ [
178
+ "010_potted_meat_can.object_config.json",
179
+ [
180
+ [
181
+ -0.08768,
182
+ -0.00103,
183
+ -0.99615,
184
+ -2.3165
185
+ ],
186
+ [
187
+ 0.00523,
188
+ 0.99999,
189
+ -0.0015,
190
+ 1.29393
191
+ ],
192
+ [
193
+ 0.99613,
194
+ -0.00534,
195
+ -0.08767,
196
+ -0.06531
197
+ ],
198
+ [
199
+ 0.0,
200
+ 0.0,
201
+ 0.0,
202
+ 1.0
203
+ ]
204
+ ]
205
+ ],
206
+ [
207
+ "003_cracker_box.object_config.json",
208
+ [
209
+ [
210
+ 0.86838,
211
+ 0.03517,
212
+ -0.49465,
213
+ 2.27736
214
+ ],
215
+ [
216
+ -0.04468,
217
+ 0.99897,
218
+ -0.00741,
219
+ 0.86938
220
+ ],
221
+ [
222
+ 0.49388,
223
+ 0.02853,
224
+ 0.86906,
225
+ 7.49759
226
+ ],
227
+ [
228
+ 0.0,
229
+ 0.0,
230
+ 0.0,
231
+ 1.0
232
+ ]
233
+ ]
234
+ ],
235
+ [
236
+ "008_pudding_box.object_config.json",
237
+ [
238
+ [
239
+ 0.12178,
240
+ 0.0202,
241
+ -0.99235,
242
+ -2.06372
243
+ ],
244
+ [
245
+ -0.00496,
246
+ 0.99979,
247
+ 0.01974,
248
+ 0.87928
249
+ ],
250
+ [
251
+ 0.99254,
252
+ 0.00252,
253
+ 0.12186,
254
+ 0.22491
255
+ ],
256
+ [
257
+ 0.0,
258
+ 0.0,
259
+ 0.0,
260
+ 1.0
261
+ ]
262
+ ]
263
+ ],
264
+ [
265
+ "008_pudding_box.object_config.json",
266
+ [
267
+ [
268
+ 0.51826,
269
+ 0.02385,
270
+ -0.85489,
271
+ -2.01335
272
+ ],
273
+ [
274
+ -0.00546,
275
+ 0.99968,
276
+ 0.02458,
277
+ 0.87932
278
+ ],
279
+ [
280
+ 0.85521,
281
+ -0.00808,
282
+ 0.51823,
283
+ 2.48588
284
+ ],
285
+ [
286
+ 0.0,
287
+ 0.0,
288
+ 0.0,
289
+ 1.0
290
+ ]
291
+ ]
292
+ ],
293
+ [
294
+ "004_sugar_box.object_config.json",
295
+ [
296
+ [
297
+ -0.77038,
298
+ 0.03715,
299
+ -0.6365,
300
+ 3.14388
301
+ ],
302
+ [
303
+ 0.03106,
304
+ 0.9993,
305
+ 0.02073,
306
+ 0.50303
307
+ ],
308
+ [
309
+ 0.63683,
310
+ -0.0038,
311
+ -0.771,
312
+ 1.27979
313
+ ],
314
+ [
315
+ 0.0,
316
+ 0.0,
317
+ 0.0,
318
+ 1.0
319
+ ]
320
+ ]
321
+ ],
322
+ [
323
+ "009_gelatin_box.object_config.json",
324
+ [
325
+ [
326
+ -0.51137,
327
+ -2e-05,
328
+ 0.85936,
329
+ 0.95062
330
+ ],
331
+ [
332
+ -1e-05,
333
+ 1.0,
334
+ 1e-05,
335
+ 0.42998
336
+ ],
337
+ [
338
+ -0.85936,
339
+ -0.0,
340
+ -0.51137,
341
+ 7.60256
342
+ ],
343
+ [
344
+ 0.0,
345
+ 0.0,
346
+ 0.0,
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ [
352
+ "005_tomato_soup_can.object_config.json",
353
+ [
354
+ [
355
+ 0.11413,
356
+ -4e-05,
357
+ -0.99347,
358
+ 0.98657
359
+ ],
360
+ [
361
+ 0.0001,
362
+ 1.0,
363
+ -3e-05,
364
+ 0.46605
365
+ ],
366
+ [
367
+ 0.99347,
368
+ -9e-05,
369
+ 0.11413,
370
+ 7.45115
371
+ ],
372
+ [
373
+ 0.0,
374
+ 0.0,
375
+ 0.0,
376
+ 1.0
377
+ ]
378
+ ]
379
+ ],
380
+ [
381
+ "005_tomato_soup_can.object_config.json",
382
+ [
383
+ [
384
+ 0.05315,
385
+ -0.00198,
386
+ -0.99858,
387
+ 1.02342
388
+ ],
389
+ [
390
+ 0.00117,
391
+ 1.0,
392
+ -0.00192,
393
+ 0.46616
394
+ ],
395
+ [
396
+ 0.99859,
397
+ -0.00107,
398
+ 0.05315,
399
+ 7.35504
400
+ ],
401
+ [
402
+ 0.0,
403
+ 0.0,
404
+ 0.0,
405
+ 1.0
406
+ ]
407
+ ]
408
+ ],
409
+ [
410
+ "004_sugar_box.object_config.json",
411
+ [
412
+ [
413
+ -0.36766,
414
+ -0.00823,
415
+ 0.92992,
416
+ -2.09221
417
+ ],
418
+ [
419
+ 0.03911,
420
+ 0.99894,
421
+ 0.02431,
422
+ 0.9477
423
+ ],
424
+ [
425
+ -0.92914,
426
+ 0.0453,
427
+ -0.36695,
428
+ 0.40374
429
+ ],
430
+ [
431
+ 0.0,
432
+ 0.0,
433
+ 0.0,
434
+ 1.0
435
+ ]
436
+ ]
437
+ ],
438
+ [
439
+ "002_master_chef_can.object_config.json",
440
+ [
441
+ [
442
+ -0.29424,
443
+ -5e-05,
444
+ -0.95573,
445
+ 0.19296
446
+ ],
447
+ [
448
+ 8e-05,
449
+ 1.0,
450
+ -8e-05,
451
+ 1.00477
452
+ ],
453
+ [
454
+ 0.95573,
455
+ -0.0001,
456
+ -0.29424,
457
+ 3.02196
458
+ ],
459
+ [
460
+ 0.0,
461
+ 0.0,
462
+ 0.0,
463
+ 1.0
464
+ ]
465
+ ]
466
+ ],
467
+ [
468
+ "008_pudding_box.object_config.json",
469
+ [
470
+ [
471
+ 0.30583,
472
+ 0.02417,
473
+ -0.95178,
474
+ 3.4567
475
+ ],
476
+ [
477
+ -0.0059,
478
+ 0.99971,
479
+ 0.02349,
480
+ 0.42377
481
+ ],
482
+ [
483
+ 0.95207,
484
+ -0.00157,
485
+ 0.30589,
486
+ 4.78359
487
+ ],
488
+ [
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 1.0
493
+ ]
494
+ ]
495
+ ],
496
+ [
497
+ "010_potted_meat_can.object_config.json",
498
+ [
499
+ [
500
+ 0.99742,
501
+ 3e-05,
502
+ -0.07173,
503
+ -1.96235
504
+ ],
505
+ [
506
+ -4e-05,
507
+ 1.0,
508
+ -0.00014,
509
+ 0.90168
510
+ ],
511
+ [
512
+ 0.07173,
513
+ 0.00014,
514
+ 0.99742,
515
+ 1.22571
516
+ ],
517
+ [
518
+ 0.0,
519
+ 0.0,
520
+ 0.0,
521
+ 1.0
522
+ ]
523
+ ]
524
+ ],
525
+ [
526
+ "008_pudding_box.object_config.json",
527
+ [
528
+ [
529
+ -0.70411,
530
+ 0.01181,
531
+ -0.70999,
532
+ -2.25592
533
+ ],
534
+ [
535
+ -0.00562,
536
+ 0.99974,
537
+ 0.0222,
538
+ 0.87927
539
+ ],
540
+ [
541
+ 0.71007,
542
+ 0.01962,
543
+ -0.70386,
544
+ 1.12617
545
+ ],
546
+ [
547
+ 0.0,
548
+ 0.0,
549
+ 0.0,
550
+ 1.0
551
+ ]
552
+ ]
553
+ ],
554
+ [
555
+ "004_sugar_box.object_config.json",
556
+ [
557
+ [
558
+ 0.81984,
559
+ -0.04619,
560
+ 0.57073,
561
+ 2.52538
562
+ ],
563
+ [
564
+ 0.04134,
565
+ 0.99891,
566
+ 0.02146,
567
+ 0.85076
568
+ ],
569
+ [
570
+ -0.5711,
571
+ 0.006,
572
+ 0.82086,
573
+ 7.4678
574
+ ],
575
+ [
576
+ 0.0,
577
+ 0.0,
578
+ 0.0,
579
+ 1.0
580
+ ]
581
+ ]
582
+ ],
583
+ [
584
+ "004_sugar_box.object_config.json",
585
+ [
586
+ [
587
+ -0.95861,
588
+ 0.04381,
589
+ -0.28132,
590
+ 0.82547
591
+ ],
592
+ [
593
+ 0.03886,
594
+ 0.99898,
595
+ 0.02317,
596
+ 0.50308
597
+ ],
598
+ [
599
+ 0.28205,
600
+ 0.01128,
601
+ -0.95933,
602
+ 7.58007
603
+ ],
604
+ [
605
+ 0.0,
606
+ 0.0,
607
+ 0.0,
608
+ 1.0
609
+ ]
610
+ ]
611
+ ],
612
+ [
613
+ "004_sugar_box.object_config.json",
614
+ [
615
+ [
616
+ 0.97474,
617
+ -0.03275,
618
+ -0.22091,
619
+ 2.53659
620
+ ],
621
+ [
622
+ 0.03906,
623
+ 0.99894,
624
+ 0.02427,
625
+ 0.85067
626
+ ],
627
+ [
628
+ 0.21988,
629
+ -0.03228,
630
+ 0.97499,
631
+ 7.75359
632
+ ],
633
+ [
634
+ 0.0,
635
+ 0.0,
636
+ 0.0,
637
+ 1.0
638
+ ]
639
+ ]
640
+ ],
641
+ [
642
+ "004_sugar_box.object_config.json",
643
+ [
644
+ [
645
+ 0.94576,
646
+ -0.04208,
647
+ 0.32213,
648
+ 3.31757
649
+ ],
650
+ [
651
+ 0.03686,
652
+ 0.99907,
653
+ 0.0223,
654
+ 0.50287
655
+ ],
656
+ [
657
+ -0.32277,
658
+ -0.00922,
659
+ 0.94643,
660
+ 1.38213
661
+ ],
662
+ [
663
+ 0.0,
664
+ 0.0,
665
+ 0.0,
666
+ 1.0
667
+ ]
668
+ ]
669
+ ],
670
+ [
671
+ "024_bowl.object_config.json",
672
+ [
673
+ [
674
+ -0.66173,
675
+ -7e-05,
676
+ -0.74975,
677
+ 0.30068
678
+ ],
679
+ [
680
+ -5e-05,
681
+ 1.0,
682
+ -5e-05,
683
+ 0.96166
684
+ ],
685
+ [
686
+ 0.74975,
687
+ 1e-05,
688
+ -0.66173,
689
+ 3.29824
690
+ ],
691
+ [
692
+ 0.0,
693
+ 0.0,
694
+ 0.0,
695
+ 1.0
696
+ ]
697
+ ]
698
+ ],
699
+ [
700
+ "005_tomato_soup_can.object_config.json",
701
+ [
702
+ [
703
+ -0.8157,
704
+ 0.00012,
705
+ -0.57848,
706
+ -2.17281
707
+ ],
708
+ [
709
+ 0.00015,
710
+ 1.0,
711
+ -1e-05,
712
+ 0.91084
713
+ ],
714
+ [
715
+ 0.57848,
716
+ -9e-05,
717
+ -0.8157,
718
+ 0.71849
719
+ ],
720
+ [
721
+ 0.0,
722
+ 0.0,
723
+ 0.0,
724
+ 1.0
725
+ ]
726
+ ]
727
+ ],
728
+ [
729
+ "003_cracker_box.object_config.json",
730
+ [
731
+ [
732
+ 0.98272,
733
+ 0.04316,
734
+ -0.18001,
735
+ -0.33119
736
+ ],
737
+ [
738
+ -0.04522,
739
+ 0.99895,
740
+ -0.00734,
741
+ 1.04075
742
+ ],
743
+ [
744
+ 0.17951,
745
+ 0.01535,
746
+ 0.98364,
747
+ 3.70354
748
+ ],
749
+ [
750
+ 0.0,
751
+ 0.0,
752
+ 0.0,
753
+ 1.0
754
+ ]
755
+ ]
756
+ ],
757
+ [
758
+ "004_sugar_box.object_config.json",
759
+ [
760
+ [
761
+ -0.41337,
762
+ 0.03607,
763
+ -0.90985,
764
+ 1.47635
765
+ ],
766
+ [
767
+ 0.03425,
768
+ 0.99912,
769
+ 0.02405,
770
+ 0.85079
771
+ ],
772
+ [
773
+ 0.90992,
774
+ -0.02122,
775
+ -0.41424,
776
+ 7.6185
777
+ ],
778
+ [
779
+ 0.0,
780
+ 0.0,
781
+ 0.0,
782
+ 1.0
783
+ ]
784
+ ]
785
+ ],
786
+ [
787
+ "010_potted_meat_can.object_config.json",
788
+ [
789
+ [
790
+ -0.99952,
791
+ -0.00386,
792
+ 0.03062,
793
+ 0.85186
794
+ ],
795
+ [
796
+ -0.00409,
797
+ 0.99996,
798
+ -0.00769,
799
+ 0.45697
800
+ ],
801
+ [
802
+ -0.03059,
803
+ -0.00781,
804
+ -0.9995,
805
+ 7.43127
806
+ ],
807
+ [
808
+ 0.0,
809
+ 0.0,
810
+ 0.0,
811
+ 1.0
812
+ ]
813
+ ]
814
+ ],
815
+ [
816
+ "004_sugar_box.object_config.json",
817
+ [
818
+ [
819
+ 0.84058,
820
+ -0.04596,
821
+ 0.53973,
822
+ -2.30035
823
+ ],
824
+ [
825
+ 0.0359,
826
+ 0.99893,
827
+ 0.02916,
828
+ 1.33817
829
+ ],
830
+ [
831
+ -0.5405,
832
+ -0.00513,
833
+ 0.84133,
834
+ -0.37038
835
+ ],
836
+ [
837
+ 0.0,
838
+ 0.0,
839
+ 0.0,
840
+ 1.0
841
+ ]
842
+ ]
843
+ ],
844
+ [
845
+ "002_master_chef_can.object_config.json",
846
+ [
847
+ [
848
+ -0.45216,
849
+ 0.00088,
850
+ -0.89194,
851
+ -2.09547
852
+ ],
853
+ [
854
+ 0.0043,
855
+ 0.99999,
856
+ -0.00119,
857
+ 1.32227
858
+ ],
859
+ [
860
+ 0.89193,
861
+ -0.00437,
862
+ -0.45216,
863
+ -0.12075
864
+ ],
865
+ [
866
+ 0.0,
867
+ 0.0,
868
+ 0.0,
869
+ 1.0
870
+ ]
871
+ ]
872
+ ],
873
+ [
874
+ "009_gelatin_box.object_config.json",
875
+ [
876
+ [
877
+ 0.04823,
878
+ 0.0,
879
+ -0.99884,
880
+ -2.04544
881
+ ],
882
+ [
883
+ -0.0,
884
+ 1.0,
885
+ 0.0,
886
+ 0.87476
887
+ ],
888
+ [
889
+ 0.99884,
890
+ 0.0,
891
+ 0.04823,
892
+ 0.69874
893
+ ],
894
+ [
895
+ 0.0,
896
+ 0.0,
897
+ 0.0,
898
+ 1.0
899
+ ]
900
+ ]
901
+ ]
902
+ ],
903
+ "targets": {
904
+ "004_sugar_box_:0008": [
905
+ [
906
+ 0.84443,
907
+ 0.0,
908
+ 0.53566,
909
+ -2.32441
910
+ ],
911
+ [
912
+ 0.0,
913
+ 1.0,
914
+ 0.0,
915
+ 0.94711
916
+ ],
917
+ [
918
+ -0.53566,
919
+ 0.0,
920
+ 0.84443,
921
+ 1.4511
922
+ ],
923
+ [
924
+ 0.0,
925
+ 0.0,
926
+ 0.0,
927
+ 1.0
928
+ ]
929
+ ],
930
+ "002_master_chef_can_:0001": [
931
+ [
932
+ -0.94357,
933
+ 0.0,
934
+ 0.33117,
935
+ -2.04752
936
+ ],
937
+ [
938
+ 0.0,
939
+ 1.0,
940
+ 0.0,
941
+ 0.92919
942
+ ],
943
+ [
944
+ -0.33117,
945
+ 0.0,
946
+ -0.94357,
947
+ 1.43718
948
+ ],
949
+ [
950
+ 0.0,
951
+ 0.0,
952
+ 0.0,
953
+ 1.0
954
+ ]
955
+ ],
956
+ "009_gelatin_box_:0001": [
957
+ [
958
+ 0.64079,
959
+ 0.0,
960
+ -0.76771,
961
+ -2.11854
962
+ ],
963
+ [
964
+ 0.0,
965
+ 1.0,
966
+ 0.0,
967
+ 1.26458
968
+ ],
969
+ [
970
+ 0.76771,
971
+ 0.0,
972
+ 0.64079,
973
+ -0.37601
974
+ ],
975
+ [
976
+ 0.0,
977
+ 0.0,
978
+ 0.0,
979
+ 1.0
980
+ ]
981
+ ]
982
+ },
983
+ "markers": [
984
+ {
985
+ "name": "cab_push_point_7",
986
+ "type": "articulated_object",
987
+ "params": {
988
+ "offset": [
989
+ 0.3,
990
+ 0.0,
991
+ 0
992
+ ],
993
+ "link": "drawer1_top",
994
+ "object": "kitchen_counter_:0000"
995
+ }
996
+ },
997
+ {
998
+ "name": "cab_push_point_6",
999
+ "type": "articulated_object",
1000
+ "params": {
1001
+ "offset": [
1002
+ 0.3,
1003
+ 0.0,
1004
+ 0
1005
+ ],
1006
+ "link": "drawer2_top",
1007
+ "object": "kitchen_counter_:0000"
1008
+ }
1009
+ },
1010
+ {
1011
+ "name": "cab_push_point_5",
1012
+ "type": "articulated_object",
1013
+ "params": {
1014
+ "offset": [
1015
+ 0.3,
1016
+ 0.0,
1017
+ 0
1018
+ ],
1019
+ "link": "drawer3",
1020
+ "object": "kitchen_counter_:0000"
1021
+ }
1022
+ },
1023
+ {
1024
+ "name": "cab_push_point_4",
1025
+ "type": "articulated_object",
1026
+ "params": {
1027
+ "offset": [
1028
+ 0.3,
1029
+ 0.0,
1030
+ 0
1031
+ ],
1032
+ "link": "drawer4",
1033
+ "object": "kitchen_counter_:0000"
1034
+ }
1035
+ },
1036
+ {
1037
+ "name": "fridge_push_point",
1038
+ "type": "articulated_object",
1039
+ "params": {
1040
+ "offset": [
1041
+ 0.1,
1042
+ -0.62,
1043
+ 0.2
1044
+ ],
1045
+ "link": "top_door",
1046
+ "object": "fridge_:0000"
1047
+ }
1048
+ }
1049
+ ],
1050
+ "target_receptacles": [
1051
+ [
1052
+ "fridge_:0000",
1053
+ 0
1054
+ ],
1055
+ [
1056
+ "fridge_:0000",
1057
+ 0
1058
+ ],
1059
+ [
1060
+ "kitchen_counter_:0000",
1061
+ 0
1062
+ ]
1063
+ ],
1064
+ "goal_receptacles": [
1065
+ [
1066
+ "kitchen_counter_:0000",
1067
+ 0
1068
+ ],
1069
+ [
1070
+ "kitchen_counter_:0000",
1071
+ 0
1072
+ ],
1073
+ [
1074
+ "fridge_:0000",
1075
+ 0
1076
+ ]
1077
+ ]
1078
+ }
rearrange/v1_extracted/train/prepare_groceries/episode_103.json ADDED
@@ -0,0 +1,1078 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_id": "103",
3
+ "scene_id": "data/replica_cad/configs/scenes/v3_sc2_staging_17.scene_instance.json",
4
+ "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
5
+ "additional_obj_config_paths": [
6
+ "data/objects/ycb/"
7
+ ],
8
+ "start_position": [
9
+ 0,
10
+ 0,
11
+ 0
12
+ ],
13
+ "start_rotation": [
14
+ 0,
15
+ 0,
16
+ 0,
17
+ 1
18
+ ],
19
+ "info": {
20
+ "object_labels": {
21
+ "004_sugar_box_:0002": "obj0_target|0",
22
+ "008_pudding_box_:0005": "obj1_target|1",
23
+ "005_tomato_soup_can_:0004": "obj2_target|2"
24
+ }
25
+ },
26
+ "ao_states": {
27
+ "fridge_:0000": {
28
+ "2": 1.5
29
+ }
30
+ },
31
+ "rigid_objs": [
32
+ [
33
+ "007_tuna_fish_can.object_config.json",
34
+ [
35
+ [
36
+ -0.85727,
37
+ 0.0,
38
+ -0.51487,
39
+ 0.66529
40
+ ],
41
+ [
42
+ -0.0,
43
+ 1.0,
44
+ 1e-05,
45
+ 0.42105
46
+ ],
47
+ [
48
+ 0.51487,
49
+ 1e-05,
50
+ -0.85727,
51
+ 3.4243
52
+ ],
53
+ [
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 1.0
58
+ ]
59
+ ]
60
+ ],
61
+ [
62
+ "005_tomato_soup_can.object_config.json",
63
+ [
64
+ [
65
+ 0.93342,
66
+ 0.00019,
67
+ -0.35877,
68
+ -2.33327
69
+ ],
70
+ [
71
+ -0.0002,
72
+ 1.0,
73
+ 1e-05,
74
+ 0.91083
75
+ ],
76
+ [
77
+ 0.35877,
78
+ 7e-05,
79
+ 0.93342,
80
+ 2.66928
81
+ ],
82
+ [
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ 1.0
87
+ ]
88
+ ]
89
+ ],
90
+ [
91
+ "005_tomato_soup_can.object_config.json",
92
+ [
93
+ [
94
+ -0.90288,
95
+ 0.0001,
96
+ -0.42989,
97
+ 0.98369
98
+ ],
99
+ [
100
+ 7e-05,
101
+ 1.0,
102
+ 7e-05,
103
+ 0.81371
104
+ ],
105
+ [
106
+ 0.42989,
107
+ 3e-05,
108
+ -0.90288,
109
+ 4.35045
110
+ ],
111
+ [
112
+ 0.0,
113
+ 0.0,
114
+ 0.0,
115
+ 1.0
116
+ ]
117
+ ]
118
+ ],
119
+ [
120
+ "008_pudding_box.object_config.json",
121
+ [
122
+ [
123
+ -0.10106,
124
+ -0.02381,
125
+ 0.9946,
126
+ -2.38402
127
+ ],
128
+ [
129
+ -0.01161,
130
+ 0.99967,
131
+ 0.02276,
132
+ 0.11897
133
+ ],
134
+ [
135
+ -0.99481,
136
+ -0.00925,
137
+ -0.1013,
138
+ -0.44469
139
+ ],
140
+ [
141
+ 0.0,
142
+ 0.0,
143
+ 0.0,
144
+ 1.0
145
+ ]
146
+ ]
147
+ ],
148
+ [
149
+ "005_tomato_soup_can.object_config.json",
150
+ [
151
+ [
152
+ 0.30842,
153
+ 0.00271,
154
+ -0.95125,
155
+ 0.45641
156
+ ],
157
+ [
158
+ 0.0007,
159
+ 0.99999,
160
+ 0.00308,
161
+ 0.45543
162
+ ],
163
+ [
164
+ 0.95125,
165
+ -0.00161,
166
+ 0.30842,
167
+ 3.19046
168
+ ],
169
+ [
170
+ 0.0,
171
+ 0.0,
172
+ 0.0,
173
+ 1.0
174
+ ]
175
+ ]
176
+ ],
177
+ [
178
+ "003_cracker_box.object_config.json",
179
+ [
180
+ [
181
+ -0.19544,
182
+ -0.01243,
183
+ -0.98064,
184
+ 3.69449
185
+ ],
186
+ [
187
+ -0.15239,
188
+ 0.98816,
189
+ 0.01784,
190
+ 0.52191
191
+ ],
192
+ [
193
+ 0.9688,
194
+ 0.15292,
195
+ -0.19502,
196
+ -0.4545
197
+ ],
198
+ [
199
+ 0.0,
200
+ 0.0,
201
+ 0.0,
202
+ 1.0
203
+ ]
204
+ ]
205
+ ],
206
+ [
207
+ "010_potted_meat_can.object_config.json",
208
+ [
209
+ [
210
+ 0.98231,
211
+ -0.00018,
212
+ -0.18728,
213
+ 3.33715
214
+ ],
215
+ [
216
+ 0.00051,
217
+ 1.0,
218
+ 0.00175,
219
+ 0.4568
220
+ ],
221
+ [
222
+ 0.18728,
223
+ -0.00182,
224
+ 0.9823,
225
+ 0.85303
226
+ ],
227
+ [
228
+ 0.0,
229
+ 0.0,
230
+ 0.0,
231
+ 1.0
232
+ ]
233
+ ]
234
+ ],
235
+ [
236
+ "024_bowl.object_config.json",
237
+ [
238
+ [
239
+ -0.08288,
240
+ 2e-05,
241
+ -0.99656,
242
+ 3.12073
243
+ ],
244
+ [
245
+ -2e-05,
246
+ 1.0,
247
+ 2e-05,
248
+ 0.4423
249
+ ],
250
+ [
251
+ 0.99656,
252
+ 2e-05,
253
+ -0.08288,
254
+ 0.77428
255
+ ],
256
+ [
257
+ 0.0,
258
+ 0.0,
259
+ 0.0,
260
+ 1.0
261
+ ]
262
+ ]
263
+ ],
264
+ [
265
+ "004_sugar_box.object_config.json",
266
+ [
267
+ [
268
+ 0.90748,
269
+ -0.00448,
270
+ -0.42007,
271
+ -2.15319
272
+ ],
273
+ [
274
+ 0.01254,
275
+ 0.99979,
276
+ 0.01644,
277
+ 0.79505
278
+ ],
279
+ [
280
+ 0.41991,
281
+ -0.02019,
282
+ 0.90734,
283
+ 1.83791
284
+ ],
285
+ [
286
+ 0.0,
287
+ 0.0,
288
+ 0.0,
289
+ 1.0
290
+ ]
291
+ ]
292
+ ],
293
+ [
294
+ "005_tomato_soup_can.object_config.json",
295
+ [
296
+ [
297
+ 0.63466,
298
+ -0.0241,
299
+ 0.77241,
300
+ 1.84762
301
+ ],
302
+ [
303
+ 0.03818,
304
+ 0.99927,
305
+ -0.00019,
306
+ 0.45604
307
+ ],
308
+ [
309
+ -0.77185,
310
+ 0.02961,
311
+ 0.63512,
312
+ 3.20794
313
+ ],
314
+ [
315
+ 0.0,
316
+ 0.0,
317
+ 0.0,
318
+ 1.0
319
+ ]
320
+ ]
321
+ ],
322
+ [
323
+ "002_master_chef_can.object_config.json",
324
+ [
325
+ [
326
+ -0.95266,
327
+ -7e-05,
328
+ -0.30404,
329
+ 0.93366
330
+ ],
331
+ [
332
+ -8e-05,
333
+ 1.0,
334
+ 3e-05,
335
+ 0.4748
336
+ ],
337
+ [
338
+ 0.30404,
339
+ 6e-05,
340
+ -0.95266,
341
+ 3.07231
342
+ ],
343
+ [
344
+ 0.0,
345
+ 0.0,
346
+ 0.0,
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ [
352
+ "024_bowl.object_config.json",
353
+ [
354
+ [
355
+ -0.77426,
356
+ 0.00375,
357
+ -0.63286,
358
+ 3.31372
359
+ ],
360
+ [
361
+ 0.00333,
362
+ 0.99999,
363
+ 0.00186,
364
+ 0.44237
365
+ ],
366
+ [
367
+ 0.63286,
368
+ -0.00066,
369
+ -0.77426,
370
+ 0.68983
371
+ ],
372
+ [
373
+ 0.0,
374
+ 0.0,
375
+ 0.0,
376
+ 1.0
377
+ ]
378
+ ]
379
+ ],
380
+ [
381
+ "007_tuna_fish_can.object_config.json",
382
+ [
383
+ [
384
+ -0.45232,
385
+ -1e-05,
386
+ 0.89186,
387
+ 1.79554
388
+ ],
389
+ [
390
+ -0.0,
391
+ 1.0,
392
+ 1e-05,
393
+ 0.77952
394
+ ],
395
+ [
396
+ -0.89186,
397
+ 0.0,
398
+ -0.45232,
399
+ 4.11053
400
+ ],
401
+ [
402
+ 0.0,
403
+ 0.0,
404
+ 0.0,
405
+ 1.0
406
+ ]
407
+ ]
408
+ ],
409
+ [
410
+ "010_potted_meat_can.object_config.json",
411
+ [
412
+ [
413
+ 0.21258,
414
+ -0.00017,
415
+ -0.97714,
416
+ -2.22478
417
+ ],
418
+ [
419
+ -8e-05,
420
+ 1.0,
421
+ -0.00019,
422
+ 0.74914
423
+ ],
424
+ [
425
+ 0.97714,
426
+ 0.00012,
427
+ 0.21258,
428
+ 1.88768
429
+ ],
430
+ [
431
+ 0.0,
432
+ 0.0,
433
+ 0.0,
434
+ 1.0
435
+ ]
436
+ ]
437
+ ],
438
+ [
439
+ "008_pudding_box.object_config.json",
440
+ [
441
+ [
442
+ -0.78083,
443
+ -0.01929,
444
+ 0.62444,
445
+ -2.10078
446
+ ],
447
+ [
448
+ -0.00591,
449
+ 0.99971,
450
+ 0.02349,
451
+ 0.87927
452
+ ],
453
+ [
454
+ -0.62471,
455
+ 0.01466,
456
+ -0.78072,
457
+ 0.50586
458
+ ],
459
+ [
460
+ 0.0,
461
+ 0.0,
462
+ 0.0,
463
+ 1.0
464
+ ]
465
+ ]
466
+ ],
467
+ [
468
+ "010_potted_meat_can.object_config.json",
469
+ [
470
+ [
471
+ -0.47703,
472
+ 7e-05,
473
+ 0.87889,
474
+ -2.46344
475
+ ],
476
+ [
477
+ -3e-05,
478
+ 1.0,
479
+ -9e-05,
480
+ 0.90168
481
+ ],
482
+ [
483
+ -0.87889,
484
+ -7e-05,
485
+ -0.47703,
486
+ 0.25241
487
+ ],
488
+ [
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 1.0
493
+ ]
494
+ ]
495
+ ],
496
+ [
497
+ "024_bowl.object_config.json",
498
+ [
499
+ [
500
+ -0.09402,
501
+ 2e-05,
502
+ -0.99557,
503
+ -2.38458
504
+ ],
505
+ [
506
+ 0.0,
507
+ 1.0,
508
+ 2e-05,
509
+ 0.88719
510
+ ],
511
+ [
512
+ 0.99557,
513
+ 0.0,
514
+ -0.09402,
515
+ 0.65082
516
+ ],
517
+ [
518
+ 0.0,
519
+ 0.0,
520
+ 0.0,
521
+ 1.0
522
+ ]
523
+ ]
524
+ ],
525
+ [
526
+ "024_bowl.object_config.json",
527
+ [
528
+ [
529
+ -0.84773,
530
+ -0.0006,
531
+ -0.53043,
532
+ -2.23321
533
+ ],
534
+ [
535
+ 0.00238,
536
+ 0.99999,
537
+ -0.00493,
538
+ 1.2793
539
+ ],
540
+ [
541
+ 0.53042,
542
+ -0.00544,
543
+ -0.84772,
544
+ -0.07959
545
+ ],
546
+ [
547
+ 0.0,
548
+ 0.0,
549
+ 0.0,
550
+ 1.0
551
+ ]
552
+ ]
553
+ ],
554
+ [
555
+ "009_gelatin_box.object_config.json",
556
+ [
557
+ [
558
+ -0.92414,
559
+ -3e-05,
560
+ -0.38204,
561
+ 3.84934
562
+ ],
563
+ [
564
+ -6e-05,
565
+ 1.0,
566
+ 5e-05,
567
+ 0.42998
568
+ ],
569
+ [
570
+ 0.38204,
571
+ 7e-05,
572
+ -0.92414,
573
+ -0.47456
574
+ ],
575
+ [
576
+ 0.0,
577
+ 0.0,
578
+ 0.0,
579
+ 1.0
580
+ ]
581
+ ]
582
+ ],
583
+ [
584
+ "002_master_chef_can.object_config.json",
585
+ [
586
+ [
587
+ -0.98314,
588
+ -0.00144,
589
+ 0.18285,
590
+ 1.18573
591
+ ],
592
+ [
593
+ -0.00119,
594
+ 1.0,
595
+ 0.00151,
596
+ 0.83304
597
+ ],
598
+ [
599
+ -0.18285,
600
+ 0.00127,
601
+ -0.98314,
602
+ 4.19847
603
+ ],
604
+ [
605
+ 0.0,
606
+ 0.0,
607
+ 0.0,
608
+ 1.0
609
+ ]
610
+ ]
611
+ ],
612
+ [
613
+ "008_pudding_box.object_config.json",
614
+ [
615
+ [
616
+ -0.45404,
617
+ 0.01825,
618
+ -0.89079,
619
+ 3.57533
620
+ ],
621
+ [
622
+ -0.0059,
623
+ 0.99971,
624
+ 0.0235,
625
+ 0.43449
626
+ ],
627
+ [
628
+ 0.89096,
629
+ 0.01593,
630
+ -0.4538,
631
+ -0.19429
632
+ ],
633
+ [
634
+ 0.0,
635
+ 0.0,
636
+ 0.0,
637
+ 1.0
638
+ ]
639
+ ]
640
+ ],
641
+ [
642
+ "007_tuna_fish_can.object_config.json",
643
+ [
644
+ [
645
+ -0.4259,
646
+ -9e-05,
647
+ -0.90477,
648
+ 1.22263
649
+ ],
650
+ [
651
+ -2e-05,
652
+ 1.0,
653
+ -0.0001,
654
+ 0.42105
655
+ ],
656
+ [
657
+ 0.90477,
658
+ -3e-05,
659
+ -0.4259,
660
+ 3.38876
661
+ ],
662
+ [
663
+ 0.0,
664
+ 0.0,
665
+ 0.0,
666
+ 1.0
667
+ ]
668
+ ]
669
+ ],
670
+ [
671
+ "008_pudding_box.object_config.json",
672
+ [
673
+ [
674
+ 0.6042,
675
+ -0.0128,
676
+ 0.79673,
677
+ 3.54527
678
+ ],
679
+ [
680
+ -0.00629,
681
+ 0.99976,
682
+ 0.02083,
683
+ 0.43446
684
+ ],
685
+ [
686
+ -0.79681,
687
+ -0.0176,
688
+ 0.60398,
689
+ 0.73964
690
+ ],
691
+ [
692
+ 0.0,
693
+ 0.0,
694
+ 0.0,
695
+ 1.0
696
+ ]
697
+ ]
698
+ ],
699
+ [
700
+ "024_bowl.object_config.json",
701
+ [
702
+ [
703
+ 0.06018,
704
+ -3e-05,
705
+ 0.99819,
706
+ 0.87582
707
+ ],
708
+ [
709
+ 3e-05,
710
+ 1.0,
711
+ 2e-05,
712
+ 0.79016
713
+ ],
714
+ [
715
+ -0.99819,
716
+ 3e-05,
717
+ 0.06018,
718
+ 4.17234
719
+ ],
720
+ [
721
+ 0.0,
722
+ 0.0,
723
+ 0.0,
724
+ 1.0
725
+ ]
726
+ ]
727
+ ],
728
+ [
729
+ "004_sugar_box.object_config.json",
730
+ [
731
+ [
732
+ -0.9895,
733
+ 0.03609,
734
+ 0.13996,
735
+ 4.00227
736
+ ],
737
+ [
738
+ 0.03975,
739
+ 0.99893,
740
+ 0.02343,
741
+ 0.71478
742
+ ],
743
+ [
744
+ -0.13897,
745
+ 0.02875,
746
+ -0.98988,
747
+ 5.77572
748
+ ],
749
+ [
750
+ 0.0,
751
+ 0.0,
752
+ 0.0,
753
+ 1.0
754
+ ]
755
+ ]
756
+ ],
757
+ [
758
+ "008_pudding_box.object_config.json",
759
+ [
760
+ [
761
+ 0.92632,
762
+ 0.01417,
763
+ -0.37646,
764
+ -2.08892
765
+ ],
766
+ [
767
+ -0.00583,
768
+ 0.99971,
769
+ 0.0233,
770
+ 0.87927
771
+ ],
772
+ [
773
+ 0.37668,
774
+ -0.01939,
775
+ 0.92614,
776
+ 2.28418
777
+ ],
778
+ [
779
+ 0.0,
780
+ 0.0,
781
+ 0.0,
782
+ 1.0
783
+ ]
784
+ ]
785
+ ],
786
+ [
787
+ "002_master_chef_can.object_config.json",
788
+ [
789
+ [
790
+ -0.63148,
791
+ 6e-05,
792
+ 0.77539,
793
+ 3.63582
794
+ ],
795
+ [
796
+ 0.0001,
797
+ 1.0,
798
+ 1e-05,
799
+ 0.48551
800
+ ],
801
+ [
802
+ -0.77539,
803
+ 9e-05,
804
+ -0.63148,
805
+ -0.36942
806
+ ],
807
+ [
808
+ 0.0,
809
+ 0.0,
810
+ 0.0,
811
+ 1.0
812
+ ]
813
+ ]
814
+ ],
815
+ [
816
+ "004_sugar_box.object_config.json",
817
+ [
818
+ [
819
+ 0.05149,
820
+ 0.02223,
821
+ -0.99843,
822
+ -2.07802
823
+ ],
824
+ [
825
+ 0.04491,
826
+ 0.99869,
827
+ 0.02455,
828
+ 1.33921
829
+ ],
830
+ [
831
+ 0.99766,
832
+ -0.0461,
833
+ 0.05043,
834
+ -0.19165
835
+ ],
836
+ [
837
+ 0.0,
838
+ 0.0,
839
+ 0.0,
840
+ 1.0
841
+ ]
842
+ ]
843
+ ],
844
+ [
845
+ "008_pudding_box.object_config.json",
846
+ [
847
+ [
848
+ 0.70656,
849
+ 0.02079,
850
+ -0.70735,
851
+ -2.20402
852
+ ],
853
+ [
854
+ -0.0018,
855
+ 0.99962,
856
+ 0.02759,
857
+ 1.27036
858
+ ],
859
+ [
860
+ 0.70765,
861
+ -0.01822,
862
+ 0.70632,
863
+ -0.2649
864
+ ],
865
+ [
866
+ 0.0,
867
+ 0.0,
868
+ 0.0,
869
+ 1.0
870
+ ]
871
+ ]
872
+ ],
873
+ [
874
+ "005_tomato_soup_can.object_config.json",
875
+ [
876
+ [
877
+ -0.73706,
878
+ 0.00082,
879
+ -0.67583,
880
+ -2.23717
881
+ ],
882
+ [
883
+ 0.00084,
884
+ 1.0,
885
+ 0.0003,
886
+ 0.91083
887
+ ],
888
+ [
889
+ 0.67583,
890
+ -0.00035,
891
+ -0.73706,
892
+ 0.82662
893
+ ],
894
+ [
895
+ 0.0,
896
+ 0.0,
897
+ 0.0,
898
+ 1.0
899
+ ]
900
+ ]
901
+ ]
902
+ ],
903
+ "targets": {
904
+ "004_sugar_box_:0002": [
905
+ [
906
+ -0.95037,
907
+ 0.0,
908
+ -0.31112,
909
+ -2.18198
910
+ ],
911
+ [
912
+ 0.0,
913
+ 1.0,
914
+ 0.0,
915
+ 0.94711
916
+ ],
917
+ [
918
+ 0.31112,
919
+ 0.0,
920
+ -0.95037,
921
+ 1.15668
922
+ ],
923
+ [
924
+ 0.0,
925
+ 0.0,
926
+ 0.0,
927
+ 1.0
928
+ ]
929
+ ],
930
+ "008_pudding_box_:0005": [
931
+ [
932
+ -0.54532,
933
+ 0.0,
934
+ -0.83823,
935
+ -2.19885
936
+ ],
937
+ [
938
+ 0.0,
939
+ 1.0,
940
+ 0.0,
941
+ 0.87854
942
+ ],
943
+ [
944
+ 0.83823,
945
+ 0.0,
946
+ -0.54532,
947
+ 2.29103
948
+ ],
949
+ [
950
+ 0.0,
951
+ 0.0,
952
+ 0.0,
953
+ 1.0
954
+ ]
955
+ ],
956
+ "005_tomato_soup_can_:0004": [
957
+ [
958
+ -0.67612,
959
+ 0.0,
960
+ 0.73679,
961
+ -2.30039
962
+ ],
963
+ [
964
+ 0.0,
965
+ 1.0,
966
+ 0.0,
967
+ 1.30162
968
+ ],
969
+ [
970
+ -0.73679,
971
+ 0.0,
972
+ -0.67612,
973
+ -0.1772
974
+ ],
975
+ [
976
+ 0.0,
977
+ 0.0,
978
+ 0.0,
979
+ 1.0
980
+ ]
981
+ ]
982
+ },
983
+ "markers": [
984
+ {
985
+ "name": "cab_push_point_7",
986
+ "type": "articulated_object",
987
+ "params": {
988
+ "offset": [
989
+ 0.3,
990
+ 0.0,
991
+ 0
992
+ ],
993
+ "link": "drawer1_top",
994
+ "object": "kitchen_counter_:0000"
995
+ }
996
+ },
997
+ {
998
+ "name": "cab_push_point_6",
999
+ "type": "articulated_object",
1000
+ "params": {
1001
+ "offset": [
1002
+ 0.3,
1003
+ 0.0,
1004
+ 0
1005
+ ],
1006
+ "link": "drawer2_top",
1007
+ "object": "kitchen_counter_:0000"
1008
+ }
1009
+ },
1010
+ {
1011
+ "name": "cab_push_point_5",
1012
+ "type": "articulated_object",
1013
+ "params": {
1014
+ "offset": [
1015
+ 0.3,
1016
+ 0.0,
1017
+ 0
1018
+ ],
1019
+ "link": "drawer3",
1020
+ "object": "kitchen_counter_:0000"
1021
+ }
1022
+ },
1023
+ {
1024
+ "name": "cab_push_point_4",
1025
+ "type": "articulated_object",
1026
+ "params": {
1027
+ "offset": [
1028
+ 0.3,
1029
+ 0.0,
1030
+ 0
1031
+ ],
1032
+ "link": "drawer4",
1033
+ "object": "kitchen_counter_:0000"
1034
+ }
1035
+ },
1036
+ {
1037
+ "name": "fridge_push_point",
1038
+ "type": "articulated_object",
1039
+ "params": {
1040
+ "offset": [
1041
+ 0.1,
1042
+ -0.62,
1043
+ 0.2
1044
+ ],
1045
+ "link": "top_door",
1046
+ "object": "fridge_:0000"
1047
+ }
1048
+ }
1049
+ ],
1050
+ "target_receptacles": [
1051
+ [
1052
+ "fridge_:0000",
1053
+ 0
1054
+ ],
1055
+ [
1056
+ "fridge_:0000",
1057
+ 0
1058
+ ],
1059
+ [
1060
+ "kitchen_counter_:0000",
1061
+ 0
1062
+ ]
1063
+ ],
1064
+ "goal_receptacles": [
1065
+ [
1066
+ "kitchen_counter_:0000",
1067
+ 0
1068
+ ],
1069
+ [
1070
+ "kitchen_counter_:0000",
1071
+ 0
1072
+ ],
1073
+ [
1074
+ "fridge_:0000",
1075
+ 0
1076
+ ]
1077
+ ]
1078
+ }
rearrange/v1_extracted/train/prepare_groceries/episode_1030.json ADDED
@@ -0,0 +1,1078 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_id": "1030",
3
+ "scene_id": "data/replica_cad/configs/scenes/v3_sc2_staging_06.scene_instance.json",
4
+ "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
5
+ "additional_obj_config_paths": [
6
+ "data/objects/ycb/"
7
+ ],
8
+ "start_position": [
9
+ 0,
10
+ 0,
11
+ 0
12
+ ],
13
+ "start_rotation": [
14
+ 0,
15
+ 0,
16
+ 0,
17
+ 1
18
+ ],
19
+ "info": {
20
+ "object_labels": {
21
+ "007_tuna_fish_can_:0003": "obj0_target|0",
22
+ "003_cracker_box_:0004": "obj1_target|1",
23
+ "010_potted_meat_can_:0001": "obj2_target|2"
24
+ }
25
+ },
26
+ "ao_states": {
27
+ "fridge_:0000": {
28
+ "2": 1.5
29
+ }
30
+ },
31
+ "rigid_objs": [
32
+ [
33
+ "005_tomato_soup_can.object_config.json",
34
+ [
35
+ [
36
+ -0.01304,
37
+ -0.00011,
38
+ -0.99992,
39
+ -2.19439
40
+ ],
41
+ [
42
+ 0.00027,
43
+ 1.0,
44
+ -0.00011,
45
+ 0.75829
46
+ ],
47
+ [
48
+ 0.99992,
49
+ -0.00027,
50
+ -0.01304,
51
+ 1.86513
52
+ ],
53
+ [
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 1.0
58
+ ]
59
+ ]
60
+ ],
61
+ [
62
+ "005_tomato_soup_can.object_config.json",
63
+ [
64
+ [
65
+ -0.64823,
66
+ -6e-05,
67
+ 0.76144,
68
+ -2.46666
69
+ ],
70
+ [
71
+ -7e-05,
72
+ 1.0,
73
+ 2e-05,
74
+ 0.91083
75
+ ],
76
+ [
77
+ -0.76144,
78
+ -4e-05,
79
+ -0.64823,
80
+ 0.35026
81
+ ],
82
+ [
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ 1.0
87
+ ]
88
+ ]
89
+ ],
90
+ [
91
+ "005_tomato_soup_can.object_config.json",
92
+ [
93
+ [
94
+ 0.99914,
95
+ -0.0019,
96
+ -0.04137,
97
+ -2.2073
98
+ ],
99
+ [
100
+ 0.00211,
101
+ 0.99999,
102
+ 0.00489,
103
+ 1.30363
104
+ ],
105
+ [
106
+ 0.04136,
107
+ -0.00498,
108
+ 0.99913,
109
+ 0.02554
110
+ ],
111
+ [
112
+ 0.0,
113
+ 0.0,
114
+ 0.0,
115
+ 1.0
116
+ ]
117
+ ]
118
+ ],
119
+ [
120
+ "008_pudding_box.object_config.json",
121
+ [
122
+ [
123
+ 0.06108,
124
+ -0.02332,
125
+ 0.99786,
126
+ -2.07308
127
+ ],
128
+ [
129
+ -0.0059,
130
+ 0.9997,
131
+ 0.02373,
132
+ 0.72673
133
+ ],
134
+ [
135
+ -0.99812,
136
+ -0.00734,
137
+ 0.06093,
138
+ 2.06274
139
+ ],
140
+ [
141
+ 0.0,
142
+ 0.0,
143
+ 0.0,
144
+ 1.0
145
+ ]
146
+ ]
147
+ ],
148
+ [
149
+ "008_pudding_box.object_config.json",
150
+ [
151
+ [
152
+ 0.93602,
153
+ 0.01379,
154
+ -0.35167,
155
+ -2.20983
156
+ ],
157
+ [
158
+ -0.0059,
159
+ 0.99971,
160
+ 0.02349,
161
+ 0.72673
162
+ ],
163
+ [
164
+ 0.35189,
165
+ -0.01991,
166
+ 0.93583,
167
+ 2.04415
168
+ ],
169
+ [
170
+ 0.0,
171
+ 0.0,
172
+ 0.0,
173
+ 1.0
174
+ ]
175
+ ]
176
+ ],
177
+ [
178
+ "007_tuna_fish_can.object_config.json",
179
+ [
180
+ [
181
+ -0.9604,
182
+ -3e-05,
183
+ 0.27861,
184
+ -2.33423
185
+ ],
186
+ [
187
+ -3e-05,
188
+ 1.0,
189
+ 2e-05,
190
+ 0.87655
191
+ ],
192
+ [
193
+ -0.27861,
194
+ 1e-05,
195
+ -0.9604,
196
+ 0.97896
197
+ ],
198
+ [
199
+ 0.0,
200
+ 0.0,
201
+ 0.0,
202
+ 1.0
203
+ ]
204
+ ]
205
+ ],
206
+ [
207
+ "009_gelatin_box.object_config.json",
208
+ [
209
+ [
210
+ -0.04996,
211
+ -0.0006,
212
+ 0.99875,
213
+ -2.06161
214
+ ],
215
+ [
216
+ -0.0005,
217
+ 1.0,
218
+ 0.00058,
219
+ 0.72221
220
+ ],
221
+ [
222
+ -0.99875,
223
+ -0.00047,
224
+ -0.04996,
225
+ 1.8658
226
+ ],
227
+ [
228
+ 0.0,
229
+ 0.0,
230
+ 0.0,
231
+ 1.0
232
+ ]
233
+ ]
234
+ ],
235
+ [
236
+ "024_bowl.object_config.json",
237
+ [
238
+ [
239
+ 0.55217,
240
+ 0.00211,
241
+ -0.83373,
242
+ -2.00063
243
+ ],
244
+ [
245
+ -0.00151,
246
+ 1.0,
247
+ 0.00153,
248
+ 0.44224
249
+ ],
250
+ [
251
+ 0.83373,
252
+ 0.00041,
253
+ 0.55217,
254
+ -0.93962
255
+ ],
256
+ [
257
+ 0.0,
258
+ 0.0,
259
+ 0.0,
260
+ 1.0
261
+ ]
262
+ ]
263
+ ],
264
+ [
265
+ "003_cracker_box.object_config.json",
266
+ [
267
+ [
268
+ -0.84156,
269
+ -0.13875,
270
+ 0.52204,
271
+ -2.02742
272
+ ],
273
+ [
274
+ -0.15505,
275
+ 0.98783,
276
+ 0.01259,
277
+ 1.3567
278
+ ],
279
+ [
280
+ -0.51744,
281
+ -0.07034,
282
+ -0.85283,
283
+ -0.42347
284
+ ],
285
+ [
286
+ 0.0,
287
+ 0.0,
288
+ 0.0,
289
+ 1.0
290
+ ]
291
+ ]
292
+ ],
293
+ [
294
+ "003_cracker_box.object_config.json",
295
+ [
296
+ [
297
+ 0.77116,
298
+ 0.03861,
299
+ 0.63546,
300
+ -1.72683
301
+ ],
302
+ [
303
+ -0.04492,
304
+ 0.99897,
305
+ -0.00619,
306
+ 0.52148
307
+ ],
308
+ [
309
+ -0.63505,
310
+ -0.02377,
311
+ 0.77211,
312
+ -1.06894
313
+ ],
314
+ [
315
+ 0.0,
316
+ 0.0,
317
+ 0.0,
318
+ 1.0
319
+ ]
320
+ ]
321
+ ],
322
+ [
323
+ "008_pudding_box.object_config.json",
324
+ [
325
+ [
326
+ 0.95583,
327
+ 0.01255,
328
+ -0.29365,
329
+ 3.7962
330
+ ],
331
+ [
332
+ -0.0059,
333
+ 0.99971,
334
+ 0.0235,
335
+ 0.64615
336
+ ],
337
+ [
338
+ 0.29386,
339
+ -0.02072,
340
+ 0.95563,
341
+ -0.51408
342
+ ],
343
+ [
344
+ 0.0,
345
+ 0.0,
346
+ 0.0,
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ [
352
+ "009_gelatin_box.object_config.json",
353
+ [
354
+ [
355
+ -0.10224,
356
+ -0.00199,
357
+ 0.99476,
358
+ 0.91984
359
+ ],
360
+ [
361
+ -0.0019,
362
+ 1.0,
363
+ 0.0018,
364
+ 0.4193
365
+ ],
366
+ [
367
+ -0.99476,
368
+ -0.00171,
369
+ -0.10225,
370
+ 2.91782
371
+ ],
372
+ [
373
+ 0.0,
374
+ 0.0,
375
+ 0.0,
376
+ 1.0
377
+ ]
378
+ ]
379
+ ],
380
+ [
381
+ "008_pudding_box.object_config.json",
382
+ [
383
+ [
384
+ -0.36167,
385
+ 0.01979,
386
+ -0.9321,
387
+ -2.44184
388
+ ],
389
+ [
390
+ -0.00591,
391
+ 0.99971,
392
+ 0.02351,
393
+ 0.87927
394
+ ],
395
+ [
396
+ 0.93229,
397
+ 0.01401,
398
+ -0.36144,
399
+ 0.93182
400
+ ],
401
+ [
402
+ 0.0,
403
+ 0.0,
404
+ 0.0,
405
+ 1.0
406
+ ]
407
+ ]
408
+ ],
409
+ [
410
+ "008_pudding_box.object_config.json",
411
+ [
412
+ [
413
+ -0.8891,
414
+ 0.0055,
415
+ -0.45768,
416
+ 2.74284
417
+ ],
418
+ [
419
+ -0.0059,
420
+ 0.99971,
421
+ 0.02349,
422
+ 0.95374
423
+ ],
424
+ [
425
+ 0.45767,
426
+ 0.02359,
427
+ -0.88881,
428
+ 7.76625
429
+ ],
430
+ [
431
+ 0.0,
432
+ 0.0,
433
+ 0.0,
434
+ 1.0
435
+ ]
436
+ ]
437
+ ],
438
+ [
439
+ "003_cracker_box.object_config.json",
440
+ [
441
+ [
442
+ -0.81182,
443
+ -0.10248,
444
+ -0.57485,
445
+ -1.88592
446
+ ],
447
+ [
448
+ -0.13571,
449
+ 0.99063,
450
+ 0.01505,
451
+ 0.52181
452
+ ],
453
+ [
454
+ 0.56792,
455
+ 0.09023,
456
+ -0.81812,
457
+ -0.99756
458
+ ],
459
+ [
460
+ 0.0,
461
+ 0.0,
462
+ 0.0,
463
+ 1.0
464
+ ]
465
+ ]
466
+ ],
467
+ [
468
+ "005_tomato_soup_can.object_config.json",
469
+ [
470
+ [
471
+ -0.82845,
472
+ -8e-05,
473
+ -0.56006,
474
+ -2.23884
475
+ ],
476
+ [
477
+ -9e-05,
478
+ 1.0,
479
+ -2e-05,
480
+ 0.91083
481
+ ],
482
+ [
483
+ 0.56006,
484
+ 3e-05,
485
+ -0.82845,
486
+ 2.34446
487
+ ],
488
+ [
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 1.0
493
+ ]
494
+ ]
495
+ ],
496
+ [
497
+ "002_master_chef_can.object_config.json",
498
+ [
499
+ [
500
+ 0.76691,
501
+ 7e-05,
502
+ -0.64175,
503
+ 3.92333
504
+ ],
505
+ [
506
+ 0.00079,
507
+ 1.0,
508
+ 0.00105,
509
+ 0.69729
510
+ ],
511
+ [
512
+ 0.64175,
513
+ -0.00131,
514
+ 0.76691,
515
+ -0.17335
516
+ ],
517
+ [
518
+ 0.0,
519
+ 0.0,
520
+ 0.0,
521
+ 1.0
522
+ ]
523
+ ]
524
+ ],
525
+ [
526
+ "024_bowl.object_config.json",
527
+ [
528
+ [
529
+ -0.04446,
530
+ -0.00022,
531
+ 0.99901,
532
+ -1.9073
533
+ ],
534
+ [
535
+ -1e-05,
536
+ 1.0,
537
+ 0.00022,
538
+ 0.4424
539
+ ],
540
+ [
541
+ -0.99901,
542
+ 0.0,
543
+ -0.04446,
544
+ -2.01411
545
+ ],
546
+ [
547
+ 0.0,
548
+ 0.0,
549
+ 0.0,
550
+ 1.0
551
+ ]
552
+ ]
553
+ ],
554
+ [
555
+ "002_master_chef_can.object_config.json",
556
+ [
557
+ [
558
+ -0.82061,
559
+ 1e-05,
560
+ -0.57148,
561
+ -2.01809
562
+ ],
563
+ [
564
+ 0.00059,
565
+ 1.0,
566
+ -0.00083,
567
+ 0.48555
568
+ ],
569
+ [
570
+ 0.57148,
571
+ -0.00102,
572
+ -0.82061,
573
+ -1.86693
574
+ ],
575
+ [
576
+ 0.0,
577
+ 0.0,
578
+ 0.0,
579
+ 1.0
580
+ ]
581
+ ]
582
+ ],
583
+ [
584
+ "007_tuna_fish_can.object_config.json",
585
+ [
586
+ [
587
+ -0.53642,
588
+ 3e-05,
589
+ -0.84395,
590
+ -2.15132
591
+ ],
592
+ [
593
+ 3e-05,
594
+ 1.0,
595
+ 2e-05,
596
+ 0.87655
597
+ ],
598
+ [
599
+ 0.84395,
600
+ -2e-05,
601
+ -0.53642,
602
+ 2.57464
603
+ ],
604
+ [
605
+ 0.0,
606
+ 0.0,
607
+ 0.0,
608
+ 1.0
609
+ ]
610
+ ]
611
+ ],
612
+ [
613
+ "009_gelatin_box.object_config.json",
614
+ [
615
+ [
616
+ 0.43889,
617
+ -0.0,
618
+ -0.89854,
619
+ 2.38407
620
+ ],
621
+ [
622
+ -0.0,
623
+ 1.0,
624
+ -0.0,
625
+ 0.94922
626
+ ],
627
+ [
628
+ 0.89854,
629
+ 0.0,
630
+ 0.43889,
631
+ 7.08056
632
+ ],
633
+ [
634
+ 0.0,
635
+ 0.0,
636
+ 0.0,
637
+ 1.0
638
+ ]
639
+ ]
640
+ ],
641
+ [
642
+ "008_pudding_box.object_config.json",
643
+ [
644
+ [
645
+ -0.71502,
646
+ -0.02065,
647
+ 0.6988,
648
+ -2.20214
649
+ ],
650
+ [
651
+ -0.00996,
652
+ 0.99976,
653
+ 0.01935,
654
+ 1.27036
655
+ ],
656
+ [
657
+ -0.69903,
658
+ 0.00688,
659
+ -0.71506,
660
+ -0.26497
661
+ ],
662
+ [
663
+ 0.0,
664
+ 0.0,
665
+ 0.0,
666
+ 1.0
667
+ ]
668
+ ]
669
+ ],
670
+ [
671
+ "010_potted_meat_can.object_config.json",
672
+ [
673
+ [
674
+ -0.38588,
675
+ 5e-05,
676
+ 0.92255,
677
+ 1.39602
678
+ ],
679
+ [
680
+ -4e-05,
681
+ 1.0,
682
+ -7e-05,
683
+ 0.44618
684
+ ],
685
+ [
686
+ -0.92255,
687
+ -6e-05,
688
+ -0.38588,
689
+ 2.97052
690
+ ],
691
+ [
692
+ 0.0,
693
+ 0.0,
694
+ 0.0,
695
+ 1.0
696
+ ]
697
+ ]
698
+ ],
699
+ [
700
+ "007_tuna_fish_can.object_config.json",
701
+ [
702
+ [
703
+ 0.99578,
704
+ -0.0,
705
+ 0.09174,
706
+ 2.09945
707
+ ],
708
+ [
709
+ 0.0,
710
+ 1.0,
711
+ -0.0,
712
+ 0.42105
713
+ ],
714
+ [
715
+ -0.09174,
716
+ 0.0,
717
+ 0.99578,
718
+ 2.49781
719
+ ],
720
+ [
721
+ 0.0,
722
+ 0.0,
723
+ 0.0,
724
+ 1.0
725
+ ]
726
+ ]
727
+ ],
728
+ [
729
+ "004_sugar_box.object_config.json",
730
+ [
731
+ [
732
+ 0.16792,
733
+ -0.00611,
734
+ -0.98578,
735
+ -2.11549
736
+ ],
737
+ [
738
+ -0.01372,
739
+ 0.99987,
740
+ -0.00854,
741
+ 0.79557
742
+ ],
743
+ [
744
+ 0.9857,
745
+ 0.01496,
746
+ 0.16782,
747
+ 1.79543
748
+ ],
749
+ [
750
+ 0.0,
751
+ 0.0,
752
+ 0.0,
753
+ 1.0
754
+ ]
755
+ ]
756
+ ],
757
+ [
758
+ "003_cracker_box.object_config.json",
759
+ [
760
+ [
761
+ 0.26461,
762
+ 0.00652,
763
+ 0.96433,
764
+ -1.69899
765
+ ],
766
+ [
767
+ -0.01237,
768
+ 0.99992,
769
+ -0.00336,
770
+ 0.52228
771
+ ],
772
+ [
773
+ -0.96428,
774
+ -0.01104,
775
+ 0.26467,
776
+ -2.04425
777
+ ],
778
+ [
779
+ 0.0,
780
+ 0.0,
781
+ 0.0,
782
+ 1.0
783
+ ]
784
+ ]
785
+ ],
786
+ [
787
+ "009_gelatin_box.object_config.json",
788
+ [
789
+ [
790
+ -0.67083,
791
+ -0.00011,
792
+ -0.74161,
793
+ 3.80824
794
+ ],
795
+ [
796
+ -0.00021,
797
+ 1.0,
798
+ 4e-05,
799
+ 0.6417
800
+ ],
801
+ [
802
+ 0.74161,
803
+ 0.00018,
804
+ -0.67083,
805
+ -0.21465
806
+ ],
807
+ [
808
+ 0.0,
809
+ 0.0,
810
+ 0.0,
811
+ 1.0
812
+ ]
813
+ ]
814
+ ],
815
+ [
816
+ "007_tuna_fish_can.object_config.json",
817
+ [
818
+ [
819
+ -0.59767,
820
+ 0.00025,
821
+ 0.80174,
822
+ -2.16672
823
+ ],
824
+ [
825
+ -0.00464,
826
+ 0.99998,
827
+ -0.00378,
828
+ 1.26854
829
+ ],
830
+ [
831
+ -0.80173,
832
+ -0.00598,
833
+ -0.59766,
834
+ -0.10869
835
+ ],
836
+ [
837
+ 0.0,
838
+ 0.0,
839
+ 0.0,
840
+ 1.0
841
+ ]
842
+ ]
843
+ ],
844
+ [
845
+ "003_cracker_box.object_config.json",
846
+ [
847
+ [
848
+ 0.99333,
849
+ 0.04507,
850
+ -0.10609,
851
+ -2.08067
852
+ ],
853
+ [
854
+ -0.04549,
855
+ 0.99896,
856
+ -0.00152,
857
+ 1.3574
858
+ ],
859
+ [
860
+ 0.10591,
861
+ 0.00633,
862
+ 0.99436,
863
+ -0.25756
864
+ ],
865
+ [
866
+ 0.0,
867
+ 0.0,
868
+ 0.0,
869
+ 1.0
870
+ ]
871
+ ]
872
+ ],
873
+ [
874
+ "010_potted_meat_can.object_config.json",
875
+ [
876
+ [
877
+ 0.81502,
878
+ 0.00019,
879
+ 0.57943,
880
+ -2.12212
881
+ ],
882
+ [
883
+ -0.00011,
884
+ 1.0,
885
+ -0.00017,
886
+ 0.90168
887
+ ],
888
+ [
889
+ -0.57943,
890
+ 7e-05,
891
+ 0.81502,
892
+ 2.85361
893
+ ],
894
+ [
895
+ 0.0,
896
+ 0.0,
897
+ 0.0,
898
+ 1.0
899
+ ]
900
+ ]
901
+ ]
902
+ ],
903
+ "targets": {
904
+ "007_tuna_fish_can_:0003": [
905
+ [
906
+ -0.07538,
907
+ 0.0,
908
+ 0.99716,
909
+ -1.966
910
+ ],
911
+ [
912
+ 0.0,
913
+ 1.0,
914
+ 0.0,
915
+ 0.87587
916
+ ],
917
+ [
918
+ -0.99716,
919
+ 0.0,
920
+ -0.07538,
921
+ 0.99687
922
+ ],
923
+ [
924
+ 0.0,
925
+ 0.0,
926
+ 0.0,
927
+ 1.0
928
+ ]
929
+ ],
930
+ "003_cracker_box_:0004": [
931
+ [
932
+ -0.73805,
933
+ 0.0,
934
+ 0.67475,
935
+ -2.35044
936
+ ],
937
+ [
938
+ 0.0,
939
+ 1.0,
940
+ 0.0,
941
+ 0.96582
942
+ ],
943
+ [
944
+ -0.67475,
945
+ 0.0,
946
+ -0.73805,
947
+ 0.43797
948
+ ],
949
+ [
950
+ 0.0,
951
+ 0.0,
952
+ 0.0,
953
+ 1.0
954
+ ]
955
+ ],
956
+ "010_potted_meat_can_:0001": [
957
+ [
958
+ -0.85701,
959
+ 0.0,
960
+ 0.5153,
961
+ -2.25488
962
+ ],
963
+ [
964
+ 0.0,
965
+ 1.0,
966
+ 0.0,
967
+ 1.29266
968
+ ],
969
+ [
970
+ -0.5153,
971
+ 0.0,
972
+ -0.85701,
973
+ -0.14401
974
+ ],
975
+ [
976
+ 0.0,
977
+ 0.0,
978
+ 0.0,
979
+ 1.0
980
+ ]
981
+ ]
982
+ },
983
+ "markers": [
984
+ {
985
+ "name": "cab_push_point_7",
986
+ "type": "articulated_object",
987
+ "params": {
988
+ "offset": [
989
+ 0.3,
990
+ 0.0,
991
+ 0
992
+ ],
993
+ "link": "drawer1_top",
994
+ "object": "kitchen_counter_:0000"
995
+ }
996
+ },
997
+ {
998
+ "name": "cab_push_point_6",
999
+ "type": "articulated_object",
1000
+ "params": {
1001
+ "offset": [
1002
+ 0.3,
1003
+ 0.0,
1004
+ 0
1005
+ ],
1006
+ "link": "drawer2_top",
1007
+ "object": "kitchen_counter_:0000"
1008
+ }
1009
+ },
1010
+ {
1011
+ "name": "cab_push_point_5",
1012
+ "type": "articulated_object",
1013
+ "params": {
1014
+ "offset": [
1015
+ 0.3,
1016
+ 0.0,
1017
+ 0
1018
+ ],
1019
+ "link": "drawer3",
1020
+ "object": "kitchen_counter_:0000"
1021
+ }
1022
+ },
1023
+ {
1024
+ "name": "cab_push_point_4",
1025
+ "type": "articulated_object",
1026
+ "params": {
1027
+ "offset": [
1028
+ 0.3,
1029
+ 0.0,
1030
+ 0
1031
+ ],
1032
+ "link": "drawer4",
1033
+ "object": "kitchen_counter_:0000"
1034
+ }
1035
+ },
1036
+ {
1037
+ "name": "fridge_push_point",
1038
+ "type": "articulated_object",
1039
+ "params": {
1040
+ "offset": [
1041
+ 0.1,
1042
+ -0.62,
1043
+ 0.2
1044
+ ],
1045
+ "link": "top_door",
1046
+ "object": "fridge_:0000"
1047
+ }
1048
+ }
1049
+ ],
1050
+ "target_receptacles": [
1051
+ [
1052
+ "fridge_:0000",
1053
+ 0
1054
+ ],
1055
+ [
1056
+ "fridge_:0000",
1057
+ 0
1058
+ ],
1059
+ [
1060
+ "kitchen_counter_:0000",
1061
+ 0
1062
+ ]
1063
+ ],
1064
+ "goal_receptacles": [
1065
+ [
1066
+ "kitchen_counter_:0000",
1067
+ 0
1068
+ ],
1069
+ [
1070
+ "kitchen_counter_:0000",
1071
+ 0
1072
+ ],
1073
+ [
1074
+ "fridge_:0000",
1075
+ 0
1076
+ ]
1077
+ ]
1078
+ }
rearrange/v1_extracted/train/prepare_groceries/episode_1031.json ADDED
@@ -0,0 +1,1078 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_id": "1031",
3
+ "scene_id": "data/replica_cad/configs/scenes/v3_sc1_staging_14.scene_instance.json",
4
+ "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
5
+ "additional_obj_config_paths": [
6
+ "data/objects/ycb/"
7
+ ],
8
+ "start_position": [
9
+ 0,
10
+ 0,
11
+ 0
12
+ ],
13
+ "start_rotation": [
14
+ 0,
15
+ 0,
16
+ 0,
17
+ 1
18
+ ],
19
+ "info": {
20
+ "object_labels": {
21
+ "024_bowl_:0002": "obj0_target|0",
22
+ "024_bowl_:0003": "obj1_target|1",
23
+ "003_cracker_box_:0003": "obj2_target|2"
24
+ }
25
+ },
26
+ "ao_states": {
27
+ "fridge_:0000": {
28
+ "2": 1.5
29
+ }
30
+ },
31
+ "rigid_objs": [
32
+ [
33
+ "002_master_chef_can.object_config.json",
34
+ [
35
+ [
36
+ 0.99419,
37
+ -2e-05,
38
+ 0.10762,
39
+ 1.09206
40
+ ],
41
+ [
42
+ 2e-05,
43
+ 1.0,
44
+ 0.0,
45
+ 0.4748
46
+ ],
47
+ [
48
+ -0.10762,
49
+ -0.0,
50
+ 0.99419,
51
+ 5.87245
52
+ ],
53
+ [
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 1.0
58
+ ]
59
+ ]
60
+ ],
61
+ [
62
+ "024_bowl.object_config.json",
63
+ [
64
+ [
65
+ 0.98981,
66
+ -0.0,
67
+ 0.14239,
68
+ 1.20876
69
+ ],
70
+ [
71
+ -0.0,
72
+ 1.0,
73
+ 2e-05,
74
+ 0.4423
75
+ ],
76
+ [
77
+ -0.14239,
78
+ -2e-05,
79
+ 0.98981,
80
+ 0.09062
81
+ ],
82
+ [
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ 1.0
87
+ ]
88
+ ]
89
+ ],
90
+ [
91
+ "005_tomato_soup_can.object_config.json",
92
+ [
93
+ [
94
+ -0.84654,
95
+ -0.00074,
96
+ 0.53233,
97
+ 0.57356
98
+ ],
99
+ [
100
+ -0.00132,
101
+ 1.0,
102
+ -0.00072,
103
+ 0.46594
104
+ ],
105
+ [
106
+ -0.53233,
107
+ -0.00131,
108
+ -0.84654,
109
+ -0.20752
110
+ ],
111
+ [
112
+ 0.0,
113
+ 0.0,
114
+ 0.0,
115
+ 1.0
116
+ ]
117
+ ]
118
+ ],
119
+ [
120
+ "009_gelatin_box.object_config.json",
121
+ [
122
+ [
123
+ 0.78361,
124
+ 0.0,
125
+ 0.62125,
126
+ 0.28046
127
+ ],
128
+ [
129
+ -1e-05,
130
+ 1.0,
131
+ 0.0,
132
+ 0.42998
133
+ ],
134
+ [
135
+ -0.62125,
136
+ -0.0,
137
+ 0.78361,
138
+ -0.27735
139
+ ],
140
+ [
141
+ 0.0,
142
+ 0.0,
143
+ 0.0,
144
+ 1.0
145
+ ]
146
+ ]
147
+ ],
148
+ [
149
+ "024_bowl.object_config.json",
150
+ [
151
+ [
152
+ 0.18868,
153
+ 0.00111,
154
+ -0.98204,
155
+ 0.41613
156
+ ],
157
+ [
158
+ -0.00102,
159
+ 1.0,
160
+ 0.00093,
161
+ 0.44237
162
+ ],
163
+ [
164
+ 0.98204,
165
+ 0.00082,
166
+ 0.18868,
167
+ -0.13476
168
+ ],
169
+ [
170
+ 0.0,
171
+ 0.0,
172
+ 0.0,
173
+ 1.0
174
+ ]
175
+ ]
176
+ ],
177
+ [
178
+ "003_cracker_box.object_config.json",
179
+ [
180
+ [
181
+ 0.99816,
182
+ 0.04298,
183
+ 0.04282,
184
+ 0.33082
185
+ ],
186
+ [
187
+ -0.04268,
188
+ 0.99906,
189
+ -0.00779,
190
+ 0.52166
191
+ ],
192
+ [
193
+ -0.04311,
194
+ 0.00595,
195
+ 0.99905,
196
+ 0.03952
197
+ ],
198
+ [
199
+ 0.0,
200
+ 0.0,
201
+ 0.0,
202
+ 1.0
203
+ ]
204
+ ]
205
+ ],
206
+ [
207
+ "007_tuna_fish_can.object_config.json",
208
+ [
209
+ [
210
+ -0.72203,
211
+ 0.0001,
212
+ -0.69186,
213
+ -2.32212
214
+ ],
215
+ [
216
+ -3e-05,
217
+ 1.0,
218
+ 0.00018,
219
+ 0.87655
220
+ ],
221
+ [
222
+ 0.69186,
223
+ 0.00015,
224
+ -0.72203,
225
+ 2.33932
226
+ ],
227
+ [
228
+ 0.0,
229
+ 0.0,
230
+ 0.0,
231
+ 1.0
232
+ ]
233
+ ]
234
+ ],
235
+ [
236
+ "008_pudding_box.object_config.json",
237
+ [
238
+ [
239
+ -0.84699,
240
+ 0.00749,
241
+ -0.53155,
242
+ 1.17543
243
+ ],
244
+ [
245
+ -0.00591,
246
+ 0.99971,
247
+ 0.0235,
248
+ 0.43438
249
+ ],
250
+ [
251
+ 0.53157,
252
+ 0.02304,
253
+ -0.8467,
254
+ -0.28828
255
+ ],
256
+ [
257
+ 0.0,
258
+ 0.0,
259
+ 0.0,
260
+ 1.0
261
+ ]
262
+ ]
263
+ ],
264
+ [
265
+ "004_sugar_box.object_config.json",
266
+ [
267
+ [
268
+ 0.58,
269
+ -0.03887,
270
+ 0.81369,
271
+ -2.43752
272
+ ],
273
+ [
274
+ 0.04215,
275
+ 0.99896,
276
+ 0.01767,
277
+ 0.94743
278
+ ],
279
+ [
280
+ -0.81353,
281
+ 0.02405,
282
+ 0.58103,
283
+ 1.72517
284
+ ],
285
+ [
286
+ 0.0,
287
+ 0.0,
288
+ 0.0,
289
+ 1.0
290
+ ]
291
+ ]
292
+ ],
293
+ [
294
+ "005_tomato_soup_can.object_config.json",
295
+ [
296
+ [
297
+ -0.74051,
298
+ -0.0052,
299
+ 0.67203,
300
+ 0.44851
301
+ ],
302
+ [
303
+ -0.00745,
304
+ 0.99997,
305
+ -0.00046,
306
+ 0.4661
307
+ ],
308
+ [
309
+ -0.672,
310
+ -0.00534,
311
+ -0.74053,
312
+ -0.30477
313
+ ],
314
+ [
315
+ 0.0,
316
+ 0.0,
317
+ 0.0,
318
+ 1.0
319
+ ]
320
+ ]
321
+ ],
322
+ [
323
+ "010_potted_meat_can.object_config.json",
324
+ [
325
+ [
326
+ -0.95654,
327
+ 2e-05,
328
+ 0.29162,
329
+ 4.3763
330
+ ],
331
+ [
332
+ -3e-05,
333
+ 1.0,
334
+ -0.00017,
335
+ 0.80465
336
+ ],
337
+ [
338
+ -0.29162,
339
+ -0.00017,
340
+ -0.95654,
341
+ 5.60338
342
+ ],
343
+ [
344
+ 0.0,
345
+ 0.0,
346
+ 0.0,
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ [
352
+ "005_tomato_soup_can.object_config.json",
353
+ [
354
+ [
355
+ -0.23626,
356
+ -0.00015,
357
+ -0.97169,
358
+ 1.44268
359
+ ],
360
+ [
361
+ -9e-05,
362
+ 1.0,
363
+ -0.00014,
364
+ 0.46594
365
+ ],
366
+ [
367
+ 0.97169,
368
+ 6e-05,
369
+ -0.23626,
370
+ -0.14905
371
+ ],
372
+ [
373
+ 0.0,
374
+ 0.0,
375
+ 0.0,
376
+ 1.0
377
+ ]
378
+ ]
379
+ ],
380
+ [
381
+ "007_tuna_fish_can.object_config.json",
382
+ [
383
+ [
384
+ -0.33758,
385
+ -0.00037,
386
+ -0.9413,
387
+ -0.02391
388
+ ],
389
+ [
390
+ -0.00221,
391
+ 1.0,
392
+ 0.00041,
393
+ 0.64357
394
+ ],
395
+ [
396
+ 0.94129,
397
+ 0.00222,
398
+ -0.33758,
399
+ 3.58394
400
+ ],
401
+ [
402
+ 0.0,
403
+ 0.0,
404
+ 0.0,
405
+ 1.0
406
+ ]
407
+ ]
408
+ ],
409
+ [
410
+ "009_gelatin_box.object_config.json",
411
+ [
412
+ [
413
+ 0.9503,
414
+ 0.00168,
415
+ 0.31134,
416
+ 3.8859
417
+ ],
418
+ [
419
+ -0.00259,
420
+ 0.99999,
421
+ 0.00253,
422
+ 0.77779
423
+ ],
424
+ [
425
+ -0.31133,
426
+ -0.00321,
427
+ 0.9503,
428
+ 5.52779
429
+ ],
430
+ [
431
+ 0.0,
432
+ 0.0,
433
+ 0.0,
434
+ 1.0
435
+ ]
436
+ ]
437
+ ],
438
+ [
439
+ "004_sugar_box.object_config.json",
440
+ [
441
+ [
442
+ -0.77761,
443
+ 0.04554,
444
+ -0.6271,
445
+ 1.20286
446
+ ],
447
+ [
448
+ 0.04058,
449
+ 0.99893,
450
+ 0.02222,
451
+ 0.49231
452
+ ],
453
+ [
454
+ 0.62744,
455
+ -0.00817,
456
+ -0.77862,
457
+ 5.81334
458
+ ],
459
+ [
460
+ 0.0,
461
+ 0.0,
462
+ 0.0,
463
+ 1.0
464
+ ]
465
+ ]
466
+ ],
467
+ [
468
+ "004_sugar_box.object_config.json",
469
+ [
470
+ [
471
+ -0.99196,
472
+ 0.04254,
473
+ -0.11919,
474
+ 1.47222
475
+ ],
476
+ [
477
+ 0.03985,
478
+ 0.9989,
479
+ 0.02486,
480
+ 0.50299
481
+ ],
482
+ [
483
+ 0.12011,
484
+ 0.01991,
485
+ -0.99256,
486
+ -0.05585
487
+ ],
488
+ [
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 1.0
493
+ ]
494
+ ]
495
+ ],
496
+ [
497
+ "005_tomato_soup_can.object_config.json",
498
+ [
499
+ [
500
+ 0.96499,
501
+ 6e-05,
502
+ 0.26228,
503
+ -2.43624
504
+ ],
505
+ [
506
+ -0.0016,
507
+ 0.99998,
508
+ 0.00567,
509
+ 0.1514
510
+ ],
511
+ [
512
+ -0.26228,
513
+ -0.00589,
514
+ 0.96498,
515
+ -1.09623
516
+ ],
517
+ [
518
+ 0.0,
519
+ 0.0,
520
+ 0.0,
521
+ 1.0
522
+ ]
523
+ ]
524
+ ],
525
+ [
526
+ "007_tuna_fish_can.object_config.json",
527
+ [
528
+ [
529
+ 0.81187,
530
+ -0.00018,
531
+ -0.58384,
532
+ -2.13745
533
+ ],
534
+ [
535
+ 0.00026,
536
+ 1.0,
537
+ 6e-05,
538
+ 0.95102
539
+ ],
540
+ [
541
+ 0.58384,
542
+ -0.0002,
543
+ 0.81187,
544
+ 3.02789
545
+ ],
546
+ [
547
+ 0.0,
548
+ 0.0,
549
+ 0.0,
550
+ 1.0
551
+ ]
552
+ ]
553
+ ],
554
+ [
555
+ "009_gelatin_box.object_config.json",
556
+ [
557
+ [
558
+ 0.99224,
559
+ -0.0,
560
+ -0.12437,
561
+ 4.15567
562
+ ],
563
+ [
564
+ 0.0,
565
+ 1.0,
566
+ -0.0,
567
+ 0.77773
568
+ ],
569
+ [
570
+ 0.12437,
571
+ 0.0,
572
+ 0.99224,
573
+ 6.0772
574
+ ],
575
+ [
576
+ 0.0,
577
+ 0.0,
578
+ 0.0,
579
+ 1.0
580
+ ]
581
+ ]
582
+ ],
583
+ [
584
+ "010_potted_meat_can.object_config.json",
585
+ [
586
+ [
587
+ -0.1543,
588
+ -5e-05,
589
+ -0.98802,
590
+ -2.19783
591
+ ],
592
+ [
593
+ -3e-05,
594
+ 1.0,
595
+ -5e-05,
596
+ 0.74914
597
+ ],
598
+ [
599
+ 0.98802,
600
+ 2e-05,
601
+ -0.1543,
602
+ 1.09057
603
+ ],
604
+ [
605
+ 0.0,
606
+ 0.0,
607
+ 0.0,
608
+ 1.0
609
+ ]
610
+ ]
611
+ ],
612
+ [
613
+ "005_tomato_soup_can.object_config.json",
614
+ [
615
+ [
616
+ 0.32484,
617
+ 3e-05,
618
+ -0.94577,
619
+ 4.07272
620
+ ],
621
+ [
622
+ -7e-05,
623
+ 1.0,
624
+ 0.0,
625
+ 0.8138
626
+ ],
627
+ [
628
+ 0.94577,
629
+ 7e-05,
630
+ 0.32484,
631
+ 5.35722
632
+ ],
633
+ [
634
+ 0.0,
635
+ 0.0,
636
+ 0.0,
637
+ 1.0
638
+ ]
639
+ ]
640
+ ],
641
+ [
642
+ "008_pudding_box.object_config.json",
643
+ [
644
+ [
645
+ -0.80947,
646
+ -0.01109,
647
+ 0.58706,
648
+ 0.22767
649
+ ],
650
+ [
651
+ -0.00151,
652
+ 0.99986,
653
+ 0.0168,
654
+ 0.43467
655
+ ],
656
+ [
657
+ -0.58716,
658
+ 0.01271,
659
+ -0.80937,
660
+ -0.15357
661
+ ],
662
+ [
663
+ 0.0,
664
+ 0.0,
665
+ 0.0,
666
+ 1.0
667
+ ]
668
+ ]
669
+ ],
670
+ [
671
+ "003_cracker_box.object_config.json",
672
+ [
673
+ [
674
+ 0.98508,
675
+ 0.04383,
676
+ -0.16642,
677
+ -2.34536
678
+ ],
679
+ [
680
+ -0.0456,
681
+ 0.99894,
682
+ -0.00682,
683
+ 1.0409
684
+ ],
685
+ [
686
+ 0.16594,
687
+ 0.01431,
688
+ 0.98603,
689
+ 3.09725
690
+ ],
691
+ [
692
+ 0.0,
693
+ 0.0,
694
+ 0.0,
695
+ 1.0
696
+ ]
697
+ ]
698
+ ],
699
+ [
700
+ "003_cracker_box.object_config.json",
701
+ [
702
+ [
703
+ -0.97076,
704
+ -0.04831,
705
+ 0.23514,
706
+ 3.61834
707
+ ],
708
+ [
709
+ -0.05159,
710
+ 0.99864,
711
+ -0.00782,
712
+ 0.86935
713
+ ],
714
+ [
715
+ -0.23444,
716
+ -0.01972,
717
+ -0.97193,
718
+ 6.41075
719
+ ],
720
+ [
721
+ 0.0,
722
+ 0.0,
723
+ 0.0,
724
+ 1.0
725
+ ]
726
+ ]
727
+ ],
728
+ [
729
+ "005_tomato_soup_can.object_config.json",
730
+ [
731
+ [
732
+ -0.01871,
733
+ 8e-05,
734
+ -0.99983,
735
+ 3.79862
736
+ ],
737
+ [
738
+ -0.00068,
739
+ 1.0,
740
+ 0.0001,
741
+ 0.8138
742
+ ],
743
+ [
744
+ 0.99982,
745
+ 0.00068,
746
+ -0.01871,
747
+ 5.27613
748
+ ],
749
+ [
750
+ 0.0,
751
+ 0.0,
752
+ 0.0,
753
+ 1.0
754
+ ]
755
+ ]
756
+ ],
757
+ [
758
+ "007_tuna_fish_can.object_config.json",
759
+ [
760
+ [
761
+ -0.66827,
762
+ 0.00026,
763
+ -0.74392,
764
+ 0.18596
765
+ ],
766
+ [
767
+ -0.00041,
768
+ 1.0,
769
+ 0.00072,
770
+ 0.43176
771
+ ],
772
+ [
773
+ 0.74392,
774
+ 0.00079,
775
+ -0.66827,
776
+ -0.01799
777
+ ],
778
+ [
779
+ 0.0,
780
+ 0.0,
781
+ 0.0,
782
+ 1.0
783
+ ]
784
+ ]
785
+ ],
786
+ [
787
+ "007_tuna_fish_can.object_config.json",
788
+ [
789
+ [
790
+ 0.98609,
791
+ 0.00015,
792
+ 0.16624,
793
+ -2.4479
794
+ ],
795
+ [
796
+ -0.00013,
797
+ 1.0,
798
+ -0.0001,
799
+ 0.87655
800
+ ],
801
+ [
802
+ -0.16624,
803
+ 7e-05,
804
+ 0.98609,
805
+ -0.37017
806
+ ],
807
+ [
808
+ 0.0,
809
+ 0.0,
810
+ 0.0,
811
+ 1.0
812
+ ]
813
+ ]
814
+ ],
815
+ [
816
+ "024_bowl.object_config.json",
817
+ [
818
+ [
819
+ -0.71197,
820
+ -0.00584,
821
+ -0.70219,
822
+ -2.1659
823
+ ],
824
+ [
825
+ -0.00074,
826
+ 0.99997,
827
+ -0.00757,
828
+ 1.27832
829
+ ],
830
+ [
831
+ 0.70221,
832
+ -0.00487,
833
+ -0.71195,
834
+ -1.00633
835
+ ],
836
+ [
837
+ 0.0,
838
+ 0.0,
839
+ 0.0,
840
+ 1.0
841
+ ]
842
+ ]
843
+ ],
844
+ [
845
+ "024_bowl.object_config.json",
846
+ [
847
+ [
848
+ 0.9921,
849
+ -0.00416,
850
+ 0.12535,
851
+ -2.29468
852
+ ],
853
+ [
854
+ 0.00364,
855
+ 0.99998,
856
+ 0.00437,
857
+ 1.27748
858
+ ],
859
+ [
860
+ -0.12536,
861
+ -0.00388,
862
+ 0.9921,
863
+ -1.11447
864
+ ],
865
+ [
866
+ 0.0,
867
+ 0.0,
868
+ 0.0,
869
+ 1.0
870
+ ]
871
+ ]
872
+ ],
873
+ [
874
+ "003_cracker_box.object_config.json",
875
+ [
876
+ [
877
+ -0.97815,
878
+ -0.04314,
879
+ 0.2034,
880
+ -1.87995
881
+ ],
882
+ [
883
+ -0.04559,
884
+ 0.99893,
885
+ -0.00736,
886
+ 0.96627
887
+ ],
888
+ [
889
+ -0.20287,
890
+ -0.01647,
891
+ -0.97907,
892
+ 2.08787
893
+ ],
894
+ [
895
+ 0.0,
896
+ 0.0,
897
+ 0.0,
898
+ 1.0
899
+ ]
900
+ ]
901
+ ]
902
+ ],
903
+ "targets": {
904
+ "024_bowl_:0002": [
905
+ [
906
+ 0.96121,
907
+ 0.0,
908
+ 0.2758,
909
+ -2.06822
910
+ ],
911
+ [
912
+ 0.0,
913
+ 1.0,
914
+ 0.0,
915
+ 0.8866
916
+ ],
917
+ [
918
+ -0.2758,
919
+ 0.0,
920
+ 0.96121,
921
+ 0.16885
922
+ ],
923
+ [
924
+ 0.0,
925
+ 0.0,
926
+ 0.0,
927
+ 1.0
928
+ ]
929
+ ],
930
+ "024_bowl_:0003": [
931
+ [
932
+ 0.59798,
933
+ 0.0,
934
+ 0.80151,
935
+ -2.20674
936
+ ],
937
+ [
938
+ 0.0,
939
+ 1.0,
940
+ 0.0,
941
+ 0.8866
942
+ ],
943
+ [
944
+ -0.80151,
945
+ 0.0,
946
+ 0.59798,
947
+ 0.54849
948
+ ],
949
+ [
950
+ 0.0,
951
+ 0.0,
952
+ 0.0,
953
+ 1.0
954
+ ]
955
+ ],
956
+ "003_cracker_box_:0003": [
957
+ [
958
+ -0.89299,
959
+ 0.0,
960
+ 0.45007,
961
+ -2.06006
962
+ ],
963
+ [
964
+ 0.0,
965
+ 1.0,
966
+ 0.0,
967
+ 1.35775
968
+ ],
969
+ [
970
+ -0.45007,
971
+ 0.0,
972
+ -0.89299,
973
+ -0.91915
974
+ ],
975
+ [
976
+ 0.0,
977
+ 0.0,
978
+ 0.0,
979
+ 1.0
980
+ ]
981
+ ]
982
+ },
983
+ "markers": [
984
+ {
985
+ "name": "cab_push_point_7",
986
+ "type": "articulated_object",
987
+ "params": {
988
+ "offset": [
989
+ 0.3,
990
+ 0.0,
991
+ 0
992
+ ],
993
+ "link": "drawer1_top",
994
+ "object": "kitchen_counter_:0000"
995
+ }
996
+ },
997
+ {
998
+ "name": "cab_push_point_6",
999
+ "type": "articulated_object",
1000
+ "params": {
1001
+ "offset": [
1002
+ 0.3,
1003
+ 0.0,
1004
+ 0
1005
+ ],
1006
+ "link": "drawer2_top",
1007
+ "object": "kitchen_counter_:0000"
1008
+ }
1009
+ },
1010
+ {
1011
+ "name": "cab_push_point_5",
1012
+ "type": "articulated_object",
1013
+ "params": {
1014
+ "offset": [
1015
+ 0.3,
1016
+ 0.0,
1017
+ 0
1018
+ ],
1019
+ "link": "drawer3",
1020
+ "object": "kitchen_counter_:0000"
1021
+ }
1022
+ },
1023
+ {
1024
+ "name": "cab_push_point_4",
1025
+ "type": "articulated_object",
1026
+ "params": {
1027
+ "offset": [
1028
+ 0.3,
1029
+ 0.0,
1030
+ 0
1031
+ ],
1032
+ "link": "drawer4",
1033
+ "object": "kitchen_counter_:0000"
1034
+ }
1035
+ },
1036
+ {
1037
+ "name": "fridge_push_point",
1038
+ "type": "articulated_object",
1039
+ "params": {
1040
+ "offset": [
1041
+ 0.1,
1042
+ -0.62,
1043
+ 0.2
1044
+ ],
1045
+ "link": "top_door",
1046
+ "object": "fridge_:0000"
1047
+ }
1048
+ }
1049
+ ],
1050
+ "target_receptacles": [
1051
+ [
1052
+ "fridge_:0000",
1053
+ 0
1054
+ ],
1055
+ [
1056
+ "fridge_:0000",
1057
+ 0
1058
+ ],
1059
+ [
1060
+ "kitchen_counter_:0000",
1061
+ 0
1062
+ ]
1063
+ ],
1064
+ "goal_receptacles": [
1065
+ [
1066
+ "kitchen_counter_:0000",
1067
+ 0
1068
+ ],
1069
+ [
1070
+ "kitchen_counter_:0000",
1071
+ 0
1072
+ ],
1073
+ [
1074
+ "fridge_:0000",
1075
+ 0
1076
+ ]
1077
+ ]
1078
+ }
rearrange/v1_extracted/train/prepare_groceries/episode_1032.json ADDED
@@ -0,0 +1,1078 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_id": "1032",
3
+ "scene_id": "data/replica_cad/configs/scenes/v3_sc2_staging_03.scene_instance.json",
4
+ "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
5
+ "additional_obj_config_paths": [
6
+ "data/objects/ycb/"
7
+ ],
8
+ "start_position": [
9
+ 0,
10
+ 0,
11
+ 0
12
+ ],
13
+ "start_rotation": [
14
+ 0,
15
+ 0,
16
+ 0,
17
+ 1
18
+ ],
19
+ "info": {
20
+ "object_labels": {
21
+ "009_gelatin_box_:0002": "obj0_target|0",
22
+ "024_bowl_:0002": "obj1_target|1",
23
+ "008_pudding_box_:0000": "obj2_target|2"
24
+ }
25
+ },
26
+ "ao_states": {
27
+ "fridge_:0000": {
28
+ "2": 1.5
29
+ }
30
+ },
31
+ "rigid_objs": [
32
+ [
33
+ "004_sugar_box.object_config.json",
34
+ [
35
+ [
36
+ -0.34727,
37
+ -0.00922,
38
+ 0.93772,
39
+ -2.09572
40
+ ],
41
+ [
42
+ 0.03904,
43
+ 0.99894,
44
+ 0.02428,
45
+ 0.9477
46
+ ],
47
+ [
48
+ -0.93695,
49
+ 0.04504,
50
+ -0.34654,
51
+ 2.60454
52
+ ],
53
+ [
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 1.0
58
+ ]
59
+ ]
60
+ ],
61
+ [
62
+ "009_gelatin_box.object_config.json",
63
+ [
64
+ [
65
+ -0.55861,
66
+ -3e-05,
67
+ 0.82943,
68
+ -2.17758
69
+ ],
70
+ [
71
+ -2e-05,
72
+ 1.0,
73
+ 2e-05,
74
+ 0.87476
75
+ ],
76
+ [
77
+ -0.82943,
78
+ -1e-05,
79
+ -0.55861,
80
+ 3.00642
81
+ ],
82
+ [
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ 1.0
87
+ ]
88
+ ]
89
+ ],
90
+ [
91
+ "007_tuna_fish_can.object_config.json",
92
+ [
93
+ [
94
+ -0.76867,
95
+ 0.0,
96
+ 0.63964,
97
+ 3.36214
98
+ ],
99
+ [
100
+ 1e-05,
101
+ 1.0,
102
+ 1e-05,
103
+ 0.43165
104
+ ],
105
+ [
106
+ -0.63964,
107
+ 1e-05,
108
+ -0.76867,
109
+ 7.51115
110
+ ],
111
+ [
112
+ 0.0,
113
+ 0.0,
114
+ 0.0,
115
+ 1.0
116
+ ]
117
+ ]
118
+ ],
119
+ [
120
+ "005_tomato_soup_can.object_config.json",
121
+ [
122
+ [
123
+ 0.18741,
124
+ 0.00089,
125
+ 0.98228,
126
+ -2.24472
127
+ ],
128
+ [
129
+ -0.0027,
130
+ 1.0,
131
+ -0.00039,
132
+ 0.91084
133
+ ],
134
+ [
135
+ -0.98228,
136
+ -0.00258,
137
+ 0.18741,
138
+ 0.85342
139
+ ],
140
+ [
141
+ 0.0,
142
+ 0.0,
143
+ 0.0,
144
+ 1.0
145
+ ]
146
+ ]
147
+ ],
148
+ [
149
+ "010_potted_meat_can.object_config.json",
150
+ [
151
+ [
152
+ 0.99935,
153
+ -9e-05,
154
+ -0.03593,
155
+ -2.24072
156
+ ],
157
+ [
158
+ 0.0003,
159
+ 0.99998,
160
+ 0.00584,
161
+ 1.29362
162
+ ],
163
+ [
164
+ 0.03593,
165
+ -0.00585,
166
+ 0.99934,
167
+ -0.11837
168
+ ],
169
+ [
170
+ 0.0,
171
+ 0.0,
172
+ 0.0,
173
+ 1.0
174
+ ]
175
+ ]
176
+ ],
177
+ [
178
+ "004_sugar_box.object_config.json",
179
+ [
180
+ [
181
+ 0.34338,
182
+ 0.00628,
183
+ -0.93918,
184
+ -2.18647
185
+ ],
186
+ [
187
+ 0.0469,
188
+ 0.99862,
189
+ 0.02383,
190
+ 1.34006
191
+ ],
192
+ [
193
+ 0.93803,
194
+ -0.05223,
195
+ 0.34261,
196
+ -0.0229
197
+ ],
198
+ [
199
+ 0.0,
200
+ 0.0,
201
+ 0.0,
202
+ 1.0
203
+ ]
204
+ ]
205
+ ],
206
+ [
207
+ "002_master_chef_can.object_config.json",
208
+ [
209
+ [
210
+ -0.64104,
211
+ -1e-05,
212
+ -0.76751,
213
+ 0.89601
214
+ ],
215
+ [
216
+ 3e-05,
217
+ 1.0,
218
+ -5e-05,
219
+ 1.00477
220
+ ],
221
+ [
222
+ 0.76751,
223
+ -6e-05,
224
+ -0.64104,
225
+ 6.24709
226
+ ],
227
+ [
228
+ 0.0,
229
+ 0.0,
230
+ 0.0,
231
+ 1.0
232
+ ]
233
+ ]
234
+ ],
235
+ [
236
+ "024_bowl.object_config.json",
237
+ [
238
+ [
239
+ -0.61383,
240
+ 1e-05,
241
+ -0.78944,
242
+ 2.29352
243
+ ],
244
+ [
245
+ -1e-05,
246
+ 1.0,
247
+ 2e-05,
248
+ 0.65398
249
+ ],
250
+ [
251
+ 0.78944,
252
+ 1e-05,
253
+ -0.61383,
254
+ 7.73056
255
+ ],
256
+ [
257
+ 0.0,
258
+ 0.0,
259
+ 0.0,
260
+ 1.0
261
+ ]
262
+ ]
263
+ ],
264
+ [
265
+ "002_master_chef_can.object_config.json",
266
+ [
267
+ [
268
+ 0.40349,
269
+ 3e-05,
270
+ -0.91499,
271
+ 2.46495
272
+ ],
273
+ [
274
+ 0.00011,
275
+ 1.0,
276
+ 8e-05,
277
+ 0.48552
278
+ ],
279
+ [
280
+ 0.91499,
281
+ -0.00013,
282
+ 0.40349,
283
+ 5.27686
284
+ ],
285
+ [
286
+ 0.0,
287
+ 0.0,
288
+ 0.0,
289
+ 1.0
290
+ ]
291
+ ]
292
+ ],
293
+ [
294
+ "003_cracker_box.object_config.json",
295
+ [
296
+ [
297
+ 0.97253,
298
+ 0.04605,
299
+ 0.22819,
300
+ -0.99204
301
+ ],
302
+ [
303
+ -0.04557,
304
+ 0.99893,
305
+ -0.0074,
306
+ 0.51096
307
+ ],
308
+ [
309
+ -0.22829,
310
+ -0.0032,
311
+ 0.97359,
312
+ 3.52618
313
+ ],
314
+ [
315
+ 0.0,
316
+ 0.0,
317
+ 0.0,
318
+ 1.0
319
+ ]
320
+ ]
321
+ ],
322
+ [
323
+ "007_tuna_fish_can.object_config.json",
324
+ [
325
+ [
326
+ -0.49376,
327
+ 0.0,
328
+ -0.8696,
329
+ 3.34402
330
+ ],
331
+ [
332
+ 0.0,
333
+ 1.0,
334
+ 0.0,
335
+ 0.43166
336
+ ],
337
+ [
338
+ 0.8696,
339
+ -0.0,
340
+ -0.49376,
341
+ 7.37517
342
+ ],
343
+ [
344
+ 0.0,
345
+ 0.0,
346
+ 0.0,
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ [
352
+ "002_master_chef_can.object_config.json",
353
+ [
354
+ [
355
+ -0.99924,
356
+ -1e-05,
357
+ 0.03894,
358
+ 0.65894
359
+ ],
360
+ [
361
+ -1e-05,
362
+ 1.0,
363
+ 0.0,
364
+ 1.00478
365
+ ],
366
+ [
367
+ -0.03894,
368
+ 0.0,
369
+ -0.99924,
370
+ 6.01373
371
+ ],
372
+ [
373
+ 0.0,
374
+ 0.0,
375
+ 0.0,
376
+ 1.0
377
+ ]
378
+ ]
379
+ ],
380
+ [
381
+ "004_sugar_box.object_config.json",
382
+ [
383
+ [
384
+ 0.85428,
385
+ -0.018,
386
+ -0.5195,
387
+ 3.23462
388
+ ],
389
+ [
390
+ 0.03514,
391
+ 0.99911,
392
+ 0.02318,
393
+ 0.50298
394
+ ],
395
+ [
396
+ 0.51862,
397
+ -0.03806,
398
+ 0.85415,
399
+ 7.63257
400
+ ],
401
+ [
402
+ 0.0,
403
+ 0.0,
404
+ 0.0,
405
+ 1.0
406
+ ]
407
+ ]
408
+ ],
409
+ [
410
+ "024_bowl.object_config.json",
411
+ [
412
+ [
413
+ 0.16476,
414
+ 0.00106,
415
+ -0.98633,
416
+ 2.48889
417
+ ],
418
+ [
419
+ 0.00193,
420
+ 1.0,
421
+ 0.00139,
422
+ 0.4424
423
+ ],
424
+ [
425
+ 0.98633,
426
+ -0.00214,
427
+ 0.16476,
428
+ 5.50839
429
+ ],
430
+ [
431
+ 0.0,
432
+ 0.0,
433
+ 0.0,
434
+ 1.0
435
+ ]
436
+ ]
437
+ ],
438
+ [
439
+ "010_potted_meat_can.object_config.json",
440
+ [
441
+ [
442
+ 0.12662,
443
+ 0.00138,
444
+ -0.99195,
445
+ -2.13966
446
+ ],
447
+ [
448
+ 0.00064,
449
+ 1.0,
450
+ 0.00148,
451
+ 0.90167
452
+ ],
453
+ [
454
+ 0.99195,
455
+ -0.00083,
456
+ 0.12661,
457
+ 0.97776
458
+ ],
459
+ [
460
+ 0.0,
461
+ 0.0,
462
+ 0.0,
463
+ 1.0
464
+ ]
465
+ ]
466
+ ],
467
+ [
468
+ "003_cracker_box.object_config.json",
469
+ [
470
+ [
471
+ -0.13569,
472
+ 0.00093,
473
+ 0.99075,
474
+ 0.29203
475
+ ],
476
+ [
477
+ -0.04704,
478
+ 0.99887,
479
+ -0.00739,
480
+ 0.86938
481
+ ],
482
+ [
483
+ -0.98963,
484
+ -0.04761,
485
+ -0.13549,
486
+ -0.36931
487
+ ],
488
+ [
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 1.0
493
+ ]
494
+ ]
495
+ ],
496
+ [
497
+ "002_master_chef_can.object_config.json",
498
+ [
499
+ [
500
+ -0.66303,
501
+ -4e-05,
502
+ 0.74859,
503
+ -1.89151
504
+ ],
505
+ [
506
+ 0.00013,
507
+ 1.0,
508
+ 0.00016,
509
+ 0.9303
510
+ ],
511
+ [
512
+ -0.74859,
513
+ 0.0002,
514
+ -0.66303,
515
+ 0.84027
516
+ ],
517
+ [
518
+ 0.0,
519
+ 0.0,
520
+ 0.0,
521
+ 1.0
522
+ ]
523
+ ]
524
+ ],
525
+ [
526
+ "004_sugar_box.object_config.json",
527
+ [
528
+ [
529
+ 0.90676,
530
+ -0.02563,
531
+ -0.42088,
532
+ -2.07689
533
+ ],
534
+ [
535
+ 0.03926,
536
+ 0.99895,
537
+ 0.02376,
538
+ 0.79514
539
+ ],
540
+ [
541
+ 0.41983,
542
+ -0.03807,
543
+ 0.90681,
544
+ 2.02181
545
+ ],
546
+ [
547
+ 0.0,
548
+ 0.0,
549
+ 0.0,
550
+ 1.0
551
+ ]
552
+ ]
553
+ ],
554
+ [
555
+ "010_potted_meat_can.object_config.json",
556
+ [
557
+ [
558
+ 0.53337,
559
+ 0.00942,
560
+ 0.84583,
561
+ 2.57996
562
+ ],
563
+ [
564
+ -0.00516,
565
+ 0.99996,
566
+ -0.00788,
567
+ 0.45702
568
+ ],
569
+ [
570
+ -0.84586,
571
+ -0.00017,
572
+ 0.5334,
573
+ 5.19716
574
+ ],
575
+ [
576
+ 0.0,
577
+ 0.0,
578
+ 0.0,
579
+ 1.0
580
+ ]
581
+ ]
582
+ ],
583
+ [
584
+ "010_potted_meat_can.object_config.json",
585
+ [
586
+ [
587
+ -0.38797,
588
+ 0.00015,
589
+ 0.92167,
590
+ -2.18087
591
+ ],
592
+ [
593
+ -5e-05,
594
+ 1.0,
595
+ -0.00018,
596
+ 0.74914
597
+ ],
598
+ [
599
+ -0.92167,
600
+ -0.00012,
601
+ -0.38797,
602
+ 1.84323
603
+ ],
604
+ [
605
+ 0.0,
606
+ 0.0,
607
+ 0.0,
608
+ 1.0
609
+ ]
610
+ ]
611
+ ],
612
+ [
613
+ "002_master_chef_can.object_config.json",
614
+ [
615
+ [
616
+ -0.94158,
617
+ 0.01459,
618
+ -0.33647,
619
+ -2.22022
620
+ ],
621
+ [
622
+ 0.01469,
623
+ 0.99989,
624
+ 0.00227,
625
+ 0.77854
626
+ ],
627
+ [
628
+ 0.33646,
629
+ -0.0028,
630
+ -0.94169,
631
+ 2.05771
632
+ ],
633
+ [
634
+ 0.0,
635
+ 0.0,
636
+ 0.0,
637
+ 1.0
638
+ ]
639
+ ]
640
+ ],
641
+ [
642
+ "010_potted_meat_can.object_config.json",
643
+ [
644
+ [
645
+ 0.79938,
646
+ 0.00138,
647
+ -0.60082,
648
+ -0.28853
649
+ ],
650
+ [
651
+ 0.00071,
652
+ 0.99999,
653
+ 0.00325,
654
+ 0.44622
655
+ ],
656
+ [
657
+ 0.60082,
658
+ -0.00303,
659
+ 0.79938,
660
+ 3.38449
661
+ ],
662
+ [
663
+ 0.0,
664
+ 0.0,
665
+ 0.0,
666
+ 1.0
667
+ ]
668
+ ]
669
+ ],
670
+ [
671
+ "010_potted_meat_can.object_config.json",
672
+ [
673
+ [
674
+ -0.90017,
675
+ -0.00073,
676
+ -0.43554,
677
+ 3.56154
678
+ ],
679
+ [
680
+ -0.0004,
681
+ 1.0,
682
+ -0.00085,
683
+ 0.4568
684
+ ],
685
+ [
686
+ 0.43554,
687
+ -0.00059,
688
+ -0.90017,
689
+ 7.34755
690
+ ],
691
+ [
692
+ 0.0,
693
+ 0.0,
694
+ 0.0,
695
+ 1.0
696
+ ]
697
+ ]
698
+ ],
699
+ [
700
+ "002_master_chef_can.object_config.json",
701
+ [
702
+ [
703
+ -0.01693,
704
+ 0.0,
705
+ 0.99986,
706
+ 1.01867
707
+ ],
708
+ [
709
+ -3e-05,
710
+ 1.0,
711
+ -0.0,
712
+ 1.00476
713
+ ],
714
+ [
715
+ -0.99986,
716
+ -3e-05,
717
+ -0.01693,
718
+ 6.33975
719
+ ],
720
+ [
721
+ 0.0,
722
+ 0.0,
723
+ 0.0,
724
+ 1.0
725
+ ]
726
+ ]
727
+ ],
728
+ [
729
+ "009_gelatin_box.object_config.json",
730
+ [
731
+ [
732
+ 0.69852,
733
+ -0.0,
734
+ 0.71559,
735
+ -2.35175
736
+ ],
737
+ [
738
+ -0.00415,
739
+ 0.99998,
740
+ 0.00405,
741
+ 1.26588
742
+ ],
743
+ [
744
+ -0.71557,
745
+ -0.0058,
746
+ 0.69851,
747
+ -0.25882
748
+ ],
749
+ [
750
+ 0.0,
751
+ 0.0,
752
+ 0.0,
753
+ 1.0
754
+ ]
755
+ ]
756
+ ],
757
+ [
758
+ "002_master_chef_can.object_config.json",
759
+ [
760
+ [
761
+ -0.14651,
762
+ 3e-05,
763
+ -0.98921,
764
+ 3.4577
765
+ ],
766
+ [
767
+ -0.0,
768
+ 1.0,
769
+ 3e-05,
770
+ 0.48541
771
+ ],
772
+ [
773
+ 0.98921,
774
+ 1e-05,
775
+ -0.14651,
776
+ 7.46888
777
+ ],
778
+ [
779
+ 0.0,
780
+ 0.0,
781
+ 0.0,
782
+ 1.0
783
+ ]
784
+ ]
785
+ ],
786
+ [
787
+ "002_master_chef_can.object_config.json",
788
+ [
789
+ [
790
+ 0.97877,
791
+ -5e-05,
792
+ 0.20498,
793
+ 2.80371
794
+ ],
795
+ [
796
+ 5e-05,
797
+ 1.0,
798
+ 2e-05,
799
+ 0.69724
800
+ ],
801
+ [
802
+ -0.20498,
803
+ -1e-05,
804
+ 0.97877,
805
+ 7.41527
806
+ ],
807
+ [
808
+ 0.0,
809
+ 0.0,
810
+ 0.0,
811
+ 1.0
812
+ ]
813
+ ]
814
+ ],
815
+ [
816
+ "009_gelatin_box.object_config.json",
817
+ [
818
+ [
819
+ 0.99859,
820
+ 0.0,
821
+ -0.05308,
822
+ -2.26266
823
+ ],
824
+ [
825
+ 0.00031,
826
+ 0.99998,
827
+ 0.00579,
828
+ 1.26541
829
+ ],
830
+ [
831
+ 0.05308,
832
+ -0.00579,
833
+ 0.99857,
834
+ -0.34088
835
+ ],
836
+ [
837
+ 0.0,
838
+ 0.0,
839
+ 0.0,
840
+ 1.0
841
+ ]
842
+ ]
843
+ ],
844
+ [
845
+ "024_bowl.object_config.json",
846
+ [
847
+ [
848
+ -0.91901,
849
+ -0.00353,
850
+ -0.39422,
851
+ -2.09091
852
+ ],
853
+ [
854
+ -0.0022,
855
+ 0.99999,
856
+ -0.00384,
857
+ 1.27888
858
+ ],
859
+ [
860
+ 0.39423,
861
+ -0.00266,
862
+ -0.91901,
863
+ -0.12599
864
+ ],
865
+ [
866
+ 0.0,
867
+ 0.0,
868
+ 0.0,
869
+ 1.0
870
+ ]
871
+ ]
872
+ ],
873
+ [
874
+ "008_pudding_box.object_config.json",
875
+ [
876
+ [
877
+ -0.99002,
878
+ -0.00254,
879
+ -0.14091,
880
+ -1.96425
881
+ ],
882
+ [
883
+ -0.0059,
884
+ 0.99971,
885
+ 0.0235,
886
+ 0.87927
887
+ ],
888
+ [
889
+ 0.14081,
890
+ 0.0241,
891
+ -0.98974,
892
+ 2.72934
893
+ ],
894
+ [
895
+ 0.0,
896
+ 0.0,
897
+ 0.0,
898
+ 1.0
899
+ ]
900
+ ]
901
+ ]
902
+ ],
903
+ "targets": {
904
+ "009_gelatin_box_:0002": [
905
+ [
906
+ -0.80493,
907
+ 0.0,
908
+ 0.59337,
909
+ -1.88175
910
+ ],
911
+ [
912
+ 0.0,
913
+ 1.0,
914
+ 0.0,
915
+ 0.87414
916
+ ],
917
+ [
918
+ -0.59337,
919
+ 0.0,
920
+ -0.80493,
921
+ 3.10305
922
+ ],
923
+ [
924
+ 0.0,
925
+ 0.0,
926
+ 0.0,
927
+ 1.0
928
+ ]
929
+ ],
930
+ "024_bowl_:0002": [
931
+ [
932
+ 0.68665,
933
+ 0.0,
934
+ 0.72699,
935
+ -2.29352
936
+ ],
937
+ [
938
+ 0.0,
939
+ 1.0,
940
+ 0.0,
941
+ 0.8866
942
+ ],
943
+ [
944
+ -0.72699,
945
+ 0.0,
946
+ 0.68665,
947
+ 1.13355
948
+ ],
949
+ [
950
+ 0.0,
951
+ 0.0,
952
+ 0.0,
953
+ 1.0
954
+ ]
955
+ ],
956
+ "008_pudding_box_:0000": [
957
+ [
958
+ -0.36332,
959
+ 0.0,
960
+ -0.93166,
961
+ -2.15478
962
+ ],
963
+ [
964
+ 0.0,
965
+ 1.0,
966
+ 0.0,
967
+ 1.2694
968
+ ],
969
+ [
970
+ 0.93166,
971
+ 0.0,
972
+ -0.36332,
973
+ -0.30446
974
+ ],
975
+ [
976
+ 0.0,
977
+ 0.0,
978
+ 0.0,
979
+ 1.0
980
+ ]
981
+ ]
982
+ },
983
+ "markers": [
984
+ {
985
+ "name": "cab_push_point_7",
986
+ "type": "articulated_object",
987
+ "params": {
988
+ "offset": [
989
+ 0.3,
990
+ 0.0,
991
+ 0
992
+ ],
993
+ "link": "drawer1_top",
994
+ "object": "kitchen_counter_:0000"
995
+ }
996
+ },
997
+ {
998
+ "name": "cab_push_point_6",
999
+ "type": "articulated_object",
1000
+ "params": {
1001
+ "offset": [
1002
+ 0.3,
1003
+ 0.0,
1004
+ 0
1005
+ ],
1006
+ "link": "drawer2_top",
1007
+ "object": "kitchen_counter_:0000"
1008
+ }
1009
+ },
1010
+ {
1011
+ "name": "cab_push_point_5",
1012
+ "type": "articulated_object",
1013
+ "params": {
1014
+ "offset": [
1015
+ 0.3,
1016
+ 0.0,
1017
+ 0
1018
+ ],
1019
+ "link": "drawer3",
1020
+ "object": "kitchen_counter_:0000"
1021
+ }
1022
+ },
1023
+ {
1024
+ "name": "cab_push_point_4",
1025
+ "type": "articulated_object",
1026
+ "params": {
1027
+ "offset": [
1028
+ 0.3,
1029
+ 0.0,
1030
+ 0
1031
+ ],
1032
+ "link": "drawer4",
1033
+ "object": "kitchen_counter_:0000"
1034
+ }
1035
+ },
1036
+ {
1037
+ "name": "fridge_push_point",
1038
+ "type": "articulated_object",
1039
+ "params": {
1040
+ "offset": [
1041
+ 0.1,
1042
+ -0.62,
1043
+ 0.2
1044
+ ],
1045
+ "link": "top_door",
1046
+ "object": "fridge_:0000"
1047
+ }
1048
+ }
1049
+ ],
1050
+ "target_receptacles": [
1051
+ [
1052
+ "fridge_:0000",
1053
+ 0
1054
+ ],
1055
+ [
1056
+ "fridge_:0000",
1057
+ 0
1058
+ ],
1059
+ [
1060
+ "kitchen_counter_:0000",
1061
+ 0
1062
+ ]
1063
+ ],
1064
+ "goal_receptacles": [
1065
+ [
1066
+ "kitchen_counter_:0000",
1067
+ 0
1068
+ ],
1069
+ [
1070
+ "kitchen_counter_:0000",
1071
+ 0
1072
+ ],
1073
+ [
1074
+ "fridge_:0000",
1075
+ 0
1076
+ ]
1077
+ ]
1078
+ }
rearrange/v1_extracted/train/prepare_groceries/episode_1033.json ADDED
@@ -0,0 +1,1078 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_id": "1033",
3
+ "scene_id": "data/replica_cad/configs/scenes/v3_sc2_staging_04.scene_instance.json",
4
+ "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
5
+ "additional_obj_config_paths": [
6
+ "data/objects/ycb/"
7
+ ],
8
+ "start_position": [
9
+ 0,
10
+ 0,
11
+ 0
12
+ ],
13
+ "start_rotation": [
14
+ 0,
15
+ 0,
16
+ 0,
17
+ 1
18
+ ],
19
+ "info": {
20
+ "object_labels": {
21
+ "024_bowl_:0003": "obj0_target|0",
22
+ "003_cracker_box_:0001": "obj1_target|1",
23
+ "010_potted_meat_can_:0004": "obj2_target|2"
24
+ }
25
+ },
26
+ "ao_states": {
27
+ "fridge_:0000": {
28
+ "2": 1.5
29
+ }
30
+ },
31
+ "rigid_objs": [
32
+ [
33
+ "007_tuna_fish_can.object_config.json",
34
+ [
35
+ [
36
+ -0.55753,
37
+ 0.00061,
38
+ 0.83016,
39
+ -1.90991
40
+ ],
41
+ [
42
+ -0.00462,
43
+ 0.99998,
44
+ -0.00384,
45
+ 0.71282
46
+ ],
47
+ [
48
+ -0.83014,
49
+ -0.00597,
50
+ -0.55752,
51
+ -0.17539
52
+ ],
53
+ [
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 1.0
58
+ ]
59
+ ]
60
+ ],
61
+ [
62
+ "005_tomato_soup_can.object_config.json",
63
+ [
64
+ [
65
+ 0.62712,
66
+ 0.00015,
67
+ 0.77892,
68
+ -2.17697
69
+ ],
70
+ [
71
+ -0.00021,
72
+ 1.0,
73
+ -2e-05,
74
+ 0.75829
75
+ ],
76
+ [
77
+ -0.77892,
78
+ -0.00015,
79
+ 0.62712,
80
+ 1.85799
81
+ ],
82
+ [
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ 1.0
87
+ ]
88
+ ]
89
+ ],
90
+ [
91
+ "024_bowl.object_config.json",
92
+ [
93
+ [
94
+ -0.71069,
95
+ -0.00014,
96
+ 0.70351,
97
+ -2.12923
98
+ ],
99
+ [
100
+ -2e-05,
101
+ 1.0,
102
+ 0.00018,
103
+ 0.88719
104
+ ],
105
+ [
106
+ -0.70351,
107
+ 0.00011,
108
+ -0.71069,
109
+ 0.8997
110
+ ],
111
+ [
112
+ 0.0,
113
+ 0.0,
114
+ 0.0,
115
+ 1.0
116
+ ]
117
+ ]
118
+ ],
119
+ [
120
+ "009_gelatin_box.object_config.json",
121
+ [
122
+ [
123
+ 0.95671,
124
+ 3e-05,
125
+ 0.29105,
126
+ 0.90132
127
+ ],
128
+ [
129
+ -3e-05,
130
+ 1.0,
131
+ 0.0,
132
+ 0.42987
133
+ ],
134
+ [
135
+ -0.29105,
136
+ -1e-05,
137
+ 0.95671,
138
+ 5.50935
139
+ ],
140
+ [
141
+ 0.0,
142
+ 0.0,
143
+ 0.0,
144
+ 1.0
145
+ ]
146
+ ]
147
+ ],
148
+ [
149
+ "010_potted_meat_can.object_config.json",
150
+ [
151
+ [
152
+ -0.6154,
153
+ 0.00019,
154
+ -0.78821,
155
+ -1.99647
156
+ ],
157
+ [
158
+ 6e-05,
159
+ 1.0,
160
+ 0.0002,
161
+ 0.90168
162
+ ],
163
+ [
164
+ 0.78821,
165
+ 7e-05,
166
+ -0.6154,
167
+ 2.96627
168
+ ],
169
+ [
170
+ 0.0,
171
+ 0.0,
172
+ 0.0,
173
+ 1.0
174
+ ]
175
+ ]
176
+ ],
177
+ [
178
+ "007_tuna_fish_can.object_config.json",
179
+ [
180
+ [
181
+ -0.62314,
182
+ 1e-05,
183
+ -0.78211,
184
+ -0.12199
185
+ ],
186
+ [
187
+ 3e-05,
188
+ 1.0,
189
+ -1e-05,
190
+ 0.77952
191
+ ],
192
+ [
193
+ 0.78211,
194
+ -3e-05,
195
+ -0.62314,
196
+ 0.1864
197
+ ],
198
+ [
199
+ 0.0,
200
+ 0.0,
201
+ 0.0,
202
+ 1.0
203
+ ]
204
+ ]
205
+ ],
206
+ [
207
+ "009_gelatin_box.object_config.json",
208
+ [
209
+ [
210
+ -0.99762,
211
+ -0.0,
212
+ 0.06899,
213
+ 1.07733
214
+ ],
215
+ [
216
+ -0.0,
217
+ 1.0,
218
+ -0.0,
219
+ 0.77773
220
+ ],
221
+ [
222
+ -0.06899,
223
+ -0.0,
224
+ -0.99762,
225
+ 0.38631
226
+ ],
227
+ [
228
+ 0.0,
229
+ 0.0,
230
+ 0.0,
231
+ 1.0
232
+ ]
233
+ ]
234
+ ],
235
+ [
236
+ "010_potted_meat_can.object_config.json",
237
+ [
238
+ [
239
+ -0.99314,
240
+ -3e-05,
241
+ 0.11692,
242
+ 2.69209
243
+ ],
244
+ [
245
+ 3e-05,
246
+ 1.0,
247
+ 0.0005,
248
+ 0.66862
249
+ ],
250
+ [
251
+ -0.11692,
252
+ 0.0005,
253
+ -0.99314,
254
+ 7.48499
255
+ ],
256
+ [
257
+ 0.0,
258
+ 0.0,
259
+ 0.0,
260
+ 1.0
261
+ ]
262
+ ]
263
+ ],
264
+ [
265
+ "005_tomato_soup_can.object_config.json",
266
+ [
267
+ [
268
+ 0.84287,
269
+ 0.00021,
270
+ -0.53811,
271
+ 2.54123
272
+ ],
273
+ [
274
+ -0.00029,
275
+ 1.0,
276
+ -7e-05,
277
+ 0.45534
278
+ ],
279
+ [
280
+ 0.53811,
281
+ 0.00021,
282
+ 0.84287,
283
+ 3.66777
284
+ ],
285
+ [
286
+ 0.0,
287
+ 0.0,
288
+ 0.0,
289
+ 1.0
290
+ ]
291
+ ]
292
+ ],
293
+ [
294
+ "002_master_chef_can.object_config.json",
295
+ [
296
+ [
297
+ -0.14267,
298
+ 0.00269,
299
+ 0.98977,
300
+ 0.96733
301
+ ],
302
+ [
303
+ -0.00098,
304
+ 1.0,
305
+ -0.00286,
306
+ 0.83335
307
+ ],
308
+ [
309
+ -0.98977,
310
+ -0.00138,
311
+ -0.14267,
312
+ -0.03336
313
+ ],
314
+ [
315
+ 0.0,
316
+ 0.0,
317
+ 0.0,
318
+ 1.0
319
+ ]
320
+ ]
321
+ ],
322
+ [
323
+ "004_sugar_box.object_config.json",
324
+ [
325
+ [
326
+ -0.91571,
327
+ 0.04553,
328
+ -0.39924,
329
+ -1.92572
330
+ ],
331
+ [
332
+ 0.0391,
333
+ 0.99894,
334
+ 0.02424,
335
+ 0.9477
336
+ ],
337
+ [
338
+ 0.39992,
339
+ 0.00659,
340
+ -0.91652,
341
+ 2.90394
342
+ ],
343
+ [
344
+ 0.0,
345
+ 0.0,
346
+ 0.0,
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ [
352
+ "009_gelatin_box.object_config.json",
353
+ [
354
+ [
355
+ 0.09382,
356
+ 0.0,
357
+ -0.99559,
358
+ 2.00248
359
+ ],
360
+ [
361
+ -0.0,
362
+ 1.0,
363
+ 0.0,
364
+ 0.6417
365
+ ],
366
+ [
367
+ 0.99559,
368
+ 0.0,
369
+ 0.09382,
370
+ 7.3237
371
+ ],
372
+ [
373
+ 0.0,
374
+ 0.0,
375
+ 0.0,
376
+ 1.0
377
+ ]
378
+ ]
379
+ ],
380
+ [
381
+ "008_pudding_box.object_config.json",
382
+ [
383
+ [
384
+ -0.42692,
385
+ 0.01873,
386
+ -0.9041,
387
+ -2.43753
388
+ ],
389
+ [
390
+ -0.0059,
391
+ 0.99971,
392
+ 0.0235,
393
+ 0.87927
394
+ ],
395
+ [
396
+ 0.90427,
397
+ 0.01537,
398
+ -0.42668,
399
+ 0.97049
400
+ ],
401
+ [
402
+ 0.0,
403
+ 0.0,
404
+ 0.0,
405
+ 1.0
406
+ ]
407
+ ]
408
+ ],
409
+ [
410
+ "010_potted_meat_can.object_config.json",
411
+ [
412
+ [
413
+ 0.34652,
414
+ 0.00593,
415
+ 0.93802,
416
+ -0.94367
417
+ ],
418
+ [
419
+ -0.0026,
420
+ 0.99998,
421
+ -0.00536,
422
+ 0.97619
423
+ ],
424
+ [
425
+ -0.93804,
426
+ -0.00058,
427
+ 0.34653,
428
+ 3.61677
429
+ ],
430
+ [
431
+ 0.0,
432
+ 0.0,
433
+ 0.0,
434
+ 1.0
435
+ ]
436
+ ]
437
+ ],
438
+ [
439
+ "008_pudding_box.object_config.json",
440
+ [
441
+ [
442
+ 0.06048,
443
+ 0.02445,
444
+ -0.99787,
445
+ 0.32857
446
+ ],
447
+ [
448
+ -0.00779,
449
+ 0.99968,
450
+ 0.02403,
451
+ 0.78232
452
+ ],
453
+ [
454
+ 0.99814,
455
+ 0.00632,
456
+ 0.06065,
457
+ -0.11268
458
+ ],
459
+ [
460
+ 0.0,
461
+ 0.0,
462
+ 0.0,
463
+ 1.0
464
+ ]
465
+ ]
466
+ ],
467
+ [
468
+ "024_bowl.object_config.json",
469
+ [
470
+ [
471
+ 0.68739,
472
+ 0.02791,
473
+ 0.72575,
474
+ 0.73093
475
+ ],
476
+ [
477
+ -0.0289,
478
+ 0.99952,
479
+ -0.01107,
480
+ 0.44383
481
+ ],
482
+ [
483
+ -0.72572,
484
+ -0.01336,
485
+ 0.68786,
486
+ 5.56086
487
+ ],
488
+ [
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 1.0
493
+ ]
494
+ ]
495
+ ],
496
+ [
497
+ "004_sugar_box.object_config.json",
498
+ [
499
+ [
500
+ -0.91301,
501
+ 0.04085,
502
+ -0.40588,
503
+ 3.58404
504
+ ],
505
+ [
506
+ 0.03498,
507
+ 0.99915,
508
+ 0.02187,
509
+ 0.49223
510
+ ],
511
+ [
512
+ 0.40643,
513
+ 0.00577,
514
+ -0.91366,
515
+ 4.1174
516
+ ],
517
+ [
518
+ 0.0,
519
+ 0.0,
520
+ 0.0,
521
+ 1.0
522
+ ]
523
+ ]
524
+ ],
525
+ [
526
+ "004_sugar_box.object_config.json",
527
+ [
528
+ [
529
+ 0.32251,
530
+ 0.01232,
531
+ -0.94648,
532
+ 2.52968
533
+ ],
534
+ [
535
+ 0.03691,
536
+ 0.99899,
537
+ 0.02558,
538
+ 0.71472
539
+ ],
540
+ [
541
+ 0.94584,
542
+ -0.04319,
543
+ 0.32173,
544
+ 7.23126
545
+ ],
546
+ [
547
+ 0.0,
548
+ 0.0,
549
+ 0.0,
550
+ 1.0
551
+ ]
552
+ ]
553
+ ],
554
+ [
555
+ "008_pudding_box.object_config.json",
556
+ [
557
+ [
558
+ 0.88658,
559
+ 0.01611,
560
+ -0.4623,
561
+ -2.04077
562
+ ],
563
+ [
564
+ -0.00323,
565
+ 0.99958,
566
+ 0.02864,
567
+ 1.27086
568
+ ],
569
+ [
570
+ 0.46257,
571
+ -0.0239,
572
+ 0.88626,
573
+ -0.17867
574
+ ],
575
+ [
576
+ 0.0,
577
+ 0.0,
578
+ 0.0,
579
+ 1.0
580
+ ]
581
+ ]
582
+ ],
583
+ [
584
+ "003_cracker_box.object_config.json",
585
+ [
586
+ [
587
+ -0.02928,
588
+ -0.00868,
589
+ -0.99953,
590
+ 0.94633
591
+ ],
592
+ [
593
+ -0.04566,
594
+ 0.99893,
595
+ -0.00734,
596
+ 0.52138
597
+ ],
598
+ [
599
+ 0.99853,
600
+ 0.04543,
601
+ -0.02964,
602
+ 5.71381
603
+ ],
604
+ [
605
+ 0.0,
606
+ 0.0,
607
+ 0.0,
608
+ 1.0
609
+ ]
610
+ ]
611
+ ],
612
+ [
613
+ "010_potted_meat_can.object_config.json",
614
+ [
615
+ [
616
+ 0.92888,
617
+ 0.00011,
618
+ 0.37038,
619
+ 2.14775
620
+ ],
621
+ [
622
+ -7e-05,
623
+ 1.0,
624
+ -0.00012,
625
+ 0.66862
626
+ ],
627
+ [
628
+ -0.37038,
629
+ 9e-05,
630
+ 0.92888,
631
+ 7.41423
632
+ ],
633
+ [
634
+ 0.0,
635
+ 0.0,
636
+ 0.0,
637
+ 1.0
638
+ ]
639
+ ]
640
+ ],
641
+ [
642
+ "002_master_chef_can.object_config.json",
643
+ [
644
+ [
645
+ -0.01443,
646
+ 4e-05,
647
+ -0.9999,
648
+ 2.7918
649
+ ],
650
+ [
651
+ -4e-05,
652
+ 1.0,
653
+ 4e-05,
654
+ 0.4748
655
+ ],
656
+ [
657
+ 0.9999,
658
+ 4e-05,
659
+ -0.01443,
660
+ 4.09496
661
+ ],
662
+ [
663
+ 0.0,
664
+ 0.0,
665
+ 0.0,
666
+ 1.0
667
+ ]
668
+ ]
669
+ ],
670
+ [
671
+ "007_tuna_fish_can.object_config.json",
672
+ [
673
+ [
674
+ -0.91417,
675
+ -0.0,
676
+ 0.40534,
677
+ 1.21626
678
+ ],
679
+ [
680
+ -0.0,
681
+ 1.0,
682
+ -0.0,
683
+ 0.77952
684
+ ],
685
+ [
686
+ -0.40534,
687
+ -0.0,
688
+ -0.91417,
689
+ -0.38799
690
+ ],
691
+ [
692
+ 0.0,
693
+ 0.0,
694
+ 0.0,
695
+ 1.0
696
+ ]
697
+ ]
698
+ ],
699
+ [
700
+ "005_tomato_soup_can.object_config.json",
701
+ [
702
+ [
703
+ 0.63233,
704
+ 2e-05,
705
+ -0.7747,
706
+ -1.31527
707
+ ],
708
+ [
709
+ -5e-05,
710
+ 1.0,
711
+ -1e-05,
712
+ 0.9853
713
+ ],
714
+ [
715
+ 0.7747,
716
+ 5e-05,
717
+ 0.63233,
718
+ 3.95035
719
+ ],
720
+ [
721
+ 0.0,
722
+ 0.0,
723
+ 0.0,
724
+ 1.0
725
+ ]
726
+ ]
727
+ ],
728
+ [
729
+ "008_pudding_box.object_config.json",
730
+ [
731
+ [
732
+ -0.98882,
733
+ -0.00875,
734
+ 0.14889,
735
+ 1.1041
736
+ ],
737
+ [
738
+ -0.00504,
739
+ 0.99967,
740
+ 0.02526,
741
+ 0.43446
742
+ ],
743
+ [
744
+ -0.14906,
745
+ 0.02423,
746
+ -0.98853,
747
+ 5.6099
748
+ ],
749
+ [
750
+ 0.0,
751
+ 0.0,
752
+ 0.0,
753
+ 1.0
754
+ ]
755
+ ]
756
+ ],
757
+ [
758
+ "024_bowl.object_config.json",
759
+ [
760
+ [
761
+ 0.82622,
762
+ -0.00043,
763
+ 0.56335,
764
+ 3.34451
765
+ ],
766
+ [
767
+ 0.00015,
768
+ 1.0,
769
+ 0.00055,
770
+ 0.43169
771
+ ],
772
+ [
773
+ -0.56335,
774
+ -0.00037,
775
+ 0.82622,
776
+ 4.30785
777
+ ],
778
+ [
779
+ 0.0,
780
+ 0.0,
781
+ 0.0,
782
+ 1.0
783
+ ]
784
+ ]
785
+ ],
786
+ [
787
+ "009_gelatin_box.object_config.json",
788
+ [
789
+ [
790
+ -0.78473,
791
+ 0.0,
792
+ 0.61984,
793
+ -2.22625
794
+ ],
795
+ [
796
+ -0.00359,
797
+ 0.99998,
798
+ -0.00455,
799
+ 1.26561
800
+ ],
801
+ [
802
+ -0.61983,
803
+ -0.00579,
804
+ -0.78472,
805
+ -0.30489
806
+ ],
807
+ [
808
+ 0.0,
809
+ 0.0,
810
+ 0.0,
811
+ 1.0
812
+ ]
813
+ ]
814
+ ],
815
+ [
816
+ "024_bowl.object_config.json",
817
+ [
818
+ [
819
+ -0.75238,
820
+ 0.0,
821
+ 0.65873,
822
+ -2.04795
823
+ ],
824
+ [
825
+ -0.00389,
826
+ 0.99998,
827
+ -0.00445,
828
+ 1.27803
829
+ ],
830
+ [
831
+ -0.65872,
832
+ -0.00591,
833
+ -0.75237,
834
+ -0.3095
835
+ ],
836
+ [
837
+ 0.0,
838
+ 0.0,
839
+ 0.0,
840
+ 1.0
841
+ ]
842
+ ]
843
+ ],
844
+ [
845
+ "003_cracker_box.object_config.json",
846
+ [
847
+ [
848
+ -0.97261,
849
+ -0.04267,
850
+ 0.2285,
851
+ -2.17283
852
+ ],
853
+ [
854
+ -0.04686,
855
+ 0.99882,
856
+ -0.01297,
857
+ 1.35798
858
+ ],
859
+ [
860
+ -0.22768,
861
+ -0.02332,
862
+ -0.97346,
863
+ -0.15882
864
+ ],
865
+ [
866
+ 0.0,
867
+ 0.0,
868
+ 0.0,
869
+ 1.0
870
+ ]
871
+ ]
872
+ ],
873
+ [
874
+ "010_potted_meat_can.object_config.json",
875
+ [
876
+ [
877
+ 0.14406,
878
+ 0.0,
879
+ 0.98957,
880
+ -2.41362
881
+ ],
882
+ [
883
+ -2e-05,
884
+ 1.0,
885
+ -0.0,
886
+ 0.90168
887
+ ],
888
+ [
889
+ -0.98957,
890
+ -2e-05,
891
+ 0.14406,
892
+ 2.80791
893
+ ],
894
+ [
895
+ 0.0,
896
+ 0.0,
897
+ 0.0,
898
+ 1.0
899
+ ]
900
+ ]
901
+ ]
902
+ ],
903
+ "targets": {
904
+ "024_bowl_:0003": [
905
+ [
906
+ 0.32046,
907
+ 0.0,
908
+ -0.94726,
909
+ -2.3572
910
+ ],
911
+ [
912
+ 0.0,
913
+ 1.0,
914
+ 0.0,
915
+ 0.89238
916
+ ],
917
+ [
918
+ 0.94726,
919
+ 0.0,
920
+ 0.32046,
921
+ 2.27135
922
+ ],
923
+ [
924
+ 0.0,
925
+ 0.0,
926
+ 0.0,
927
+ 1.0
928
+ ]
929
+ ],
930
+ "003_cracker_box_:0001": [
931
+ [
932
+ -0.04752,
933
+ 0.0,
934
+ 0.99887,
935
+ -2.24704
936
+ ],
937
+ [
938
+ 0.0,
939
+ 1.0,
940
+ 0.0,
941
+ 0.96582
942
+ ],
943
+ [
944
+ -0.99887,
945
+ 0.0,
946
+ -0.04752,
947
+ 2.66053
948
+ ],
949
+ [
950
+ 0.0,
951
+ 0.0,
952
+ 0.0,
953
+ 1.0
954
+ ]
955
+ ],
956
+ "010_potted_meat_can_:0004": [
957
+ [
958
+ -0.96634,
959
+ 0.0,
960
+ -0.25727,
961
+ -2.29472
962
+ ],
963
+ [
964
+ 0.0,
965
+ 1.0,
966
+ 0.0,
967
+ 1.29139
968
+ ],
969
+ [
970
+ 0.25727,
971
+ 0.0,
972
+ -0.96634,
973
+ -0.36351
974
+ ],
975
+ [
976
+ 0.0,
977
+ 0.0,
978
+ 0.0,
979
+ 1.0
980
+ ]
981
+ ]
982
+ },
983
+ "markers": [
984
+ {
985
+ "name": "cab_push_point_7",
986
+ "type": "articulated_object",
987
+ "params": {
988
+ "offset": [
989
+ 0.3,
990
+ 0.0,
991
+ 0
992
+ ],
993
+ "link": "drawer1_top",
994
+ "object": "kitchen_counter_:0000"
995
+ }
996
+ },
997
+ {
998
+ "name": "cab_push_point_6",
999
+ "type": "articulated_object",
1000
+ "params": {
1001
+ "offset": [
1002
+ 0.3,
1003
+ 0.0,
1004
+ 0
1005
+ ],
1006
+ "link": "drawer2_top",
1007
+ "object": "kitchen_counter_:0000"
1008
+ }
1009
+ },
1010
+ {
1011
+ "name": "cab_push_point_5",
1012
+ "type": "articulated_object",
1013
+ "params": {
1014
+ "offset": [
1015
+ 0.3,
1016
+ 0.0,
1017
+ 0
1018
+ ],
1019
+ "link": "drawer3",
1020
+ "object": "kitchen_counter_:0000"
1021
+ }
1022
+ },
1023
+ {
1024
+ "name": "cab_push_point_4",
1025
+ "type": "articulated_object",
1026
+ "params": {
1027
+ "offset": [
1028
+ 0.3,
1029
+ 0.0,
1030
+ 0
1031
+ ],
1032
+ "link": "drawer4",
1033
+ "object": "kitchen_counter_:0000"
1034
+ }
1035
+ },
1036
+ {
1037
+ "name": "fridge_push_point",
1038
+ "type": "articulated_object",
1039
+ "params": {
1040
+ "offset": [
1041
+ 0.1,
1042
+ -0.62,
1043
+ 0.2
1044
+ ],
1045
+ "link": "top_door",
1046
+ "object": "fridge_:0000"
1047
+ }
1048
+ }
1049
+ ],
1050
+ "target_receptacles": [
1051
+ [
1052
+ "fridge_:0000",
1053
+ 0
1054
+ ],
1055
+ [
1056
+ "fridge_:0000",
1057
+ 0
1058
+ ],
1059
+ [
1060
+ "kitchen_counter_:0000",
1061
+ 0
1062
+ ]
1063
+ ],
1064
+ "goal_receptacles": [
1065
+ [
1066
+ "kitchen_counter_:0000",
1067
+ 0
1068
+ ],
1069
+ [
1070
+ "kitchen_counter_:0000",
1071
+ 0
1072
+ ],
1073
+ [
1074
+ "fridge_:0000",
1075
+ 0
1076
+ ]
1077
+ ]
1078
+ }
rearrange/v1_extracted/train/prepare_groceries/episode_1034.json ADDED
@@ -0,0 +1,1078 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_id": "1034",
3
+ "scene_id": "data/replica_cad/configs/scenes/v3_sc2_staging_14.scene_instance.json",
4
+ "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
5
+ "additional_obj_config_paths": [
6
+ "data/objects/ycb/"
7
+ ],
8
+ "start_position": [
9
+ 0,
10
+ 0,
11
+ 0
12
+ ],
13
+ "start_rotation": [
14
+ 0,
15
+ 0,
16
+ 0,
17
+ 1
18
+ ],
19
+ "info": {
20
+ "object_labels": {
21
+ "009_gelatin_box_:0004": "obj0_target|0",
22
+ "007_tuna_fish_can_:0002": "obj1_target|1",
23
+ "009_gelatin_box_:0005": "obj2_target|2"
24
+ }
25
+ },
26
+ "ao_states": {
27
+ "fridge_:0000": {
28
+ "2": 1.5
29
+ }
30
+ },
31
+ "rigid_objs": [
32
+ [
33
+ "002_master_chef_can.object_config.json",
34
+ [
35
+ [
36
+ 0.45906,
37
+ -0.00032,
38
+ -0.8884,
39
+ 3.79447
40
+ ],
41
+ [
42
+ 0.00034,
43
+ 1.0,
44
+ -0.00018,
45
+ 0.69724
46
+ ],
47
+ [
48
+ 0.8884,
49
+ -0.00022,
50
+ 0.45906,
51
+ 5.33064
52
+ ],
53
+ [
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 1.0
58
+ ]
59
+ ]
60
+ ],
61
+ [
62
+ "024_bowl.object_config.json",
63
+ [
64
+ [
65
+ -0.99191,
66
+ -0.01515,
67
+ 0.12601,
68
+ 3.83119
69
+ ],
70
+ [
71
+ -0.01719,
72
+ 0.99974,
73
+ -0.01518,
74
+ 0.44338
75
+ ],
76
+ [
77
+ -0.12575,
78
+ -0.01722,
79
+ -0.99191,
80
+ -0.28327
81
+ ],
82
+ [
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ 1.0
87
+ ]
88
+ ]
89
+ ],
90
+ [
91
+ "007_tuna_fish_can.object_config.json",
92
+ [
93
+ [
94
+ -0.56767,
95
+ 0.00076,
96
+ 0.82325,
97
+ -2.00285
98
+ ],
99
+ [
100
+ -0.00483,
101
+ 0.99998,
102
+ -0.00425,
103
+ 1.26631
104
+ ],
105
+ [
106
+ -0.82324,
107
+ -0.00639,
108
+ -0.56766,
109
+ -0.49147
110
+ ],
111
+ [
112
+ 0.0,
113
+ 0.0,
114
+ 0.0,
115
+ 1.0
116
+ ]
117
+ ]
118
+ ],
119
+ [
120
+ "024_bowl.object_config.json",
121
+ [
122
+ [
123
+ 0.99808,
124
+ -0.0,
125
+ -0.06188,
126
+ -2.37318
127
+ ],
128
+ [
129
+ 0.0,
130
+ 1.0,
131
+ 0.0,
132
+ 0.88719
133
+ ],
134
+ [
135
+ 0.06188,
136
+ -0.0,
137
+ 0.99808,
138
+ 0.3255
139
+ ],
140
+ [
141
+ 0.0,
142
+ 0.0,
143
+ 0.0,
144
+ 1.0
145
+ ]
146
+ ]
147
+ ],
148
+ [
149
+ "004_sugar_box.object_config.json",
150
+ [
151
+ [
152
+ 0.40568,
153
+ 0.00443,
154
+ -0.914,
155
+ 3.74827
156
+ ],
157
+ [
158
+ 0.03915,
159
+ 0.99899,
160
+ 0.02222,
161
+ 0.71477
162
+ ],
163
+ [
164
+ 0.91318,
165
+ -0.0448,
166
+ 0.4051,
167
+ 4.99782
168
+ ],
169
+ [
170
+ 0.0,
171
+ 0.0,
172
+ 0.0,
173
+ 1.0
174
+ ]
175
+ ]
176
+ ],
177
+ [
178
+ "010_potted_meat_can.object_config.json",
179
+ [
180
+ [
181
+ 0.84753,
182
+ 0.00051,
183
+ -0.53075,
184
+ 3.66232
185
+ ],
186
+ [
187
+ -0.00552,
188
+ 0.99995,
189
+ -0.00786,
190
+ 0.45681
191
+ ],
192
+ [
193
+ 0.53072,
194
+ 0.00959,
195
+ 0.84749,
196
+ 3.50316
197
+ ],
198
+ [
199
+ 0.0,
200
+ 0.0,
201
+ 0.0,
202
+ 1.0
203
+ ]
204
+ ]
205
+ ],
206
+ [
207
+ "009_gelatin_box.object_config.json",
208
+ [
209
+ [
210
+ 0.09792,
211
+ 0.0037,
212
+ -0.99519,
213
+ 3.68574
214
+ ],
215
+ [
216
+ -0.0035,
217
+ 0.99999,
218
+ 0.00338,
219
+ 0.64177
220
+ ],
221
+ [
222
+ 0.99519,
223
+ 0.00315,
224
+ 0.09793,
225
+ 5.52367
226
+ ],
227
+ [
228
+ 0.0,
229
+ 0.0,
230
+ 0.0,
231
+ 1.0
232
+ ]
233
+ ]
234
+ ],
235
+ [
236
+ "007_tuna_fish_can.object_config.json",
237
+ [
238
+ [
239
+ -0.6625,
240
+ -0.00162,
241
+ -0.74906,
242
+ -2.18848
243
+ ],
244
+ [
245
+ -0.01553,
246
+ 0.99981,
247
+ 0.01158,
248
+ 0.72459
249
+ ],
250
+ [
251
+ 0.7489,
252
+ 0.01931,
253
+ -0.6624,
254
+ 1.81011
255
+ ],
256
+ [
257
+ 0.0,
258
+ 0.0,
259
+ 0.0,
260
+ 1.0
261
+ ]
262
+ ]
263
+ ],
264
+ [
265
+ "008_pudding_box.object_config.json",
266
+ [
267
+ [
268
+ 0.81568,
269
+ 0.01301,
270
+ -0.57836,
271
+ 3.65292
272
+ ],
273
+ [
274
+ -0.00417,
275
+ 0.99985,
276
+ 0.01661,
277
+ 0.64622
278
+ ],
279
+ [
280
+ 0.57849,
281
+ -0.01114,
282
+ 0.81561,
283
+ 5.15155
284
+ ],
285
+ [
286
+ 0.0,
287
+ 0.0,
288
+ 0.0,
289
+ 1.0
290
+ ]
291
+ ]
292
+ ],
293
+ [
294
+ "009_gelatin_box.object_config.json",
295
+ [
296
+ [
297
+ 0.98142,
298
+ 0.0,
299
+ 0.19185,
300
+ -2.4651
301
+ ],
302
+ [
303
+ -0.0,
304
+ 1.0,
305
+ -0.0,
306
+ 0.87476
307
+ ],
308
+ [
309
+ -0.19185,
310
+ 0.0,
311
+ 0.98142,
312
+ 1.25235
313
+ ],
314
+ [
315
+ 0.0,
316
+ 0.0,
317
+ 0.0,
318
+ 1.0
319
+ ]
320
+ ]
321
+ ],
322
+ [
323
+ "024_bowl.object_config.json",
324
+ [
325
+ [
326
+ -0.94048,
327
+ 0.00031,
328
+ -0.33986,
329
+ 0.41528
330
+ ],
331
+ [
332
+ 0.00112,
333
+ 1.0,
334
+ -0.00217,
335
+ 0.79005
336
+ ],
337
+ [
338
+ 0.33986,
339
+ -0.00242,
340
+ -0.94047,
341
+ 0.03419
342
+ ],
343
+ [
344
+ 0.0,
345
+ 0.0,
346
+ 0.0,
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ [
352
+ "010_potted_meat_can.object_config.json",
353
+ [
354
+ [
355
+ -0.22105,
356
+ 0.00421,
357
+ -0.97525,
358
+ -2.09846
359
+ ],
360
+ [
361
+ 0.00084,
362
+ 0.99999,
363
+ 0.00412,
364
+ 0.90174
365
+ ],
366
+ [
367
+ 0.97526,
368
+ 9e-05,
369
+ -0.22105,
370
+ 2.5801
371
+ ],
372
+ [
373
+ 0.0,
374
+ 0.0,
375
+ 0.0,
376
+ 1.0
377
+ ]
378
+ ]
379
+ ],
380
+ [
381
+ "009_gelatin_box.object_config.json",
382
+ [
383
+ [
384
+ 0.99531,
385
+ -1e-05,
386
+ 0.09669,
387
+ 1.18142
388
+ ],
389
+ [
390
+ 1e-05,
391
+ 1.0,
392
+ 1e-05,
393
+ 0.77773
394
+ ],
395
+ [
396
+ -0.09669,
397
+ -1e-05,
398
+ 0.99531,
399
+ 0.1026
400
+ ],
401
+ [
402
+ 0.0,
403
+ 0.0,
404
+ 0.0,
405
+ 1.0
406
+ ]
407
+ ]
408
+ ],
409
+ [
410
+ "008_pudding_box.object_config.json",
411
+ [
412
+ [
413
+ 0.9999,
414
+ 0.00665,
415
+ -0.01241,
416
+ 3.92811
417
+ ],
418
+ [
419
+ -0.00636,
420
+ 0.99971,
421
+ 0.02326,
422
+ 0.4344
423
+ ],
424
+ [
425
+ 0.01257,
426
+ -0.02318,
427
+ 0.99965,
428
+ -0.4436
429
+ ],
430
+ [
431
+ 0.0,
432
+ 0.0,
433
+ 0.0,
434
+ 1.0
435
+ ]
436
+ ]
437
+ ],
438
+ [
439
+ "002_master_chef_can.object_config.json",
440
+ [
441
+ [
442
+ 0.99966,
443
+ 1e-05,
444
+ 0.02611,
445
+ 0.05166
446
+ ],
447
+ [
448
+ -1e-05,
449
+ 1.0,
450
+ 2e-05,
451
+ 0.83327
452
+ ],
453
+ [
454
+ -0.02611,
455
+ -2e-05,
456
+ 0.99966,
457
+ -0.03178
458
+ ],
459
+ [
460
+ 0.0,
461
+ 0.0,
462
+ 0.0,
463
+ 1.0
464
+ ]
465
+ ]
466
+ ],
467
+ [
468
+ "010_potted_meat_can.object_config.json",
469
+ [
470
+ [
471
+ -0.96317,
472
+ -0.00076,
473
+ 0.2689,
474
+ -2.16932
475
+ ],
476
+ [
477
+ -0.0017,
478
+ 0.99999,
479
+ -0.00324,
480
+ 0.9017
481
+ ],
482
+ [
483
+ -0.2689,
484
+ -0.00358,
485
+ -0.96316,
486
+ 2.52062
487
+ ],
488
+ [
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 1.0
493
+ ]
494
+ ]
495
+ ],
496
+ [
497
+ "009_gelatin_box.object_config.json",
498
+ [
499
+ [
500
+ 0.52132,
501
+ -0.0,
502
+ -0.85336,
503
+ 1.20615
504
+ ],
505
+ [
506
+ -0.0,
507
+ 1.0,
508
+ -0.0,
509
+ 0.41926
510
+ ],
511
+ [
512
+ 0.85336,
513
+ 0.0,
514
+ 0.52132,
515
+ 5.4328
516
+ ],
517
+ [
518
+ 0.0,
519
+ 0.0,
520
+ 0.0,
521
+ 1.0
522
+ ]
523
+ ]
524
+ ],
525
+ [
526
+ "003_cracker_box.object_config.json",
527
+ [
528
+ [
529
+ -0.80167,
530
+ -0.03245,
531
+ 0.59689,
532
+ -2.19886
533
+ ],
534
+ [
535
+ -0.04587,
536
+ 0.99892,
537
+ -0.0073,
538
+ 0.81373
539
+ ],
540
+ [
541
+ -0.59601,
542
+ -0.03323,
543
+ -0.80229,
544
+ 2.00059
545
+ ],
546
+ [
547
+ 0.0,
548
+ 0.0,
549
+ 0.0,
550
+ 1.0
551
+ ]
552
+ ]
553
+ ],
554
+ [
555
+ "010_potted_meat_can.object_config.json",
556
+ [
557
+ [
558
+ -0.65922,
559
+ 0.0001,
560
+ 0.75195,
561
+ 0.99534
562
+ ],
563
+ [
564
+ -3e-05,
565
+ 1.0,
566
+ -0.00016,
567
+ 0.44618
568
+ ],
569
+ [
570
+ -0.75195,
571
+ -0.00013,
572
+ -0.65922,
573
+ 5.94808
574
+ ],
575
+ [
576
+ 0.0,
577
+ 0.0,
578
+ 0.0,
579
+ 1.0
580
+ ]
581
+ ]
582
+ ],
583
+ [
584
+ "002_master_chef_can.object_config.json",
585
+ [
586
+ [
587
+ -0.79529,
588
+ 0.00012,
589
+ -0.60623,
590
+ -2.15171
591
+ ],
592
+ [
593
+ 0.00011,
594
+ 1.0,
595
+ 6e-05,
596
+ 0.9303
597
+ ],
598
+ [
599
+ 0.60623,
600
+ -1e-05,
601
+ -0.79529,
602
+ 0.41511
603
+ ],
604
+ [
605
+ 0.0,
606
+ 0.0,
607
+ 0.0,
608
+ 1.0
609
+ ]
610
+ ]
611
+ ],
612
+ [
613
+ "024_bowl.object_config.json",
614
+ [
615
+ [
616
+ -0.82985,
617
+ 0.00015,
618
+ 0.55799,
619
+ -1.92913
620
+ ],
621
+ [
622
+ 2e-05,
623
+ 1.0,
624
+ -0.00025,
625
+ 0.88718
626
+ ],
627
+ [
628
+ -0.55799,
629
+ -0.00019,
630
+ -0.82985,
631
+ 2.68073
632
+ ],
633
+ [
634
+ 0.0,
635
+ 0.0,
636
+ 0.0,
637
+ 1.0
638
+ ]
639
+ ]
640
+ ],
641
+ [
642
+ "008_pudding_box.object_config.json",
643
+ [
644
+ [
645
+ -0.95848,
646
+ -0.01339,
647
+ 0.28486,
648
+ 3.81394
649
+ ],
650
+ [
651
+ -0.00663,
652
+ 0.99967,
653
+ 0.02467,
654
+ 0.64638
655
+ ],
656
+ [
657
+ -0.2851,
658
+ 0.02176,
659
+ -0.95825,
660
+ 4.8912
661
+ ],
662
+ [
663
+ 0.0,
664
+ 0.0,
665
+ 0.0,
666
+ 1.0
667
+ ]
668
+ ]
669
+ ],
670
+ [
671
+ "002_master_chef_can.object_config.json",
672
+ [
673
+ [
674
+ 0.26749,
675
+ -0.00016,
676
+ -0.96356,
677
+ 3.62263
678
+ ],
679
+ [
680
+ 0.00016,
681
+ 1.0,
682
+ -0.00012,
683
+ 0.69724
684
+ ],
685
+ [
686
+ 0.96356,
687
+ -0.00012,
688
+ 0.26749,
689
+ 4.6502
690
+ ],
691
+ [
692
+ 0.0,
693
+ 0.0,
694
+ 0.0,
695
+ 1.0
696
+ ]
697
+ ]
698
+ ],
699
+ [
700
+ "002_master_chef_can.object_config.json",
701
+ [
702
+ [
703
+ 0.7856,
704
+ -0.00103,
705
+ -0.61873,
706
+ -2.11816
707
+ ],
708
+ [
709
+ 0.00459,
710
+ 0.99998,
711
+ 0.00416,
712
+ 1.32267
713
+ ],
714
+ [
715
+ 0.61872,
716
+ -0.00611,
717
+ 0.78559,
718
+ -0.0382
719
+ ],
720
+ [
721
+ 0.0,
722
+ 0.0,
723
+ 0.0,
724
+ 1.0
725
+ ]
726
+ ]
727
+ ],
728
+ [
729
+ "008_pudding_box.object_config.json",
730
+ [
731
+ [
732
+ -0.35305,
733
+ 0.0199,
734
+ -0.93539,
735
+ -2.00346
736
+ ],
737
+ [
738
+ -0.0059,
739
+ 0.99971,
740
+ 0.02349,
741
+ 0.87927
742
+ ],
743
+ [
744
+ 0.93559,
745
+ 0.01381,
746
+ -0.35283,
747
+ 1.53554
748
+ ],
749
+ [
750
+ 0.0,
751
+ 0.0,
752
+ 0.0,
753
+ 1.0
754
+ ]
755
+ ]
756
+ ],
757
+ [
758
+ "002_master_chef_can.object_config.json",
759
+ [
760
+ [
761
+ -0.53137,
762
+ 0.00012,
763
+ 0.84714,
764
+ 1.12981
765
+ ],
766
+ [
767
+ -0.00015,
768
+ 1.0,
769
+ -0.00024,
770
+ 1.00477
771
+ ],
772
+ [
773
+ -0.84714,
774
+ -0.00026,
775
+ -0.53137,
776
+ 3.71169
777
+ ],
778
+ [
779
+ 0.0,
780
+ 0.0,
781
+ 0.0,
782
+ 1.0
783
+ ]
784
+ ]
785
+ ],
786
+ [
787
+ "008_pudding_box.object_config.json",
788
+ [
789
+ [
790
+ -0.42124,
791
+ 0.01882,
792
+ -0.90676,
793
+ -2.1852
794
+ ],
795
+ [
796
+ -0.00591,
797
+ 0.99971,
798
+ 0.02349,
799
+ 0.87927
800
+ ],
801
+ [
802
+ 0.90693,
803
+ 0.01525,
804
+ -0.421,
805
+ 1.18221
806
+ ],
807
+ [
808
+ 0.0,
809
+ 0.0,
810
+ 0.0,
811
+ 1.0
812
+ ]
813
+ ]
814
+ ],
815
+ [
816
+ "009_gelatin_box.object_config.json",
817
+ [
818
+ [
819
+ -0.88569,
820
+ -0.0,
821
+ -0.46428,
822
+ -2.07477
823
+ ],
824
+ [
825
+ 0.00269,
826
+ 0.99998,
827
+ -0.00513,
828
+ 1.26583
829
+ ],
830
+ [
831
+ 0.46427,
832
+ -0.00579,
833
+ -0.88568,
834
+ -0.26721
835
+ ],
836
+ [
837
+ 0.0,
838
+ 0.0,
839
+ 0.0,
840
+ 1.0
841
+ ]
842
+ ]
843
+ ],
844
+ [
845
+ "007_tuna_fish_can.object_config.json",
846
+ [
847
+ [
848
+ 0.98926,
849
+ -2e-05,
850
+ -0.1462,
851
+ -2.14334
852
+ ],
853
+ [
854
+ 0.00088,
855
+ 0.99998,
856
+ 0.00579,
857
+ 1.26819
858
+ ],
859
+ [
860
+ 0.14619,
861
+ -0.00586,
862
+ 0.98924,
863
+ -0.1694
864
+ ],
865
+ [
866
+ 0.0,
867
+ 0.0,
868
+ 0.0,
869
+ 1.0
870
+ ]
871
+ ]
872
+ ],
873
+ [
874
+ "009_gelatin_box.object_config.json",
875
+ [
876
+ [
877
+ 0.97016,
878
+ 0.0,
879
+ -0.24247,
880
+ -2.3421
881
+ ],
882
+ [
883
+ -0.0,
884
+ 1.0,
885
+ -0.0,
886
+ 0.87476
887
+ ],
888
+ [
889
+ 0.24247,
890
+ 0.0,
891
+ 0.97016,
892
+ 2.4523
893
+ ],
894
+ [
895
+ 0.0,
896
+ 0.0,
897
+ 0.0,
898
+ 1.0
899
+ ]
900
+ ]
901
+ ]
902
+ ],
903
+ "targets": {
904
+ "009_gelatin_box_:0004": [
905
+ [
906
+ -0.12716,
907
+ 0.0,
908
+ 0.99188,
909
+ -2.31486
910
+ ],
911
+ [
912
+ 0.0,
913
+ 1.0,
914
+ 0.0,
915
+ 0.87413
916
+ ],
917
+ [
918
+ -0.99188,
919
+ 0.0,
920
+ -0.12716,
921
+ 2.94546
922
+ ],
923
+ [
924
+ 0.0,
925
+ 0.0,
926
+ 0.0,
927
+ 1.0
928
+ ]
929
+ ],
930
+ "007_tuna_fish_can_:0002": [
931
+ [
932
+ -0.32646,
933
+ 0.0,
934
+ 0.94521,
935
+ -2.083
936
+ ],
937
+ [
938
+ 0.0,
939
+ 1.0,
940
+ 0.0,
941
+ 0.87587
942
+ ],
943
+ [
944
+ -0.94521,
945
+ 0.0,
946
+ -0.32646,
947
+ 3.14025
948
+ ],
949
+ [
950
+ 0.0,
951
+ 0.0,
952
+ 0.0,
953
+ 1.0
954
+ ]
955
+ ],
956
+ "009_gelatin_box_:0005": [
957
+ [
958
+ -0.12909,
959
+ 0.0,
960
+ -0.99163,
961
+ -2.20168
962
+ ],
963
+ [
964
+ 0.0,
965
+ 1.0,
966
+ 0.0,
967
+ 1.26525
968
+ ],
969
+ [
970
+ 0.99163,
971
+ 0.0,
972
+ -0.12909,
973
+ -0.25985
974
+ ],
975
+ [
976
+ 0.0,
977
+ 0.0,
978
+ 0.0,
979
+ 1.0
980
+ ]
981
+ ]
982
+ },
983
+ "markers": [
984
+ {
985
+ "name": "cab_push_point_7",
986
+ "type": "articulated_object",
987
+ "params": {
988
+ "offset": [
989
+ 0.3,
990
+ 0.0,
991
+ 0
992
+ ],
993
+ "link": "drawer1_top",
994
+ "object": "kitchen_counter_:0000"
995
+ }
996
+ },
997
+ {
998
+ "name": "cab_push_point_6",
999
+ "type": "articulated_object",
1000
+ "params": {
1001
+ "offset": [
1002
+ 0.3,
1003
+ 0.0,
1004
+ 0
1005
+ ],
1006
+ "link": "drawer2_top",
1007
+ "object": "kitchen_counter_:0000"
1008
+ }
1009
+ },
1010
+ {
1011
+ "name": "cab_push_point_5",
1012
+ "type": "articulated_object",
1013
+ "params": {
1014
+ "offset": [
1015
+ 0.3,
1016
+ 0.0,
1017
+ 0
1018
+ ],
1019
+ "link": "drawer3",
1020
+ "object": "kitchen_counter_:0000"
1021
+ }
1022
+ },
1023
+ {
1024
+ "name": "cab_push_point_4",
1025
+ "type": "articulated_object",
1026
+ "params": {
1027
+ "offset": [
1028
+ 0.3,
1029
+ 0.0,
1030
+ 0
1031
+ ],
1032
+ "link": "drawer4",
1033
+ "object": "kitchen_counter_:0000"
1034
+ }
1035
+ },
1036
+ {
1037
+ "name": "fridge_push_point",
1038
+ "type": "articulated_object",
1039
+ "params": {
1040
+ "offset": [
1041
+ 0.1,
1042
+ -0.62,
1043
+ 0.2
1044
+ ],
1045
+ "link": "top_door",
1046
+ "object": "fridge_:0000"
1047
+ }
1048
+ }
1049
+ ],
1050
+ "target_receptacles": [
1051
+ [
1052
+ "fridge_:0000",
1053
+ 0
1054
+ ],
1055
+ [
1056
+ "fridge_:0000",
1057
+ 0
1058
+ ],
1059
+ [
1060
+ "kitchen_counter_:0000",
1061
+ 0
1062
+ ]
1063
+ ],
1064
+ "goal_receptacles": [
1065
+ [
1066
+ "kitchen_counter_:0000",
1067
+ 0
1068
+ ],
1069
+ [
1070
+ "kitchen_counter_:0000",
1071
+ 0
1072
+ ],
1073
+ [
1074
+ "fridge_:0000",
1075
+ 0
1076
+ ]
1077
+ ]
1078
+ }
rearrange/v1_extracted/train/prepare_groceries/episode_1035.json ADDED
@@ -0,0 +1,1078 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_id": "1035",
3
+ "scene_id": "data/replica_cad/configs/scenes/v3_sc0_staging_06.scene_instance.json",
4
+ "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
5
+ "additional_obj_config_paths": [
6
+ "data/objects/ycb/"
7
+ ],
8
+ "start_position": [
9
+ 0,
10
+ 0,
11
+ 0
12
+ ],
13
+ "start_rotation": [
14
+ 0,
15
+ 0,
16
+ 0,
17
+ 1
18
+ ],
19
+ "info": {
20
+ "object_labels": {
21
+ "002_master_chef_can_:0000": "obj0_target|0",
22
+ "007_tuna_fish_can_:0004": "obj1_target|1",
23
+ "007_tuna_fish_can_:0005": "obj2_target|2"
24
+ }
25
+ },
26
+ "ao_states": {
27
+ "fridge_:0000": {
28
+ "2": 1.5
29
+ }
30
+ },
31
+ "rigid_objs": [
32
+ [
33
+ "009_gelatin_box.object_config.json",
34
+ [
35
+ [
36
+ -0.85553,
37
+ -0.00221,
38
+ -0.51775,
39
+ -2.00137
40
+ ],
41
+ [
42
+ -0.00409,
43
+ 0.99999,
44
+ 0.00249,
45
+ 0.4301
46
+ ],
47
+ [
48
+ 0.51774,
49
+ 0.00424,
50
+ -0.85553,
51
+ 0.35694
52
+ ],
53
+ [
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 1.0
58
+ ]
59
+ ]
60
+ ],
61
+ [
62
+ "009_gelatin_box.object_config.json",
63
+ [
64
+ [
65
+ 0.99961,
66
+ -0.00072,
67
+ -0.02781,
68
+ -2.20829
69
+ ],
70
+ [
71
+ 0.00065,
72
+ 1.0,
73
+ -0.00261,
74
+ 0.43012
75
+ ],
76
+ [
77
+ 0.02782,
78
+ 0.00259,
79
+ 0.99961,
80
+ 0.33131
81
+ ],
82
+ [
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ 1.0
87
+ ]
88
+ ]
89
+ ],
90
+ [
91
+ "005_tomato_soup_can.object_config.json",
92
+ [
93
+ [
94
+ 0.99003,
95
+ 9e-05,
96
+ -0.14083,
97
+ 0.38229
98
+ ],
99
+ [
100
+ -8e-05,
101
+ 1.0,
102
+ 4e-05,
103
+ 0.45533
104
+ ],
105
+ [
106
+ 0.14083,
107
+ -2e-05,
108
+ 0.99003,
109
+ 1.98107
110
+ ],
111
+ [
112
+ 0.0,
113
+ 0.0,
114
+ 0.0,
115
+ 1.0
116
+ ]
117
+ ]
118
+ ],
119
+ [
120
+ "024_bowl.object_config.json",
121
+ [
122
+ [
123
+ 0.35758,
124
+ -0.00097,
125
+ 0.93388,
126
+ 0.57752
127
+ ],
128
+ [
129
+ 0.00081,
130
+ 1.0,
131
+ 0.00072,
132
+ 0.73464
133
+ ],
134
+ [
135
+ -0.93388,
136
+ 0.0005,
137
+ 0.35758,
138
+ 6.62316
139
+ ],
140
+ [
141
+ 0.0,
142
+ 0.0,
143
+ 0.0,
144
+ 1.0
145
+ ]
146
+ ]
147
+ ],
148
+ [
149
+ "009_gelatin_box.object_config.json",
150
+ [
151
+ [
152
+ 0.98662,
153
+ 2e-05,
154
+ 0.16307,
155
+ 0.57619
156
+ ],
157
+ [
158
+ -0.00096,
159
+ 0.99998,
160
+ 0.00573,
161
+ 1.26617
162
+ ],
163
+ [
164
+ -0.16306,
165
+ -0.00581,
166
+ 0.9866,
167
+ 4.4897
168
+ ],
169
+ [
170
+ 0.0,
171
+ 0.0,
172
+ 0.0,
173
+ 1.0
174
+ ]
175
+ ]
176
+ ],
177
+ [
178
+ "003_cracker_box.object_config.json",
179
+ [
180
+ [
181
+ 0.83054,
182
+ 0.04415,
183
+ 0.55521,
184
+ -1.93491
185
+ ],
186
+ [
187
+ -0.04945,
188
+ 0.99876,
189
+ -0.00545,
190
+ 0.52149
191
+ ],
192
+ [
193
+ -0.55477,
194
+ -0.02293,
195
+ 0.83169,
196
+ 2.80974
197
+ ],
198
+ [
199
+ 0.0,
200
+ 0.0,
201
+ 0.0,
202
+ 1.0
203
+ ]
204
+ ]
205
+ ],
206
+ [
207
+ "009_gelatin_box.object_config.json",
208
+ [
209
+ [
210
+ -0.76316,
211
+ -1e-05,
212
+ -0.64622,
213
+ 0.26526
214
+ ],
215
+ [
216
+ -3e-05,
217
+ 1.0,
218
+ 2e-05,
219
+ 0.41926
220
+ ],
221
+ [
222
+ 0.64622,
223
+ 3e-05,
224
+ -0.76316,
225
+ 1.51093
226
+ ],
227
+ [
228
+ 0.0,
229
+ 0.0,
230
+ 0.0,
231
+ 1.0
232
+ ]
233
+ ]
234
+ ],
235
+ [
236
+ "003_cracker_box.object_config.json",
237
+ [
238
+ [
239
+ -0.78542,
240
+ -0.0373,
241
+ 0.61784,
242
+ 0.45607
243
+ ],
244
+ [
245
+ -0.05562,
246
+ 0.9984,
247
+ -0.01042,
248
+ 1.35823
249
+ ],
250
+ [
251
+ -0.61646,
252
+ -0.04255,
253
+ -0.78624,
254
+ 4.57609
255
+ ],
256
+ [
257
+ 0.0,
258
+ 0.0,
259
+ 0.0,
260
+ 1.0
261
+ ]
262
+ ]
263
+ ],
264
+ [
265
+ "005_tomato_soup_can.object_config.json",
266
+ [
267
+ [
268
+ -0.73418,
269
+ -0.00109,
270
+ -0.67896,
271
+ -1.89192
272
+ ],
273
+ [
274
+ 0.00053,
275
+ 1.0,
276
+ -0.00219,
277
+ 0.46601
278
+ ],
279
+ [
280
+ 0.67896,
281
+ -0.00197,
282
+ -0.73417,
283
+ 2.59809
284
+ ],
285
+ [
286
+ 0.0,
287
+ 0.0,
288
+ 0.0,
289
+ 1.0
290
+ ]
291
+ ]
292
+ ],
293
+ [
294
+ "005_tomato_soup_can.object_config.json",
295
+ [
296
+ [
297
+ -0.95097,
298
+ -0.00386,
299
+ -0.30927,
300
+ 0.6041
301
+ ],
302
+ [
303
+ 0.01106,
304
+ 0.99886,
305
+ -0.04645,
306
+ 0.75969
307
+ ],
308
+ [
309
+ 0.30909,
310
+ -0.0476,
311
+ -0.94984,
312
+ 6.84531
313
+ ],
314
+ [
315
+ 0.0,
316
+ 0.0,
317
+ 0.0,
318
+ 1.0
319
+ ]
320
+ ]
321
+ ],
322
+ [
323
+ "004_sugar_box.object_config.json",
324
+ [
325
+ [
326
+ 0.14161,
327
+ -0.02927,
328
+ 0.98949,
329
+ 3.68089
330
+ ],
331
+ [
332
+ 0.03934,
333
+ 0.99894,
334
+ 0.02392,
335
+ 0.85084
336
+ ],
337
+ [
338
+ -0.98914,
339
+ 0.03554,
340
+ 0.14261,
341
+ 4.55231
342
+ ],
343
+ [
344
+ 0.0,
345
+ 0.0,
346
+ 0.0,
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ [
352
+ "007_tuna_fish_can.object_config.json",
353
+ [
354
+ [
355
+ 0.73741,
356
+ -0.00079,
357
+ 0.67545,
358
+ 0.45794
359
+ ],
360
+ [
361
+ -0.00393,
362
+ 0.99998,
363
+ 0.00545,
364
+ 1.2675
365
+ ],
366
+ [
367
+ -0.67543,
368
+ -0.00667,
369
+ 0.73739,
370
+ 4.41141
371
+ ],
372
+ [
373
+ 0.0,
374
+ 0.0,
375
+ 0.0,
376
+ 1.0
377
+ ]
378
+ ]
379
+ ],
380
+ [
381
+ "003_cracker_box.object_config.json",
382
+ [
383
+ [
384
+ -0.19537,
385
+ -0.00173,
386
+ 0.98073,
387
+ 0.55671
388
+ ],
389
+ [
390
+ -0.04577,
391
+ 0.99892,
392
+ -0.00736,
393
+ 0.81373
394
+ ],
395
+ [
396
+ -0.97966,
397
+ -0.04633,
398
+ -0.19524,
399
+ 6.74815
400
+ ],
401
+ [
402
+ 0.0,
403
+ 0.0,
404
+ 0.0,
405
+ 1.0
406
+ ]
407
+ ]
408
+ ],
409
+ [
410
+ "010_potted_meat_can.object_config.json",
411
+ [
412
+ [
413
+ -0.23599,
414
+ -0.00026,
415
+ -0.97176,
416
+ 0.56962
417
+ ],
418
+ [
419
+ 0.00581,
420
+ 0.99998,
421
+ -0.00168,
422
+ 1.29207
423
+ ],
424
+ [
425
+ 0.97174,
426
+ -0.00604,
427
+ -0.23598,
428
+ 4.31354
429
+ ],
430
+ [
431
+ 0.0,
432
+ 0.0,
433
+ 0.0,
434
+ 1.0
435
+ ]
436
+ ]
437
+ ],
438
+ [
439
+ "007_tuna_fish_can.object_config.json",
440
+ [
441
+ [
442
+ 0.38952,
443
+ 1e-05,
444
+ 0.92102,
445
+ -1.91055
446
+ ],
447
+ [
448
+ -0.0,
449
+ 1.0,
450
+ -0.0,
451
+ 0.43176
452
+ ],
453
+ [
454
+ -0.92102,
455
+ -0.0,
456
+ 0.38952,
457
+ 0.50156
458
+ ],
459
+ [
460
+ 0.0,
461
+ 0.0,
462
+ 0.0,
463
+ 1.0
464
+ ]
465
+ ]
466
+ ],
467
+ [
468
+ "007_tuna_fish_can.object_config.json",
469
+ [
470
+ [
471
+ 0.96714,
472
+ -2e-05,
473
+ 0.25423,
474
+ 0.6828
475
+ ],
476
+ [
477
+ 2e-05,
478
+ 1.0,
479
+ -2e-05,
480
+ 0.72401
481
+ ],
482
+ [
483
+ -0.25423,
484
+ 3e-05,
485
+ 0.96714,
486
+ 6.82156
487
+ ],
488
+ [
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 1.0
493
+ ]
494
+ ]
495
+ ],
496
+ [
497
+ "010_potted_meat_can.object_config.json",
498
+ [
499
+ [
500
+ -0.98686,
501
+ -2e-05,
502
+ 0.16159,
503
+ 0.48053
504
+ ],
505
+ [
506
+ -2e-05,
507
+ 1.0,
508
+ 0.0,
509
+ 0.90168
510
+ ],
511
+ [
512
+ -0.16159,
513
+ -0.0,
514
+ -0.98686,
515
+ 7.54431
516
+ ],
517
+ [
518
+ 0.0,
519
+ 0.0,
520
+ 0.0,
521
+ 1.0
522
+ ]
523
+ ]
524
+ ],
525
+ [
526
+ "008_pudding_box.object_config.json",
527
+ [
528
+ [
529
+ -0.35121,
530
+ -0.02292,
531
+ 0.93602,
532
+ 3.39517
533
+ ],
534
+ [
535
+ -0.00705,
536
+ 0.99974,
537
+ 0.02183,
538
+ 0.78236
539
+ ],
540
+ [
541
+ -0.93627,
542
+ 0.00107,
543
+ -0.35128,
544
+ 4.77187
545
+ ],
546
+ [
547
+ 0.0,
548
+ 0.0,
549
+ 0.0,
550
+ 1.0
551
+ ]
552
+ ]
553
+ ],
554
+ [
555
+ "007_tuna_fish_can.object_config.json",
556
+ [
557
+ [
558
+ 0.72669,
559
+ 0.00655,
560
+ -0.68693,
561
+ -1.70411
562
+ ],
563
+ [
564
+ -0.00774,
565
+ 0.99997,
566
+ 0.00135,
567
+ 0.94739
568
+ ],
569
+ [
570
+ 0.68692,
571
+ 0.00434,
572
+ 0.72672,
573
+ 2.21449
574
+ ],
575
+ [
576
+ 0.0,
577
+ 0.0,
578
+ 0.0,
579
+ 1.0
580
+ ]
581
+ ]
582
+ ],
583
+ [
584
+ "008_pudding_box.object_config.json",
585
+ [
586
+ [
587
+ -0.98927,
588
+ -0.00927,
589
+ 0.14579,
590
+ 0.79781
591
+ ],
592
+ [
593
+ -0.00674,
594
+ 0.99982,
595
+ 0.01779,
596
+ 1.27132
597
+ ],
598
+ [
599
+ -0.14593,
600
+ 0.01662,
601
+ -0.98916,
602
+ 4.60102
603
+ ],
604
+ [
605
+ 0.0,
606
+ 0.0,
607
+ 0.0,
608
+ 1.0
609
+ ]
610
+ ]
611
+ ],
612
+ [
613
+ "010_potted_meat_can.object_config.json",
614
+ [
615
+ [
616
+ 0.47346,
617
+ 0.07461,
618
+ 0.87765,
619
+ 0.27242
620
+ ],
621
+ [
622
+ -0.03407,
623
+ 0.99721,
624
+ -0.06639,
625
+ 0.14385
626
+ ],
627
+ [
628
+ -0.88016,
629
+ 0.00153,
630
+ 0.47468,
631
+ 4.52209
632
+ ],
633
+ [
634
+ 0.0,
635
+ 0.0,
636
+ 0.0,
637
+ 1.0
638
+ ]
639
+ ]
640
+ ],
641
+ [
642
+ "010_potted_meat_can.object_config.json",
643
+ [
644
+ [
645
+ 0.8992,
646
+ -0.00012,
647
+ 0.43754,
648
+ 0.50379
649
+ ],
650
+ [
651
+ -0.00256,
652
+ 0.99998,
653
+ 0.00555,
654
+ 1.29413
655
+ ],
656
+ [
657
+ -0.43753,
658
+ -0.00611,
659
+ 0.89918,
660
+ 4.66959
661
+ ],
662
+ [
663
+ 0.0,
664
+ 0.0,
665
+ 0.0,
666
+ 1.0
667
+ ]
668
+ ]
669
+ ],
670
+ [
671
+ "010_potted_meat_can.object_config.json",
672
+ [
673
+ [
674
+ 0.10441,
675
+ 4e-05,
676
+ 0.99453,
677
+ -1.66126
678
+ ],
679
+ [
680
+ -5e-05,
681
+ 1.0,
682
+ -4e-05,
683
+ 0.45679
684
+ ],
685
+ [
686
+ -0.99453,
687
+ -4e-05,
688
+ 0.10441,
689
+ 2.79361
690
+ ],
691
+ [
692
+ 0.0,
693
+ 0.0,
694
+ 0.0,
695
+ 1.0
696
+ ]
697
+ ]
698
+ ],
699
+ [
700
+ "009_gelatin_box.object_config.json",
701
+ [
702
+ [
703
+ -0.15164,
704
+ -2e-05,
705
+ -0.98844,
706
+ 0.28944
707
+ ],
708
+ [
709
+ 0.0001,
710
+ 1.0,
711
+ -4e-05,
712
+ 0.87476
713
+ ],
714
+ [
715
+ 0.98844,
716
+ -0.00011,
717
+ -0.15164,
718
+ 7.33178
719
+ ],
720
+ [
721
+ 0.0,
722
+ 0.0,
723
+ 0.0,
724
+ 1.0
725
+ ]
726
+ ]
727
+ ],
728
+ [
729
+ "010_potted_meat_can.object_config.json",
730
+ [
731
+ [
732
+ 0.65147,
733
+ 0.00105,
734
+ -0.75868,
735
+ 2.9927
736
+ ],
737
+ [
738
+ -0.00202,
739
+ 1.0,
740
+ -0.00035,
741
+ 0.80421
742
+ ],
743
+ [
744
+ 0.75867,
745
+ 0.00176,
746
+ 0.65147,
747
+ 4.16753
748
+ ],
749
+ [
750
+ 0.0,
751
+ 0.0,
752
+ 0.0,
753
+ 1.0
754
+ ]
755
+ ]
756
+ ],
757
+ [
758
+ "005_tomato_soup_can.object_config.json",
759
+ [
760
+ [
761
+ 0.72974,
762
+ 0.00148,
763
+ -0.68372,
764
+ 0.67831
765
+ ],
766
+ [
767
+ -0.00153,
768
+ 1.0,
769
+ 0.00053,
770
+ 0.75831
771
+ ],
772
+ [
773
+ 0.68372,
774
+ 0.00066,
775
+ 0.72975,
776
+ 6.54221
777
+ ],
778
+ [
779
+ 0.0,
780
+ 0.0,
781
+ 0.0,
782
+ 1.0
783
+ ]
784
+ ]
785
+ ],
786
+ [
787
+ "004_sugar_box.object_config.json",
788
+ [
789
+ [
790
+ 0.98839,
791
+ -0.03453,
792
+ -0.14796,
793
+ 0.67699
794
+ ],
795
+ [
796
+ 0.03852,
797
+ 0.99897,
798
+ 0.02415,
799
+ 0.79515
800
+ ],
801
+ [
802
+ 0.14697,
803
+ -0.02957,
804
+ 0.9887,
805
+ 6.67222
806
+ ],
807
+ [
808
+ 0.0,
809
+ 0.0,
810
+ 0.0,
811
+ 1.0
812
+ ]
813
+ ]
814
+ ],
815
+ [
816
+ "002_master_chef_can.object_config.json",
817
+ [
818
+ [
819
+ -0.68531,
820
+ -0.0001,
821
+ -0.72825,
822
+ 0.40417
823
+ ],
824
+ [
825
+ 0.00421,
826
+ 0.99998,
827
+ -0.0041,
828
+ 1.32078
829
+ ],
830
+ [
831
+ 0.72824,
832
+ -0.00588,
833
+ -0.6853,
834
+ 4.32974
835
+ ],
836
+ [
837
+ 0.0,
838
+ 0.0,
839
+ 0.0,
840
+ 1.0
841
+ ]
842
+ ]
843
+ ],
844
+ [
845
+ "007_tuna_fish_can.object_config.json",
846
+ [
847
+ [
848
+ -0.99852,
849
+ -0.00402,
850
+ 0.05421,
851
+ 0.56464
852
+ ],
853
+ [
854
+ -0.00436,
855
+ 0.99997,
856
+ -0.00613,
857
+ 1.26849
858
+ ],
859
+ [
860
+ -0.05418,
861
+ -0.00636,
862
+ -0.99851,
863
+ 4.58733
864
+ ],
865
+ [
866
+ 0.0,
867
+ 0.0,
868
+ 0.0,
869
+ 1.0
870
+ ]
871
+ ]
872
+ ],
873
+ [
874
+ "007_tuna_fish_can.object_config.json",
875
+ [
876
+ [
877
+ 0.02501,
878
+ -0.0,
879
+ 0.99969,
880
+ 0.71394
881
+ ],
882
+ [
883
+ 0.0,
884
+ 1.0,
885
+ 0.0,
886
+ 0.87655
887
+ ],
888
+ [
889
+ -0.99969,
890
+ 0.0,
891
+ 0.02501,
892
+ 6.35593
893
+ ],
894
+ [
895
+ 0.0,
896
+ 0.0,
897
+ 0.0,
898
+ 1.0
899
+ ]
900
+ ]
901
+ ]
902
+ ],
903
+ "targets": {
904
+ "002_master_chef_can_:0000": [
905
+ [
906
+ 0.70366,
907
+ 0.0,
908
+ 0.71054,
909
+ 0.41804
910
+ ],
911
+ [
912
+ 0.0,
913
+ 1.0,
914
+ 0.0,
915
+ 0.92919
916
+ ],
917
+ [
918
+ -0.71054,
919
+ 0.0,
920
+ 0.70366,
921
+ 5.41136
922
+ ],
923
+ [
924
+ 0.0,
925
+ 0.0,
926
+ 0.0,
927
+ 1.0
928
+ ]
929
+ ],
930
+ "007_tuna_fish_can_:0004": [
931
+ [
932
+ 0.59324,
933
+ 0.0,
934
+ -0.80502,
935
+ 0.48612
936
+ ],
937
+ [
938
+ 0.0,
939
+ 1.0,
940
+ 0.0,
941
+ 0.87587
942
+ ],
943
+ [
944
+ 0.80502,
945
+ 0.0,
946
+ 0.59324,
947
+ 7.32609
948
+ ],
949
+ [
950
+ 0.0,
951
+ 0.0,
952
+ 0.0,
953
+ 1.0
954
+ ]
955
+ ],
956
+ "007_tuna_fish_can_:0005": [
957
+ [
958
+ 0.23498,
959
+ 0.0,
960
+ 0.972,
961
+ 0.66168
962
+ ],
963
+ [
964
+ 0.0,
965
+ 1.0,
966
+ 0.0,
967
+ 1.2678
968
+ ],
969
+ [
970
+ -0.972,
971
+ 0.0,
972
+ 0.23498,
973
+ 4.58013
974
+ ],
975
+ [
976
+ 0.0,
977
+ 0.0,
978
+ 0.0,
979
+ 1.0
980
+ ]
981
+ ]
982
+ },
983
+ "markers": [
984
+ {
985
+ "name": "cab_push_point_7",
986
+ "type": "articulated_object",
987
+ "params": {
988
+ "offset": [
989
+ 0.3,
990
+ 0.0,
991
+ 0
992
+ ],
993
+ "link": "drawer1_top",
994
+ "object": "kitchen_counter_:0000"
995
+ }
996
+ },
997
+ {
998
+ "name": "cab_push_point_6",
999
+ "type": "articulated_object",
1000
+ "params": {
1001
+ "offset": [
1002
+ 0.3,
1003
+ 0.0,
1004
+ 0
1005
+ ],
1006
+ "link": "drawer2_top",
1007
+ "object": "kitchen_counter_:0000"
1008
+ }
1009
+ },
1010
+ {
1011
+ "name": "cab_push_point_5",
1012
+ "type": "articulated_object",
1013
+ "params": {
1014
+ "offset": [
1015
+ 0.3,
1016
+ 0.0,
1017
+ 0
1018
+ ],
1019
+ "link": "drawer3",
1020
+ "object": "kitchen_counter_:0000"
1021
+ }
1022
+ },
1023
+ {
1024
+ "name": "cab_push_point_4",
1025
+ "type": "articulated_object",
1026
+ "params": {
1027
+ "offset": [
1028
+ 0.3,
1029
+ 0.0,
1030
+ 0
1031
+ ],
1032
+ "link": "drawer4",
1033
+ "object": "kitchen_counter_:0000"
1034
+ }
1035
+ },
1036
+ {
1037
+ "name": "fridge_push_point",
1038
+ "type": "articulated_object",
1039
+ "params": {
1040
+ "offset": [
1041
+ 0.1,
1042
+ -0.62,
1043
+ 0.2
1044
+ ],
1045
+ "link": "top_door",
1046
+ "object": "fridge_:0000"
1047
+ }
1048
+ }
1049
+ ],
1050
+ "target_receptacles": [
1051
+ [
1052
+ "fridge_:0000",
1053
+ 0
1054
+ ],
1055
+ [
1056
+ "fridge_:0000",
1057
+ 0
1058
+ ],
1059
+ [
1060
+ "kitchen_counter_:0000",
1061
+ 0
1062
+ ]
1063
+ ],
1064
+ "goal_receptacles": [
1065
+ [
1066
+ "kitchen_counter_:0000",
1067
+ 0
1068
+ ],
1069
+ [
1070
+ "kitchen_counter_:0000",
1071
+ 0
1072
+ ],
1073
+ [
1074
+ "fridge_:0000",
1075
+ 0
1076
+ ]
1077
+ ]
1078
+ }
rearrange/v1_extracted/train/prepare_groceries/episode_1036.json ADDED
@@ -0,0 +1,1078 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_id": "1036",
3
+ "scene_id": "data/replica_cad/configs/scenes/v3_sc2_staging_12.scene_instance.json",
4
+ "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
5
+ "additional_obj_config_paths": [
6
+ "data/objects/ycb/"
7
+ ],
8
+ "start_position": [
9
+ 0,
10
+ 0,
11
+ 0
12
+ ],
13
+ "start_rotation": [
14
+ 0,
15
+ 0,
16
+ 0,
17
+ 1
18
+ ],
19
+ "info": {
20
+ "object_labels": {
21
+ "024_bowl_:0002": "obj0_target|0",
22
+ "005_tomato_soup_can_:0001": "obj1_target|1",
23
+ "010_potted_meat_can_:0006": "obj2_target|2"
24
+ }
25
+ },
26
+ "ao_states": {
27
+ "fridge_:0000": {
28
+ "2": 1.5
29
+ }
30
+ },
31
+ "rigid_objs": [
32
+ [
33
+ "010_potted_meat_can.object_config.json",
34
+ [
35
+ [
36
+ 0.32322,
37
+ 0.00447,
38
+ 0.94631,
39
+ -2.30616
40
+ ],
41
+ [
42
+ -0.00742,
43
+ 0.99997,
44
+ -0.00218,
45
+ 1.29281
46
+ ],
47
+ [
48
+ -0.9463,
49
+ -0.00632,
50
+ 0.32324,
51
+ -0.24888
52
+ ],
53
+ [
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 1.0
58
+ ]
59
+ ]
60
+ ],
61
+ [
62
+ "005_tomato_soup_can.object_config.json",
63
+ [
64
+ [
65
+ 0.55525,
66
+ 5e-05,
67
+ -0.83168,
68
+ -2.10191
69
+ ],
70
+ [
71
+ -0.00011,
72
+ 1.0,
73
+ -1e-05,
74
+ 0.75829
75
+ ],
76
+ [
77
+ 0.83168,
78
+ 0.0001,
79
+ 0.55525,
80
+ 1.96358
81
+ ],
82
+ [
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ 1.0
87
+ ]
88
+ ]
89
+ ],
90
+ [
91
+ "007_tuna_fish_can.object_config.json",
92
+ [
93
+ [
94
+ -0.9581,
95
+ -5e-05,
96
+ -0.28644,
97
+ -2.16769
98
+ ],
99
+ [
100
+ -6e-05,
101
+ 1.0,
102
+ 1e-05,
103
+ 0.72401
104
+ ],
105
+ [
106
+ 0.28644,
107
+ 2e-05,
108
+ -0.9581,
109
+ 1.88978
110
+ ],
111
+ [
112
+ 0.0,
113
+ 0.0,
114
+ 0.0,
115
+ 1.0
116
+ ]
117
+ ]
118
+ ],
119
+ [
120
+ "009_gelatin_box.object_config.json",
121
+ [
122
+ [
123
+ 0.97447,
124
+ -1e-05,
125
+ -0.22451,
126
+ 0.74473
127
+ ],
128
+ [
129
+ 1e-05,
130
+ 1.0,
131
+ -1e-05,
132
+ 0.42998
133
+ ],
134
+ [
135
+ 0.22451,
136
+ 0.0,
137
+ 0.97447,
138
+ 4.38346
139
+ ],
140
+ [
141
+ 0.0,
142
+ 0.0,
143
+ 0.0,
144
+ 1.0
145
+ ]
146
+ ]
147
+ ],
148
+ [
149
+ "009_gelatin_box.object_config.json",
150
+ [
151
+ [
152
+ -0.69176,
153
+ 6e-05,
154
+ -0.72212,
155
+ -1.16518
156
+ ],
157
+ [
158
+ -1e-05,
159
+ 1.0,
160
+ 9e-05,
161
+ 0.6417
162
+ ],
163
+ [
164
+ 0.72212,
165
+ 7e-05,
166
+ -0.69176,
167
+ 3.28301
168
+ ],
169
+ [
170
+ 0.0,
171
+ 0.0,
172
+ 0.0,
173
+ 1.0
174
+ ]
175
+ ]
176
+ ],
177
+ [
178
+ "003_cracker_box.object_config.json",
179
+ [
180
+ [
181
+ 0.79038,
182
+ 0.04045,
183
+ 0.61128,
184
+ -2.16509
185
+ ],
186
+ [
187
+ -0.04545,
188
+ 0.99894,
189
+ -0.00733,
190
+ 0.81373
191
+ ],
192
+ [
193
+ -0.61093,
194
+ -0.02199,
195
+ 0.79138,
196
+ 2.03557
197
+ ],
198
+ [
199
+ 0.0,
200
+ 0.0,
201
+ 0.0,
202
+ 1.0
203
+ ]
204
+ ]
205
+ ],
206
+ [
207
+ "008_pudding_box.object_config.json",
208
+ [
209
+ [
210
+ -0.74778,
211
+ -0.02003,
212
+ 0.66364,
213
+ -2.1905
214
+ ],
215
+ [
216
+ -0.00591,
217
+ 0.99971,
218
+ 0.02351,
219
+ 0.87927
220
+ ],
221
+ [
222
+ -0.66392,
223
+ 0.01366,
224
+ -0.74768,
225
+ 1.2027
226
+ ],
227
+ [
228
+ 0.0,
229
+ 0.0,
230
+ 0.0,
231
+ 1.0
232
+ ]
233
+ ]
234
+ ],
235
+ [
236
+ "009_gelatin_box.object_config.json",
237
+ [
238
+ [
239
+ -0.89504,
240
+ -0.0,
241
+ 0.44598,
242
+ 0.65484
243
+ ],
244
+ [
245
+ -2e-05,
246
+ 1.0,
247
+ -3e-05,
248
+ 0.42987
249
+ ],
250
+ [
251
+ -0.44598,
252
+ -4e-05,
253
+ -0.89504,
254
+ 3.39465
255
+ ],
256
+ [
257
+ 0.0,
258
+ 0.0,
259
+ 0.0,
260
+ 1.0
261
+ ]
262
+ ]
263
+ ],
264
+ [
265
+ "008_pudding_box.object_config.json",
266
+ [
267
+ [
268
+ 0.63485,
269
+ 0.02189,
270
+ -0.77233,
271
+ -1.99418
272
+ ],
273
+ [
274
+ -0.00142,
275
+ 0.99963,
276
+ 0.02717,
277
+ 1.26991
278
+ ],
279
+ [
280
+ 0.77264,
281
+ -0.01615,
282
+ 0.63464,
283
+ -0.34153
284
+ ],
285
+ [
286
+ 0.0,
287
+ 0.0,
288
+ 0.0,
289
+ 1.0
290
+ ]
291
+ ]
292
+ ],
293
+ [
294
+ "002_master_chef_can.object_config.json",
295
+ [
296
+ [
297
+ 0.17406,
298
+ -2e-05,
299
+ 0.98474,
300
+ 0.83855
301
+ ],
302
+ [
303
+ -7e-05,
304
+ 1.0,
305
+ 3e-05,
306
+ 0.48541
307
+ ],
308
+ [
309
+ -0.98474,
310
+ -7e-05,
311
+ 0.17406,
312
+ 3.51692
313
+ ],
314
+ [
315
+ 0.0,
316
+ 0.0,
317
+ 0.0,
318
+ 1.0
319
+ ]
320
+ ]
321
+ ],
322
+ [
323
+ "009_gelatin_box.object_config.json",
324
+ [
325
+ [
326
+ -0.65407,
327
+ 2e-05,
328
+ -0.75644,
329
+ 2.21635
330
+ ],
331
+ [
332
+ 2e-05,
333
+ 1.0,
334
+ 0.0,
335
+ 0.77773
336
+ ],
337
+ [
338
+ 0.75644,
339
+ -2e-05,
340
+ -0.65407,
341
+ 7.02313
342
+ ],
343
+ [
344
+ 0.0,
345
+ 0.0,
346
+ 0.0,
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ [
352
+ "007_tuna_fish_can.object_config.json",
353
+ [
354
+ [
355
+ -0.85556,
356
+ -0.0,
357
+ 0.5177,
358
+ 0.95661
359
+ ],
360
+ [
361
+ 0.0,
362
+ 1.0,
363
+ 0.0,
364
+ 0.43166
365
+ ],
366
+ [
367
+ -0.5177,
368
+ 0.0,
369
+ -0.85556,
370
+ 3.45472
371
+ ],
372
+ [
373
+ 0.0,
374
+ 0.0,
375
+ 0.0,
376
+ 1.0
377
+ ]
378
+ ]
379
+ ],
380
+ [
381
+ "007_tuna_fish_can.object_config.json",
382
+ [
383
+ [
384
+ -0.36689,
385
+ -0.00125,
386
+ 0.93026,
387
+ -2.18306
388
+ ],
389
+ [
390
+ -0.00612,
391
+ 0.99998,
392
+ -0.00107,
393
+ 1.26731
394
+ ],
395
+ [
396
+ -0.93024,
397
+ -0.00609,
398
+ -0.36689,
399
+ -0.3182
400
+ ],
401
+ [
402
+ 0.0,
403
+ 0.0,
404
+ 0.0,
405
+ 1.0
406
+ ]
407
+ ]
408
+ ],
409
+ [
410
+ "008_pudding_box.object_config.json",
411
+ [
412
+ [
413
+ -0.97855,
414
+ -0.00864,
415
+ 0.20584,
416
+ -0.06977
417
+ ],
418
+ [
419
+ -0.00402,
420
+ 0.99973,
421
+ 0.02287,
422
+ 0.64633
423
+ ],
424
+ [
425
+ -0.20599,
426
+ 0.02155,
427
+ -0.97832,
428
+ 3.67631
429
+ ],
430
+ [
431
+ 0.0,
432
+ 0.0,
433
+ 0.0,
434
+ 1.0
435
+ ]
436
+ ]
437
+ ],
438
+ [
439
+ "010_potted_meat_can.object_config.json",
440
+ [
441
+ [
442
+ -0.72582,
443
+ -3e-05,
444
+ 0.68789,
445
+ -2.04577
446
+ ],
447
+ [
448
+ 6e-05,
449
+ 1.0,
450
+ 0.0001,
451
+ 0.90168
452
+ ],
453
+ [
454
+ -0.68789,
455
+ 0.00011,
456
+ -0.72582,
457
+ 0.70896
458
+ ],
459
+ [
460
+ 0.0,
461
+ 0.0,
462
+ 0.0,
463
+ 1.0
464
+ ]
465
+ ]
466
+ ],
467
+ [
468
+ "024_bowl.object_config.json",
469
+ [
470
+ [
471
+ 0.99008,
472
+ -9e-05,
473
+ -0.14048,
474
+ -2.27102
475
+ ],
476
+ [
477
+ 0.00086,
478
+ 0.99999,
479
+ 0.0054,
480
+ 1.27973
481
+ ],
482
+ [
483
+ 0.14048,
484
+ -0.00546,
485
+ 0.99007,
486
+ -0.01774
487
+ ],
488
+ [
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 1.0
493
+ ]
494
+ ]
495
+ ],
496
+ [
497
+ "007_tuna_fish_can.object_config.json",
498
+ [
499
+ [
500
+ 0.9785,
501
+ -0.0,
502
+ -0.20626,
503
+ 2.08341
504
+ ],
505
+ [
506
+ 0.0,
507
+ 1.0,
508
+ -0.0,
509
+ 0.42105
510
+ ],
511
+ [
512
+ 0.20626,
513
+ 0.0,
514
+ 0.9785,
515
+ -0.28131
516
+ ],
517
+ [
518
+ 0.0,
519
+ 0.0,
520
+ 0.0,
521
+ 1.0
522
+ ]
523
+ ]
524
+ ],
525
+ [
526
+ "010_potted_meat_can.object_config.json",
527
+ [
528
+ [
529
+ -0.30846,
530
+ -7e-05,
531
+ 0.95124,
532
+ -1.34541
533
+ ],
534
+ [
535
+ 1e-05,
536
+ 1.0,
537
+ 8e-05,
538
+ 0.66861
539
+ ],
540
+ [
541
+ -0.95124,
542
+ 3e-05,
543
+ -0.30846,
544
+ 3.43059
545
+ ],
546
+ [
547
+ 0.0,
548
+ 0.0,
549
+ 0.0,
550
+ 1.0
551
+ ]
552
+ ]
553
+ ],
554
+ [
555
+ "024_bowl.object_config.json",
556
+ [
557
+ [
558
+ 0.19088,
559
+ -4e-05,
560
+ 0.98161,
561
+ -1.91664
562
+ ],
563
+ [
564
+ -0.00028,
565
+ 1.0,
566
+ 0.0001,
567
+ 0.88719
568
+ ],
569
+ [
570
+ -0.98161,
571
+ -0.0003,
572
+ 0.19088,
573
+ 2.63468
574
+ ],
575
+ [
576
+ 0.0,
577
+ 0.0,
578
+ 0.0,
579
+ 1.0
580
+ ]
581
+ ]
582
+ ],
583
+ [
584
+ "004_sugar_box.object_config.json",
585
+ [
586
+ [
587
+ -0.98251,
588
+ 0.04318,
589
+ -0.18116,
590
+ -2.2439
591
+ ],
592
+ [
593
+ 0.03984,
594
+ 0.99896,
595
+ 0.022,
596
+ 1.02229
597
+ ],
598
+ [
599
+ 0.18192,
600
+ 0.01439,
601
+ -0.98321,
602
+ -1.81891
603
+ ],
604
+ [
605
+ 0.0,
606
+ 0.0,
607
+ 0.0,
608
+ 1.0
609
+ ]
610
+ ]
611
+ ],
612
+ [
613
+ "010_potted_meat_can.object_config.json",
614
+ [
615
+ [
616
+ 0.05429,
617
+ 0.00079,
618
+ 0.99852,
619
+ 0.56244
620
+ ],
621
+ [
622
+ -0.00035,
623
+ 1.0,
624
+ -0.00077,
625
+ 0.45679
626
+ ],
627
+ [
628
+ -0.99853,
629
+ -0.0003,
630
+ 0.05429,
631
+ 3.35928
632
+ ],
633
+ [
634
+ 0.0,
635
+ 0.0,
636
+ 0.0,
637
+ 1.0
638
+ ]
639
+ ]
640
+ ],
641
+ [
642
+ "010_potted_meat_can.object_config.json",
643
+ [
644
+ [
645
+ -0.60936,
646
+ -0.00024,
647
+ -0.7929,
648
+ 0.0278
649
+ ],
650
+ [
651
+ -0.00013,
652
+ 1.0,
653
+ -0.0002,
654
+ 0.66861
655
+ ],
656
+ [
657
+ 0.7929,
658
+ -2e-05,
659
+ -0.60936,
660
+ 3.59644
661
+ ],
662
+ [
663
+ 0.0,
664
+ 0.0,
665
+ 0.0,
666
+ 1.0
667
+ ]
668
+ ]
669
+ ],
670
+ [
671
+ "004_sugar_box.object_config.json",
672
+ [
673
+ [
674
+ 0.38699,
675
+ -0.03527,
676
+ 0.92141,
677
+ -2.08581
678
+ ],
679
+ [
680
+ 0.03555,
681
+ 0.9991,
682
+ 0.02331,
683
+ 1.02231
684
+ ],
685
+ [
686
+ -0.9214,
687
+ 0.02374,
688
+ 0.38789,
689
+ -1.39022
690
+ ],
691
+ [
692
+ 0.0,
693
+ 0.0,
694
+ 0.0,
695
+ 1.0
696
+ ]
697
+ ]
698
+ ],
699
+ [
700
+ "003_cracker_box.object_config.json",
701
+ [
702
+ [
703
+ 0.25607,
704
+ 0.00593,
705
+ -0.96664,
706
+ -1.86256
707
+ ],
708
+ [
709
+ -0.04739,
710
+ 0.99886,
711
+ -0.00643,
712
+ 0.96627
713
+ ],
714
+ [
715
+ 0.9655,
716
+ 0.04745,
717
+ 0.25606,
718
+ 2.43231
719
+ ],
720
+ [
721
+ 0.0,
722
+ 0.0,
723
+ 0.0,
724
+ 1.0
725
+ ]
726
+ ]
727
+ ],
728
+ [
729
+ "004_sugar_box.object_config.json",
730
+ [
731
+ [
732
+ 0.78515,
733
+ -0.01614,
734
+ -0.6191,
735
+ 0.58734
736
+ ],
737
+ [
738
+ 0.03866,
739
+ 0.99899,
740
+ 0.02298,
741
+ 0.50296
742
+ ],
743
+ [
744
+ 0.6181,
745
+ -0.04197,
746
+ 0.78498,
747
+ 3.58856
748
+ ],
749
+ [
750
+ 0.0,
751
+ 0.0,
752
+ 0.0,
753
+ 1.0
754
+ ]
755
+ ]
756
+ ],
757
+ [
758
+ "004_sugar_box.object_config.json",
759
+ [
760
+ [
761
+ -0.9978,
762
+ 0.04277,
763
+ -0.05063,
764
+ -1.43199
765
+ ],
766
+ [
767
+ 0.04154,
768
+ 0.99882,
769
+ 0.02514,
770
+ 0.71476
771
+ ],
772
+ [
773
+ 0.05164,
774
+ 0.02298,
775
+ -0.9984,
776
+ 3.25037
777
+ ],
778
+ [
779
+ 0.0,
780
+ 0.0,
781
+ 0.0,
782
+ 1.0
783
+ ]
784
+ ]
785
+ ],
786
+ [
787
+ "010_potted_meat_can.object_config.json",
788
+ [
789
+ [
790
+ -0.19111,
791
+ 0.00663,
792
+ 0.98155,
793
+ 2.35104
794
+ ],
795
+ [
796
+ -0.0034,
797
+ 0.99997,
798
+ -0.00742,
799
+ 0.80473
800
+ ],
801
+ [
802
+ -0.98156,
803
+ -0.00476,
804
+ -0.19109,
805
+ 7.12935
806
+ ],
807
+ [
808
+ 0.0,
809
+ 0.0,
810
+ 0.0,
811
+ 1.0
812
+ ]
813
+ ]
814
+ ],
815
+ [
816
+ "024_bowl.object_config.json",
817
+ [
818
+ [
819
+ 0.50661,
820
+ -0.00039,
821
+ -0.86217,
822
+ -2.07993
823
+ ],
824
+ [
825
+ 0.00421,
826
+ 0.99999,
827
+ 0.00202,
828
+ 1.27836
829
+ ],
830
+ [
831
+ 0.86216,
832
+ -0.00465,
833
+ 0.50661,
834
+ -0.24402
835
+ ],
836
+ [
837
+ 0.0,
838
+ 0.0,
839
+ 0.0,
840
+ 1.0
841
+ ]
842
+ ]
843
+ ],
844
+ [
845
+ "005_tomato_soup_can.object_config.json",
846
+ [
847
+ [
848
+ -0.45215,
849
+ -0.00376,
850
+ 0.89194,
851
+ -2.25745
852
+ ],
853
+ [
854
+ -0.01383,
855
+ 0.9999,
856
+ -0.00279,
857
+ 1.30272
858
+ ],
859
+ [
860
+ -0.89184,
861
+ -0.0136,
862
+ -0.45215,
863
+ -0.13747
864
+ ],
865
+ [
866
+ 0.0,
867
+ 0.0,
868
+ 0.0,
869
+ 1.0
870
+ ]
871
+ ]
872
+ ],
873
+ [
874
+ "010_potted_meat_can.object_config.json",
875
+ [
876
+ [
877
+ 0.88825,
878
+ 1e-05,
879
+ -0.45937,
880
+ -1.92924
881
+ ],
882
+ [
883
+ 3e-05,
884
+ 1.0,
885
+ 7e-05,
886
+ 0.90168
887
+ ],
888
+ [
889
+ 0.45937,
890
+ -8e-05,
891
+ 0.88825,
892
+ 0.24103
893
+ ],
894
+ [
895
+ 0.0,
896
+ 0.0,
897
+ 0.0,
898
+ 1.0
899
+ ]
900
+ ]
901
+ ]
902
+ ],
903
+ "targets": {
904
+ "024_bowl_:0002": [
905
+ [
906
+ -0.13897,
907
+ 0.0,
908
+ -0.9903,
909
+ -2.12184
910
+ ],
911
+ [
912
+ 0.0,
913
+ 1.0,
914
+ 0.0,
915
+ 0.8866
916
+ ],
917
+ [
918
+ 0.9903,
919
+ 0.0,
920
+ -0.13897,
921
+ 0.80176
922
+ ],
923
+ [
924
+ 0.0,
925
+ 0.0,
926
+ 0.0,
927
+ 1.0
928
+ ]
929
+ ],
930
+ "005_tomato_soup_can_:0001": [
931
+ [
932
+ 0.06069,
933
+ 0.0,
934
+ 0.99816,
935
+ -2.28061
936
+ ],
937
+ [
938
+ 0.0,
939
+ 1.0,
940
+ 0.0,
941
+ 0.91003
942
+ ],
943
+ [
944
+ -0.99816,
945
+ 0.0,
946
+ 0.06069,
947
+ 2.4951
948
+ ],
949
+ [
950
+ 0.0,
951
+ 0.0,
952
+ 0.0,
953
+ 1.0
954
+ ]
955
+ ],
956
+ "010_potted_meat_can_:0006": [
957
+ [
958
+ -0.47988,
959
+ 0.0,
960
+ -0.87734,
961
+ -2.18401
962
+ ],
963
+ [
964
+ 0.0,
965
+ 1.0,
966
+ 0.0,
967
+ 1.29281
968
+ ],
969
+ [
970
+ 0.87734,
971
+ 0.0,
972
+ -0.47988,
973
+ -0.11868
974
+ ],
975
+ [
976
+ 0.0,
977
+ 0.0,
978
+ 0.0,
979
+ 1.0
980
+ ]
981
+ ]
982
+ },
983
+ "markers": [
984
+ {
985
+ "name": "cab_push_point_7",
986
+ "type": "articulated_object",
987
+ "params": {
988
+ "offset": [
989
+ 0.3,
990
+ 0.0,
991
+ 0
992
+ ],
993
+ "link": "drawer1_top",
994
+ "object": "kitchen_counter_:0000"
995
+ }
996
+ },
997
+ {
998
+ "name": "cab_push_point_6",
999
+ "type": "articulated_object",
1000
+ "params": {
1001
+ "offset": [
1002
+ 0.3,
1003
+ 0.0,
1004
+ 0
1005
+ ],
1006
+ "link": "drawer2_top",
1007
+ "object": "kitchen_counter_:0000"
1008
+ }
1009
+ },
1010
+ {
1011
+ "name": "cab_push_point_5",
1012
+ "type": "articulated_object",
1013
+ "params": {
1014
+ "offset": [
1015
+ 0.3,
1016
+ 0.0,
1017
+ 0
1018
+ ],
1019
+ "link": "drawer3",
1020
+ "object": "kitchen_counter_:0000"
1021
+ }
1022
+ },
1023
+ {
1024
+ "name": "cab_push_point_4",
1025
+ "type": "articulated_object",
1026
+ "params": {
1027
+ "offset": [
1028
+ 0.3,
1029
+ 0.0,
1030
+ 0
1031
+ ],
1032
+ "link": "drawer4",
1033
+ "object": "kitchen_counter_:0000"
1034
+ }
1035
+ },
1036
+ {
1037
+ "name": "fridge_push_point",
1038
+ "type": "articulated_object",
1039
+ "params": {
1040
+ "offset": [
1041
+ 0.1,
1042
+ -0.62,
1043
+ 0.2
1044
+ ],
1045
+ "link": "top_door",
1046
+ "object": "fridge_:0000"
1047
+ }
1048
+ }
1049
+ ],
1050
+ "target_receptacles": [
1051
+ [
1052
+ "fridge_:0000",
1053
+ 0
1054
+ ],
1055
+ [
1056
+ "fridge_:0000",
1057
+ 0
1058
+ ],
1059
+ [
1060
+ "kitchen_counter_:0000",
1061
+ 0
1062
+ ]
1063
+ ],
1064
+ "goal_receptacles": [
1065
+ [
1066
+ "kitchen_counter_:0000",
1067
+ 0
1068
+ ],
1069
+ [
1070
+ "kitchen_counter_:0000",
1071
+ 0
1072
+ ],
1073
+ [
1074
+ "fridge_:0000",
1075
+ 0
1076
+ ]
1077
+ ]
1078
+ }
rearrange/v1_extracted/train/prepare_groceries/episode_1037.json ADDED
@@ -0,0 +1,1078 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_id": "1037",
3
+ "scene_id": "data/replica_cad/configs/scenes/v3_sc1_staging_12.scene_instance.json",
4
+ "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
5
+ "additional_obj_config_paths": [
6
+ "data/objects/ycb/"
7
+ ],
8
+ "start_position": [
9
+ 0,
10
+ 0,
11
+ 0
12
+ ],
13
+ "start_rotation": [
14
+ 0,
15
+ 0,
16
+ 0,
17
+ 1
18
+ ],
19
+ "info": {
20
+ "object_labels": {
21
+ "004_sugar_box_:0004": "obj0_target|0",
22
+ "010_potted_meat_can_:0004": "obj1_target|1",
23
+ "024_bowl_:0002": "obj2_target|2"
24
+ }
25
+ },
26
+ "ao_states": {
27
+ "fridge_:0000": {
28
+ "2": 1.5
29
+ }
30
+ },
31
+ "rigid_objs": [
32
+ [
33
+ "002_master_chef_can.object_config.json",
34
+ [
35
+ [
36
+ 0.21935,
37
+ 0.00064,
38
+ -0.97565,
39
+ -1.91976
40
+ ],
41
+ [
42
+ 0.00553,
43
+ 0.99998,
44
+ 0.0019,
45
+ 1.32294
46
+ ],
47
+ [
48
+ 0.97563,
49
+ -0.00581,
50
+ 0.21934,
51
+ -0.79795
52
+ ],
53
+ [
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 1.0
58
+ ]
59
+ ]
60
+ ],
61
+ [
62
+ "009_gelatin_box.object_config.json",
63
+ [
64
+ [
65
+ 0.44253,
66
+ -0.00128,
67
+ -0.89675,
68
+ -2.14161
69
+ ],
70
+ [
71
+ 0.00635,
72
+ 0.99998,
73
+ 0.00171,
74
+ 1.26455
75
+ ],
76
+ [
77
+ 0.89673,
78
+ -0.00645,
79
+ 0.44253,
80
+ -1.28317
81
+ ],
82
+ [
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ 1.0
87
+ ]
88
+ ]
89
+ ],
90
+ [
91
+ "004_sugar_box.object_config.json",
92
+ [
93
+ [
94
+ -0.96741,
95
+ 0.0437,
96
+ -0.24941,
97
+ -2.00939
98
+ ],
99
+ [
100
+ 0.04009,
101
+ 0.999,
102
+ 0.01956,
103
+ 1.3402
104
+ ],
105
+ [
106
+ 0.25001,
107
+ 0.00893,
108
+ -0.9682,
109
+ -0.82683
110
+ ],
111
+ [
112
+ 0.0,
113
+ 0.0,
114
+ 0.0,
115
+ 1.0
116
+ ]
117
+ ]
118
+ ],
119
+ [
120
+ "002_master_chef_can.object_config.json",
121
+ [
122
+ [
123
+ -0.97904,
124
+ 0.00104,
125
+ 0.20366,
126
+ 0.63826
127
+ ],
128
+ [
129
+ 0.00117,
130
+ 1.0,
131
+ 0.00053,
132
+ 0.69729
133
+ ],
134
+ [
135
+ -0.20366,
136
+ 0.00076,
137
+ -0.97904,
138
+ 6.37626
139
+ ],
140
+ [
141
+ 0.0,
142
+ 0.0,
143
+ 0.0,
144
+ 1.0
145
+ ]
146
+ ]
147
+ ],
148
+ [
149
+ "003_cracker_box.object_config.json",
150
+ [
151
+ [
152
+ 0.13505,
153
+ 0.01432,
154
+ 0.99074,
155
+ 3.743
156
+ ],
157
+ [
158
+ -0.04866,
159
+ 0.99878,
160
+ -0.0078,
161
+ 0.5215
162
+ ],
163
+ [
164
+ -0.98964,
165
+ -0.04716,
166
+ 0.13558,
167
+ 5.71083
168
+ ],
169
+ [
170
+ 0.0,
171
+ 0.0,
172
+ 0.0,
173
+ 1.0
174
+ ]
175
+ ]
176
+ ],
177
+ [
178
+ "002_master_chef_can.object_config.json",
179
+ [
180
+ [
181
+ 0.99593,
182
+ 1e-05,
183
+ 0.09018,
184
+ -2.19305
185
+ ],
186
+ [
187
+ -1e-05,
188
+ 1.0,
189
+ 2e-05,
190
+ 0.9303
191
+ ],
192
+ [
193
+ -0.09018,
194
+ -2e-05,
195
+ 0.99593,
196
+ 0.28548
197
+ ],
198
+ [
199
+ 0.0,
200
+ 0.0,
201
+ 0.0,
202
+ 1.0
203
+ ]
204
+ ]
205
+ ],
206
+ [
207
+ "010_potted_meat_can.object_config.json",
208
+ [
209
+ [
210
+ -0.1572,
211
+ -0.00011,
212
+ 0.98757,
213
+ 2.06057
214
+ ],
215
+ [
216
+ 3e-05,
217
+ 1.0,
218
+ 0.00011,
219
+ 0.44618
220
+ ],
221
+ [
222
+ -0.98757,
223
+ 5e-05,
224
+ -0.1572,
225
+ 5.50122
226
+ ],
227
+ [
228
+ 0.0,
229
+ 0.0,
230
+ 0.0,
231
+ 1.0
232
+ ]
233
+ ]
234
+ ],
235
+ [
236
+ "007_tuna_fish_can.object_config.json",
237
+ [
238
+ [
239
+ -0.99245,
240
+ -1e-05,
241
+ 0.12262,
242
+ 3.70858
243
+ ],
244
+ [
245
+ -1e-05,
246
+ 1.0,
247
+ 1e-05,
248
+ 0.43165
249
+ ],
250
+ [
251
+ -0.12262,
252
+ 0.0,
253
+ -0.99245,
254
+ 5.58903
255
+ ],
256
+ [
257
+ 0.0,
258
+ 0.0,
259
+ 0.0,
260
+ 1.0
261
+ ]
262
+ ]
263
+ ],
264
+ [
265
+ "010_potted_meat_can.object_config.json",
266
+ [
267
+ [
268
+ -0.90839,
269
+ -0.00114,
270
+ -0.41812,
271
+ 2.13297
272
+ ],
273
+ [
274
+ -0.0012,
275
+ 1.0,
276
+ -0.00013,
277
+ 0.44623
278
+ ],
279
+ [
280
+ 0.41812,
281
+ 0.00038,
282
+ -0.90839,
283
+ 5.93242
284
+ ],
285
+ [
286
+ 0.0,
287
+ 0.0,
288
+ 0.0,
289
+ 1.0
290
+ ]
291
+ ]
292
+ ],
293
+ [
294
+ "024_bowl.object_config.json",
295
+ [
296
+ [
297
+ -0.11953,
298
+ -0.00066,
299
+ -0.99283,
300
+ -2.11345
301
+ ],
302
+ [
303
+ 0.00093,
304
+ 1.0,
305
+ -0.00077,
306
+ 0.88714
307
+ ],
308
+ [
309
+ 0.99283,
310
+ -0.00102,
311
+ -0.11953,
312
+ -0.52005
313
+ ],
314
+ [
315
+ 0.0,
316
+ 0.0,
317
+ 0.0,
318
+ 1.0
319
+ ]
320
+ ]
321
+ ],
322
+ [
323
+ "003_cracker_box.object_config.json",
324
+ [
325
+ [
326
+ 0.97474,
327
+ 0.04291,
328
+ -0.21918,
329
+ 4.00361
330
+ ],
331
+ [
332
+ -0.04534,
333
+ 0.99895,
334
+ -0.00605,
335
+ 0.52149
336
+ ],
337
+ [
338
+ 0.21869,
339
+ 0.01583,
340
+ 0.97567,
341
+ 5.67765
342
+ ],
343
+ [
344
+ 0.0,
345
+ 0.0,
346
+ 0.0,
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ [
352
+ "007_tuna_fish_can.object_config.json",
353
+ [
354
+ [
355
+ -0.67675,
356
+ 0.00014,
357
+ -0.73621,
358
+ 2.06735
359
+ ],
360
+ [
361
+ 0.00022,
362
+ 1.0,
363
+ -0.0,
364
+ 0.42104
365
+ ],
366
+ [
367
+ 0.73621,
368
+ -0.00016,
369
+ -0.67675,
370
+ 6.15102
371
+ ],
372
+ [
373
+ 0.0,
374
+ 0.0,
375
+ 0.0,
376
+ 1.0
377
+ ]
378
+ ]
379
+ ],
380
+ [
381
+ "008_pudding_box.object_config.json",
382
+ [
383
+ [
384
+ 0.85454,
385
+ 0.0172,
386
+ -0.5191,
387
+ -2.32206
388
+ ],
389
+ [
390
+ -0.00288,
391
+ 0.99959,
392
+ 0.02838,
393
+ 1.27193
394
+ ],
395
+ [
396
+ 0.51938,
397
+ -0.02276,
398
+ 0.85424,
399
+ -0.79326
400
+ ],
401
+ [
402
+ 0.0,
403
+ 0.0,
404
+ 0.0,
405
+ 1.0
406
+ ]
407
+ ]
408
+ ],
409
+ [
410
+ "024_bowl.object_config.json",
411
+ [
412
+ [
413
+ 0.97415,
414
+ 0.00138,
415
+ -0.22588,
416
+ 0.41321
417
+ ],
418
+ [
419
+ -0.00124,
420
+ 1.0,
421
+ 0.00077,
422
+ 0.65409
423
+ ],
424
+ [
425
+ 0.22588,
426
+ -0.00047,
427
+ 0.97415,
428
+ 4.90456
429
+ ],
430
+ [
431
+ 0.0,
432
+ 0.0,
433
+ 0.0,
434
+ 1.0
435
+ ]
436
+ ]
437
+ ],
438
+ [
439
+ "003_cracker_box.object_config.json",
440
+ [
441
+ [
442
+ 0.21455,
443
+ 0.04845,
444
+ -0.97551,
445
+ 0.63713
446
+ ],
447
+ [
448
+ -0.14684,
449
+ 0.98902,
450
+ 0.01683,
451
+ 0.73364
452
+ ],
453
+ [
454
+ 0.96561,
455
+ 0.13963,
456
+ 0.2193,
457
+ 5.91475
458
+ ],
459
+ [
460
+ 0.0,
461
+ 0.0,
462
+ 0.0,
463
+ 1.0
464
+ ]
465
+ ]
466
+ ],
467
+ [
468
+ "010_potted_meat_can.object_config.json",
469
+ [
470
+ [
471
+ 0.77493,
472
+ 0.0,
473
+ -0.63205,
474
+ 3.57106
475
+ ],
476
+ [
477
+ -2e-05,
478
+ 1.0,
479
+ -2e-05,
480
+ 0.80465
481
+ ],
482
+ [
483
+ 0.63205,
484
+ 3e-05,
485
+ 0.77493,
486
+ 6.98577
487
+ ],
488
+ [
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 1.0
493
+ ]
494
+ ]
495
+ ],
496
+ [
497
+ "009_gelatin_box.object_config.json",
498
+ [
499
+ [
500
+ 0.98342,
501
+ 1e-05,
502
+ 0.18133,
503
+ 3.9888
504
+ ],
505
+ [
506
+ -2e-05,
507
+ 1.0,
508
+ 0.0,
509
+ 0.42998
510
+ ],
511
+ [
512
+ -0.18133,
513
+ -0.0,
514
+ 0.98342,
515
+ 4.81555
516
+ ],
517
+ [
518
+ 0.0,
519
+ 0.0,
520
+ 0.0,
521
+ 1.0
522
+ ]
523
+ ]
524
+ ],
525
+ [
526
+ "004_sugar_box.object_config.json",
527
+ [
528
+ [
529
+ -0.70224,
530
+ 0.01455,
531
+ 0.71179,
532
+ 2.04999
533
+ ],
534
+ [
535
+ 0.04073,
536
+ 0.99897,
537
+ 0.01977,
538
+ 0.49202
539
+ ],
540
+ [
541
+ -0.71078,
542
+ 0.04287,
543
+ -0.70211,
544
+ 5.86125
545
+ ],
546
+ [
547
+ 0.0,
548
+ 0.0,
549
+ 0.0,
550
+ 1.0
551
+ ]
552
+ ]
553
+ ],
554
+ [
555
+ "005_tomato_soup_can.object_config.json",
556
+ [
557
+ [
558
+ 0.95298,
559
+ -0.00012,
560
+ 0.30304,
561
+ -2.07826
562
+ ],
563
+ [
564
+ 0.00014,
565
+ 1.0,
566
+ -5e-05,
567
+ 0.91084
568
+ ],
569
+ [
570
+ -0.30304,
571
+ 9e-05,
572
+ 0.95298,
573
+ 2.38768
574
+ ],
575
+ [
576
+ 0.0,
577
+ 0.0,
578
+ 0.0,
579
+ 1.0
580
+ ]
581
+ ]
582
+ ],
583
+ [
584
+ "008_pudding_box.object_config.json",
585
+ [
586
+ [
587
+ 0.93028,
588
+ -0.00406,
589
+ 0.36683,
590
+ 3.79887
591
+ ],
592
+ [
593
+ -0.0043,
594
+ 0.99975,
595
+ 0.02197,
596
+ 0.4346
597
+ ],
598
+ [
599
+ -0.36682,
600
+ -0.02201,
601
+ 0.93003,
602
+ 4.67336
603
+ ],
604
+ [
605
+ 0.0,
606
+ 0.0,
607
+ 0.0,
608
+ 1.0
609
+ ]
610
+ ]
611
+ ],
612
+ [
613
+ "004_sugar_box.object_config.json",
614
+ [
615
+ [
616
+ 0.81971,
617
+ -0.04482,
618
+ 0.57102,
619
+ 0.71495
620
+ ],
621
+ [
622
+ 0.03876,
623
+ 0.99899,
624
+ 0.02278,
625
+ 0.71476
626
+ ],
627
+ [
628
+ -0.57146,
629
+ 0.00346,
630
+ 0.82062,
631
+ 5.05945
632
+ ],
633
+ [
634
+ 0.0,
635
+ 0.0,
636
+ 0.0,
637
+ 1.0
638
+ ]
639
+ ]
640
+ ],
641
+ [
642
+ "004_sugar_box.object_config.json",
643
+ [
644
+ [
645
+ 0.80061,
646
+ -0.04557,
647
+ 0.59744,
648
+ 1.84619
649
+ ],
650
+ [
651
+ 0.039,
652
+ 0.99895,
653
+ 0.02393,
654
+ 0.49237
655
+ ],
656
+ [
657
+ -0.59791,
658
+ 0.00414,
659
+ 0.80155,
660
+ 6.00347
661
+ ],
662
+ [
663
+ 0.0,
664
+ 0.0,
665
+ 0.0,
666
+ 1.0
667
+ ]
668
+ ]
669
+ ],
670
+ [
671
+ "009_gelatin_box.object_config.json",
672
+ [
673
+ [
674
+ -0.12758,
675
+ 0.00027,
676
+ 0.99183,
677
+ 0.37028
678
+ ],
679
+ [
680
+ -0.00312,
681
+ 0.99999,
682
+ -0.00067,
683
+ 0.64184
684
+ ],
685
+ [
686
+ -0.99182,
687
+ -0.00318,
688
+ -0.12758,
689
+ 5.71985
690
+ ],
691
+ [
692
+ 0.0,
693
+ 0.0,
694
+ 0.0,
695
+ 1.0
696
+ ]
697
+ ]
698
+ ],
699
+ [
700
+ "003_cracker_box.object_config.json",
701
+ [
702
+ [
703
+ 0.4339,
704
+ 0.01329,
705
+ -0.90086,
706
+ -2.40842
707
+ ],
708
+ [
709
+ -0.04579,
710
+ 0.99892,
711
+ -0.00732,
712
+ 0.96627
713
+ ],
714
+ [
715
+ 0.8998,
716
+ 0.04443,
717
+ 0.43405,
718
+ 0.65482
719
+ ],
720
+ [
721
+ 0.0,
722
+ 0.0,
723
+ 0.0,
724
+ 1.0
725
+ ]
726
+ ]
727
+ ],
728
+ [
729
+ "002_master_chef_can.object_config.json",
730
+ [
731
+ [
732
+ -0.99966,
733
+ -0.00127,
734
+ 0.02618,
735
+ -2.38634
736
+ ],
737
+ [
738
+ -0.00142,
739
+ 0.99998,
740
+ -0.00582,
741
+ 0.17171
742
+ ],
743
+ [
744
+ -0.02618,
745
+ -0.00586,
746
+ -0.99964,
747
+ -0.95143
748
+ ],
749
+ [
750
+ 0.0,
751
+ 0.0,
752
+ 0.0,
753
+ 1.0
754
+ ]
755
+ ]
756
+ ],
757
+ [
758
+ "007_tuna_fish_can.object_config.json",
759
+ [
760
+ [
761
+ -0.99905,
762
+ -0.00081,
763
+ -0.04351,
764
+ 0.39416
765
+ ],
766
+ [
767
+ -0.0008,
768
+ 1.0,
769
+ -0.00023,
770
+ 0.64336
771
+ ],
772
+ [
773
+ 0.04351,
774
+ -0.00019,
775
+ -0.99905,
776
+ 5.3382
777
+ ],
778
+ [
779
+ 0.0,
780
+ 0.0,
781
+ 0.0,
782
+ 1.0
783
+ ]
784
+ ]
785
+ ],
786
+ [
787
+ "010_potted_meat_can.object_config.json",
788
+ [
789
+ [
790
+ 0.2681,
791
+ 0.00015,
792
+ -0.96339,
793
+ 4.11408
794
+ ],
795
+ [
796
+ 6e-05,
797
+ 1.0,
798
+ 0.00017,
799
+ 0.80465
800
+ ],
801
+ [
802
+ 0.96339,
803
+ -0.0001,
804
+ 0.2681,
805
+ 6.87535
806
+ ],
807
+ [
808
+ 0.0,
809
+ 0.0,
810
+ 0.0,
811
+ 1.0
812
+ ]
813
+ ]
814
+ ],
815
+ [
816
+ "004_sugar_box.object_config.json",
817
+ [
818
+ [
819
+ -0.56712,
820
+ 0.00205,
821
+ 0.82363,
822
+ -2.13613
823
+ ],
824
+ [
825
+ 0.03422,
826
+ 0.99919,
827
+ 0.02108,
828
+ 1.33911
829
+ ],
830
+ [
831
+ -0.82293,
832
+ 0.04014,
833
+ -0.56673,
834
+ -1.00903
835
+ ],
836
+ [
837
+ 0.0,
838
+ 0.0,
839
+ 0.0,
840
+ 1.0
841
+ ]
842
+ ]
843
+ ],
844
+ [
845
+ "010_potted_meat_can.object_config.json",
846
+ [
847
+ [
848
+ -0.91491,
849
+ -0.00089,
850
+ -0.40365,
851
+ -2.28165
852
+ ],
853
+ [
854
+ 0.0018,
855
+ 0.99998,
856
+ -0.00629,
857
+ 1.29233
858
+ ],
859
+ [
860
+ 0.40365,
861
+ -0.00648,
862
+ -0.91489,
863
+ -1.14268
864
+ ],
865
+ [
866
+ 0.0,
867
+ 0.0,
868
+ 0.0,
869
+ 1.0
870
+ ]
871
+ ]
872
+ ],
873
+ [
874
+ "024_bowl.object_config.json",
875
+ [
876
+ [
877
+ -0.86553,
878
+ 0.0,
879
+ -0.50086,
880
+ -1.94887
881
+ ],
882
+ [
883
+ 0.0,
884
+ 1.0,
885
+ 0.0,
886
+ 0.88719
887
+ ],
888
+ [
889
+ 0.50086,
890
+ -0.0,
891
+ -0.86553,
892
+ -0.01934
893
+ ],
894
+ [
895
+ 0.0,
896
+ 0.0,
897
+ 0.0,
898
+ 1.0
899
+ ]
900
+ ]
901
+ ]
902
+ ],
903
+ "targets": {
904
+ "004_sugar_box_:0004": [
905
+ [
906
+ -0.08796,
907
+ 0.0,
908
+ -0.99612,
909
+ -2.31577
910
+ ],
911
+ [
912
+ 0.0,
913
+ 1.0,
914
+ 0.0,
915
+ 0.94711
916
+ ],
917
+ [
918
+ 0.99612,
919
+ 0.0,
920
+ -0.08796,
921
+ -0.35764
922
+ ],
923
+ [
924
+ 0.0,
925
+ 0.0,
926
+ 0.0,
927
+ 1.0
928
+ ]
929
+ ],
930
+ "010_potted_meat_can_:0004": [
931
+ [
932
+ -0.46434,
933
+ 0.0,
934
+ 0.88565,
935
+ -2.19722
936
+ ],
937
+ [
938
+ 0.0,
939
+ 1.0,
940
+ 0.0,
941
+ 0.90087
942
+ ],
943
+ [
944
+ -0.88565,
945
+ 0.0,
946
+ -0.46434,
947
+ 1.80802
948
+ ],
949
+ [
950
+ 0.0,
951
+ 0.0,
952
+ 0.0,
953
+ 1.0
954
+ ]
955
+ ],
956
+ "024_bowl_:0002": [
957
+ [
958
+ 0.84258,
959
+ 0.0,
960
+ -0.53857,
961
+ -2.0498
962
+ ],
963
+ [
964
+ 0.0,
965
+ 1.0,
966
+ 0.0,
967
+ 1.27699
968
+ ],
969
+ [
970
+ 0.53857,
971
+ 0.0,
972
+ 0.84258,
973
+ -1.18659
974
+ ],
975
+ [
976
+ 0.0,
977
+ 0.0,
978
+ 0.0,
979
+ 1.0
980
+ ]
981
+ ]
982
+ },
983
+ "markers": [
984
+ {
985
+ "name": "cab_push_point_7",
986
+ "type": "articulated_object",
987
+ "params": {
988
+ "offset": [
989
+ 0.3,
990
+ 0.0,
991
+ 0
992
+ ],
993
+ "link": "drawer1_top",
994
+ "object": "kitchen_counter_:0000"
995
+ }
996
+ },
997
+ {
998
+ "name": "cab_push_point_6",
999
+ "type": "articulated_object",
1000
+ "params": {
1001
+ "offset": [
1002
+ 0.3,
1003
+ 0.0,
1004
+ 0
1005
+ ],
1006
+ "link": "drawer2_top",
1007
+ "object": "kitchen_counter_:0000"
1008
+ }
1009
+ },
1010
+ {
1011
+ "name": "cab_push_point_5",
1012
+ "type": "articulated_object",
1013
+ "params": {
1014
+ "offset": [
1015
+ 0.3,
1016
+ 0.0,
1017
+ 0
1018
+ ],
1019
+ "link": "drawer3",
1020
+ "object": "kitchen_counter_:0000"
1021
+ }
1022
+ },
1023
+ {
1024
+ "name": "cab_push_point_4",
1025
+ "type": "articulated_object",
1026
+ "params": {
1027
+ "offset": [
1028
+ 0.3,
1029
+ 0.0,
1030
+ 0
1031
+ ],
1032
+ "link": "drawer4",
1033
+ "object": "kitchen_counter_:0000"
1034
+ }
1035
+ },
1036
+ {
1037
+ "name": "fridge_push_point",
1038
+ "type": "articulated_object",
1039
+ "params": {
1040
+ "offset": [
1041
+ 0.1,
1042
+ -0.62,
1043
+ 0.2
1044
+ ],
1045
+ "link": "top_door",
1046
+ "object": "fridge_:0000"
1047
+ }
1048
+ }
1049
+ ],
1050
+ "target_receptacles": [
1051
+ [
1052
+ "fridge_:0000",
1053
+ 0
1054
+ ],
1055
+ [
1056
+ "fridge_:0000",
1057
+ 0
1058
+ ],
1059
+ [
1060
+ "kitchen_counter_:0000",
1061
+ 0
1062
+ ]
1063
+ ],
1064
+ "goal_receptacles": [
1065
+ [
1066
+ "kitchen_counter_:0000",
1067
+ 0
1068
+ ],
1069
+ [
1070
+ "kitchen_counter_:0000",
1071
+ 0
1072
+ ],
1073
+ [
1074
+ "fridge_:0000",
1075
+ 0
1076
+ ]
1077
+ ]
1078
+ }
rearrange/v1_extracted/train/prepare_groceries/episode_1038.json ADDED
@@ -0,0 +1,1078 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_id": "1038",
3
+ "scene_id": "data/replica_cad/configs/scenes/v3_sc0_staging_08.scene_instance.json",
4
+ "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
5
+ "additional_obj_config_paths": [
6
+ "data/objects/ycb/"
7
+ ],
8
+ "start_position": [
9
+ 0,
10
+ 0,
11
+ 0
12
+ ],
13
+ "start_rotation": [
14
+ 0,
15
+ 0,
16
+ 0,
17
+ 1
18
+ ],
19
+ "info": {
20
+ "object_labels": {
21
+ "004_sugar_box_:0002": "obj0_target|0",
22
+ "004_sugar_box_:0003": "obj1_target|1",
23
+ "003_cracker_box_:0003": "obj2_target|2"
24
+ }
25
+ },
26
+ "ao_states": {
27
+ "fridge_:0000": {
28
+ "2": 1.5
29
+ }
30
+ },
31
+ "rigid_objs": [
32
+ [
33
+ "008_pudding_box.object_config.json",
34
+ [
35
+ [
36
+ -0.51326,
37
+ 0.00435,
38
+ -0.85822,
39
+ 0.5984
40
+ ],
41
+ [
42
+ -0.00084,
43
+ 0.99998,
44
+ 0.00557,
45
+ 0.72672
46
+ ],
47
+ [
48
+ 0.85823,
49
+ 0.00359,
50
+ -0.51325,
51
+ 6.8214
52
+ ],
53
+ [
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 1.0
58
+ ]
59
+ ]
60
+ ],
61
+ [
62
+ "002_master_chef_can.object_config.json",
63
+ [
64
+ [
65
+ -0.17913,
66
+ 0.0,
67
+ -0.98383,
68
+ 0.54735
69
+ ],
70
+ [
71
+ 4e-05,
72
+ 1.0,
73
+ -1e-05,
74
+ 0.9303
75
+ ],
76
+ [
77
+ 0.98383,
78
+ -4e-05,
79
+ -0.17913,
80
+ 7.11643
81
+ ],
82
+ [
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ 1.0
87
+ ]
88
+ ]
89
+ ],
90
+ [
91
+ "010_potted_meat_can.object_config.json",
92
+ [
93
+ [
94
+ -0.99193,
95
+ 0.0,
96
+ 0.1268,
97
+ 0.3365
98
+ ],
99
+ [
100
+ -0.0,
101
+ 1.0,
102
+ -1e-05,
103
+ 0.90168
104
+ ],
105
+ [
106
+ -0.1268,
107
+ -1e-05,
108
+ -0.99193,
109
+ 5.44951
110
+ ],
111
+ [
112
+ 0.0,
113
+ 0.0,
114
+ 0.0,
115
+ 1.0
116
+ ]
117
+ ]
118
+ ],
119
+ [
120
+ "009_gelatin_box.object_config.json",
121
+ [
122
+ [
123
+ 0.28153,
124
+ -0.00046,
125
+ -0.95955,
126
+ 3.67025
127
+ ],
128
+ [
129
+ 0.0018,
130
+ 1.0,
131
+ 5e-05,
132
+ 0.94932
133
+ ],
134
+ [
135
+ 0.95955,
136
+ -0.00174,
137
+ 0.28153,
138
+ 3.8406
139
+ ],
140
+ [
141
+ 0.0,
142
+ 0.0,
143
+ 0.0,
144
+ 1.0
145
+ ]
146
+ ]
147
+ ],
148
+ [
149
+ "003_cracker_box.object_config.json",
150
+ [
151
+ [
152
+ 0.95781,
153
+ 0.04178,
154
+ -0.28434,
155
+ 0.29487
156
+ ],
157
+ [
158
+ -0.04574,
159
+ 0.99893,
160
+ -0.00732,
161
+ 0.96627
162
+ ],
163
+ [
164
+ 0.28373,
165
+ 0.02002,
166
+ 0.9587,
167
+ 5.06201
168
+ ],
169
+ [
170
+ 0.0,
171
+ 0.0,
172
+ 0.0,
173
+ 1.0
174
+ ]
175
+ ]
176
+ ],
177
+ [
178
+ "003_cracker_box.object_config.json",
179
+ [
180
+ [
181
+ 0.13653,
182
+ 0.01372,
183
+ 0.99054,
184
+ -0.85538
185
+ ],
186
+ [
187
+ -0.04481,
188
+ 0.99897,
189
+ -0.00766,
190
+ 0.52167
191
+ ],
192
+ [
193
+ -0.98962,
194
+ -0.04334,
195
+ 0.137,
196
+ 3.43145
197
+ ],
198
+ [
199
+ 0.0,
200
+ 0.0,
201
+ 0.0,
202
+ 1.0
203
+ ]
204
+ ]
205
+ ],
206
+ [
207
+ "007_tuna_fish_can.object_config.json",
208
+ [
209
+ [
210
+ -0.87541,
211
+ -0.0,
212
+ -0.48337,
213
+ 0.88136
214
+ ],
215
+ [
216
+ 0.0,
217
+ 1.0,
218
+ -0.0,
219
+ 0.42105
220
+ ],
221
+ [
222
+ 0.48337,
223
+ -0.0,
224
+ -0.87541,
225
+ 0.23148
226
+ ],
227
+ [
228
+ 0.0,
229
+ 0.0,
230
+ 0.0,
231
+ 1.0
232
+ ]
233
+ ]
234
+ ],
235
+ [
236
+ "004_sugar_box.object_config.json",
237
+ [
238
+ [
239
+ -0.87787,
240
+ 0.04587,
241
+ -0.4767,
242
+ 0.4128
243
+ ],
244
+ [
245
+ 0.04181,
246
+ 0.99894,
247
+ 0.01914,
248
+ 1.3375
249
+ ],
250
+ [
251
+ 0.47707,
252
+ -0.00313,
253
+ -0.87886,
254
+ 4.21281
255
+ ],
256
+ [
257
+ 0.0,
258
+ 0.0,
259
+ 0.0,
260
+ 1.0
261
+ ]
262
+ ]
263
+ ],
264
+ [
265
+ "005_tomato_soup_can.object_config.json",
266
+ [
267
+ [
268
+ 0.9006,
269
+ 0.00927,
270
+ -0.43456,
271
+ 3.40257
272
+ ],
273
+ [
274
+ -0.0107,
275
+ 0.99994,
276
+ -0.00085,
277
+ 0.98534
278
+ ],
279
+ [
280
+ 0.43452,
281
+ 0.00541,
282
+ 0.90064,
283
+ 4.29494
284
+ ],
285
+ [
286
+ 0.0,
287
+ 0.0,
288
+ 0.0,
289
+ 1.0
290
+ ]
291
+ ]
292
+ ],
293
+ [
294
+ "003_cracker_box.object_config.json",
295
+ [
296
+ [
297
+ 0.99297,
298
+ 0.04456,
299
+ -0.10964,
300
+ 0.61702
301
+ ],
302
+ [
303
+ -0.04564,
304
+ 0.99893,
305
+ -0.00735,
306
+ 0.81373
307
+ ],
308
+ [
309
+ 0.1092,
310
+ 0.0123,
311
+ 0.99394,
312
+ 6.6339
313
+ ],
314
+ [
315
+ 0.0,
316
+ 0.0,
317
+ 0.0,
318
+ 1.0
319
+ ]
320
+ ]
321
+ ],
322
+ [
323
+ "008_pudding_box.object_config.json",
324
+ [
325
+ [
326
+ -0.75891,
327
+ -0.01973,
328
+ 0.65089,
329
+ 0.48167
330
+ ],
331
+ [
332
+ -0.00591,
333
+ 0.99971,
334
+ 0.02342,
335
+ 0.87927
336
+ ],
337
+ [
338
+ -0.65117,
339
+ 0.01392,
340
+ -0.75881,
341
+ 7.3322
342
+ ],
343
+ [
344
+ 0.0,
345
+ 0.0,
346
+ 0.0,
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ [
352
+ "007_tuna_fish_can.object_config.json",
353
+ [
354
+ [
355
+ 0.60619,
356
+ -0.00071,
357
+ 0.79532,
358
+ 3.46212
359
+ ],
360
+ [
361
+ 0.00277,
362
+ 1.0,
363
+ -0.00122,
364
+ 0.64356
365
+ ],
366
+ [
367
+ -0.79532,
368
+ 0.00294,
369
+ 0.60618,
370
+ 7.49622
371
+ ],
372
+ [
373
+ 0.0,
374
+ 0.0,
375
+ 0.0,
376
+ 1.0
377
+ ]
378
+ ]
379
+ ],
380
+ [
381
+ "005_tomato_soup_can.object_config.json",
382
+ [
383
+ [
384
+ 0.53374,
385
+ -0.00017,
386
+ -0.84565,
387
+ 3.69331
388
+ ],
389
+ [
390
+ 0.00022,
391
+ 1.0,
392
+ -7e-05,
393
+ 0.98531
394
+ ],
395
+ [
396
+ 0.84565,
397
+ -0.00015,
398
+ 0.53374,
399
+ 4.01253
400
+ ],
401
+ [
402
+ 0.0,
403
+ 0.0,
404
+ 0.0,
405
+ 1.0
406
+ ]
407
+ ]
408
+ ],
409
+ [
410
+ "007_tuna_fish_can.object_config.json",
411
+ [
412
+ [
413
+ -0.51934,
414
+ 0.0,
415
+ -0.85457,
416
+ 0.46864
417
+ ],
418
+ [
419
+ 1e-05,
420
+ 1.0,
421
+ -0.0,
422
+ 0.87655
423
+ ],
424
+ [
425
+ 0.85457,
426
+ -1e-05,
427
+ -0.51934,
428
+ 5.37603
429
+ ],
430
+ [
431
+ 0.0,
432
+ 0.0,
433
+ 0.0,
434
+ 1.0
435
+ ]
436
+ ]
437
+ ],
438
+ [
439
+ "004_sugar_box.object_config.json",
440
+ [
441
+ [
442
+ -0.23031,
443
+ -0.01462,
444
+ 0.97301,
445
+ 0.71411
446
+ ],
447
+ [
448
+ 0.03879,
449
+ 0.99895,
450
+ 0.0242,
451
+ 0.9477
452
+ ],
453
+ [
454
+ -0.97234,
455
+ 0.04331,
456
+ -0.2295,
457
+ 7.09051
458
+ ],
459
+ [
460
+ 0.0,
461
+ 0.0,
462
+ 0.0,
463
+ 1.0
464
+ ]
465
+ ]
466
+ ],
467
+ [
468
+ "007_tuna_fish_can.object_config.json",
469
+ [
470
+ [
471
+ 0.49713,
472
+ -2e-05,
473
+ 0.86767,
474
+ -1.08549
475
+ ],
476
+ [
477
+ -2e-05,
478
+ 1.0,
479
+ 4e-05,
480
+ 0.43176
481
+ ],
482
+ [
483
+ -0.86767,
484
+ -4e-05,
485
+ 0.49713,
486
+ 3.41004
487
+ ],
488
+ [
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 1.0
493
+ ]
494
+ ]
495
+ ],
496
+ [
497
+ "002_master_chef_can.object_config.json",
498
+ [
499
+ [
500
+ 0.17792,
501
+ -0.0013,
502
+ -0.98404,
503
+ 0.88804
504
+ ],
505
+ [
506
+ 9e-05,
507
+ 1.0,
508
+ -0.00131,
509
+ 0.47484
510
+ ],
511
+ [
512
+ 0.98404,
513
+ 0.00014,
514
+ 0.17792,
515
+ -0.08954
516
+ ],
517
+ [
518
+ 0.0,
519
+ 0.0,
520
+ 0.0,
521
+ 1.0
522
+ ]
523
+ ]
524
+ ],
525
+ [
526
+ "005_tomato_soup_can.object_config.json",
527
+ [
528
+ [
529
+ -0.96281,
530
+ -0.00582,
531
+ 0.27012,
532
+ -1.70402
533
+ ],
534
+ [
535
+ -0.00606,
536
+ 0.99998,
537
+ -6e-05,
538
+ 0.81384
539
+ ],
540
+ [
541
+ -0.27011,
542
+ -0.00169,
543
+ -0.96283,
544
+ 3.42664
545
+ ],
546
+ [
547
+ 0.0,
548
+ 0.0,
549
+ 0.0,
550
+ 1.0
551
+ ]
552
+ ]
553
+ ],
554
+ [
555
+ "002_master_chef_can.object_config.json",
556
+ [
557
+ [
558
+ -0.83174,
559
+ 1e-05,
560
+ 0.55517,
561
+ 0.73034
562
+ ],
563
+ [
564
+ 0.0,
565
+ 1.0,
566
+ -1e-05,
567
+ 0.9303
568
+ ],
569
+ [
570
+ -0.55517,
571
+ -1e-05,
572
+ -0.83174,
573
+ 5.16944
574
+ ],
575
+ [
576
+ 0.0,
577
+ 0.0,
578
+ 0.0,
579
+ 1.0
580
+ ]
581
+ ]
582
+ ],
583
+ [
584
+ "005_tomato_soup_can.object_config.json",
585
+ [
586
+ [
587
+ -0.92349,
588
+ 0.04475,
589
+ 0.38101,
590
+ 0.49706
591
+ ],
592
+ [
593
+ 0.04804,
594
+ 0.99885,
595
+ -0.00089,
596
+ 0.75927
597
+ ],
598
+ [
599
+ -0.38061,
600
+ 0.01749,
601
+ -0.92457,
602
+ 6.70368
603
+ ],
604
+ [
605
+ 0.0,
606
+ 0.0,
607
+ 0.0,
608
+ 1.0
609
+ ]
610
+ ]
611
+ ],
612
+ [
613
+ "009_gelatin_box.object_config.json",
614
+ [
615
+ [
616
+ 0.99911,
617
+ 0.00254,
618
+ -0.04215,
619
+ 0.80766
620
+ ],
621
+ [
622
+ -0.00245,
623
+ 0.99999,
624
+ 0.00206,
625
+ 0.42992
626
+ ],
627
+ [
628
+ 0.04216,
629
+ -0.00196,
630
+ 0.99911,
631
+ 3.45166
632
+ ],
633
+ [
634
+ 0.0,
635
+ 0.0,
636
+ 0.0,
637
+ 1.0
638
+ ]
639
+ ]
640
+ ],
641
+ [
642
+ "010_potted_meat_can.object_config.json",
643
+ [
644
+ [
645
+ -0.95211,
646
+ -5e-05,
647
+ -0.30575,
648
+ 0.73204
649
+ ],
650
+ [
651
+ -2e-05,
652
+ 1.0,
653
+ -8e-05,
654
+ 0.90168
655
+ ],
656
+ [
657
+ 0.30575,
658
+ -7e-05,
659
+ -0.95211,
660
+ 6.00144
661
+ ],
662
+ [
663
+ 0.0,
664
+ 0.0,
665
+ 0.0,
666
+ 1.0
667
+ ]
668
+ ]
669
+ ],
670
+ [
671
+ "024_bowl.object_config.json",
672
+ [
673
+ [
674
+ 0.55488,
675
+ 0.0,
676
+ -0.83193,
677
+ 0.35551
678
+ ],
679
+ [
680
+ 1e-05,
681
+ 1.0,
682
+ 1e-05,
683
+ 0.88719
684
+ ],
685
+ [
686
+ 0.83193,
687
+ -1e-05,
688
+ 0.55488,
689
+ 5.71696
690
+ ],
691
+ [
692
+ 0.0,
693
+ 0.0,
694
+ 0.0,
695
+ 1.0
696
+ ]
697
+ ]
698
+ ],
699
+ [
700
+ "002_master_chef_can.object_config.json",
701
+ [
702
+ [
703
+ -0.24172,
704
+ 5e-05,
705
+ -0.97035,
706
+ -2.23165
707
+ ],
708
+ [
709
+ 8e-05,
710
+ 1.0,
711
+ 3e-05,
712
+ 0.83327
713
+ ],
714
+ [
715
+ 0.97035,
716
+ -7e-05,
717
+ -0.24172,
718
+ 2.32942
719
+ ],
720
+ [
721
+ 0.0,
722
+ 0.0,
723
+ 0.0,
724
+ 1.0
725
+ ]
726
+ ]
727
+ ],
728
+ [
729
+ "010_potted_meat_can.object_config.json",
730
+ [
731
+ [
732
+ -0.149,
733
+ -0.00015,
734
+ -0.98884,
735
+ 0.72362
736
+ ],
737
+ [
738
+ -9e-05,
739
+ 1.0,
740
+ -0.00014,
741
+ 0.90168
742
+ ],
743
+ [
744
+ 0.98884,
745
+ 7e-05,
746
+ -0.149,
747
+ 7.5377
748
+ ],
749
+ [
750
+ 0.0,
751
+ 0.0,
752
+ 0.0,
753
+ 1.0
754
+ ]
755
+ ]
756
+ ],
757
+ [
758
+ "002_master_chef_can.object_config.json",
759
+ [
760
+ [
761
+ -0.87995,
762
+ 8e-05,
763
+ 0.47507,
764
+ 0.51071
765
+ ],
766
+ [
767
+ -0.00256,
768
+ 0.99998,
769
+ -0.0049,
770
+ 1.32098
771
+ ],
772
+ [
773
+ -0.47507,
774
+ -0.00553,
775
+ -0.87993,
776
+ 4.36649
777
+ ],
778
+ [
779
+ 0.0,
780
+ 0.0,
781
+ 0.0,
782
+ 1.0
783
+ ]
784
+ ]
785
+ ],
786
+ [
787
+ "024_bowl.object_config.json",
788
+ [
789
+ [
790
+ 0.96334,
791
+ -0.00026,
792
+ -0.26828,
793
+ 3.01216
794
+ ],
795
+ [
796
+ 0.00019,
797
+ 1.0,
798
+ -0.0003,
799
+ 0.65413
800
+ ],
801
+ [
802
+ 0.26828,
803
+ 0.00024,
804
+ 0.96334,
805
+ 7.53168
806
+ ],
807
+ [
808
+ 0.0,
809
+ 0.0,
810
+ 0.0,
811
+ 1.0
812
+ ]
813
+ ]
814
+ ],
815
+ [
816
+ "004_sugar_box.object_config.json",
817
+ [
818
+ [
819
+ 0.17872,
820
+ -0.03088,
821
+ 0.98342,
822
+ 0.44538
823
+ ],
824
+ [
825
+ 0.03336,
826
+ 0.99912,
827
+ 0.02531,
828
+ 1.33943
829
+ ],
830
+ [
831
+ -0.98333,
832
+ 0.02828,
833
+ 0.17959,
834
+ 4.54678
835
+ ],
836
+ [
837
+ 0.0,
838
+ 0.0,
839
+ 0.0,
840
+ 1.0
841
+ ]
842
+ ]
843
+ ],
844
+ [
845
+ "004_sugar_box.object_config.json",
846
+ [
847
+ [
848
+ -0.97624,
849
+ 0.04335,
850
+ -0.21234,
851
+ 0.6085
852
+ ],
853
+ [
854
+ 0.04066,
855
+ 0.99903,
856
+ 0.017,
857
+ 1.33956
858
+ ],
859
+ [
860
+ 0.21287,
861
+ 0.00797,
862
+ -0.97705,
863
+ 4.58022
864
+ ],
865
+ [
866
+ 0.0,
867
+ 0.0,
868
+ 0.0,
869
+ 1.0
870
+ ]
871
+ ]
872
+ ],
873
+ [
874
+ "003_cracker_box.object_config.json",
875
+ [
876
+ [
877
+ 0.23088,
878
+ 0.01809,
879
+ 0.97281,
880
+ 0.80261
881
+ ],
882
+ [
883
+ -0.11909,
884
+ 0.99284,
885
+ 0.0098,
886
+ 0.96659
887
+ ],
888
+ [
889
+ -0.96567,
890
+ -0.11811,
891
+ 0.23138,
892
+ 6.25453
893
+ ],
894
+ [
895
+ 0.0,
896
+ 0.0,
897
+ 0.0,
898
+ 1.0
899
+ ]
900
+ ]
901
+ ]
902
+ ],
903
+ "targets": {
904
+ "004_sugar_box_:0002": [
905
+ [
906
+ 0.48613,
907
+ 0.0,
908
+ -0.87389,
909
+ 0.45715
910
+ ],
911
+ [
912
+ 0.0,
913
+ 1.0,
914
+ 0.0,
915
+ 0.94711
916
+ ],
917
+ [
918
+ 0.87389,
919
+ 0.0,
920
+ 0.48613,
921
+ 6.11601
922
+ ],
923
+ [
924
+ 0.0,
925
+ 0.0,
926
+ 0.0,
927
+ 1.0
928
+ ]
929
+ ],
930
+ "004_sugar_box_:0003": [
931
+ [
932
+ -0.92183,
933
+ 0.0,
934
+ 0.3876,
935
+ 0.52185
936
+ ],
937
+ [
938
+ 0.0,
939
+ 1.0,
940
+ 0.0,
941
+ 0.94711
942
+ ],
943
+ [
944
+ -0.3876,
945
+ 0.0,
946
+ -0.92183,
947
+ 7.53084
948
+ ],
949
+ [
950
+ 0.0,
951
+ 0.0,
952
+ 0.0,
953
+ 1.0
954
+ ]
955
+ ],
956
+ "003_cracker_box_:0003": [
957
+ [
958
+ -0.60988,
959
+ 0.0,
960
+ -0.79249,
961
+ 0.67003
962
+ ],
963
+ [
964
+ 0.0,
965
+ 1.0,
966
+ 0.0,
967
+ 1.35729
968
+ ],
969
+ [
970
+ 0.79249,
971
+ 0.0,
972
+ -0.60988,
973
+ 4.50157
974
+ ],
975
+ [
976
+ 0.0,
977
+ 0.0,
978
+ 0.0,
979
+ 1.0
980
+ ]
981
+ ]
982
+ },
983
+ "markers": [
984
+ {
985
+ "name": "cab_push_point_7",
986
+ "type": "articulated_object",
987
+ "params": {
988
+ "offset": [
989
+ 0.3,
990
+ 0.0,
991
+ 0
992
+ ],
993
+ "link": "drawer1_top",
994
+ "object": "kitchen_counter_:0000"
995
+ }
996
+ },
997
+ {
998
+ "name": "cab_push_point_6",
999
+ "type": "articulated_object",
1000
+ "params": {
1001
+ "offset": [
1002
+ 0.3,
1003
+ 0.0,
1004
+ 0
1005
+ ],
1006
+ "link": "drawer2_top",
1007
+ "object": "kitchen_counter_:0000"
1008
+ }
1009
+ },
1010
+ {
1011
+ "name": "cab_push_point_5",
1012
+ "type": "articulated_object",
1013
+ "params": {
1014
+ "offset": [
1015
+ 0.3,
1016
+ 0.0,
1017
+ 0
1018
+ ],
1019
+ "link": "drawer3",
1020
+ "object": "kitchen_counter_:0000"
1021
+ }
1022
+ },
1023
+ {
1024
+ "name": "cab_push_point_4",
1025
+ "type": "articulated_object",
1026
+ "params": {
1027
+ "offset": [
1028
+ 0.3,
1029
+ 0.0,
1030
+ 0
1031
+ ],
1032
+ "link": "drawer4",
1033
+ "object": "kitchen_counter_:0000"
1034
+ }
1035
+ },
1036
+ {
1037
+ "name": "fridge_push_point",
1038
+ "type": "articulated_object",
1039
+ "params": {
1040
+ "offset": [
1041
+ 0.1,
1042
+ -0.62,
1043
+ 0.2
1044
+ ],
1045
+ "link": "top_door",
1046
+ "object": "fridge_:0000"
1047
+ }
1048
+ }
1049
+ ],
1050
+ "target_receptacles": [
1051
+ [
1052
+ "fridge_:0000",
1053
+ 0
1054
+ ],
1055
+ [
1056
+ "fridge_:0000",
1057
+ 0
1058
+ ],
1059
+ [
1060
+ "kitchen_counter_:0000",
1061
+ 0
1062
+ ]
1063
+ ],
1064
+ "goal_receptacles": [
1065
+ [
1066
+ "kitchen_counter_:0000",
1067
+ 0
1068
+ ],
1069
+ [
1070
+ "kitchen_counter_:0000",
1071
+ 0
1072
+ ],
1073
+ [
1074
+ "fridge_:0000",
1075
+ 0
1076
+ ]
1077
+ ]
1078
+ }
rearrange/v1_extracted/train/prepare_groceries/episode_1039.json ADDED
@@ -0,0 +1,1078 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_id": "1039",
3
+ "scene_id": "data/replica_cad/configs/scenes/v3_sc1_staging_02.scene_instance.json",
4
+ "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
5
+ "additional_obj_config_paths": [
6
+ "data/objects/ycb/"
7
+ ],
8
+ "start_position": [
9
+ 0,
10
+ 0,
11
+ 0
12
+ ],
13
+ "start_rotation": [
14
+ 0,
15
+ 0,
16
+ 0,
17
+ 1
18
+ ],
19
+ "info": {
20
+ "object_labels": {
21
+ "002_master_chef_can_:0002": "obj0_target|0",
22
+ "024_bowl_:0002": "obj1_target|1",
23
+ "009_gelatin_box_:0002": "obj2_target|2"
24
+ }
25
+ },
26
+ "ao_states": {
27
+ "fridge_:0000": {
28
+ "2": 1.5
29
+ }
30
+ },
31
+ "rigid_objs": [
32
+ [
33
+ "009_gelatin_box.object_config.json",
34
+ [
35
+ [
36
+ 0.93572,
37
+ 3e-05,
38
+ -0.35274,
39
+ 2.10401
40
+ ],
41
+ [
42
+ -3e-05,
43
+ 1.0,
44
+ 1e-05,
45
+ 0.41926
46
+ ],
47
+ [
48
+ 0.35274,
49
+ 0.0,
50
+ 0.93572,
51
+ 5.01951
52
+ ],
53
+ [
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 1.0
58
+ ]
59
+ ]
60
+ ],
61
+ [
62
+ "007_tuna_fish_can.object_config.json",
63
+ [
64
+ [
65
+ 0.75879,
66
+ 1e-05,
67
+ -0.65134,
68
+ -2.40778
69
+ ],
70
+ [
71
+ 0.00378,
72
+ 0.99998,
73
+ 0.00441,
74
+ 0.11737
75
+ ],
76
+ [
77
+ 0.65133,
78
+ -0.0058,
79
+ 0.75877,
80
+ -1.05166
81
+ ],
82
+ [
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ 1.0
87
+ ]
88
+ ]
89
+ ],
90
+ [
91
+ "008_pudding_box.object_config.json",
92
+ [
93
+ [
94
+ 0.31185,
95
+ 0.01434,
96
+ -0.95002,
97
+ 0.70922
98
+ ],
99
+ [
100
+ -0.00441,
101
+ 0.9999,
102
+ 0.01364,
103
+ 0.64639
104
+ ],
105
+ [
106
+ 0.95012,
107
+ -7e-05,
108
+ 0.31188,
109
+ 5.10475
110
+ ],
111
+ [
112
+ 0.0,
113
+ 0.0,
114
+ 0.0,
115
+ 1.0
116
+ ]
117
+ ]
118
+ ],
119
+ [
120
+ "007_tuna_fish_can.object_config.json",
121
+ [
122
+ [
123
+ -0.22549,
124
+ -0.0,
125
+ 0.97425,
126
+ 2.10809
127
+ ],
128
+ [
129
+ -1e-05,
130
+ 1.0,
131
+ 0.0,
132
+ 0.42105
133
+ ],
134
+ [
135
+ -0.97425,
136
+ -1e-05,
137
+ -0.22549,
138
+ 6.35537
139
+ ],
140
+ [
141
+ 0.0,
142
+ 0.0,
143
+ 0.0,
144
+ 1.0
145
+ ]
146
+ ]
147
+ ],
148
+ [
149
+ "005_tomato_soup_can.object_config.json",
150
+ [
151
+ [
152
+ 0.70525,
153
+ 0.02093,
154
+ 0.70865,
155
+ -2.23826
156
+ ],
157
+ [
158
+ -0.02817,
159
+ 0.9996,
160
+ -0.00149,
161
+ 0.75846
162
+ ],
163
+ [
164
+ -0.7084,
165
+ -0.01891,
166
+ 0.70556,
167
+ 1.24241
168
+ ],
169
+ [
170
+ 0.0,
171
+ 0.0,
172
+ 0.0,
173
+ 1.0
174
+ ]
175
+ ]
176
+ ],
177
+ [
178
+ "004_sugar_box.object_config.json",
179
+ [
180
+ [
181
+ 0.90334,
182
+ -0.04507,
183
+ 0.42654,
184
+ 4.02122
185
+ ],
186
+ [
187
+ 0.03952,
188
+ 0.99898,
189
+ 0.02184,
190
+ 1.02229
191
+ ],
192
+ [
193
+ -0.42709,
194
+ -0.00287,
195
+ 0.9042,
196
+ 6.3604
197
+ ],
198
+ [
199
+ 0.0,
200
+ 0.0,
201
+ 0.0,
202
+ 1.0
203
+ ]
204
+ ]
205
+ ],
206
+ [
207
+ "005_tomato_soup_can.object_config.json",
208
+ [
209
+ [
210
+ -1.0,
211
+ 0.00019,
212
+ -0.00029,
213
+ -1.95395
214
+ ],
215
+ [
216
+ 0.00019,
217
+ 1.0,
218
+ -3e-05,
219
+ 0.91083
220
+ ],
221
+ [
222
+ 0.00029,
223
+ -3e-05,
224
+ -1.0,
225
+ 1.73847
226
+ ],
227
+ [
228
+ 0.0,
229
+ 0.0,
230
+ 0.0,
231
+ 1.0
232
+ ]
233
+ ]
234
+ ],
235
+ [
236
+ "005_tomato_soup_can.object_config.json",
237
+ [
238
+ [
239
+ -0.94897,
240
+ -0.00031,
241
+ 0.31537,
242
+ -1.3568
243
+ ],
244
+ [
245
+ -0.00037,
246
+ 1.0,
247
+ -0.00011,
248
+ 0.8138
249
+ ],
250
+ [
251
+ -0.31537,
252
+ -0.00022,
253
+ -0.94897,
254
+ 3.00919
255
+ ],
256
+ [
257
+ 0.0,
258
+ 0.0,
259
+ 0.0,
260
+ 1.0
261
+ ]
262
+ ]
263
+ ],
264
+ [
265
+ "003_cracker_box.object_config.json",
266
+ [
267
+ [
268
+ -0.94522,
269
+ -0.04092,
270
+ 0.32385,
271
+ 2.00592
272
+ ],
273
+ [
274
+ -0.04577,
275
+ 0.99892,
276
+ -0.00737,
277
+ 0.51096
278
+ ],
279
+ [
280
+ -0.3232,
281
+ -0.02179,
282
+ -0.94608,
283
+ 5.31476
284
+ ],
285
+ [
286
+ 0.0,
287
+ 0.0,
288
+ 0.0,
289
+ 1.0
290
+ ]
291
+ ]
292
+ ],
293
+ [
294
+ "024_bowl.object_config.json",
295
+ [
296
+ [
297
+ 0.97313,
298
+ -3e-05,
299
+ 0.23027,
300
+ 2.17057
301
+ ],
302
+ [
303
+ 3e-05,
304
+ 1.0,
305
+ -2e-05,
306
+ 0.43168
307
+ ],
308
+ [
309
+ -0.23027,
310
+ 2e-05,
311
+ 0.97313,
312
+ 6.0457
313
+ ],
314
+ [
315
+ 0.0,
316
+ 0.0,
317
+ 0.0,
318
+ 1.0
319
+ ]
320
+ ]
321
+ ],
322
+ [
323
+ "024_bowl.object_config.json",
324
+ [
325
+ [
326
+ -0.99539,
327
+ 4e-05,
328
+ -0.0959,
329
+ 1.85098
330
+ ],
331
+ [
332
+ 4e-05,
333
+ 1.0,
334
+ 2e-05,
335
+ 0.43169
336
+ ],
337
+ [
338
+ 0.0959,
339
+ 2e-05,
340
+ -0.99539,
341
+ 5.42919
342
+ ],
343
+ [
344
+ 0.0,
345
+ 0.0,
346
+ 0.0,
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ [
352
+ "005_tomato_soup_can.object_config.json",
353
+ [
354
+ [
355
+ 0.67121,
356
+ 0.00528,
357
+ -0.74125,
358
+ -2.06564
359
+ ],
360
+ [
361
+ -0.00378,
362
+ 0.99999,
363
+ 0.00369,
364
+ 1.30044
365
+ ],
366
+ [
367
+ 0.74126,
368
+ 0.00032,
369
+ 0.67122,
370
+ -1.32876
371
+ ],
372
+ [
373
+ 0.0,
374
+ 0.0,
375
+ 0.0,
376
+ 1.0
377
+ ]
378
+ ]
379
+ ],
380
+ [
381
+ "008_pudding_box.object_config.json",
382
+ [
383
+ [
384
+ 0.23489,
385
+ -0.02137,
386
+ 0.97179,
387
+ -1.86327
388
+ ],
389
+ [
390
+ -0.00587,
391
+ 0.99971,
392
+ 0.0234,
393
+ 0.87927
394
+ ],
395
+ [
396
+ -0.972,
397
+ -0.0112,
398
+ 0.23469,
399
+ 1.91345
400
+ ],
401
+ [
402
+ 0.0,
403
+ 0.0,
404
+ 0.0,
405
+ 1.0
406
+ ]
407
+ ]
408
+ ],
409
+ [
410
+ "007_tuna_fish_can.object_config.json",
411
+ [
412
+ [
413
+ -0.99712,
414
+ -0.0,
415
+ 0.07583,
416
+ -0.14028
417
+ ],
418
+ [
419
+ -0.0,
420
+ 1.0,
421
+ 0.0,
422
+ 0.43176
423
+ ],
424
+ [
425
+ -0.07583,
426
+ 0.0,
427
+ -0.99712,
428
+ -0.09117
429
+ ],
430
+ [
431
+ 0.0,
432
+ 0.0,
433
+ 0.0,
434
+ 1.0
435
+ ]
436
+ ]
437
+ ],
438
+ [
439
+ "005_tomato_soup_can.object_config.json",
440
+ [
441
+ [
442
+ 0.88557,
443
+ -0.00091,
444
+ -0.4645,
445
+ 2.10052
446
+ ],
447
+ [
448
+ -0.00078,
449
+ 0.99999,
450
+ -0.00345,
451
+ 0.45547
452
+ ],
453
+ [
454
+ 0.4645,
455
+ 0.00342,
456
+ 0.88557,
457
+ 5.92217
458
+ ],
459
+ [
460
+ 0.0,
461
+ 0.0,
462
+ 0.0,
463
+ 1.0
464
+ ]
465
+ ]
466
+ ],
467
+ [
468
+ "010_potted_meat_can.object_config.json",
469
+ [
470
+ [
471
+ -0.38458,
472
+ -9e-05,
473
+ 0.92309,
474
+ -2.131
475
+ ],
476
+ [
477
+ 2e-05,
478
+ 1.0,
479
+ 0.0001,
480
+ 0.90168
481
+ ],
482
+ [
483
+ -0.92309,
484
+ 6e-05,
485
+ -0.38458,
486
+ 2.29751
487
+ ],
488
+ [
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 1.0
493
+ ]
494
+ ]
495
+ ],
496
+ [
497
+ "008_pudding_box.object_config.json",
498
+ [
499
+ [
500
+ -0.9167,
501
+ 0.00421,
502
+ -0.39955,
503
+ 0.55594
504
+ ],
505
+ [
506
+ -0.00619,
507
+ 0.99968,
508
+ 0.02472,
509
+ 0.64639
510
+ ],
511
+ [
512
+ 0.39952,
513
+ 0.02513,
514
+ -0.91638,
515
+ 5.71901
516
+ ],
517
+ [
518
+ 0.0,
519
+ 0.0,
520
+ 0.0,
521
+ 1.0
522
+ ]
523
+ ]
524
+ ],
525
+ [
526
+ "004_sugar_box.object_config.json",
527
+ [
528
+ [
529
+ -0.26416,
530
+ -0.01301,
531
+ 0.96439,
532
+ 3.82318
533
+ ],
534
+ [
535
+ 0.03903,
536
+ 0.99895,
537
+ 0.02417,
538
+ 0.65614
539
+ ],
540
+ [
541
+ -0.96369,
542
+ 0.04403,
543
+ -0.26338,
544
+ 6.28122
545
+ ],
546
+ [
547
+ 0.0,
548
+ 0.0,
549
+ 0.0,
550
+ 1.0
551
+ ]
552
+ ]
553
+ ],
554
+ [
555
+ "010_potted_meat_can.object_config.json",
556
+ [
557
+ [
558
+ 0.86036,
559
+ -0.00032,
560
+ -0.50969,
561
+ 3.55475
562
+ ],
563
+ [
564
+ 8e-05,
565
+ 1.0,
566
+ -0.0005,
567
+ 0.97615
568
+ ],
569
+ [
570
+ 0.50969,
571
+ 0.00039,
572
+ 0.86036,
573
+ 6.14019
574
+ ],
575
+ [
576
+ 0.0,
577
+ 0.0,
578
+ 0.0,
579
+ 1.0
580
+ ]
581
+ ]
582
+ ],
583
+ [
584
+ "009_gelatin_box.object_config.json",
585
+ [
586
+ [
587
+ 0.88049,
588
+ -0.0,
589
+ 0.47407,
590
+ 1.83237
591
+ ],
592
+ [
593
+ 0.0,
594
+ 1.0,
595
+ -0.0,
596
+ 0.41926
597
+ ],
598
+ [
599
+ -0.47407,
600
+ 0.0,
601
+ 0.88049,
602
+ 5.92947
603
+ ],
604
+ [
605
+ 0.0,
606
+ 0.0,
607
+ 0.0,
608
+ 1.0
609
+ ]
610
+ ]
611
+ ],
612
+ [
613
+ "010_potted_meat_can.object_config.json",
614
+ [
615
+ [
616
+ 0.10624,
617
+ -0.00129,
618
+ -0.99434,
619
+ -1.46109
620
+ ],
621
+ [
622
+ -0.00072,
623
+ 1.0,
624
+ -0.00138,
625
+ 0.80466
626
+ ],
627
+ [
628
+ 0.99434,
629
+ 0.00086,
630
+ 0.10624,
631
+ 2.5508
632
+ ],
633
+ [
634
+ 0.0,
635
+ 0.0,
636
+ 0.0,
637
+ 1.0
638
+ ]
639
+ ]
640
+ ],
641
+ [
642
+ "002_master_chef_can.object_config.json",
643
+ [
644
+ [
645
+ 0.84081,
646
+ 0.00066,
647
+ 0.54133,
648
+ -1.90738
649
+ ],
650
+ [
651
+ -0.00366,
652
+ 0.99998,
653
+ 0.00447,
654
+ 0.76478
655
+ ],
656
+ [
657
+ -0.54132,
658
+ -0.00574,
659
+ 0.8408,
660
+ -1.28415
661
+ ],
662
+ [
663
+ 0.0,
664
+ 0.0,
665
+ 0.0,
666
+ 1.0
667
+ ]
668
+ ]
669
+ ],
670
+ [
671
+ "005_tomato_soup_can.object_config.json",
672
+ [
673
+ [
674
+ -0.99935,
675
+ -0.00847,
676
+ 0.03514,
677
+ -0.11852
678
+ ],
679
+ [
680
+ -0.00849,
681
+ 0.99996,
682
+ -0.00053,
683
+ 0.46612
684
+ ],
685
+ [
686
+ -0.03514,
687
+ -0.00082,
688
+ -0.99938,
689
+ 0.12621
690
+ ],
691
+ [
692
+ 0.0,
693
+ 0.0,
694
+ 0.0,
695
+ 1.0
696
+ ]
697
+ ]
698
+ ],
699
+ [
700
+ "002_master_chef_can.object_config.json",
701
+ [
702
+ [
703
+ -0.57243,
704
+ 0.00019,
705
+ -0.81995,
706
+ -1.23944
707
+ ],
708
+ [
709
+ 0.00046,
710
+ 1.0,
711
+ -9e-05,
712
+ 0.83329
713
+ ],
714
+ [
715
+ 0.81995,
716
+ -0.00043,
717
+ -0.57243,
718
+ 2.66325
719
+ ],
720
+ [
721
+ 0.0,
722
+ 0.0,
723
+ 0.0,
724
+ 1.0
725
+ ]
726
+ ]
727
+ ],
728
+ [
729
+ "004_sugar_box.object_config.json",
730
+ [
731
+ [
732
+ 0.71966,
733
+ -0.04254,
734
+ 0.69303,
735
+ 0.74756
736
+ ],
737
+ [
738
+ 0.03639,
739
+ 0.99906,
740
+ 0.02354,
741
+ 0.7148
742
+ ],
743
+ [
744
+ -0.69338,
745
+ 0.00828,
746
+ 0.72053,
747
+ 5.74314
748
+ ],
749
+ [
750
+ 0.0,
751
+ 0.0,
752
+ 0.0,
753
+ 1.0
754
+ ]
755
+ ]
756
+ ],
757
+ [
758
+ "008_pudding_box.object_config.json",
759
+ [
760
+ [
761
+ 0.86311,
762
+ 0.01734,
763
+ -0.50471,
764
+ -2.13454
765
+ ],
766
+ [
767
+ -0.00637,
768
+ 0.9997,
769
+ 0.02345,
770
+ 0.72674
771
+ ],
772
+ [
773
+ 0.50497,
774
+ -0.01703,
775
+ 0.86297,
776
+ 1.27426
777
+ ],
778
+ [
779
+ 0.0,
780
+ 0.0,
781
+ 0.0,
782
+ 1.0
783
+ ]
784
+ ]
785
+ ],
786
+ [
787
+ "008_pudding_box.object_config.json",
788
+ [
789
+ [
790
+ 0.96322,
791
+ 0.01198,
792
+ -0.26844,
793
+ -2.09959
794
+ ],
795
+ [
796
+ -0.00589,
797
+ 0.99971,
798
+ 0.02349,
799
+ 0.72673
800
+ ],
801
+ [
802
+ 0.26864,
803
+ -0.02104,
804
+ 0.96301,
805
+ 1.10191
806
+ ],
807
+ [
808
+ 0.0,
809
+ 0.0,
810
+ 0.0,
811
+ 1.0
812
+ ]
813
+ ]
814
+ ],
815
+ [
816
+ "002_master_chef_can.object_config.json",
817
+ [
818
+ [
819
+ -0.93277,
820
+ -0.00033,
821
+ 0.36046,
822
+ -2.18929
823
+ ],
824
+ [
825
+ -0.00216,
826
+ 0.99999,
827
+ -0.00467,
828
+ 1.32069
829
+ ],
830
+ [
831
+ -0.36045,
832
+ -0.00513,
833
+ -0.93276,
834
+ -1.17915
835
+ ],
836
+ [
837
+ 0.0,
838
+ 0.0,
839
+ 0.0,
840
+ 1.0
841
+ ]
842
+ ]
843
+ ],
844
+ [
845
+ "024_bowl.object_config.json",
846
+ [
847
+ [
848
+ -0.7833,
849
+ -0.00158,
850
+ -0.62164,
851
+ -2.12642
852
+ ],
853
+ [
854
+ 0.00173,
855
+ 0.99999,
856
+ -0.00471,
857
+ 1.27887
858
+ ],
859
+ [
860
+ 0.62164,
861
+ -0.00476,
862
+ -0.78329,
863
+ -0.91993
864
+ ],
865
+ [
866
+ 0.0,
867
+ 0.0,
868
+ 0.0,
869
+ 1.0
870
+ ]
871
+ ]
872
+ ],
873
+ [
874
+ "009_gelatin_box.object_config.json",
875
+ [
876
+ [
877
+ 0.80438,
878
+ 0.0,
879
+ -0.59412,
880
+ -2.06612
881
+ ],
882
+ [
883
+ -1e-05,
884
+ 1.0,
885
+ -1e-05,
886
+ 0.87476
887
+ ],
888
+ [
889
+ 0.59412,
890
+ 1e-05,
891
+ 0.80438,
892
+ 2.37084
893
+ ],
894
+ [
895
+ 0.0,
896
+ 0.0,
897
+ 0.0,
898
+ 1.0
899
+ ]
900
+ ]
901
+ ]
902
+ ],
903
+ "targets": {
904
+ "002_master_chef_can_:0002": [
905
+ [
906
+ -0.52267,
907
+ 0.0,
908
+ 0.85254,
909
+ -2.45611
910
+ ],
911
+ [
912
+ 0.0,
913
+ 1.0,
914
+ 0.0,
915
+ 0.92919
916
+ ],
917
+ [
918
+ -0.85254,
919
+ 0.0,
920
+ -0.52267,
921
+ -0.12326
922
+ ],
923
+ [
924
+ 0.0,
925
+ 0.0,
926
+ 0.0,
927
+ 1.0
928
+ ]
929
+ ],
930
+ "024_bowl_:0002": [
931
+ [
932
+ -0.40268,
933
+ 0.0,
934
+ -0.91534,
935
+ -2.23662
936
+ ],
937
+ [
938
+ 0.0,
939
+ 1.0,
940
+ 0.0,
941
+ 0.8866
942
+ ],
943
+ [
944
+ 0.91534,
945
+ 0.0,
946
+ -0.40268,
947
+ 1.79971
948
+ ],
949
+ [
950
+ 0.0,
951
+ 0.0,
952
+ 0.0,
953
+ 1.0
954
+ ]
955
+ ],
956
+ "009_gelatin_box_:0002": [
957
+ [
958
+ -0.93576,
959
+ 0.0,
960
+ 0.35265,
961
+ -2.2558
962
+ ],
963
+ [
964
+ 0.0,
965
+ 1.0,
966
+ 0.0,
967
+ 1.26599
968
+ ],
969
+ [
970
+ -0.35265,
971
+ 0.0,
972
+ -0.93576,
973
+ -0.93222
974
+ ],
975
+ [
976
+ 0.0,
977
+ 0.0,
978
+ 0.0,
979
+ 1.0
980
+ ]
981
+ ]
982
+ },
983
+ "markers": [
984
+ {
985
+ "name": "cab_push_point_7",
986
+ "type": "articulated_object",
987
+ "params": {
988
+ "offset": [
989
+ 0.3,
990
+ 0.0,
991
+ 0
992
+ ],
993
+ "link": "drawer1_top",
994
+ "object": "kitchen_counter_:0000"
995
+ }
996
+ },
997
+ {
998
+ "name": "cab_push_point_6",
999
+ "type": "articulated_object",
1000
+ "params": {
1001
+ "offset": [
1002
+ 0.3,
1003
+ 0.0,
1004
+ 0
1005
+ ],
1006
+ "link": "drawer2_top",
1007
+ "object": "kitchen_counter_:0000"
1008
+ }
1009
+ },
1010
+ {
1011
+ "name": "cab_push_point_5",
1012
+ "type": "articulated_object",
1013
+ "params": {
1014
+ "offset": [
1015
+ 0.3,
1016
+ 0.0,
1017
+ 0
1018
+ ],
1019
+ "link": "drawer3",
1020
+ "object": "kitchen_counter_:0000"
1021
+ }
1022
+ },
1023
+ {
1024
+ "name": "cab_push_point_4",
1025
+ "type": "articulated_object",
1026
+ "params": {
1027
+ "offset": [
1028
+ 0.3,
1029
+ 0.0,
1030
+ 0
1031
+ ],
1032
+ "link": "drawer4",
1033
+ "object": "kitchen_counter_:0000"
1034
+ }
1035
+ },
1036
+ {
1037
+ "name": "fridge_push_point",
1038
+ "type": "articulated_object",
1039
+ "params": {
1040
+ "offset": [
1041
+ 0.1,
1042
+ -0.62,
1043
+ 0.2
1044
+ ],
1045
+ "link": "top_door",
1046
+ "object": "fridge_:0000"
1047
+ }
1048
+ }
1049
+ ],
1050
+ "target_receptacles": [
1051
+ [
1052
+ "fridge_:0000",
1053
+ 0
1054
+ ],
1055
+ [
1056
+ "fridge_:0000",
1057
+ 0
1058
+ ],
1059
+ [
1060
+ "kitchen_counter_:0000",
1061
+ 0
1062
+ ]
1063
+ ],
1064
+ "goal_receptacles": [
1065
+ [
1066
+ "kitchen_counter_:0000",
1067
+ 0
1068
+ ],
1069
+ [
1070
+ "kitchen_counter_:0000",
1071
+ 0
1072
+ ],
1073
+ [
1074
+ "fridge_:0000",
1075
+ 0
1076
+ ]
1077
+ ]
1078
+ }
rearrange/v1_extracted/train/prepare_groceries/episode_104.json ADDED
@@ -0,0 +1,1078 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_id": "104",
3
+ "scene_id": "data/replica_cad/configs/scenes/v3_sc0_staging_17.scene_instance.json",
4
+ "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
5
+ "additional_obj_config_paths": [
6
+ "data/objects/ycb/"
7
+ ],
8
+ "start_position": [
9
+ 0,
10
+ 0,
11
+ 0
12
+ ],
13
+ "start_rotation": [
14
+ 0,
15
+ 0,
16
+ 0,
17
+ 1
18
+ ],
19
+ "info": {
20
+ "object_labels": {
21
+ "002_master_chef_can_:0004": "obj0_target|0",
22
+ "007_tuna_fish_can_:0002": "obj1_target|1",
23
+ "005_tomato_soup_can_:0003": "obj2_target|2"
24
+ }
25
+ },
26
+ "ao_states": {
27
+ "fridge_:0000": {
28
+ "2": 1.5
29
+ }
30
+ },
31
+ "rigid_objs": [
32
+ [
33
+ "004_sugar_box.object_config.json",
34
+ [
35
+ [
36
+ -0.71771,
37
+ 0.01236,
38
+ 0.69623,
39
+ 1.07454
40
+ ],
41
+ [
42
+ 0.04305,
43
+ 0.99872,
44
+ 0.02664,
45
+ 0.71479
46
+ ],
47
+ [
48
+ -0.69501,
49
+ 0.04909,
50
+ -0.71732,
51
+ 3.55669
52
+ ],
53
+ [
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 1.0
58
+ ]
59
+ ]
60
+ ],
61
+ [
62
+ "003_cracker_box.object_config.json",
63
+ [
64
+ [
65
+ -0.88236,
66
+ -0.043,
67
+ -0.4686,
68
+ 0.35517
69
+ ],
70
+ [
71
+ -0.04465,
72
+ 0.99897,
73
+ -0.00759,
74
+ 0.73339
75
+ ],
76
+ [
77
+ 0.46845,
78
+ 0.01423,
79
+ -0.88338,
80
+ 3.78824
81
+ ],
82
+ [
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ 1.0
87
+ ]
88
+ ]
89
+ ],
90
+ [
91
+ "009_gelatin_box.object_config.json",
92
+ [
93
+ [
94
+ 0.22067,
95
+ -7e-05,
96
+ -0.97535,
97
+ 3.69865
98
+ ],
99
+ [
100
+ 0.00085,
101
+ 1.0,
102
+ 0.00013,
103
+ 0.41928
104
+ ],
105
+ [
106
+ 0.97535,
107
+ -0.00086,
108
+ 0.22067,
109
+ 0.28106
110
+ ],
111
+ [
112
+ 0.0,
113
+ 0.0,
114
+ 0.0,
115
+ 1.0
116
+ ]
117
+ ]
118
+ ],
119
+ [
120
+ "007_tuna_fish_can.object_config.json",
121
+ [
122
+ [
123
+ 0.79156,
124
+ 0.00072,
125
+ 0.61109,
126
+ 0.74559
127
+ ],
128
+ [
129
+ -0.0053,
130
+ 0.99997,
131
+ 0.00568,
132
+ 1.2673
133
+ ],
134
+ [
135
+ -0.61107,
136
+ -0.00773,
137
+ 0.79154,
138
+ 4.38121
139
+ ],
140
+ [
141
+ 0.0,
142
+ 0.0,
143
+ 0.0,
144
+ 1.0
145
+ ]
146
+ ]
147
+ ],
148
+ [
149
+ "005_tomato_soup_can.object_config.json",
150
+ [
151
+ [
152
+ -0.90845,
153
+ -0.0044,
154
+ 0.41797,
155
+ 0.90703
156
+ ],
157
+ [
158
+ -0.00486,
159
+ 0.99999,
160
+ -4e-05,
161
+ 0.67781
162
+ ],
163
+ [
164
+ -0.41797,
165
+ -0.00207,
166
+ -0.90846,
167
+ 3.3659
168
+ ],
169
+ [
170
+ 0.0,
171
+ 0.0,
172
+ 0.0,
173
+ 1.0
174
+ ]
175
+ ]
176
+ ],
177
+ [
178
+ "010_potted_meat_can.object_config.json",
179
+ [
180
+ [
181
+ 0.55445,
182
+ -0.00351,
183
+ 0.83221,
184
+ 1.39741
185
+ ],
186
+ [
187
+ -0.00138,
188
+ 0.99999,
189
+ 0.00513,
190
+ 0.66863
191
+ ],
192
+ [
193
+ -0.83222,
194
+ -0.00399,
195
+ 0.55444,
196
+ 3.36904
197
+ ],
198
+ [
199
+ 0.0,
200
+ 0.0,
201
+ 0.0,
202
+ 1.0
203
+ ]
204
+ ]
205
+ ],
206
+ [
207
+ "009_gelatin_box.object_config.json",
208
+ [
209
+ [
210
+ -0.10296,
211
+ -0.0,
212
+ -0.99469,
213
+ 3.74595
214
+ ],
215
+ [
216
+ -0.0,
217
+ 1.0,
218
+ -0.0,
219
+ 0.42998
220
+ ],
221
+ [
222
+ 0.99469,
223
+ 0.0,
224
+ -0.10296,
225
+ 3.18225
226
+ ],
227
+ [
228
+ 0.0,
229
+ 0.0,
230
+ 0.0,
231
+ 1.0
232
+ ]
233
+ ]
234
+ ],
235
+ [
236
+ "002_master_chef_can.object_config.json",
237
+ [
238
+ [
239
+ 0.93246,
240
+ 7e-05,
241
+ 0.36128,
242
+ 3.81412
243
+ ],
244
+ [
245
+ -5e-05,
246
+ 1.0,
247
+ -7e-05,
248
+ 0.4748
249
+ ],
250
+ [
251
+ -0.36128,
252
+ 5e-05,
253
+ 0.93246,
254
+ 0.86605
255
+ ],
256
+ [
257
+ 0.0,
258
+ 0.0,
259
+ 0.0,
260
+ 1.0
261
+ ]
262
+ ]
263
+ ],
264
+ [
265
+ "005_tomato_soup_can.object_config.json",
266
+ [
267
+ [
268
+ -0.86896,
269
+ 0.00148,
270
+ -0.49488,
271
+ 3.71242
272
+ ],
273
+ [
274
+ 0.00057,
275
+ 1.0,
276
+ 0.002,
277
+ 0.4554
278
+ ],
279
+ [
280
+ 0.49488,
281
+ 0.00146,
282
+ -0.86896,
283
+ 0.98631
284
+ ],
285
+ [
286
+ 0.0,
287
+ 0.0,
288
+ 0.0,
289
+ 1.0
290
+ ]
291
+ ]
292
+ ],
293
+ [
294
+ "009_gelatin_box.object_config.json",
295
+ [
296
+ [
297
+ -0.99188,
298
+ -0.00126,
299
+ -0.12718,
300
+ 0.51671
301
+ ],
302
+ [
303
+ -0.00132,
304
+ 1.0,
305
+ 0.00037,
306
+ 0.72222
307
+ ],
308
+ [
309
+ 0.12718,
310
+ 0.00053,
311
+ -0.99188,
312
+ 6.7648
313
+ ],
314
+ [
315
+ 0.0,
316
+ 0.0,
317
+ 0.0,
318
+ 1.0
319
+ ]
320
+ ]
321
+ ],
322
+ [
323
+ "003_cracker_box.object_config.json",
324
+ [
325
+ [
326
+ 0.68295,
327
+ 0.03548,
328
+ 0.72961,
329
+ 3.72582
330
+ ],
331
+ [
332
+ -0.04519,
333
+ 0.99896,
334
+ -0.00628,
335
+ 0.52149
336
+ ],
337
+ [
338
+ -0.72907,
339
+ -0.02868,
340
+ 0.68384,
341
+ 3.96858
342
+ ],
343
+ [
344
+ 0.0,
345
+ 0.0,
346
+ 0.0,
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ [
352
+ "009_gelatin_box.object_config.json",
353
+ [
354
+ [
355
+ 0.95451,
356
+ 1e-05,
357
+ -0.29819,
358
+ 3.95629
359
+ ],
360
+ [
361
+ -0.0,
362
+ 1.0,
363
+ 1e-05,
364
+ 0.42987
365
+ ],
366
+ [
367
+ 0.29819,
368
+ -1e-05,
369
+ 0.95451,
370
+ 4.22922
371
+ ],
372
+ [
373
+ 0.0,
374
+ 0.0,
375
+ 0.0,
376
+ 1.0
377
+ ]
378
+ ]
379
+ ],
380
+ [
381
+ "004_sugar_box.object_config.json",
382
+ [
383
+ [
384
+ 0.9716,
385
+ -0.0323,
386
+ -0.23442,
387
+ 0.63086
388
+ ],
389
+ [
390
+ 0.03905,
391
+ 0.99894,
392
+ 0.02423,
393
+ 0.79516
394
+ ],
395
+ [
396
+ 0.23339,
397
+ -0.0327,
398
+ 0.97183,
399
+ 6.57428
400
+ ],
401
+ [
402
+ 0.0,
403
+ 0.0,
404
+ 0.0,
405
+ 1.0
406
+ ]
407
+ ]
408
+ ],
409
+ [
410
+ "007_tuna_fish_can.object_config.json",
411
+ [
412
+ [
413
+ -0.86575,
414
+ 0.0,
415
+ 0.50048,
416
+ 3.6587
417
+ ],
418
+ [
419
+ 0.0,
420
+ 1.0,
421
+ -0.0,
422
+ 0.43166
423
+ ],
424
+ [
425
+ -0.50048,
426
+ 0.0,
427
+ -0.86575,
428
+ 4.10456
429
+ ],
430
+ [
431
+ 0.0,
432
+ 0.0,
433
+ 0.0,
434
+ 1.0
435
+ ]
436
+ ]
437
+ ],
438
+ [
439
+ "008_pudding_box.object_config.json",
440
+ [
441
+ [
442
+ -0.98062,
443
+ 0.00046,
444
+ -0.19592,
445
+ 0.59997
446
+ ],
447
+ [
448
+ -0.00426,
449
+ 0.99971,
450
+ 0.02367,
451
+ 0.78235
452
+ ],
453
+ [
454
+ 0.19587,
455
+ 0.02404,
456
+ -0.98033,
457
+ 0.00446
458
+ ],
459
+ [
460
+ 0.0,
461
+ 0.0,
462
+ 0.0,
463
+ 1.0
464
+ ]
465
+ ]
466
+ ],
467
+ [
468
+ "005_tomato_soup_can.object_config.json",
469
+ [
470
+ [
471
+ 0.68735,
472
+ 0.00355,
473
+ 0.72632,
474
+ 0.78468
475
+ ],
476
+ [
477
+ -0.00583,
478
+ 0.99998,
479
+ 0.00063,
480
+ 0.67783
481
+ ],
482
+ [
483
+ -0.7263,
484
+ -0.00467,
485
+ 0.68736,
486
+ 3.63562
487
+ ],
488
+ [
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 1.0
493
+ ]
494
+ ]
495
+ ],
496
+ [
497
+ "009_gelatin_box.object_config.json",
498
+ [
499
+ [
500
+ 0.99467,
501
+ 0.0,
502
+ 0.10313,
503
+ 0.55972
504
+ ],
505
+ [
506
+ -0.0,
507
+ 1.0,
508
+ 0.0,
509
+ 0.87476
510
+ ],
511
+ [
512
+ -0.10313,
513
+ -0.0,
514
+ 0.99467,
515
+ 7.83223
516
+ ],
517
+ [
518
+ 0.0,
519
+ 0.0,
520
+ 0.0,
521
+ 1.0
522
+ ]
523
+ ]
524
+ ],
525
+ [
526
+ "024_bowl.object_config.json",
527
+ [
528
+ [
529
+ 0.52736,
530
+ 0.00012,
531
+ 0.84964,
532
+ 0.64144
533
+ ],
534
+ [
535
+ 0.0006,
536
+ 1.0,
537
+ -0.00052,
538
+ 0.73463
539
+ ],
540
+ [
541
+ -0.84964,
542
+ 0.00078,
543
+ 0.52736,
544
+ 6.73091
545
+ ],
546
+ [
547
+ 0.0,
548
+ 0.0,
549
+ 0.0,
550
+ 1.0
551
+ ]
552
+ ]
553
+ ],
554
+ [
555
+ "002_master_chef_can.object_config.json",
556
+ [
557
+ [
558
+ 0.58534,
559
+ -5e-05,
560
+ 0.81079,
561
+ 2.80581
562
+ ],
563
+ [
564
+ 6e-05,
565
+ 1.0,
566
+ 2e-05,
567
+ 1.00477
568
+ ],
569
+ [
570
+ -0.81079,
571
+ 4e-05,
572
+ 0.58534,
573
+ 6.23433
574
+ ],
575
+ [
576
+ 0.0,
577
+ 0.0,
578
+ 0.0,
579
+ 1.0
580
+ ]
581
+ ]
582
+ ],
583
+ [
584
+ "004_sugar_box.object_config.json",
585
+ [
586
+ [
587
+ -0.20469,
588
+ -0.01493,
589
+ 0.97871,
590
+ 0.54677
591
+ ],
592
+ [
593
+ 0.03772,
594
+ 0.99902,
595
+ 0.02313,
596
+ 0.8508
597
+ ],
598
+ [
599
+ -0.9781,
600
+ 0.04165,
601
+ -0.20392,
602
+ 0.3102
603
+ ],
604
+ [
605
+ 0.0,
606
+ 0.0,
607
+ 0.0,
608
+ 1.0
609
+ ]
610
+ ]
611
+ ],
612
+ [
613
+ "009_gelatin_box.object_config.json",
614
+ [
615
+ [
616
+ 0.99354,
617
+ 0.00127,
618
+ -0.11346,
619
+ 3.80291
620
+ ],
621
+ [
622
+ -0.0012,
623
+ 1.0,
624
+ 0.00071,
625
+ 0.4192
626
+ ],
627
+ [
628
+ 0.11346,
629
+ -0.00057,
630
+ 0.99354,
631
+ 0.34192
632
+ ],
633
+ [
634
+ 0.0,
635
+ 0.0,
636
+ 0.0,
637
+ 1.0
638
+ ]
639
+ ]
640
+ ],
641
+ [
642
+ "003_cracker_box.object_config.json",
643
+ [
644
+ [
645
+ -0.43572,
646
+ -0.01084,
647
+ 0.90001,
648
+ 0.53152
649
+ ],
650
+ [
651
+ -0.04667,
652
+ 0.99885,
653
+ -0.01056,
654
+ 1.3574
655
+ ],
656
+ [
657
+ -0.89887,
658
+ -0.0466,
659
+ -0.43573,
660
+ 4.44367
661
+ ],
662
+ [
663
+ 0.0,
664
+ 0.0,
665
+ 0.0,
666
+ 1.0
667
+ ]
668
+ ]
669
+ ],
670
+ [
671
+ "008_pudding_box.object_config.json",
672
+ [
673
+ [
674
+ 0.47889,
675
+ 0.02345,
676
+ -0.87756,
677
+ 0.52186
678
+ ],
679
+ [
680
+ -0.0059,
681
+ 0.99971,
682
+ 0.02349,
683
+ 0.87927
684
+ ],
685
+ [
686
+ 0.87785,
687
+ -0.00607,
688
+ 0.47889,
689
+ 5.4499
690
+ ],
691
+ [
692
+ 0.0,
693
+ 0.0,
694
+ 0.0,
695
+ 1.0
696
+ ]
697
+ ]
698
+ ],
699
+ [
700
+ "004_sugar_box.object_config.json",
701
+ [
702
+ [
703
+ -0.99911,
704
+ 0.04041,
705
+ -0.01172,
706
+ 4.07548
707
+ ],
708
+ [
709
+ 0.04014,
710
+ 0.99894,
711
+ 0.02237,
712
+ 0.50301
713
+ ],
714
+ [
715
+ 0.01262,
716
+ 0.02188,
717
+ -0.99968,
718
+ 3.27461
719
+ ],
720
+ [
721
+ 0.0,
722
+ 0.0,
723
+ 0.0,
724
+ 1.0
725
+ ]
726
+ ]
727
+ ],
728
+ [
729
+ "002_master_chef_can.object_config.json",
730
+ [
731
+ [
732
+ -0.63809,
733
+ 0.00025,
734
+ -0.76996,
735
+ 0.64435
736
+ ],
737
+ [
738
+ 2e-05,
739
+ 1.0,
740
+ 0.0003,
741
+ 0.9303
742
+ ],
743
+ [
744
+ 0.76996,
745
+ 0.00017,
746
+ -0.63809,
747
+ 7.76845
748
+ ],
749
+ [
750
+ 0.0,
751
+ 0.0,
752
+ 0.0,
753
+ 1.0
754
+ ]
755
+ ]
756
+ ],
757
+ [
758
+ "024_bowl.object_config.json",
759
+ [
760
+ [
761
+ 0.97862,
762
+ 0.00045,
763
+ 0.20566,
764
+ 0.72817
765
+ ],
766
+ [
767
+ -0.0006,
768
+ 1.0,
769
+ 0.00066,
770
+ 0.88716
771
+ ],
772
+ [
773
+ -0.20566,
774
+ -0.00077,
775
+ 0.97862,
776
+ 7.30119
777
+ ],
778
+ [
779
+ 0.0,
780
+ 0.0,
781
+ 0.0,
782
+ 1.0
783
+ ]
784
+ ]
785
+ ],
786
+ [
787
+ "002_master_chef_can.object_config.json",
788
+ [
789
+ [
790
+ 0.13407,
791
+ -0.00052,
792
+ 0.99097,
793
+ 0.43293
794
+ ],
795
+ [
796
+ -0.00571,
797
+ 0.99998,
798
+ 0.0013,
799
+ 1.32244
800
+ ],
801
+ [
802
+ -0.99096,
803
+ -0.00583,
804
+ 0.13407,
805
+ 4.61459
806
+ ],
807
+ [
808
+ 0.0,
809
+ 0.0,
810
+ 0.0,
811
+ 1.0
812
+ ]
813
+ ]
814
+ ],
815
+ [
816
+ "002_master_chef_can.object_config.json",
817
+ [
818
+ [
819
+ 0.76009,
820
+ -0.0,
821
+ -0.64982,
822
+ 0.65466
823
+ ],
824
+ [
825
+ 0.00378,
826
+ 0.99998,
827
+ 0.00441,
828
+ 1.32208
829
+ ],
830
+ [
831
+ 0.64981,
832
+ -0.00581,
833
+ 0.76007,
834
+ 4.55477
835
+ ],
836
+ [
837
+ 0.0,
838
+ 0.0,
839
+ 0.0,
840
+ 1.0
841
+ ]
842
+ ]
843
+ ],
844
+ [
845
+ "007_tuna_fish_can.object_config.json",
846
+ [
847
+ [
848
+ -0.11116,
849
+ 0.00198,
850
+ -0.9938,
851
+ 0.65868
852
+ ],
853
+ [
854
+ 0.00584,
855
+ 0.99998,
856
+ 0.00134,
857
+ 1.26697
858
+ ],
859
+ [
860
+ 0.99379,
861
+ -0.00566,
862
+ -0.11117,
863
+ 4.32069
864
+ ],
865
+ [
866
+ 0.0,
867
+ 0.0,
868
+ 0.0,
869
+ 1.0
870
+ ]
871
+ ]
872
+ ],
873
+ [
874
+ "005_tomato_soup_can.object_config.json",
875
+ [
876
+ [
877
+ -0.19757,
878
+ 0.0,
879
+ -0.98029,
880
+ 0.48745
881
+ ],
882
+ [
883
+ -0.00023,
884
+ 1.0,
885
+ 5e-05,
886
+ 0.91084
887
+ ],
888
+ [
889
+ 0.98029,
890
+ 0.00023,
891
+ -0.19757,
892
+ 7.32932
893
+ ],
894
+ [
895
+ 0.0,
896
+ 0.0,
897
+ 0.0,
898
+ 1.0
899
+ ]
900
+ ]
901
+ ]
902
+ ],
903
+ "targets": {
904
+ "002_master_chef_can_:0004": [
905
+ [
906
+ 0.91481,
907
+ 0.0,
908
+ -0.40388,
909
+ 0.29026
910
+ ],
911
+ [
912
+ 0.0,
913
+ 1.0,
914
+ 0.0,
915
+ 0.92919
916
+ ],
917
+ [
918
+ 0.40388,
919
+ 0.0,
920
+ 0.91481,
921
+ 7.39461
922
+ ],
923
+ [
924
+ 0.0,
925
+ 0.0,
926
+ 0.0,
927
+ 1.0
928
+ ]
929
+ ],
930
+ "007_tuna_fish_can_:0002": [
931
+ [
932
+ -0.42933,
933
+ 0.0,
934
+ 0.90315,
935
+ 0.34871
936
+ ],
937
+ [
938
+ 0.0,
939
+ 1.0,
940
+ 0.0,
941
+ 0.87587
942
+ ],
943
+ [
944
+ -0.90315,
945
+ 0.0,
946
+ -0.42933,
947
+ 5.10093
948
+ ],
949
+ [
950
+ 0.0,
951
+ 0.0,
952
+ 0.0,
953
+ 1.0
954
+ ]
955
+ ],
956
+ "005_tomato_soup_can_:0003": [
957
+ [
958
+ -0.7192,
959
+ 0.0,
960
+ 0.6948,
961
+ 0.54544
962
+ ],
963
+ [
964
+ 0.0,
965
+ 1.0,
966
+ 0.0,
967
+ 1.30192
968
+ ],
969
+ [
970
+ -0.6948,
971
+ 0.0,
972
+ -0.7192,
973
+ 4.57418
974
+ ],
975
+ [
976
+ 0.0,
977
+ 0.0,
978
+ 0.0,
979
+ 1.0
980
+ ]
981
+ ]
982
+ },
983
+ "markers": [
984
+ {
985
+ "name": "cab_push_point_7",
986
+ "type": "articulated_object",
987
+ "params": {
988
+ "offset": [
989
+ 0.3,
990
+ 0.0,
991
+ 0
992
+ ],
993
+ "link": "drawer1_top",
994
+ "object": "kitchen_counter_:0000"
995
+ }
996
+ },
997
+ {
998
+ "name": "cab_push_point_6",
999
+ "type": "articulated_object",
1000
+ "params": {
1001
+ "offset": [
1002
+ 0.3,
1003
+ 0.0,
1004
+ 0
1005
+ ],
1006
+ "link": "drawer2_top",
1007
+ "object": "kitchen_counter_:0000"
1008
+ }
1009
+ },
1010
+ {
1011
+ "name": "cab_push_point_5",
1012
+ "type": "articulated_object",
1013
+ "params": {
1014
+ "offset": [
1015
+ 0.3,
1016
+ 0.0,
1017
+ 0
1018
+ ],
1019
+ "link": "drawer3",
1020
+ "object": "kitchen_counter_:0000"
1021
+ }
1022
+ },
1023
+ {
1024
+ "name": "cab_push_point_4",
1025
+ "type": "articulated_object",
1026
+ "params": {
1027
+ "offset": [
1028
+ 0.3,
1029
+ 0.0,
1030
+ 0
1031
+ ],
1032
+ "link": "drawer4",
1033
+ "object": "kitchen_counter_:0000"
1034
+ }
1035
+ },
1036
+ {
1037
+ "name": "fridge_push_point",
1038
+ "type": "articulated_object",
1039
+ "params": {
1040
+ "offset": [
1041
+ 0.1,
1042
+ -0.62,
1043
+ 0.2
1044
+ ],
1045
+ "link": "top_door",
1046
+ "object": "fridge_:0000"
1047
+ }
1048
+ }
1049
+ ],
1050
+ "target_receptacles": [
1051
+ [
1052
+ "fridge_:0000",
1053
+ 0
1054
+ ],
1055
+ [
1056
+ "fridge_:0000",
1057
+ 0
1058
+ ],
1059
+ [
1060
+ "kitchen_counter_:0000",
1061
+ 0
1062
+ ]
1063
+ ],
1064
+ "goal_receptacles": [
1065
+ [
1066
+ "kitchen_counter_:0000",
1067
+ 0
1068
+ ],
1069
+ [
1070
+ "kitchen_counter_:0000",
1071
+ 0
1072
+ ],
1073
+ [
1074
+ "fridge_:0000",
1075
+ 0
1076
+ ]
1077
+ ]
1078
+ }
rearrange/v1_extracted/train/prepare_groceries/episode_1040.json ADDED
@@ -0,0 +1,1078 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_id": "1040",
3
+ "scene_id": "data/replica_cad/configs/scenes/v3_sc1_staging_09.scene_instance.json",
4
+ "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
5
+ "additional_obj_config_paths": [
6
+ "data/objects/ycb/"
7
+ ],
8
+ "start_position": [
9
+ 0,
10
+ 0,
11
+ 0
12
+ ],
13
+ "start_rotation": [
14
+ 0,
15
+ 0,
16
+ 0,
17
+ 1
18
+ ],
19
+ "info": {
20
+ "object_labels": {
21
+ "003_cracker_box_:0003": "obj0_target|0",
22
+ "009_gelatin_box_:0005": "obj1_target|1",
23
+ "004_sugar_box_:0002": "obj2_target|2"
24
+ }
25
+ },
26
+ "ao_states": {
27
+ "fridge_:0000": {
28
+ "2": 1.5
29
+ }
30
+ },
31
+ "rigid_objs": [
32
+ [
33
+ "009_gelatin_box.object_config.json",
34
+ [
35
+ [
36
+ 0.08871,
37
+ 2e-05,
38
+ -0.99606,
39
+ -2.1702
40
+ ],
41
+ [
42
+ 0.0,
43
+ 1.0,
44
+ 2e-05,
45
+ 0.87476
46
+ ],
47
+ [
48
+ 0.99606,
49
+ -0.0,
50
+ 0.08871,
51
+ -0.49067
52
+ ],
53
+ [
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 1.0
58
+ ]
59
+ ]
60
+ ],
61
+ [
62
+ "024_bowl.object_config.json",
63
+ [
64
+ [
65
+ -0.99246,
66
+ -0.00183,
67
+ -0.12253,
68
+ -2.21838
69
+ ],
70
+ [
71
+ -0.00015,
72
+ 0.99991,
73
+ -0.01367,
74
+ 1.27735
75
+ ],
76
+ [
77
+ 0.12255,
78
+ -0.01355,
79
+ -0.99237,
80
+ -1.27649
81
+ ],
82
+ [
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ 1.0
87
+ ]
88
+ ]
89
+ ],
90
+ [
91
+ "002_master_chef_can.object_config.json",
92
+ [
93
+ [
94
+ -0.66907,
95
+ 0.00155,
96
+ 0.7432,
97
+ 3.86481
98
+ ],
99
+ [
100
+ 0.00171,
101
+ 1.0,
102
+ -0.00054,
103
+ 0.6973
104
+ ],
105
+ [
106
+ -0.7432,
107
+ 0.00091,
108
+ -0.66907,
109
+ 6.30289
110
+ ],
111
+ [
112
+ 0.0,
113
+ 0.0,
114
+ 0.0,
115
+ 1.0
116
+ ]
117
+ ]
118
+ ],
119
+ [
120
+ "009_gelatin_box.object_config.json",
121
+ [
122
+ [
123
+ 0.48035,
124
+ 0.0,
125
+ -0.87708,
126
+ 3.46916
127
+ ],
128
+ [
129
+ 0.0,
130
+ 1.0,
131
+ 0.0,
132
+ 0.42998
133
+ ],
134
+ [
135
+ 0.87708,
136
+ -0.0,
137
+ 0.48035,
138
+ -0.44944
139
+ ],
140
+ [
141
+ 0.0,
142
+ 0.0,
143
+ 0.0,
144
+ 1.0
145
+ ]
146
+ ]
147
+ ],
148
+ [
149
+ "024_bowl.object_config.json",
150
+ [
151
+ [
152
+ -0.50975,
153
+ -0.00023,
154
+ -0.86032,
155
+ -2.24711
156
+ ],
157
+ [
158
+ -0.00066,
159
+ 1.0,
160
+ 0.00013,
161
+ 0.79015
162
+ ],
163
+ [
164
+ 0.86032,
165
+ 0.00063,
166
+ -0.50975,
167
+ 3.70432
168
+ ],
169
+ [
170
+ 0.0,
171
+ 0.0,
172
+ 0.0,
173
+ 1.0
174
+ ]
175
+ ]
176
+ ],
177
+ [
178
+ "002_master_chef_can.object_config.json",
179
+ [
180
+ [
181
+ -0.17456,
182
+ 1e-05,
183
+ 0.98465,
184
+ 2.35031
185
+ ],
186
+ [
187
+ 1e-05,
188
+ 1.0,
189
+ -0.0,
190
+ 1.00476
191
+ ],
192
+ [
193
+ -0.98465,
194
+ 1e-05,
195
+ -0.17456,
196
+ 5.49176
197
+ ],
198
+ [
199
+ 0.0,
200
+ 0.0,
201
+ 0.0,
202
+ 1.0
203
+ ]
204
+ ]
205
+ ],
206
+ [
207
+ "002_master_chef_can.object_config.json",
208
+ [
209
+ [
210
+ -0.52846,
211
+ -0.0,
212
+ 0.84896,
213
+ -1.87838
214
+ ],
215
+ [
216
+ 1e-05,
217
+ 1.0,
218
+ 1e-05,
219
+ 0.9303
220
+ ],
221
+ [
222
+ -0.84896,
223
+ 1e-05,
224
+ -0.52846,
225
+ 2.20162
226
+ ],
227
+ [
228
+ 0.0,
229
+ 0.0,
230
+ 0.0,
231
+ 1.0
232
+ ]
233
+ ]
234
+ ],
235
+ [
236
+ "008_pudding_box.object_config.json",
237
+ [
238
+ [
239
+ 0.98192,
240
+ 0.00917,
241
+ -0.18905,
242
+ 3.34691
243
+ ],
244
+ [
245
+ -0.00603,
246
+ 0.99983,
247
+ 0.01717,
248
+ 0.43458
249
+ ],
250
+ [
251
+ 0.18917,
252
+ -0.01572,
253
+ 0.98182,
254
+ -0.36818
255
+ ],
256
+ [
257
+ 0.0,
258
+ 0.0,
259
+ 0.0,
260
+ 1.0
261
+ ]
262
+ ]
263
+ ],
264
+ [
265
+ "010_potted_meat_can.object_config.json",
266
+ [
267
+ [
268
+ 0.04401,
269
+ 0.00365,
270
+ 0.99902,
271
+ -2.18771
272
+ ],
273
+ [
274
+ -0.0019,
275
+ 0.99999,
276
+ -0.00357,
277
+ 0.74917
278
+ ],
279
+ [
280
+ -0.99903,
281
+ -0.00174,
282
+ 0.04402,
283
+ 1.12697
284
+ ],
285
+ [
286
+ 0.0,
287
+ 0.0,
288
+ 0.0,
289
+ 1.0
290
+ ]
291
+ ]
292
+ ],
293
+ [
294
+ "010_potted_meat_can.object_config.json",
295
+ [
296
+ [
297
+ -0.40066,
298
+ -5e-05,
299
+ 0.91623,
300
+ 3.98368
301
+ ],
302
+ [
303
+ -0.0,
304
+ 1.0,
305
+ 5e-05,
306
+ 0.45679
307
+ ],
308
+ [
309
+ -0.91623,
310
+ 2e-05,
311
+ -0.40066,
312
+ 0.72349
313
+ ],
314
+ [
315
+ 0.0,
316
+ 0.0,
317
+ 0.0,
318
+ 1.0
319
+ ]
320
+ ]
321
+ ],
322
+ [
323
+ "007_tuna_fish_can.object_config.json",
324
+ [
325
+ [
326
+ 0.92145,
327
+ -0.00028,
328
+ -0.38851,
329
+ -2.46399
330
+ ],
331
+ [
332
+ 0.00026,
333
+ 1.0,
334
+ -0.0001,
335
+ 0.87655
336
+ ],
337
+ [
338
+ 0.38851,
339
+ -0.0,
340
+ 0.92145,
341
+ -0.51301
342
+ ],
343
+ [
344
+ 0.0,
345
+ 0.0,
346
+ 0.0,
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ [
352
+ "004_sugar_box.object_config.json",
353
+ [
354
+ [
355
+ -0.92044,
356
+ 0.0452,
357
+ -0.38826,
358
+ -2.32601
359
+ ],
360
+ [
361
+ 0.03885,
362
+ 0.99895,
363
+ 0.0242,
364
+ 0.9477
365
+ ],
366
+ [
367
+ 0.38894,
368
+ 0.00719,
369
+ -0.92123,
370
+ 0.46153
371
+ ],
372
+ [
373
+ 0.0,
374
+ 0.0,
375
+ 0.0,
376
+ 1.0
377
+ ]
378
+ ]
379
+ ],
380
+ [
381
+ "004_sugar_box.object_config.json",
382
+ [
383
+ [
384
+ -0.83811,
385
+ 0.01945,
386
+ 0.54515,
387
+ 3.78668
388
+ ],
389
+ [
390
+ 0.03894,
391
+ 0.99895,
392
+ 0.02422,
393
+ 0.71464
394
+ ],
395
+ [
396
+ -0.5441,
397
+ 0.04153,
398
+ -0.83799,
399
+ 6.05102
400
+ ],
401
+ [
402
+ 0.0,
403
+ 0.0,
404
+ 0.0,
405
+ 1.0
406
+ ]
407
+ ]
408
+ ],
409
+ [
410
+ "024_bowl.object_config.json",
411
+ [
412
+ [
413
+ 0.73954,
414
+ -1e-05,
415
+ 0.67311,
416
+ -2.30962
417
+ ],
418
+ [
419
+ 0.0,
420
+ 1.0,
421
+ 2e-05,
422
+ 0.88719
423
+ ],
424
+ [
425
+ -0.67311,
426
+ -1e-05,
427
+ 0.73954,
428
+ 0.02366
429
+ ],
430
+ [
431
+ 0.0,
432
+ 0.0,
433
+ 0.0,
434
+ 1.0
435
+ ]
436
+ ]
437
+ ],
438
+ [
439
+ "003_cracker_box.object_config.json",
440
+ [
441
+ [
442
+ 0.65232,
443
+ 0.02433,
444
+ -0.75755,
445
+ -1.96145
446
+ ],
447
+ [
448
+ -0.04135,
449
+ 0.99914,
450
+ -0.00352,
451
+ 1.35681
452
+ ],
453
+ [
454
+ 0.75681,
455
+ 0.03362,
456
+ 0.65277,
457
+ -1.15875
458
+ ],
459
+ [
460
+ 0.0,
461
+ 0.0,
462
+ 0.0,
463
+ 1.0
464
+ ]
465
+ ]
466
+ ],
467
+ [
468
+ "024_bowl.object_config.json",
469
+ [
470
+ [
471
+ -0.76823,
472
+ -0.00033,
473
+ 0.64017,
474
+ -2.12706
475
+ ],
476
+ [
477
+ -0.00042,
478
+ 1.0,
479
+ -0.0,
480
+ 0.73465
481
+ ],
482
+ [
483
+ -0.64017,
484
+ -0.00027,
485
+ -0.76823,
486
+ 1.27986
487
+ ],
488
+ [
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 1.0
493
+ ]
494
+ ]
495
+ ],
496
+ [
497
+ "003_cracker_box.object_config.json",
498
+ [
499
+ [
500
+ 0.55422,
501
+ 0.07178,
502
+ 0.82927,
503
+ -1.51052
504
+ ],
505
+ [
506
+ -0.15098,
507
+ 0.98842,
508
+ 0.01534,
509
+ 0.86963
510
+ ],
511
+ [
512
+ -0.81857,
513
+ -0.1337,
514
+ 0.55864,
515
+ 3.6508
516
+ ],
517
+ [
518
+ 0.0,
519
+ 0.0,
520
+ 0.0,
521
+ 1.0
522
+ ]
523
+ ]
524
+ ],
525
+ [
526
+ "003_cracker_box.object_config.json",
527
+ [
528
+ [
529
+ 0.81974,
530
+ 0.02815,
531
+ 0.57205,
532
+ 2.27244
533
+ ],
534
+ [
535
+ -0.03,
536
+ 0.99953,
537
+ -0.00619,
538
+ 1.04115
539
+ ],
540
+ [
541
+ -0.57196,
542
+ -0.01209,
543
+ 0.82019,
544
+ 5.76545
545
+ ],
546
+ [
547
+ 0.0,
548
+ 0.0,
549
+ 0.0,
550
+ 1.0
551
+ ]
552
+ ]
553
+ ],
554
+ [
555
+ "009_gelatin_box.object_config.json",
556
+ [
557
+ [
558
+ -0.14393,
559
+ 0.0,
560
+ 0.98959,
561
+ 2.20557
562
+ ],
563
+ [
564
+ 0.0,
565
+ 1.0,
566
+ -0.0,
567
+ 0.94922
568
+ ],
569
+ [
570
+ -0.98959,
571
+ 0.0,
572
+ -0.14393,
573
+ 5.64664
574
+ ],
575
+ [
576
+ 0.0,
577
+ 0.0,
578
+ 0.0,
579
+ 1.0
580
+ ]
581
+ ]
582
+ ],
583
+ [
584
+ "002_master_chef_can.object_config.json",
585
+ [
586
+ [
587
+ 1.0,
588
+ 0.0,
589
+ 0.0,
590
+ -2.39969
591
+ ],
592
+ [
593
+ 0.0,
594
+ 1.0,
595
+ -0.00138,
596
+ 0.9303
597
+ ],
598
+ [
599
+ 0.0,
600
+ 0.00138,
601
+ 1.0,
602
+ 0.67379
603
+ ],
604
+ [
605
+ 0.0,
606
+ 0.0,
607
+ 0.0,
608
+ 1.0
609
+ ]
610
+ ]
611
+ ],
612
+ [
613
+ "007_tuna_fish_can.object_config.json",
614
+ [
615
+ [
616
+ -0.78829,
617
+ -2e-05,
618
+ 0.6153,
619
+ -2.18394
620
+ ],
621
+ [
622
+ -4e-05,
623
+ 1.0,
624
+ -2e-05,
625
+ 0.87655
626
+ ],
627
+ [
628
+ -0.6153,
629
+ -4e-05,
630
+ -0.78829,
631
+ 0.04405
632
+ ],
633
+ [
634
+ 0.0,
635
+ 0.0,
636
+ 0.0,
637
+ 1.0
638
+ ]
639
+ ]
640
+ ],
641
+ [
642
+ "005_tomato_soup_can.object_config.json",
643
+ [
644
+ [
645
+ -0.86308,
646
+ 0.00042,
647
+ 0.50506,
648
+ -2.21896
649
+ ],
650
+ [
651
+ -0.00244,
652
+ 0.99998,
653
+ -0.00501,
654
+ 1.30307
655
+ ],
656
+ [
657
+ -0.50506,
658
+ -0.00556,
659
+ -0.86307,
660
+ -0.86657
661
+ ],
662
+ [
663
+ 0.0,
664
+ 0.0,
665
+ 0.0,
666
+ 1.0
667
+ ]
668
+ ]
669
+ ],
670
+ [
671
+ "005_tomato_soup_can.object_config.json",
672
+ [
673
+ [
674
+ 0.26584,
675
+ -1e-05,
676
+ 0.96402,
677
+ -2.05577
678
+ ],
679
+ [
680
+ -0.00016,
681
+ 1.0,
682
+ 5e-05,
683
+ 0.91084
684
+ ],
685
+ [
686
+ -0.96402,
687
+ -0.00017,
688
+ 0.26584,
689
+ 1.87149
690
+ ],
691
+ [
692
+ 0.0,
693
+ 0.0,
694
+ 0.0,
695
+ 1.0
696
+ ]
697
+ ]
698
+ ],
699
+ [
700
+ "009_gelatin_box.object_config.json",
701
+ [
702
+ [
703
+ -0.60098,
704
+ -7e-05,
705
+ 0.79927,
706
+ -2.09108
707
+ ],
708
+ [
709
+ -2e-05,
710
+ 1.0,
711
+ 7e-05,
712
+ 0.72222
713
+ ],
714
+ [
715
+ -0.79927,
716
+ 3e-05,
717
+ -0.60098,
718
+ 1.11775
719
+ ],
720
+ [
721
+ 0.0,
722
+ 0.0,
723
+ 0.0,
724
+ 1.0
725
+ ]
726
+ ]
727
+ ],
728
+ [
729
+ "010_potted_meat_can.object_config.json",
730
+ [
731
+ [
732
+ -0.87001,
733
+ 2e-05,
734
+ 0.49303,
735
+ -2.26187
736
+ ],
737
+ [
738
+ -7e-05,
739
+ 1.0,
740
+ -0.00017,
741
+ 0.90168
742
+ ],
743
+ [
744
+ -0.49303,
745
+ -0.00018,
746
+ -0.87001,
747
+ 0.39597
748
+ ],
749
+ [
750
+ 0.0,
751
+ 0.0,
752
+ 0.0,
753
+ 1.0
754
+ ]
755
+ ]
756
+ ],
757
+ [
758
+ "002_master_chef_can.object_config.json",
759
+ [
760
+ [
761
+ -0.13911,
762
+ 3e-05,
763
+ 0.99028,
764
+ 2.41931
765
+ ],
766
+ [
767
+ 7e-05,
768
+ 1.0,
769
+ -2e-05,
770
+ 1.00476
771
+ ],
772
+ [
773
+ -0.99028,
774
+ 7e-05,
775
+ -0.13911,
776
+ 5.95008
777
+ ],
778
+ [
779
+ 0.0,
780
+ 0.0,
781
+ 0.0,
782
+ 1.0
783
+ ]
784
+ ]
785
+ ],
786
+ [
787
+ "009_gelatin_box.object_config.json",
788
+ [
789
+ [
790
+ -0.89974,
791
+ -0.0,
792
+ 0.43642,
793
+ 3.9364
794
+ ],
795
+ [
796
+ -0.0,
797
+ 1.0,
798
+ 0.0,
799
+ 0.6417
800
+ ],
801
+ [
802
+ -0.43642,
803
+ 0.0,
804
+ -0.89974,
805
+ 5.59254
806
+ ],
807
+ [
808
+ 0.0,
809
+ 0.0,
810
+ 0.0,
811
+ 1.0
812
+ ]
813
+ ]
814
+ ],
815
+ [
816
+ "003_cracker_box.object_config.json",
817
+ [
818
+ [
819
+ 0.80861,
820
+ 0.03981,
821
+ 0.587,
822
+ -2.17709
823
+ ],
824
+ [
825
+ -0.04746,
826
+ 0.99887,
827
+ -0.00237,
828
+ 1.35789
829
+ ],
830
+ [
831
+ -0.58643,
832
+ -0.02594,
833
+ 0.80958,
834
+ -0.9806
835
+ ],
836
+ [
837
+ 0.0,
838
+ 0.0,
839
+ 0.0,
840
+ 1.0
841
+ ]
842
+ ]
843
+ ],
844
+ [
845
+ "009_gelatin_box.object_config.json",
846
+ [
847
+ [
848
+ 0.52842,
849
+ 7e-05,
850
+ -0.84898,
851
+ -2.0701
852
+ ],
853
+ [
854
+ 0.00481,
855
+ 0.99998,
856
+ 0.00308,
857
+ 1.26592
858
+ ],
859
+ [
860
+ 0.84897,
861
+ -0.00572,
862
+ 0.52841,
863
+ -1.05184
864
+ ],
865
+ [
866
+ 0.0,
867
+ 0.0,
868
+ 0.0,
869
+ 1.0
870
+ ]
871
+ ]
872
+ ],
873
+ [
874
+ "004_sugar_box.object_config.json",
875
+ [
876
+ [
877
+ 0.99861,
878
+ -0.03813,
879
+ -0.03636,
880
+ -2.36841
881
+ ],
882
+ [
883
+ 0.03902,
884
+ 0.99894,
885
+ 0.02423,
886
+ 0.9477
887
+ ],
888
+ [
889
+ 0.03539,
890
+ -0.02562,
891
+ 0.99905,
892
+ 1.55479
893
+ ],
894
+ [
895
+ 0.0,
896
+ 0.0,
897
+ 0.0,
898
+ 1.0
899
+ ]
900
+ ]
901
+ ]
902
+ ],
903
+ "targets": {
904
+ "003_cracker_box_:0003": [
905
+ [
906
+ 0.89561,
907
+ 0.0,
908
+ -0.44485,
909
+ -2.47086
910
+ ],
911
+ [
912
+ 0.0,
913
+ 1.0,
914
+ 0.0,
915
+ 0.96582
916
+ ],
917
+ [
918
+ 0.44485,
919
+ 0.0,
920
+ 0.89561,
921
+ 0.35681
922
+ ],
923
+ [
924
+ 0.0,
925
+ 0.0,
926
+ 0.0,
927
+ 1.0
928
+ ]
929
+ ],
930
+ "009_gelatin_box_:0005": [
931
+ [
932
+ 0.73595,
933
+ 0.0,
934
+ 0.67704,
935
+ -2.02564
936
+ ],
937
+ [
938
+ 0.0,
939
+ 1.0,
940
+ 0.0,
941
+ 0.87413
942
+ ],
943
+ [
944
+ -0.67704,
945
+ 0.0,
946
+ 0.73595,
947
+ 2.21346
948
+ ],
949
+ [
950
+ 0.0,
951
+ 0.0,
952
+ 0.0,
953
+ 1.0
954
+ ]
955
+ ],
956
+ "004_sugar_box_:0002": [
957
+ [
958
+ -0.12256,
959
+ 0.0,
960
+ 0.99246,
961
+ -2.25783
962
+ ],
963
+ [
964
+ 0.0,
965
+ 1.0,
966
+ 0.0,
967
+ 1.33793
968
+ ],
969
+ [
970
+ -0.99246,
971
+ 0.0,
972
+ -0.12256,
973
+ -1.10963
974
+ ],
975
+ [
976
+ 0.0,
977
+ 0.0,
978
+ 0.0,
979
+ 1.0
980
+ ]
981
+ ]
982
+ },
983
+ "markers": [
984
+ {
985
+ "name": "cab_push_point_7",
986
+ "type": "articulated_object",
987
+ "params": {
988
+ "offset": [
989
+ 0.3,
990
+ 0.0,
991
+ 0
992
+ ],
993
+ "link": "drawer1_top",
994
+ "object": "kitchen_counter_:0000"
995
+ }
996
+ },
997
+ {
998
+ "name": "cab_push_point_6",
999
+ "type": "articulated_object",
1000
+ "params": {
1001
+ "offset": [
1002
+ 0.3,
1003
+ 0.0,
1004
+ 0
1005
+ ],
1006
+ "link": "drawer2_top",
1007
+ "object": "kitchen_counter_:0000"
1008
+ }
1009
+ },
1010
+ {
1011
+ "name": "cab_push_point_5",
1012
+ "type": "articulated_object",
1013
+ "params": {
1014
+ "offset": [
1015
+ 0.3,
1016
+ 0.0,
1017
+ 0
1018
+ ],
1019
+ "link": "drawer3",
1020
+ "object": "kitchen_counter_:0000"
1021
+ }
1022
+ },
1023
+ {
1024
+ "name": "cab_push_point_4",
1025
+ "type": "articulated_object",
1026
+ "params": {
1027
+ "offset": [
1028
+ 0.3,
1029
+ 0.0,
1030
+ 0
1031
+ ],
1032
+ "link": "drawer4",
1033
+ "object": "kitchen_counter_:0000"
1034
+ }
1035
+ },
1036
+ {
1037
+ "name": "fridge_push_point",
1038
+ "type": "articulated_object",
1039
+ "params": {
1040
+ "offset": [
1041
+ 0.1,
1042
+ -0.62,
1043
+ 0.2
1044
+ ],
1045
+ "link": "top_door",
1046
+ "object": "fridge_:0000"
1047
+ }
1048
+ }
1049
+ ],
1050
+ "target_receptacles": [
1051
+ [
1052
+ "fridge_:0000",
1053
+ 0
1054
+ ],
1055
+ [
1056
+ "fridge_:0000",
1057
+ 0
1058
+ ],
1059
+ [
1060
+ "kitchen_counter_:0000",
1061
+ 0
1062
+ ]
1063
+ ],
1064
+ "goal_receptacles": [
1065
+ [
1066
+ "kitchen_counter_:0000",
1067
+ 0
1068
+ ],
1069
+ [
1070
+ "kitchen_counter_:0000",
1071
+ 0
1072
+ ],
1073
+ [
1074
+ "fridge_:0000",
1075
+ 0
1076
+ ]
1077
+ ]
1078
+ }
rearrange/v1_extracted/train/prepare_groceries/episode_1041.json ADDED
@@ -0,0 +1,1078 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_id": "1041",
3
+ "scene_id": "data/replica_cad/configs/scenes/v3_sc0_staging_20.scene_instance.json",
4
+ "scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
5
+ "additional_obj_config_paths": [
6
+ "data/objects/ycb/"
7
+ ],
8
+ "start_position": [
9
+ 0,
10
+ 0,
11
+ 0
12
+ ],
13
+ "start_rotation": [
14
+ 0,
15
+ 0,
16
+ 0,
17
+ 1
18
+ ],
19
+ "info": {
20
+ "object_labels": {
21
+ "008_pudding_box_:0003": "obj0_target|0",
22
+ "009_gelatin_box_:0005": "obj1_target|1",
23
+ "002_master_chef_can_:0003": "obj2_target|2"
24
+ }
25
+ },
26
+ "ao_states": {
27
+ "fridge_:0000": {
28
+ "2": 1.5
29
+ }
30
+ },
31
+ "rigid_objs": [
32
+ [
33
+ "009_gelatin_box.object_config.json",
34
+ [
35
+ [
36
+ 0.91488,
37
+ 3e-05,
38
+ -0.40374,
39
+ -1.90598
40
+ ],
41
+ [
42
+ -3e-05,
43
+ 1.0,
44
+ 1e-05,
45
+ 0.42987
46
+ ],
47
+ [
48
+ 0.40374,
49
+ 0.0,
50
+ 0.91488,
51
+ -0.00096
52
+ ],
53
+ [
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 1.0
58
+ ]
59
+ ]
60
+ ],
61
+ [
62
+ "009_gelatin_box.object_config.json",
63
+ [
64
+ [
65
+ -0.57256,
66
+ -1e-05,
67
+ -0.81986,
68
+ 0.30527
69
+ ],
70
+ [
71
+ 0.00478,
72
+ 0.99998,
73
+ -0.00334,
74
+ 0.11697
75
+ ],
76
+ [
77
+ 0.81985,
78
+ -0.00583,
79
+ -0.57255,
80
+ 4.68914
81
+ ],
82
+ [
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ 1.0
87
+ ]
88
+ ]
89
+ ],
90
+ [
91
+ "002_master_chef_can.object_config.json",
92
+ [
93
+ [
94
+ -0.99912,
95
+ -0.00033,
96
+ 0.04202,
97
+ 0.29537
98
+ ],
99
+ [
100
+ -0.00059,
101
+ 0.99998,
102
+ -0.00628,
103
+ 0.1706
104
+ ],
105
+ [
106
+ -0.04202,
107
+ -0.0063,
108
+ -0.9991,
109
+ 4.35776
110
+ ],
111
+ [
112
+ 0.0,
113
+ 0.0,
114
+ 0.0,
115
+ 1.0
116
+ ]
117
+ ]
118
+ ],
119
+ [
120
+ "007_tuna_fish_can.object_config.json",
121
+ [
122
+ [
123
+ 0.31493,
124
+ -0.00163,
125
+ -0.94911,
126
+ 1.92458
127
+ ],
128
+ [
129
+ 0.00113,
130
+ 1.0,
131
+ -0.00134,
132
+ 0.43178
133
+ ],
134
+ [
135
+ 0.94911,
136
+ -0.00065,
137
+ 0.31493,
138
+ -0.34635
139
+ ],
140
+ [
141
+ 0.0,
142
+ 0.0,
143
+ 0.0,
144
+ 1.0
145
+ ]
146
+ ]
147
+ ],
148
+ [
149
+ "004_sugar_box.object_config.json",
150
+ [
151
+ [
152
+ 0.87796,
153
+ -0.02378,
154
+ -0.47814,
155
+ 1.6944
156
+ ],
157
+ [
158
+ 0.04074,
159
+ 0.99885,
160
+ 0.02512,
161
+ 0.50309
162
+ ],
163
+ [
164
+ 0.47699,
165
+ -0.04154,
166
+ 0.87793,
167
+ -0.3867
168
+ ],
169
+ [
170
+ 0.0,
171
+ 0.0,
172
+ 0.0,
173
+ 1.0
174
+ ]
175
+ ]
176
+ ],
177
+ [
178
+ "008_pudding_box.object_config.json",
179
+ [
180
+ [
181
+ -0.98556,
182
+ -0.00184,
183
+ -0.16933,
184
+ 0.6467
185
+ ],
186
+ [
187
+ -0.00592,
188
+ 0.9997,
189
+ 0.02356,
190
+ 0.72673
191
+ ],
192
+ [
193
+ 0.16923,
194
+ 0.02422,
195
+ -0.98528,
196
+ 6.65128
197
+ ],
198
+ [
199
+ 0.0,
200
+ 0.0,
201
+ 0.0,
202
+ 1.0
203
+ ]
204
+ ]
205
+ ],
206
+ [
207
+ "007_tuna_fish_can.object_config.json",
208
+ [
209
+ [
210
+ 0.36083,
211
+ 0.00078,
212
+ 0.93263,
213
+ 0.76318
214
+ ],
215
+ [
216
+ 0.00323,
217
+ 0.99999,
218
+ -0.00209,
219
+ 1.26882
220
+ ],
221
+ [
222
+ -0.93263,
223
+ 0.00377,
224
+ 0.36082,
225
+ 4.66867
226
+ ],
227
+ [
228
+ 0.0,
229
+ 0.0,
230
+ 0.0,
231
+ 1.0
232
+ ]
233
+ ]
234
+ ],
235
+ [
236
+ "003_cracker_box.object_config.json",
237
+ [
238
+ [
239
+ 0.2494,
240
+ 0.01966,
241
+ 0.9682,
242
+ -1.45434
243
+ ],
244
+ [
245
+ -0.04717,
246
+ 0.99885,
247
+ -0.00813,
248
+ 0.51087
249
+ ],
250
+ [
251
+ -0.96725,
252
+ -0.04365,
253
+ 0.25004,
254
+ 2.62934
255
+ ],
256
+ [
257
+ 0.0,
258
+ 0.0,
259
+ 0.0,
260
+ 1.0
261
+ ]
262
+ ]
263
+ ],
264
+ [
265
+ "010_potted_meat_can.object_config.json",
266
+ [
267
+ [
268
+ -0.50524,
269
+ -0.04482,
270
+ -0.86181,
271
+ 0.61599
272
+ ],
273
+ [
274
+ -0.03661,
275
+ 0.99886,
276
+ -0.03049,
277
+ 0.75021
278
+ ],
279
+ [
280
+ 0.8622,
281
+ 0.01614,
282
+ -0.50631,
283
+ 6.5472
284
+ ],
285
+ [
286
+ 0.0,
287
+ 0.0,
288
+ 0.0,
289
+ 1.0
290
+ ]
291
+ ]
292
+ ],
293
+ [
294
+ "002_master_chef_can.object_config.json",
295
+ [
296
+ [
297
+ -0.9996,
298
+ -6e-05,
299
+ 0.02834,
300
+ 0.48882
301
+ ],
302
+ [
303
+ -0.00023,
304
+ 0.99998,
305
+ -0.00582,
306
+ 1.31997
307
+ ],
308
+ [
309
+ -0.02834,
310
+ -0.00582,
311
+ -0.99958,
312
+ 4.19037
313
+ ],
314
+ [
315
+ 0.0,
316
+ 0.0,
317
+ 0.0,
318
+ 1.0
319
+ ]
320
+ ]
321
+ ],
322
+ [
323
+ "009_gelatin_box.object_config.json",
324
+ [
325
+ [
326
+ -0.54462,
327
+ -0.0,
328
+ 0.83869,
329
+ -1.91439
330
+ ],
331
+ [
332
+ -0.0,
333
+ 1.0,
334
+ -0.0,
335
+ 0.42987
336
+ ],
337
+ [
338
+ -0.83869,
339
+ -0.0,
340
+ -0.54462,
341
+ 0.22581
342
+ ],
343
+ [
344
+ 0.0,
345
+ 0.0,
346
+ 0.0,
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ [
352
+ "002_master_chef_can.object_config.json",
353
+ [
354
+ [
355
+ 0.95035,
356
+ -0.00163,
357
+ -0.31119,
358
+ 3.9265
359
+ ],
360
+ [
361
+ 0.00196,
362
+ 1.0,
363
+ 0.00074,
364
+ 0.69692
365
+ ],
366
+ [
367
+ 0.31119,
368
+ -0.00132,
369
+ 0.95035,
370
+ 0.70173
371
+ ],
372
+ [
373
+ 0.0,
374
+ 0.0,
375
+ 0.0,
376
+ 1.0
377
+ ]
378
+ ]
379
+ ],
380
+ [
381
+ "005_tomato_soup_can.object_config.json",
382
+ [
383
+ [
384
+ -0.90829,
385
+ 0.00328,
386
+ 0.41832,
387
+ 4.23108
388
+ ],
389
+ [
390
+ 0.00232,
391
+ 0.99999,
392
+ -0.0028,
393
+ 0.67737
394
+ ],
395
+ [
396
+ -0.41833,
397
+ -0.00157,
398
+ -0.9083,
399
+ 1.09998
400
+ ],
401
+ [
402
+ 0.0,
403
+ 0.0,
404
+ 0.0,
405
+ 1.0
406
+ ]
407
+ ]
408
+ ],
409
+ [
410
+ "010_potted_meat_can.object_config.json",
411
+ [
412
+ [
413
+ -0.22682,
414
+ -0.0219,
415
+ -0.97369,
416
+ 1.82537
417
+ ],
418
+ [
419
+ -0.01022,
420
+ 0.99975,
421
+ -0.0201,
422
+ 0.45695
423
+ ],
424
+ [
425
+ 0.97388,
426
+ 0.00539,
427
+ -0.22698,
428
+ -0.54359
429
+ ],
430
+ [
431
+ 0.0,
432
+ 0.0,
433
+ 0.0,
434
+ 1.0
435
+ ]
436
+ ]
437
+ ],
438
+ [
439
+ "008_pudding_box.object_config.json",
440
+ [
441
+ [
442
+ -0.96948,
443
+ -0.01148,
444
+ 0.24491,
445
+ -1.60181
446
+ ],
447
+ [
448
+ -0.0059,
449
+ 0.99971,
450
+ 0.0235,
451
+ 0.42377
452
+ ],
453
+ [
454
+ -0.24511,
455
+ 0.02133,
456
+ -0.96926,
457
+ 1.60134
458
+ ],
459
+ [
460
+ 0.0,
461
+ 0.0,
462
+ 0.0,
463
+ 1.0
464
+ ]
465
+ ]
466
+ ],
467
+ [
468
+ "009_gelatin_box.object_config.json",
469
+ [
470
+ [
471
+ -0.62304,
472
+ 1e-05,
473
+ -0.78219,
474
+ 1.88176
475
+ ],
476
+ [
477
+ 2e-05,
478
+ 1.0,
479
+ -0.0,
480
+ 0.42998
481
+ ],
482
+ [
483
+ 0.78219,
484
+ -1e-05,
485
+ -0.62304,
486
+ -0.25613
487
+ ],
488
+ [
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 1.0
493
+ ]
494
+ ]
495
+ ],
496
+ [
497
+ "004_sugar_box.object_config.json",
498
+ [
499
+ [
500
+ 0.30317,
501
+ -0.02807,
502
+ 0.95252,
503
+ 0.44151
504
+ ],
505
+ [
506
+ 0.03737,
507
+ 0.99915,
508
+ 0.01755,
509
+ 1.33766
510
+ ],
511
+ [
512
+ -0.9522,
513
+ 0.03027,
514
+ 0.30396,
515
+ 4.29948
516
+ ],
517
+ [
518
+ 0.0,
519
+ 0.0,
520
+ 0.0,
521
+ 1.0
522
+ ]
523
+ ]
524
+ ],
525
+ [
526
+ "009_gelatin_box.object_config.json",
527
+ [
528
+ [
529
+ 0.40366,
530
+ 0.0,
531
+ 0.91491,
532
+ 0.71933
533
+ ],
534
+ [
535
+ -0.00531,
536
+ 0.99998,
537
+ 0.00234,
538
+ 1.26482
539
+ ],
540
+ [
541
+ -0.91489,
542
+ -0.0058,
543
+ 0.40365,
544
+ 4.25856
545
+ ],
546
+ [
547
+ 0.0,
548
+ 0.0,
549
+ 0.0,
550
+ 1.0
551
+ ]
552
+ ]
553
+ ],
554
+ [
555
+ "005_tomato_soup_can.object_config.json",
556
+ [
557
+ [
558
+ -0.88769,
559
+ -0.0002,
560
+ 0.46045,
561
+ 3.63443
562
+ ],
563
+ [
564
+ -0.0002,
565
+ 1.0,
566
+ 5e-05,
567
+ 0.9853
568
+ ],
569
+ [
570
+ -0.46045,
571
+ -5e-05,
572
+ -0.88769,
573
+ 4.38928
574
+ ],
575
+ [
576
+ 0.0,
577
+ 0.0,
578
+ 0.0,
579
+ 1.0
580
+ ]
581
+ ]
582
+ ],
583
+ [
584
+ "003_cracker_box.object_config.json",
585
+ [
586
+ [
587
+ -0.98429,
588
+ -0.04656,
589
+ -0.17032,
590
+ 0.4677
591
+ ],
592
+ [
593
+ -0.04599,
594
+ 0.99892,
595
+ -0.00727,
596
+ 0.96627
597
+ ],
598
+ [
599
+ 0.17047,
600
+ 0.00068,
601
+ -0.98536,
602
+ 5.52299
603
+ ],
604
+ [
605
+ 0.0,
606
+ 0.0,
607
+ 0.0,
608
+ 1.0
609
+ ]
610
+ ]
611
+ ],
612
+ [
613
+ "008_pudding_box.object_config.json",
614
+ [
615
+ [
616
+ -0.61974,
617
+ -0.02071,
618
+ 0.78454,
619
+ 3.46603
620
+ ],
621
+ [
622
+ -0.00565,
623
+ 0.99974,
624
+ 0.02194,
625
+ 0.95376
626
+ ],
627
+ [
628
+ -0.78479,
629
+ 0.00917,
630
+ -0.61969,
631
+ 4.85612
632
+ ],
633
+ [
634
+ 0.0,
635
+ 0.0,
636
+ 0.0,
637
+ 1.0
638
+ ]
639
+ ]
640
+ ],
641
+ [
642
+ "005_tomato_soup_can.object_config.json",
643
+ [
644
+ [
645
+ -0.85851,
646
+ -0.00041,
647
+ -0.51279,
648
+ 4.23093
649
+ ],
650
+ [
651
+ -0.00101,
652
+ 1.0,
653
+ 0.00088,
654
+ 0.98533
655
+ ],
656
+ [
657
+ 0.51279,
658
+ 0.00127,
659
+ -0.85851,
660
+ 5.41921
661
+ ],
662
+ [
663
+ 0.0,
664
+ 0.0,
665
+ 0.0,
666
+ 1.0
667
+ ]
668
+ ]
669
+ ],
670
+ [
671
+ "003_cracker_box.object_config.json",
672
+ [
673
+ [
674
+ -0.82226,
675
+ -0.04233,
676
+ -0.56753,
677
+ 4.29781
678
+ ],
679
+ [
680
+ -0.04741,
681
+ 0.99886,
682
+ -0.00581,
683
+ 0.73333
684
+ ],
685
+ [
686
+ 0.56713,
687
+ 0.02213,
688
+ -0.82333,
689
+ 0.95982
690
+ ],
691
+ [
692
+ 0.0,
693
+ 0.0,
694
+ 0.0,
695
+ 1.0
696
+ ]
697
+ ]
698
+ ],
699
+ [
700
+ "010_potted_meat_can.object_config.json",
701
+ [
702
+ [
703
+ 0.54117,
704
+ -3e-05,
705
+ 0.84091,
706
+ 3.90598
707
+ ],
708
+ [
709
+ 1e-05,
710
+ 1.0,
711
+ 3e-05,
712
+ 0.80465
713
+ ],
714
+ [
715
+ -0.84091,
716
+ -0.0,
717
+ 0.54117,
718
+ 7.48056
719
+ ],
720
+ [
721
+ 0.0,
722
+ 0.0,
723
+ 0.0,
724
+ 1.0
725
+ ]
726
+ ]
727
+ ],
728
+ [
729
+ "007_tuna_fish_can.object_config.json",
730
+ [
731
+ [
732
+ 0.78723,
733
+ 0.00076,
734
+ -0.61666,
735
+ 4.18753
736
+ ],
737
+ [
738
+ -0.00049,
739
+ 1.0,
740
+ 0.00061,
741
+ 0.95102
742
+ ],
743
+ [
744
+ 0.61666,
745
+ -0.00018,
746
+ 0.78723,
747
+ 4.60224
748
+ ],
749
+ [
750
+ 0.0,
751
+ 0.0,
752
+ 0.0,
753
+ 1.0
754
+ ]
755
+ ]
756
+ ],
757
+ [
758
+ "010_potted_meat_can.object_config.json",
759
+ [
760
+ [
761
+ 0.82178,
762
+ 0.00041,
763
+ 0.56981,
764
+ 4.02477
765
+ ],
766
+ [
767
+ -0.00213,
768
+ 0.99999,
769
+ 0.00236,
770
+ 0.9763
771
+ ],
772
+ [
773
+ -0.5698,
774
+ -0.00315,
775
+ 0.82178,
776
+ 5.04449
777
+ ],
778
+ [
779
+ 0.0,
780
+ 0.0,
781
+ 0.0,
782
+ 1.0
783
+ ]
784
+ ]
785
+ ],
786
+ [
787
+ "004_sugar_box.object_config.json",
788
+ [
789
+ [
790
+ -0.88158,
791
+ 0.00622,
792
+ 0.47199,
793
+ 0.49486
794
+ ],
795
+ [
796
+ 0.0079,
797
+ 0.99997,
798
+ 0.00157,
799
+ 1.34072
800
+ ],
801
+ [
802
+ -0.47196,
803
+ 0.00511,
804
+ -0.8816,
805
+ 4.721
806
+ ],
807
+ [
808
+ 0.0,
809
+ 0.0,
810
+ 0.0,
811
+ 1.0
812
+ ]
813
+ ]
814
+ ],
815
+ [
816
+ "008_pudding_box.object_config.json",
817
+ [
818
+ [
819
+ -0.71329,
820
+ -0.02067,
821
+ 0.70056,
822
+ 0.6299
823
+ ],
824
+ [
825
+ -0.00996,
826
+ 0.99976,
827
+ 0.01936,
828
+ 1.27038
829
+ ],
830
+ [
831
+ -0.7008,
832
+ 0.00683,
833
+ -0.71333,
834
+ 4.43811
835
+ ],
836
+ [
837
+ 0.0,
838
+ 0.0,
839
+ 0.0,
840
+ 1.0
841
+ ]
842
+ ]
843
+ ],
844
+ [
845
+ "009_gelatin_box.object_config.json",
846
+ [
847
+ [
848
+ -0.10205,
849
+ 0.0,
850
+ -0.99478,
851
+ 0.47552
852
+ ],
853
+ [
854
+ 0.00576,
855
+ 0.99998,
856
+ -0.00059,
857
+ 1.26666
858
+ ],
859
+ [
860
+ 0.99476,
861
+ -0.0058,
862
+ -0.10205,
863
+ 4.57445
864
+ ],
865
+ [
866
+ 0.0,
867
+ 0.0,
868
+ 0.0,
869
+ 1.0
870
+ ]
871
+ ]
872
+ ],
873
+ [
874
+ "002_master_chef_can.object_config.json",
875
+ [
876
+ [
877
+ 0.26761,
878
+ -0.00014,
879
+ -0.96353,
880
+ 0.35367
881
+ ],
882
+ [
883
+ 3e-05,
884
+ 1.0,
885
+ -0.00013,
886
+ 0.9303
887
+ ],
888
+ [
889
+ 0.96353,
890
+ 0.0,
891
+ 0.26761,
892
+ 7.12854
893
+ ],
894
+ [
895
+ 0.0,
896
+ 0.0,
897
+ 0.0,
898
+ 1.0
899
+ ]
900
+ ]
901
+ ]
902
+ ],
903
+ "targets": {
904
+ "008_pudding_box_:0003": [
905
+ [
906
+ 0.99121,
907
+ 0.0,
908
+ -0.13232,
909
+ 0.76807
910
+ ],
911
+ [
912
+ 0.0,
913
+ 1.0,
914
+ 0.0,
915
+ 0.87854
916
+ ],
917
+ [
918
+ 0.13232,
919
+ 0.0,
920
+ 0.99121,
921
+ 7.8498
922
+ ],
923
+ [
924
+ 0.0,
925
+ 0.0,
926
+ 0.0,
927
+ 1.0
928
+ ]
929
+ ],
930
+ "009_gelatin_box_:0005": [
931
+ [
932
+ -0.37743,
933
+ 0.0,
934
+ 0.92604,
935
+ 0.6209
936
+ ],
937
+ [
938
+ 0.0,
939
+ 1.0,
940
+ 0.0,
941
+ 0.87413
942
+ ],
943
+ [
944
+ -0.92604,
945
+ 0.0,
946
+ -0.37743,
947
+ 7.7432
948
+ ],
949
+ [
950
+ 0.0,
951
+ 0.0,
952
+ 0.0,
953
+ 1.0
954
+ ]
955
+ ],
956
+ "002_master_chef_can_:0003": [
957
+ [
958
+ 0.54494,
959
+ 0.0,
960
+ -0.83848,
961
+ 0.40929
962
+ ],
963
+ [
964
+ 0.0,
965
+ 1.0,
966
+ 0.0,
967
+ 1.31999
968
+ ],
969
+ [
970
+ 0.83848,
971
+ 0.0,
972
+ 0.54494,
973
+ 4.38646
974
+ ],
975
+ [
976
+ 0.0,
977
+ 0.0,
978
+ 0.0,
979
+ 1.0
980
+ ]
981
+ ]
982
+ },
983
+ "markers": [
984
+ {
985
+ "name": "cab_push_point_7",
986
+ "type": "articulated_object",
987
+ "params": {
988
+ "offset": [
989
+ 0.3,
990
+ 0.0,
991
+ 0
992
+ ],
993
+ "link": "drawer1_top",
994
+ "object": "kitchen_counter_:0000"
995
+ }
996
+ },
997
+ {
998
+ "name": "cab_push_point_6",
999
+ "type": "articulated_object",
1000
+ "params": {
1001
+ "offset": [
1002
+ 0.3,
1003
+ 0.0,
1004
+ 0
1005
+ ],
1006
+ "link": "drawer2_top",
1007
+ "object": "kitchen_counter_:0000"
1008
+ }
1009
+ },
1010
+ {
1011
+ "name": "cab_push_point_5",
1012
+ "type": "articulated_object",
1013
+ "params": {
1014
+ "offset": [
1015
+ 0.3,
1016
+ 0.0,
1017
+ 0
1018
+ ],
1019
+ "link": "drawer3",
1020
+ "object": "kitchen_counter_:0000"
1021
+ }
1022
+ },
1023
+ {
1024
+ "name": "cab_push_point_4",
1025
+ "type": "articulated_object",
1026
+ "params": {
1027
+ "offset": [
1028
+ 0.3,
1029
+ 0.0,
1030
+ 0
1031
+ ],
1032
+ "link": "drawer4",
1033
+ "object": "kitchen_counter_:0000"
1034
+ }
1035
+ },
1036
+ {
1037
+ "name": "fridge_push_point",
1038
+ "type": "articulated_object",
1039
+ "params": {
1040
+ "offset": [
1041
+ 0.1,
1042
+ -0.62,
1043
+ 0.2
1044
+ ],
1045
+ "link": "top_door",
1046
+ "object": "fridge_:0000"
1047
+ }
1048
+ }
1049
+ ],
1050
+ "target_receptacles": [
1051
+ [
1052
+ "fridge_:0000",
1053
+ 0
1054
+ ],
1055
+ [
1056
+ "fridge_:0000",
1057
+ 0
1058
+ ],
1059
+ [
1060
+ "kitchen_counter_:0000",
1061
+ 0
1062
+ ]
1063
+ ],
1064
+ "goal_receptacles": [
1065
+ [
1066
+ "kitchen_counter_:0000",
1067
+ 0
1068
+ ],
1069
+ [
1070
+ "kitchen_counter_:0000",
1071
+ 0
1072
+ ],
1073
+ [
1074
+ "fridge_:0000",
1075
+ 0
1076
+ ]
1077
+ ]
1078
+ }