Add files using upload-large-folder tool
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- so100/ProcTHOR/test/bg_000039/scene_b00_001/scene_meta.json +175 -0
- so100/ProcTHOR/test/bg_000039/scene_b00_002/scene_meta.json +175 -0
- so100/ProcTHOR/test/bg_000039/scene_b00_003/scene_meta.json +175 -0
- so100/ProcTHOR/test/bg_000039/scene_b00_004/scene_meta.json +175 -0
- so100/ProcTHOR/test/bg_000039/scene_b00_005/scene_meta.json +175 -0
- so100/ProcTHOR/test/bg_000039/scene_b00_006/scene_meta.json +175 -0
- so100/ProcTHOR/test/bg_000039/scene_b00_007/scene_meta.json +175 -0
- so100/ProcTHOR/test/bg_000039/scene_b00_008/scene_meta.json +175 -0
- so100/ProcTHOR/test/bg_000039/scene_b00_009/scene_meta.json +175 -0
- so100/ProcTHOR/test/bg_000039/scene_b00_010/scene_meta.json +175 -0
- so100/ProcTHOR/test/bg_000039/scene_b00_011/scene_meta.json +175 -0
- so100/ProcTHOR/test/bg_000039/scene_b00_012/scene_meta.json +175 -0
- so100/ProcTHOR/test/bg_000039/scene_b00_013/scene_meta.json +175 -0
- so100/ProcTHOR/test/bg_000039/scene_b00_014/scene_meta.json +175 -0
- so100/ProcTHOR/test/bg_000039/scene_b00_015/scene_meta.json +175 -0
- so100/ProcTHOR/test/bg_000039/scene_b00_016/scene_meta.json +175 -0
- so100/ProcTHOR/test/bg_000039/scene_b01_001/scene_meta.json +175 -0
- so100/ProcTHOR/test/bg_000039/scene_b01_002/scene_meta.json +175 -0
- so100/ProcTHOR/test/bg_000039/scene_b01_003/scene_meta.json +175 -0
- so100/ProcTHOR/test/bg_000039/scene_b01_004/scene_meta.json +175 -0
- so100/ProcTHOR/test/bg_000039/scene_b01_005/scene_meta.json +175 -0
- so100/ProcTHOR/test/bg_000039/scene_b01_006/scene_meta.json +175 -0
- so100/ProcTHOR/test/bg_000039/scene_b01_007/scene_meta.json +175 -0
- so100/ProcTHOR/test/bg_000039/scene_b01_008/scene_meta.json +175 -0
- so100/ProcTHOR/test/bg_000039/scene_b01_009/scene_meta.json +175 -0
- so100/ProcTHOR/test/bg_000039/scene_b01_010/scene_meta.json +175 -0
- so100/ProcTHOR/test/bg_000039/scene_b01_011/scene_meta.json +175 -0
- so100/ProcTHOR/test/bg_000039/scene_b01_012/scene_meta.json +175 -0
- so100/ProcTHOR/test/bg_000039/scene_b01_013/scene_meta.json +175 -0
- so100/ProcTHOR/test/bg_000039/scene_b01_014/scene_meta.json +175 -0
- so100/ProcTHOR/test/bg_000039/scene_b01_015/scene_meta.json +175 -0
- so100/ProcTHOR/test/bg_000039/scene_b01_016/scene_meta.json +175 -0
- so100/ProcTHOR/test/bg_000039/scene_b02_001/scene_meta.json +175 -0
- so100/ProcTHOR/test/bg_000039/scene_b02_002/scene_meta.json +175 -0
- so100/ProcTHOR/test/bg_000039/scene_b02_003/scene_meta.json +175 -0
- so100/ProcTHOR/test/bg_000039/scene_b02_004/scene_meta.json +175 -0
- so100/ProcTHOR/test/bg_000039/scene_b02_005/scene_meta.json +175 -0
- so100/ProcTHOR/test/bg_000039/scene_b02_006/scene_meta.json +175 -0
- so100/ProcTHOR/test/bg_000039/scene_b02_007/scene_meta.json +175 -0
- so100/ProcTHOR/test/bg_000039/scene_b02_008/scene_meta.json +175 -0
- so100/ProcTHOR/test/bg_000039/scene_b02_009/scene_meta.json +175 -0
- so100/ProcTHOR/test/bg_000039/scene_b02_010/scene_meta.json +175 -0
- so100/ProcTHOR/test/bg_000039/scene_b02_011/scene_meta.json +175 -0
- so100/ProcTHOR/test/bg_000039/scene_b02_012/scene_meta.json +175 -0
- so100/ProcTHOR/test/bg_000039/scene_b02_013/scene_meta.json +175 -0
- so100/ProcTHOR/test/bg_000039/scene_b02_014/scene_meta.json +175 -0
- so100/ProcTHOR/test/bg_000039/scene_b02_015/scene_meta.json +175 -0
- so100/ProcTHOR/test/bg_000039/scene_b02_016/scene_meta.json +175 -0
- so100/ProcTHOR/test/bg_000059/scene_b00_001/scene_meta.json +175 -0
- so100/ProcTHOR/test/bg_000059/scene_b00_002/scene_meta.json +175 -0
so100/ProcTHOR/test/bg_000039/scene_b00_001/scene_meta.json
ADDED
|
@@ -0,0 +1,175 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "so100",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 39,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 0,
|
| 9 |
+
"n_dof": 6,
|
| 10 |
+
"num_links": 9,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"shoulder_pan",
|
| 13 |
+
"shoulder_lift",
|
| 14 |
+
"elbow_flex",
|
| 15 |
+
"wrist_flex",
|
| 16 |
+
"wrist_roll",
|
| 17 |
+
"gripper"
|
| 18 |
+
],
|
| 19 |
+
"link_names": [
|
| 20 |
+
"Base",
|
| 21 |
+
"Rotation_Pitch",
|
| 22 |
+
"Upper_Arm",
|
| 23 |
+
"Lower_Arm",
|
| 24 |
+
"Wrist_Pitch_Roll",
|
| 25 |
+
"Fixed_Jaw",
|
| 26 |
+
"Moving_Jaw",
|
| 27 |
+
"Fixed_Jaw_tip",
|
| 28 |
+
"Moving_Jaw_tip"
|
| 29 |
+
],
|
| 30 |
+
"ee_link_name": "Moving_Jaw",
|
| 31 |
+
"image_width": 640,
|
| 32 |
+
"image_height": 480,
|
| 33 |
+
"fovy_rad": 0.9009840070537614,
|
| 34 |
+
"K": [
|
| 35 |
+
[
|
| 36 |
+
479.7559655033858,
|
| 37 |
+
0.0,
|
| 38 |
+
307.85189282896374
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
0.0,
|
| 42 |
+
496.2142793041748,
|
| 43 |
+
243.50450480611033
|
| 44 |
+
],
|
| 45 |
+
[
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
1.0
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"camera_eye": [
|
| 52 |
+
-2.2434399360926744,
|
| 53 |
+
-4.592145848889447,
|
| 54 |
+
0.7054267032976925
|
| 55 |
+
],
|
| 56 |
+
"camera_target": [
|
| 57 |
+
-2.637259350042484,
|
| 58 |
+
-4.760526468200015,
|
| 59 |
+
0.9849960257533208
|
| 60 |
+
],
|
| 61 |
+
"camera_roll_rad": 0.046137475083459445,
|
| 62 |
+
"camera_pose_world_cv": [
|
| 63 |
+
[
|
| 64 |
+
-0.43777012825012207,
|
| 65 |
+
-0.4642225503921509,
|
| 66 |
+
-0.7699708938598633,
|
| 67 |
+
-2.2434399127960205
|
| 68 |
+
],
|
| 69 |
+
[
|
| 70 |
+
0.8957699537277222,
|
| 71 |
+
-0.29869508743286133,
|
| 72 |
+
-0.3292074203491211,
|
| 73 |
+
-4.592145919799805
|
| 74 |
+
],
|
| 75 |
+
[
|
| 76 |
+
-0.07716110348701477,
|
| 77 |
+
-0.8338338136672974,
|
| 78 |
+
0.5465965270996094,
|
| 79 |
+
0.7054266929626465
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0,
|
| 85 |
+
1.0
|
| 86 |
+
]
|
| 87 |
+
],
|
| 88 |
+
"T_base_world": [
|
| 89 |
+
[
|
| 90 |
+
0.5804315805435181,
|
| 91 |
+
0.8143090605735779,
|
| 92 |
+
-8.028524689507321e-08,
|
| 93 |
+
-2.685173273086548
|
| 94 |
+
],
|
| 95 |
+
[
|
| 96 |
+
-0.8143090605735779,
|
| 97 |
+
0.5804315805435181,
|
| 98 |
+
-2.568476276110232e-08,
|
| 99 |
+
-4.783660411834717
|
| 100 |
+
],
|
| 101 |
+
[
|
| 102 |
+
2.568476276110232e-08,
|
| 103 |
+
8.028524689507321e-08,
|
| 104 |
+
1.0,
|
| 105 |
+
0.7811593413352966
|
| 106 |
+
],
|
| 107 |
+
[
|
| 108 |
+
0.0,
|
| 109 |
+
0.0,
|
| 110 |
+
0.0,
|
| 111 |
+
1.0
|
| 112 |
+
]
|
| 113 |
+
],
|
| 114 |
+
"lighting": {
|
| 115 |
+
"aug_enabled": true,
|
| 116 |
+
"params": {
|
| 117 |
+
"ambient": [
|
| 118 |
+
0.2687763697645908,
|
| 119 |
+
0.27484964336749124,
|
| 120 |
+
0.27292162564077455
|
| 121 |
+
],
|
| 122 |
+
"directional_primary": {
|
| 123 |
+
"direction": [
|
| 124 |
+
-0.3376350551650219,
|
| 125 |
+
-0.10627779145055354,
|
| 126 |
+
-0.9352580384942463
|
| 127 |
+
],
|
| 128 |
+
"color": [
|
| 129 |
+
1.1292769711639896,
|
| 130 |
+
1.117204791498889,
|
| 131 |
+
1.0965096263587162
|
| 132 |
+
],
|
| 133 |
+
"azimuth_rad": -2.8366399893375234,
|
| 134 |
+
"elevation_rad": 1.2089873574301557,
|
| 135 |
+
"color_temp_k": 5345.632859066009,
|
| 136 |
+
"intensity": 1.117204791498889
|
| 137 |
+
},
|
| 138 |
+
"directional_fill": {
|
| 139 |
+
"direction": [
|
| 140 |
+
-0.40777193506686965,
|
| 141 |
+
0.15973054979423756,
|
| 142 |
+
-0.8990040035696454
|
| 143 |
+
],
|
| 144 |
+
"color": [
|
| 145 |
+
0.7429582626667957,
|
| 146 |
+
0.7139154131796981,
|
| 147 |
+
0.6641276712018166
|
| 148 |
+
],
|
| 149 |
+
"azimuth_rad": 2.7682485050075663,
|
| 150 |
+
"elevation_rad": 1.1174899073936686,
|
| 151 |
+
"color_temp_k": 4918.841725285393,
|
| 152 |
+
"intensity": 0.7139154131796981
|
| 153 |
+
},
|
| 154 |
+
"point_color_scale": [
|
| 155 |
+
1.0223824708222213,
|
| 156 |
+
1.0651334237126608,
|
| 157 |
+
1.1335349483373645
|
| 158 |
+
],
|
| 159 |
+
"shadow": true
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"frames": [
|
| 163 |
+
{
|
| 164 |
+
"frame_idx": 0,
|
| 165 |
+
"qpos": [
|
| 166 |
+
0.0,
|
| 167 |
+
0.0,
|
| 168 |
+
0.0,
|
| 169 |
+
0.0,
|
| 170 |
+
0.0,
|
| 171 |
+
-1.100000023841858
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
]
|
| 175 |
+
}
|
so100/ProcTHOR/test/bg_000039/scene_b00_002/scene_meta.json
ADDED
|
@@ -0,0 +1,175 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "so100",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 39,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 1,
|
| 9 |
+
"n_dof": 6,
|
| 10 |
+
"num_links": 9,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"shoulder_pan",
|
| 13 |
+
"shoulder_lift",
|
| 14 |
+
"elbow_flex",
|
| 15 |
+
"wrist_flex",
|
| 16 |
+
"wrist_roll",
|
| 17 |
+
"gripper"
|
| 18 |
+
],
|
| 19 |
+
"link_names": [
|
| 20 |
+
"Base",
|
| 21 |
+
"Rotation_Pitch",
|
| 22 |
+
"Upper_Arm",
|
| 23 |
+
"Lower_Arm",
|
| 24 |
+
"Wrist_Pitch_Roll",
|
| 25 |
+
"Fixed_Jaw",
|
| 26 |
+
"Moving_Jaw",
|
| 27 |
+
"Fixed_Jaw_tip",
|
| 28 |
+
"Moving_Jaw_tip"
|
| 29 |
+
],
|
| 30 |
+
"ee_link_name": "Moving_Jaw",
|
| 31 |
+
"image_width": 640,
|
| 32 |
+
"image_height": 480,
|
| 33 |
+
"fovy_rad": 1.0304774726507084,
|
| 34 |
+
"K": [
|
| 35 |
+
[
|
| 36 |
+
420.5824389450159,
|
| 37 |
+
0.0,
|
| 38 |
+
315.77294166498694
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
0.0,
|
| 42 |
+
423.83594283211835,
|
| 43 |
+
222.94189519720288
|
| 44 |
+
],
|
| 45 |
+
[
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
1.0
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"camera_eye": [
|
| 52 |
+
-2.083206730455806,
|
| 53 |
+
-5.414355340783529,
|
| 54 |
+
0.7540231362092357
|
| 55 |
+
],
|
| 56 |
+
"camera_target": [
|
| 57 |
+
-2.7045324205428307,
|
| 58 |
+
-4.822867506276661,
|
| 59 |
+
1.0166791051712898
|
| 60 |
+
],
|
| 61 |
+
"camera_roll_rad": -0.03082088412544476,
|
| 62 |
+
"camera_pose_world_cv": [
|
| 63 |
+
[
|
| 64 |
+
0.701254665851593,
|
| 65 |
+
-0.16916680335998535,
|
| 66 |
+
-0.6925493478775024,
|
| 67 |
+
-2.0832066535949707
|
| 68 |
+
],
|
| 69 |
+
[
|
| 70 |
+
0.7104732990264893,
|
| 71 |
+
0.24609625339508057,
|
| 72 |
+
0.6592909693717957,
|
| 73 |
+
-5.414355278015137
|
| 74 |
+
],
|
| 75 |
+
[
|
| 76 |
+
0.05890360474586487,
|
| 77 |
+
-0.9543686509132385,
|
| 78 |
+
0.29276466369628906,
|
| 79 |
+
0.7540231347084045
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0,
|
| 85 |
+
1.0
|
| 86 |
+
]
|
| 87 |
+
],
|
| 88 |
+
"T_base_world": [
|
| 89 |
+
[
|
| 90 |
+
0.5804315805435181,
|
| 91 |
+
0.8143090605735779,
|
| 92 |
+
-8.028524689507321e-08,
|
| 93 |
+
-2.685173273086548
|
| 94 |
+
],
|
| 95 |
+
[
|
| 96 |
+
-0.8143090605735779,
|
| 97 |
+
0.5804315805435181,
|
| 98 |
+
-2.568476276110232e-08,
|
| 99 |
+
-4.783660411834717
|
| 100 |
+
],
|
| 101 |
+
[
|
| 102 |
+
2.568476276110232e-08,
|
| 103 |
+
8.028524689507321e-08,
|
| 104 |
+
1.0,
|
| 105 |
+
0.7811593413352966
|
| 106 |
+
],
|
| 107 |
+
[
|
| 108 |
+
0.0,
|
| 109 |
+
0.0,
|
| 110 |
+
0.0,
|
| 111 |
+
1.0
|
| 112 |
+
]
|
| 113 |
+
],
|
| 114 |
+
"lighting": {
|
| 115 |
+
"aug_enabled": true,
|
| 116 |
+
"params": {
|
| 117 |
+
"ambient": [
|
| 118 |
+
0.2851078453516874,
|
| 119 |
+
0.29937235964714065,
|
| 120 |
+
0.29768669860288494
|
| 121 |
+
],
|
| 122 |
+
"directional_primary": {
|
| 123 |
+
"direction": [
|
| 124 |
+
-0.3376350551650219,
|
| 125 |
+
-0.10627779145055354,
|
| 126 |
+
-0.9352580384942463
|
| 127 |
+
],
|
| 128 |
+
"color": [
|
| 129 |
+
1.0878293634358709,
|
| 130 |
+
1.134558034192606,
|
| 131 |
+
1.2093239074033826
|
| 132 |
+
],
|
| 133 |
+
"azimuth_rad": -2.8366399893375234,
|
| 134 |
+
"elevation_rad": 1.2089873574301557,
|
| 135 |
+
"color_temp_k": 6310.382673578058,
|
| 136 |
+
"intensity": 1.1532495024953002
|
| 137 |
+
},
|
| 138 |
+
"directional_fill": {
|
| 139 |
+
"direction": [
|
| 140 |
+
-0.40777193506686965,
|
| 141 |
+
0.15973054979423756,
|
| 142 |
+
-0.8990040035696454
|
| 143 |
+
],
|
| 144 |
+
"color": [
|
| 145 |
+
0.6438299666264722,
|
| 146 |
+
0.6661461252049227,
|
| 147 |
+
0.7018519789304435
|
| 148 |
+
],
|
| 149 |
+
"azimuth_rad": 2.7682485050075663,
|
| 150 |
+
"elevation_rad": 1.1174899073936686,
|
| 151 |
+
"color_temp_k": 6161.148414381061,
|
| 152 |
+
"intensity": 0.6750725886363029
|
| 153 |
+
},
|
| 154 |
+
"point_color_scale": [
|
| 155 |
+
0.9171529833153576,
|
| 156 |
+
0.9449943574704553,
|
| 157 |
+
0.9895405561186119
|
| 158 |
+
],
|
| 159 |
+
"shadow": true
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"frames": [
|
| 163 |
+
{
|
| 164 |
+
"frame_idx": 0,
|
| 165 |
+
"qpos": [
|
| 166 |
+
0.0,
|
| 167 |
+
0.0,
|
| 168 |
+
0.0,
|
| 169 |
+
0.0,
|
| 170 |
+
0.0,
|
| 171 |
+
-1.100000023841858
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
]
|
| 175 |
+
}
|
so100/ProcTHOR/test/bg_000039/scene_b00_003/scene_meta.json
ADDED
|
@@ -0,0 +1,175 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "so100",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 39,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 2,
|
| 9 |
+
"n_dof": 6,
|
| 10 |
+
"num_links": 9,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"shoulder_pan",
|
| 13 |
+
"shoulder_lift",
|
| 14 |
+
"elbow_flex",
|
| 15 |
+
"wrist_flex",
|
| 16 |
+
"wrist_roll",
|
| 17 |
+
"gripper"
|
| 18 |
+
],
|
| 19 |
+
"link_names": [
|
| 20 |
+
"Base",
|
| 21 |
+
"Rotation_Pitch",
|
| 22 |
+
"Upper_Arm",
|
| 23 |
+
"Lower_Arm",
|
| 24 |
+
"Wrist_Pitch_Roll",
|
| 25 |
+
"Fixed_Jaw",
|
| 26 |
+
"Moving_Jaw",
|
| 27 |
+
"Fixed_Jaw_tip",
|
| 28 |
+
"Moving_Jaw_tip"
|
| 29 |
+
],
|
| 30 |
+
"ee_link_name": "Moving_Jaw",
|
| 31 |
+
"image_width": 640,
|
| 32 |
+
"image_height": 480,
|
| 33 |
+
"fovy_rad": 1.2914332558193609,
|
| 34 |
+
"K": [
|
| 35 |
+
[
|
| 36 |
+
325.4456161800746,
|
| 37 |
+
0.0,
|
| 38 |
+
350.6694686914922
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
0.0,
|
| 42 |
+
318.5273351357428,
|
| 43 |
+
234.5430202627295
|
| 44 |
+
],
|
| 45 |
+
[
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
1.0
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"camera_eye": [
|
| 52 |
+
-2.280855831562257,
|
| 53 |
+
-4.129756682050299,
|
| 54 |
+
0.7896759380885437
|
| 55 |
+
],
|
| 56 |
+
"camera_target": [
|
| 57 |
+
-2.680893004529273,
|
| 58 |
+
-4.76291681784681,
|
| 59 |
+
0.895611888141363
|
| 60 |
+
],
|
| 61 |
+
"camera_roll_rad": -0.006024541290797707,
|
| 62 |
+
"camera_pose_world_cv": [
|
| 63 |
+
[
|
| 64 |
+
-0.8444380760192871,
|
| 65 |
+
-0.08498717844486237,
|
| 66 |
+
-0.5288681387901306,
|
| 67 |
+
-2.280855894088745
|
| 68 |
+
],
|
| 69 |
+
[
|
| 70 |
+
0.5355203151702881,
|
| 71 |
+
-0.11195623874664307,
|
| 72 |
+
-0.8370685577392578,
|
| 73 |
+
-4.129756450653076
|
| 74 |
+
],
|
| 75 |
+
[
|
| 76 |
+
0.01193004846572876,
|
| 77 |
+
-0.9900721311569214,
|
| 78 |
+
0.1400524377822876,
|
| 79 |
+
0.7896759510040283
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0,
|
| 85 |
+
1.0
|
| 86 |
+
]
|
| 87 |
+
],
|
| 88 |
+
"T_base_world": [
|
| 89 |
+
[
|
| 90 |
+
0.5804315805435181,
|
| 91 |
+
0.8143090605735779,
|
| 92 |
+
-8.028524689507321e-08,
|
| 93 |
+
-2.685173273086548
|
| 94 |
+
],
|
| 95 |
+
[
|
| 96 |
+
-0.8143090605735779,
|
| 97 |
+
0.5804315805435181,
|
| 98 |
+
-2.568476276110232e-08,
|
| 99 |
+
-4.783660411834717
|
| 100 |
+
],
|
| 101 |
+
[
|
| 102 |
+
2.568476276110232e-08,
|
| 103 |
+
8.028524689507321e-08,
|
| 104 |
+
1.0,
|
| 105 |
+
0.7811593413352966
|
| 106 |
+
],
|
| 107 |
+
[
|
| 108 |
+
0.0,
|
| 109 |
+
0.0,
|
| 110 |
+
0.0,
|
| 111 |
+
1.0
|
| 112 |
+
]
|
| 113 |
+
],
|
| 114 |
+
"lighting": {
|
| 115 |
+
"aug_enabled": true,
|
| 116 |
+
"params": {
|
| 117 |
+
"ambient": [
|
| 118 |
+
0.24763638321430867,
|
| 119 |
+
0.23325487729851396,
|
| 120 |
+
0.23123230099704478
|
| 121 |
+
],
|
| 122 |
+
"directional_primary": {
|
| 123 |
+
"direction": [
|
| 124 |
+
-0.3376350551650219,
|
| 125 |
+
-0.10627779145055354,
|
| 126 |
+
-0.9352580384942463
|
| 127 |
+
],
|
| 128 |
+
"color": [
|
| 129 |
+
1.01435043970409,
|
| 130 |
+
1.0038900746264672,
|
| 131 |
+
0.9859580202076852
|
| 132 |
+
],
|
| 133 |
+
"azimuth_rad": -2.8366399893375234,
|
| 134 |
+
"elevation_rad": 1.2089873574301557,
|
| 135 |
+
"color_temp_k": 5351.145269188178,
|
| 136 |
+
"intensity": 1.0038900746264672
|
| 137 |
+
},
|
| 138 |
+
"directional_fill": {
|
| 139 |
+
"direction": [
|
| 140 |
+
-0.40777193506686965,
|
| 141 |
+
0.15973054979423756,
|
| 142 |
+
-0.8990040035696454
|
| 143 |
+
],
|
| 144 |
+
"color": [
|
| 145 |
+
0.859746571032762,
|
| 146 |
+
0.8546176405050161,
|
| 147 |
+
0.8458251881717376
|
| 148 |
+
],
|
| 149 |
+
"azimuth_rad": 2.7682485050075663,
|
| 150 |
+
"elevation_rad": 1.1174899073936686,
|
| 151 |
+
"color_temp_k": 5414.2652425623255,
|
| 152 |
+
"intensity": 0.8546176405050161
|
| 153 |
+
},
|
| 154 |
+
"point_color_scale": [
|
| 155 |
+
0.8562524545055888,
|
| 156 |
+
0.8687827870810425,
|
| 157 |
+
0.8888313192017686
|
| 158 |
+
],
|
| 159 |
+
"shadow": true
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"frames": [
|
| 163 |
+
{
|
| 164 |
+
"frame_idx": 0,
|
| 165 |
+
"qpos": [
|
| 166 |
+
0.0,
|
| 167 |
+
0.0,
|
| 168 |
+
0.0,
|
| 169 |
+
0.0,
|
| 170 |
+
0.0,
|
| 171 |
+
-1.100000023841858
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
]
|
| 175 |
+
}
|
so100/ProcTHOR/test/bg_000039/scene_b00_004/scene_meta.json
ADDED
|
@@ -0,0 +1,175 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "so100",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 39,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 3,
|
| 9 |
+
"n_dof": 6,
|
| 10 |
+
"num_links": 9,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"shoulder_pan",
|
| 13 |
+
"shoulder_lift",
|
| 14 |
+
"elbow_flex",
|
| 15 |
+
"wrist_flex",
|
| 16 |
+
"wrist_roll",
|
| 17 |
+
"gripper"
|
| 18 |
+
],
|
| 19 |
+
"link_names": [
|
| 20 |
+
"Base",
|
| 21 |
+
"Rotation_Pitch",
|
| 22 |
+
"Upper_Arm",
|
| 23 |
+
"Lower_Arm",
|
| 24 |
+
"Wrist_Pitch_Roll",
|
| 25 |
+
"Fixed_Jaw",
|
| 26 |
+
"Moving_Jaw",
|
| 27 |
+
"Fixed_Jaw_tip",
|
| 28 |
+
"Moving_Jaw_tip"
|
| 29 |
+
],
|
| 30 |
+
"ee_link_name": "Moving_Jaw",
|
| 31 |
+
"image_width": 640,
|
| 32 |
+
"image_height": 480,
|
| 33 |
+
"fovy_rad": 1.1051604125546455,
|
| 34 |
+
"K": [
|
| 35 |
+
[
|
| 36 |
+
373.5667890371775,
|
| 37 |
+
0.0,
|
| 38 |
+
334.870243687499
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
0.0,
|
| 42 |
+
389.1927991364649,
|
| 43 |
+
225.09393077104667
|
| 44 |
+
],
|
| 45 |
+
[
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
1.0
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"camera_eye": [
|
| 52 |
+
-3.001681590769431,
|
| 53 |
+
-5.317345057961186,
|
| 54 |
+
1.0714175282381804
|
| 55 |
+
],
|
| 56 |
+
"camera_target": [
|
| 57 |
+
-2.6416177451083125,
|
| 58 |
+
-4.787076855454862,
|
| 59 |
+
1.022536036003662
|
| 60 |
+
],
|
| 61 |
+
"camera_roll_rad": 0.006081340396724408,
|
| 62 |
+
"camera_pose_world_cv": [
|
| 63 |
+
[
|
| 64 |
+
0.8267217874526978,
|
| 65 |
+
-0.052775949239730835,
|
| 66 |
+
0.5601301193237305,
|
| 67 |
+
-3.0016815662384033
|
| 68 |
+
],
|
| 69 |
+
[
|
| 70 |
+
-0.5624802112579346,
|
| 71 |
+
-0.05607283115386963,
|
| 72 |
+
0.8249072432518005,
|
| 73 |
+
-5.317345142364502
|
| 74 |
+
],
|
| 75 |
+
[
|
| 76 |
+
-0.012127131223678589,
|
| 77 |
+
-0.9970309138298035,
|
| 78 |
+
-0.0760420560836792,
|
| 79 |
+
1.0714175701141357
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0,
|
| 85 |
+
1.0
|
| 86 |
+
]
|
| 87 |
+
],
|
| 88 |
+
"T_base_world": [
|
| 89 |
+
[
|
| 90 |
+
0.5804315805435181,
|
| 91 |
+
0.8143090605735779,
|
| 92 |
+
-8.028524689507321e-08,
|
| 93 |
+
-2.685173273086548
|
| 94 |
+
],
|
| 95 |
+
[
|
| 96 |
+
-0.8143090605735779,
|
| 97 |
+
0.5804315805435181,
|
| 98 |
+
-2.568476276110232e-08,
|
| 99 |
+
-4.783660411834717
|
| 100 |
+
],
|
| 101 |
+
[
|
| 102 |
+
2.568476276110232e-08,
|
| 103 |
+
8.028524689507321e-08,
|
| 104 |
+
1.0,
|
| 105 |
+
0.7811593413352966
|
| 106 |
+
],
|
| 107 |
+
[
|
| 108 |
+
0.0,
|
| 109 |
+
0.0,
|
| 110 |
+
0.0,
|
| 111 |
+
1.0
|
| 112 |
+
]
|
| 113 |
+
],
|
| 114 |
+
"lighting": {
|
| 115 |
+
"aug_enabled": true,
|
| 116 |
+
"params": {
|
| 117 |
+
"ambient": [
|
| 118 |
+
0.34035380040364316,
|
| 119 |
+
0.36488725720743476,
|
| 120 |
+
0.3650565203127123
|
| 121 |
+
],
|
| 122 |
+
"directional_primary": {
|
| 123 |
+
"direction": [
|
| 124 |
+
-0.3376350551650219,
|
| 125 |
+
-0.10627779145055354,
|
| 126 |
+
-0.9352580384942463
|
| 127 |
+
],
|
| 128 |
+
"color": [
|
| 129 |
+
0.9417056332755307,
|
| 130 |
+
0.8837578777359457,
|
| 131 |
+
0.7844188682395145
|
| 132 |
+
],
|
| 133 |
+
"azimuth_rad": -2.8366399893375234,
|
| 134 |
+
"elevation_rad": 1.2089873574301557,
|
| 135 |
+
"color_temp_k": 4563.289731280597,
|
| 136 |
+
"intensity": 0.8837578777359457
|
| 137 |
+
},
|
| 138 |
+
"directional_fill": {
|
| 139 |
+
"direction": [
|
| 140 |
+
-0.40777193506686965,
|
| 141 |
+
0.15973054979423756,
|
| 142 |
+
-0.8990040035696454
|
| 143 |
+
],
|
| 144 |
+
"color": [
|
| 145 |
+
0.7992981226512995,
|
| 146 |
+
0.776025770773716,
|
| 147 |
+
0.7361303104121447
|
| 148 |
+
],
|
| 149 |
+
"azimuth_rad": 2.7682485050075663,
|
| 150 |
+
"elevation_rad": 1.1174899073936686,
|
| 151 |
+
"color_temp_k": 5071.583596575293,
|
| 152 |
+
"intensity": 0.776025770773716
|
| 153 |
+
},
|
| 154 |
+
"point_color_scale": [
|
| 155 |
+
1.011466280519333,
|
| 156 |
+
1.0362264535838375,
|
| 157 |
+
1.0758427304870448
|
| 158 |
+
],
|
| 159 |
+
"shadow": true
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"frames": [
|
| 163 |
+
{
|
| 164 |
+
"frame_idx": 0,
|
| 165 |
+
"qpos": [
|
| 166 |
+
0.0,
|
| 167 |
+
0.0,
|
| 168 |
+
0.0,
|
| 169 |
+
0.0,
|
| 170 |
+
0.0,
|
| 171 |
+
-1.100000023841858
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
]
|
| 175 |
+
}
|
so100/ProcTHOR/test/bg_000039/scene_b00_005/scene_meta.json
ADDED
|
@@ -0,0 +1,175 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "so100",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 39,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 4,
|
| 9 |
+
"n_dof": 6,
|
| 10 |
+
"num_links": 9,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"shoulder_pan",
|
| 13 |
+
"shoulder_lift",
|
| 14 |
+
"elbow_flex",
|
| 15 |
+
"wrist_flex",
|
| 16 |
+
"wrist_roll",
|
| 17 |
+
"gripper"
|
| 18 |
+
],
|
| 19 |
+
"link_names": [
|
| 20 |
+
"Base",
|
| 21 |
+
"Rotation_Pitch",
|
| 22 |
+
"Upper_Arm",
|
| 23 |
+
"Lower_Arm",
|
| 24 |
+
"Wrist_Pitch_Roll",
|
| 25 |
+
"Fixed_Jaw",
|
| 26 |
+
"Moving_Jaw",
|
| 27 |
+
"Fixed_Jaw_tip",
|
| 28 |
+
"Moving_Jaw_tip"
|
| 29 |
+
],
|
| 30 |
+
"ee_link_name": "Moving_Jaw",
|
| 31 |
+
"image_width": 640,
|
| 32 |
+
"image_height": 480,
|
| 33 |
+
"fovy_rad": 1.1353717147322138,
|
| 34 |
+
"K": [
|
| 35 |
+
[
|
| 36 |
+
373.967662972772,
|
| 37 |
+
0.0,
|
| 38 |
+
333.9162113657427
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
0.0,
|
| 42 |
+
376.34750345498617,
|
| 43 |
+
254.61120331372715
|
| 44 |
+
],
|
| 45 |
+
[
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
1.0
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"camera_eye": [
|
| 52 |
+
-3.1248733331928342,
|
| 53 |
+
-4.713290620123383,
|
| 54 |
+
1.1759238317282823
|
| 55 |
+
],
|
| 56 |
+
"camera_target": [
|
| 57 |
+
-2.7185204086881267,
|
| 58 |
+
-4.754754703852028,
|
| 59 |
+
0.8970275483098384
|
| 60 |
+
],
|
| 61 |
+
"camera_roll_rad": -0.046681915631712506,
|
| 62 |
+
"camera_pose_world_cv": [
|
| 63 |
+
[
|
| 64 |
+
-0.04877114295959473,
|
| 65 |
+
-0.5679948925971985,
|
| 66 |
+
0.8215857744216919,
|
| 67 |
+
-3.124873399734497
|
| 68 |
+
],
|
| 69 |
+
[
|
| 70 |
+
-0.9958381056785583,
|
| 71 |
+
-0.03575479984283447,
|
| 72 |
+
-0.08383378386497498,
|
| 73 |
+
-4.713290691375732
|
| 74 |
+
],
|
| 75 |
+
[
|
| 76 |
+
0.07699277997016907,
|
| 77 |
+
-0.8222551345825195,
|
| 78 |
+
-0.5638871192932129,
|
| 79 |
+
1.1759238243103027
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0,
|
| 85 |
+
1.0
|
| 86 |
+
]
|
| 87 |
+
],
|
| 88 |
+
"T_base_world": [
|
| 89 |
+
[
|
| 90 |
+
0.5804315805435181,
|
| 91 |
+
0.8143090605735779,
|
| 92 |
+
-8.028524689507321e-08,
|
| 93 |
+
-2.685173273086548
|
| 94 |
+
],
|
| 95 |
+
[
|
| 96 |
+
-0.8143090605735779,
|
| 97 |
+
0.5804315805435181,
|
| 98 |
+
-2.568476276110232e-08,
|
| 99 |
+
-4.783660411834717
|
| 100 |
+
],
|
| 101 |
+
[
|
| 102 |
+
2.568476276110232e-08,
|
| 103 |
+
8.028524689507321e-08,
|
| 104 |
+
1.0,
|
| 105 |
+
0.7811593413352966
|
| 106 |
+
],
|
| 107 |
+
[
|
| 108 |
+
0.0,
|
| 109 |
+
0.0,
|
| 110 |
+
0.0,
|
| 111 |
+
1.0
|
| 112 |
+
]
|
| 113 |
+
],
|
| 114 |
+
"lighting": {
|
| 115 |
+
"aug_enabled": true,
|
| 116 |
+
"params": {
|
| 117 |
+
"ambient": [
|
| 118 |
+
0.25176685993980613,
|
| 119 |
+
0.25731977121390054,
|
| 120 |
+
0.2637124048209256
|
| 121 |
+
],
|
| 122 |
+
"directional_primary": {
|
| 123 |
+
"direction": [
|
| 124 |
+
-0.3376350551650219,
|
| 125 |
+
-0.10627779145055354,
|
| 126 |
+
-0.9352580384942463
|
| 127 |
+
],
|
| 128 |
+
"color": [
|
| 129 |
+
0.9957812315201199,
|
| 130 |
+
1.0302825434764864,
|
| 131 |
+
1.0854846426066733
|
| 132 |
+
],
|
| 133 |
+
"azimuth_rad": -2.8366399893375234,
|
| 134 |
+
"elevation_rad": 1.2089873574301557,
|
| 135 |
+
"color_temp_k": 6160.892088095946,
|
| 136 |
+
"intensity": 1.0440830682590332
|
| 137 |
+
},
|
| 138 |
+
"directional_fill": {
|
| 139 |
+
"direction": [
|
| 140 |
+
-0.40777193506686965,
|
| 141 |
+
0.15973054979423756,
|
| 142 |
+
-0.8990040035696454
|
| 143 |
+
],
|
| 144 |
+
"color": [
|
| 145 |
+
0.8045110884029762,
|
| 146 |
+
0.8095111735492515,
|
| 147 |
+
0.8175113097832919
|
| 148 |
+
],
|
| 149 |
+
"azimuth_rad": 2.7682485050075663,
|
| 150 |
+
"elevation_rad": 1.1174899073936686,
|
| 151 |
+
"color_temp_k": 5623.228985611053,
|
| 152 |
+
"intensity": 0.8115112076077616
|
| 153 |
+
},
|
| 154 |
+
"point_color_scale": [
|
| 155 |
+
0.8544717070802358,
|
| 156 |
+
0.8207094315013939,
|
| 157 |
+
0.7628312447948076
|
| 158 |
+
],
|
| 159 |
+
"shadow": true
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"frames": [
|
| 163 |
+
{
|
| 164 |
+
"frame_idx": 0,
|
| 165 |
+
"qpos": [
|
| 166 |
+
0.0,
|
| 167 |
+
0.0,
|
| 168 |
+
0.0,
|
| 169 |
+
0.0,
|
| 170 |
+
0.0,
|
| 171 |
+
-1.100000023841858
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
]
|
| 175 |
+
}
|
so100/ProcTHOR/test/bg_000039/scene_b00_006/scene_meta.json
ADDED
|
@@ -0,0 +1,175 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "so100",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 39,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 5,
|
| 9 |
+
"n_dof": 6,
|
| 10 |
+
"num_links": 9,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"shoulder_pan",
|
| 13 |
+
"shoulder_lift",
|
| 14 |
+
"elbow_flex",
|
| 15 |
+
"wrist_flex",
|
| 16 |
+
"wrist_roll",
|
| 17 |
+
"gripper"
|
| 18 |
+
],
|
| 19 |
+
"link_names": [
|
| 20 |
+
"Base",
|
| 21 |
+
"Rotation_Pitch",
|
| 22 |
+
"Upper_Arm",
|
| 23 |
+
"Lower_Arm",
|
| 24 |
+
"Wrist_Pitch_Roll",
|
| 25 |
+
"Fixed_Jaw",
|
| 26 |
+
"Moving_Jaw",
|
| 27 |
+
"Fixed_Jaw_tip",
|
| 28 |
+
"Moving_Jaw_tip"
|
| 29 |
+
],
|
| 30 |
+
"ee_link_name": "Moving_Jaw",
|
| 31 |
+
"image_width": 640,
|
| 32 |
+
"image_height": 480,
|
| 33 |
+
"fovy_rad": 1.2365553640884142,
|
| 34 |
+
"K": [
|
| 35 |
+
[
|
| 36 |
+
354.03427314910056,
|
| 37 |
+
0.0,
|
| 38 |
+
330.39546653926686
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
0.0,
|
| 42 |
+
337.4046489075698,
|
| 43 |
+
243.8222304017922
|
| 44 |
+
],
|
| 45 |
+
[
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
1.0
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"camera_eye": [
|
| 52 |
+
-2.647632628722345,
|
| 53 |
+
-4.221814396057499,
|
| 54 |
+
1.0716858156247164
|
| 55 |
+
],
|
| 56 |
+
"camera_target": [
|
| 57 |
+
-2.6916443281702667,
|
| 58 |
+
-4.754897222453032,
|
| 59 |
+
0.9380627154116316
|
| 60 |
+
],
|
| 61 |
+
"camera_roll_rad": 0.03699402795379288,
|
| 62 |
+
"camera_pose_world_cv": [
|
| 63 |
+
[
|
| 64 |
+
-0.9924087524414062,
|
| 65 |
+
0.09355730563402176,
|
| 66 |
+
-0.07982781529426575,
|
| 67 |
+
-2.647632598876953
|
| 68 |
+
],
|
| 69 |
+
[
|
| 70 |
+
0.09991075843572617,
|
| 71 |
+
0.23479843139648438,
|
| 72 |
+
-0.9668959975242615,
|
| 73 |
+
-4.2218146324157715
|
| 74 |
+
],
|
| 75 |
+
[
|
| 76 |
+
-0.07171674072742462,
|
| 77 |
+
-0.9675313830375671,
|
| 78 |
+
-0.24236303567886353,
|
| 79 |
+
1.071685791015625
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0,
|
| 85 |
+
1.0
|
| 86 |
+
]
|
| 87 |
+
],
|
| 88 |
+
"T_base_world": [
|
| 89 |
+
[
|
| 90 |
+
0.5804315805435181,
|
| 91 |
+
0.8143090605735779,
|
| 92 |
+
-8.028524689507321e-08,
|
| 93 |
+
-2.685173273086548
|
| 94 |
+
],
|
| 95 |
+
[
|
| 96 |
+
-0.8143090605735779,
|
| 97 |
+
0.5804315805435181,
|
| 98 |
+
-2.568476276110232e-08,
|
| 99 |
+
-4.783660411834717
|
| 100 |
+
],
|
| 101 |
+
[
|
| 102 |
+
2.568476276110232e-08,
|
| 103 |
+
8.028524689507321e-08,
|
| 104 |
+
1.0,
|
| 105 |
+
0.7811593413352966
|
| 106 |
+
],
|
| 107 |
+
[
|
| 108 |
+
0.0,
|
| 109 |
+
0.0,
|
| 110 |
+
0.0,
|
| 111 |
+
1.0
|
| 112 |
+
]
|
| 113 |
+
],
|
| 114 |
+
"lighting": {
|
| 115 |
+
"aug_enabled": true,
|
| 116 |
+
"params": {
|
| 117 |
+
"ambient": [
|
| 118 |
+
0.24967959687961122,
|
| 119 |
+
0.24615883884036674,
|
| 120 |
+
0.25425509707231875
|
| 121 |
+
],
|
| 122 |
+
"directional_primary": {
|
| 123 |
+
"direction": [
|
| 124 |
+
-0.3376350551650219,
|
| 125 |
+
-0.10627779145055354,
|
| 126 |
+
-0.9352580384942463
|
| 127 |
+
],
|
| 128 |
+
"color": [
|
| 129 |
+
0.7997432339056367,
|
| 130 |
+
0.8394224520775692,
|
| 131 |
+
0.9029092011526612
|
| 132 |
+
],
|
| 133 |
+
"azimuth_rad": -2.8366399893375234,
|
| 134 |
+
"elevation_rad": 1.2089873574301557,
|
| 135 |
+
"color_temp_k": 6427.849644854513,
|
| 136 |
+
"intensity": 0.8552941393463421
|
| 137 |
+
},
|
| 138 |
+
"directional_fill": {
|
| 139 |
+
"direction": [
|
| 140 |
+
-0.40777193506686965,
|
| 141 |
+
0.15973054979423756,
|
| 142 |
+
-0.8990040035696454
|
| 143 |
+
],
|
| 144 |
+
"color": [
|
| 145 |
+
0.8582650140294061,
|
| 146 |
+
0.8494687789706717,
|
| 147 |
+
0.8343895188699844
|
| 148 |
+
],
|
| 149 |
+
"azimuth_rad": 2.7682485050075663,
|
| 150 |
+
"elevation_rad": 1.1174899073936686,
|
| 151 |
+
"color_temp_k": 5352.071666493348,
|
| 152 |
+
"intensity": 0.8494687789706717
|
| 153 |
+
},
|
| 154 |
+
"point_color_scale": [
|
| 155 |
+
1.0874940476638184,
|
| 156 |
+
1.0931923933197758,
|
| 157 |
+
1.1023097463693075
|
| 158 |
+
],
|
| 159 |
+
"shadow": false
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"frames": [
|
| 163 |
+
{
|
| 164 |
+
"frame_idx": 0,
|
| 165 |
+
"qpos": [
|
| 166 |
+
0.0,
|
| 167 |
+
0.0,
|
| 168 |
+
0.0,
|
| 169 |
+
0.0,
|
| 170 |
+
0.0,
|
| 171 |
+
-1.100000023841858
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
]
|
| 175 |
+
}
|
so100/ProcTHOR/test/bg_000039/scene_b00_007/scene_meta.json
ADDED
|
@@ -0,0 +1,175 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "so100",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 39,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 6,
|
| 9 |
+
"n_dof": 6,
|
| 10 |
+
"num_links": 9,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"shoulder_pan",
|
| 13 |
+
"shoulder_lift",
|
| 14 |
+
"elbow_flex",
|
| 15 |
+
"wrist_flex",
|
| 16 |
+
"wrist_roll",
|
| 17 |
+
"gripper"
|
| 18 |
+
],
|
| 19 |
+
"link_names": [
|
| 20 |
+
"Base",
|
| 21 |
+
"Rotation_Pitch",
|
| 22 |
+
"Upper_Arm",
|
| 23 |
+
"Lower_Arm",
|
| 24 |
+
"Wrist_Pitch_Roll",
|
| 25 |
+
"Fixed_Jaw",
|
| 26 |
+
"Moving_Jaw",
|
| 27 |
+
"Fixed_Jaw_tip",
|
| 28 |
+
"Moving_Jaw_tip"
|
| 29 |
+
],
|
| 30 |
+
"ee_link_name": "Moving_Jaw",
|
| 31 |
+
"image_width": 640,
|
| 32 |
+
"image_height": 480,
|
| 33 |
+
"fovy_rad": 1.09390594243904,
|
| 34 |
+
"K": [
|
| 35 |
+
[
|
| 36 |
+
397.6718407923988,
|
| 37 |
+
0.0,
|
| 38 |
+
335.58366430870285
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
0.0,
|
| 42 |
+
394.1400460246881,
|
| 43 |
+
220.9598719686259
|
| 44 |
+
],
|
| 45 |
+
[
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
1.0
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"camera_eye": [
|
| 52 |
+
-1.8637980849585527,
|
| 53 |
+
-5.072384241113259,
|
| 54 |
+
0.7190896920618169
|
| 55 |
+
],
|
| 56 |
+
"camera_target": [
|
| 57 |
+
-2.716118540253693,
|
| 58 |
+
-4.82684506458163,
|
| 59 |
+
0.9112012445629365
|
| 60 |
+
],
|
| 61 |
+
"camera_roll_rad": -0.03489116170546208,
|
| 62 |
+
"camera_pose_world_cv": [
|
| 63 |
+
[
|
| 64 |
+
0.29033398628234863,
|
| 65 |
+
-0.18361228704452515,
|
| 66 |
+
-0.9391447305679321,
|
| 67 |
+
-1.8637981414794922
|
| 68 |
+
],
|
| 69 |
+
[
|
| 70 |
+
0.9544959664344788,
|
| 71 |
+
0.1254570484161377,
|
| 72 |
+
0.27055177092552185,
|
| 73 |
+
-5.072384357452393
|
| 74 |
+
],
|
| 75 |
+
[
|
| 76 |
+
0.06814560294151306,
|
| 77 |
+
-0.9749600887298584,
|
| 78 |
+
0.21168172359466553,
|
| 79 |
+
0.719089686870575
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0,
|
| 85 |
+
1.0
|
| 86 |
+
]
|
| 87 |
+
],
|
| 88 |
+
"T_base_world": [
|
| 89 |
+
[
|
| 90 |
+
0.5804315805435181,
|
| 91 |
+
0.8143090605735779,
|
| 92 |
+
-8.028524689507321e-08,
|
| 93 |
+
-2.685173273086548
|
| 94 |
+
],
|
| 95 |
+
[
|
| 96 |
+
-0.8143090605735779,
|
| 97 |
+
0.5804315805435181,
|
| 98 |
+
-2.568476276110232e-08,
|
| 99 |
+
-4.783660411834717
|
| 100 |
+
],
|
| 101 |
+
[
|
| 102 |
+
2.568476276110232e-08,
|
| 103 |
+
8.028524689507321e-08,
|
| 104 |
+
1.0,
|
| 105 |
+
0.7811593413352966
|
| 106 |
+
],
|
| 107 |
+
[
|
| 108 |
+
0.0,
|
| 109 |
+
0.0,
|
| 110 |
+
0.0,
|
| 111 |
+
1.0
|
| 112 |
+
]
|
| 113 |
+
],
|
| 114 |
+
"lighting": {
|
| 115 |
+
"aug_enabled": true,
|
| 116 |
+
"params": {
|
| 117 |
+
"ambient": [
|
| 118 |
+
0.3738957616981838,
|
| 119 |
+
0.3749164973460481,
|
| 120 |
+
0.34565795175955843
|
| 121 |
+
],
|
| 122 |
+
"directional_primary": {
|
| 123 |
+
"direction": [
|
| 124 |
+
-0.3376350551650219,
|
| 125 |
+
-0.10627779145055354,
|
| 126 |
+
-0.9352580384942463
|
| 127 |
+
],
|
| 128 |
+
"color": [
|
| 129 |
+
1.0051445155344658,
|
| 130 |
+
1.0282883017165874,
|
| 131 |
+
1.0653183596079818
|
| 132 |
+
],
|
| 133 |
+
"azimuth_rad": -2.8366399893375234,
|
| 134 |
+
"elevation_rad": 1.2089873574301557,
|
| 135 |
+
"color_temp_k": 5946.125574813092,
|
| 136 |
+
"intensity": 1.037545816189436
|
| 137 |
+
},
|
| 138 |
+
"directional_fill": {
|
| 139 |
+
"direction": [
|
| 140 |
+
-0.40777193506686965,
|
| 141 |
+
0.15973054979423756,
|
| 142 |
+
-0.8990040035696454
|
| 143 |
+
],
|
| 144 |
+
"color": [
|
| 145 |
+
0.7880966682984696,
|
| 146 |
+
0.7644723274265597,
|
| 147 |
+
0.7239734573604284
|
| 148 |
+
],
|
| 149 |
+
"azimuth_rad": 2.7682485050075663,
|
| 150 |
+
"elevation_rad": 1.1174899073936686,
|
| 151 |
+
"color_temp_k": 5058.5313270651395,
|
| 152 |
+
"intensity": 0.7644723274265597
|
| 153 |
+
},
|
| 154 |
+
"point_color_scale": [
|
| 155 |
+
1.2129127977713767,
|
| 156 |
+
1.1741676320579564,
|
| 157 |
+
1.107747347977807
|
| 158 |
+
],
|
| 159 |
+
"shadow": false
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"frames": [
|
| 163 |
+
{
|
| 164 |
+
"frame_idx": 0,
|
| 165 |
+
"qpos": [
|
| 166 |
+
0.0,
|
| 167 |
+
0.0,
|
| 168 |
+
0.0,
|
| 169 |
+
0.0,
|
| 170 |
+
0.0,
|
| 171 |
+
-1.100000023841858
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
]
|
| 175 |
+
}
|
so100/ProcTHOR/test/bg_000039/scene_b00_008/scene_meta.json
ADDED
|
@@ -0,0 +1,175 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "so100",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 39,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 7,
|
| 9 |
+
"n_dof": 6,
|
| 10 |
+
"num_links": 9,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"shoulder_pan",
|
| 13 |
+
"shoulder_lift",
|
| 14 |
+
"elbow_flex",
|
| 15 |
+
"wrist_flex",
|
| 16 |
+
"wrist_roll",
|
| 17 |
+
"gripper"
|
| 18 |
+
],
|
| 19 |
+
"link_names": [
|
| 20 |
+
"Base",
|
| 21 |
+
"Rotation_Pitch",
|
| 22 |
+
"Upper_Arm",
|
| 23 |
+
"Lower_Arm",
|
| 24 |
+
"Wrist_Pitch_Roll",
|
| 25 |
+
"Fixed_Jaw",
|
| 26 |
+
"Moving_Jaw",
|
| 27 |
+
"Fixed_Jaw_tip",
|
| 28 |
+
"Moving_Jaw_tip"
|
| 29 |
+
],
|
| 30 |
+
"ee_link_name": "Moving_Jaw",
|
| 31 |
+
"image_width": 640,
|
| 32 |
+
"image_height": 480,
|
| 33 |
+
"fovy_rad": 1.2393411037607147,
|
| 34 |
+
"K": [
|
| 35 |
+
[
|
| 36 |
+
336.3251547130083,
|
| 37 |
+
0.0,
|
| 38 |
+
324.9297992717913
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
0.0,
|
| 42 |
+
336.41160844420733,
|
| 43 |
+
244.6576691844674
|
| 44 |
+
],
|
| 45 |
+
[
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
1.0
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"camera_eye": [
|
| 52 |
+
-2.6558096858869917,
|
| 53 |
+
-5.320246634462652,
|
| 54 |
+
0.8123832990200516
|
| 55 |
+
],
|
| 56 |
+
"camera_target": [
|
| 57 |
+
-2.6699010773714758,
|
| 58 |
+
-4.783486227635942,
|
| 59 |
+
0.9004378724556004
|
| 60 |
+
],
|
| 61 |
+
"camera_roll_rad": -0.049101014507740195,
|
| 62 |
+
"camera_pose_world_cv": [
|
| 63 |
+
[
|
| 64 |
+
0.995255708694458,
|
| 65 |
+
0.0937839224934578,
|
| 66 |
+
-0.02589791640639305,
|
| 67 |
+
-2.6558096408843994
|
| 68 |
+
],
|
| 69 |
+
[
|
| 70 |
+
0.010256350040435791,
|
| 71 |
+
0.1635681390762329,
|
| 72 |
+
0.986478865146637,
|
| 73 |
+
-5.320246696472168
|
| 74 |
+
],
|
| 75 |
+
[
|
| 76 |
+
0.09675191342830658,
|
| 77 |
+
-0.9820643067359924,
|
| 78 |
+
0.16183030605316162,
|
| 79 |
+
0.8123832941055298
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0,
|
| 85 |
+
1.0
|
| 86 |
+
]
|
| 87 |
+
],
|
| 88 |
+
"T_base_world": [
|
| 89 |
+
[
|
| 90 |
+
0.5804315805435181,
|
| 91 |
+
0.8143090605735779,
|
| 92 |
+
-8.028524689507321e-08,
|
| 93 |
+
-2.685173273086548
|
| 94 |
+
],
|
| 95 |
+
[
|
| 96 |
+
-0.8143090605735779,
|
| 97 |
+
0.5804315805435181,
|
| 98 |
+
-2.568476276110232e-08,
|
| 99 |
+
-4.783660411834717
|
| 100 |
+
],
|
| 101 |
+
[
|
| 102 |
+
2.568476276110232e-08,
|
| 103 |
+
8.028524689507321e-08,
|
| 104 |
+
1.0,
|
| 105 |
+
0.7811593413352966
|
| 106 |
+
],
|
| 107 |
+
[
|
| 108 |
+
0.0,
|
| 109 |
+
0.0,
|
| 110 |
+
0.0,
|
| 111 |
+
1.0
|
| 112 |
+
]
|
| 113 |
+
],
|
| 114 |
+
"lighting": {
|
| 115 |
+
"aug_enabled": true,
|
| 116 |
+
"params": {
|
| 117 |
+
"ambient": [
|
| 118 |
+
0.26950477314974697,
|
| 119 |
+
0.2608941008991641,
|
| 120 |
+
0.27875843444248716
|
| 121 |
+
],
|
| 122 |
+
"directional_primary": {
|
| 123 |
+
"direction": [
|
| 124 |
+
-0.3376350551650219,
|
| 125 |
+
-0.10627779145055354,
|
| 126 |
+
-0.9352580384942463
|
| 127 |
+
],
|
| 128 |
+
"color": [
|
| 129 |
+
1.1955171525551969,
|
| 130 |
+
1.1599155654808162,
|
| 131 |
+
1.0988842733533064
|
| 132 |
+
],
|
| 133 |
+
"azimuth_rad": -2.8366399893375234,
|
| 134 |
+
"elevation_rad": 1.2089873574301557,
|
| 135 |
+
"color_temp_k": 5061.52489353675,
|
| 136 |
+
"intensity": 1.1599155654808162
|
| 137 |
+
},
|
| 138 |
+
"directional_fill": {
|
| 139 |
+
"direction": [
|
| 140 |
+
-0.40777193506686965,
|
| 141 |
+
0.15973054979423756,
|
| 142 |
+
-0.8990040035696454
|
| 143 |
+
],
|
| 144 |
+
"color": [
|
| 145 |
+
0.9181917482413544,
|
| 146 |
+
0.9349892138811094,
|
| 147 |
+
0.9618651589047176
|
| 148 |
+
],
|
| 149 |
+
"azimuth_rad": 2.7682485050075663,
|
| 150 |
+
"elevation_rad": 1.1174899073936686,
|
| 151 |
+
"color_temp_k": 5856.744597473211,
|
| 152 |
+
"intensity": 0.9417082001370114
|
| 153 |
+
},
|
| 154 |
+
"point_color_scale": [
|
| 155 |
+
1.0152184814623992,
|
| 156 |
+
1.00930208149973,
|
| 157 |
+
0.9991596815637255
|
| 158 |
+
],
|
| 159 |
+
"shadow": true
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"frames": [
|
| 163 |
+
{
|
| 164 |
+
"frame_idx": 0,
|
| 165 |
+
"qpos": [
|
| 166 |
+
0.0,
|
| 167 |
+
0.0,
|
| 168 |
+
0.0,
|
| 169 |
+
0.0,
|
| 170 |
+
0.0,
|
| 171 |
+
-1.100000023841858
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
]
|
| 175 |
+
}
|
so100/ProcTHOR/test/bg_000039/scene_b00_009/scene_meta.json
ADDED
|
@@ -0,0 +1,175 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "so100",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 39,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 8,
|
| 9 |
+
"n_dof": 6,
|
| 10 |
+
"num_links": 9,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"shoulder_pan",
|
| 13 |
+
"shoulder_lift",
|
| 14 |
+
"elbow_flex",
|
| 15 |
+
"wrist_flex",
|
| 16 |
+
"wrist_roll",
|
| 17 |
+
"gripper"
|
| 18 |
+
],
|
| 19 |
+
"link_names": [
|
| 20 |
+
"Base",
|
| 21 |
+
"Rotation_Pitch",
|
| 22 |
+
"Upper_Arm",
|
| 23 |
+
"Lower_Arm",
|
| 24 |
+
"Wrist_Pitch_Roll",
|
| 25 |
+
"Fixed_Jaw",
|
| 26 |
+
"Moving_Jaw",
|
| 27 |
+
"Fixed_Jaw_tip",
|
| 28 |
+
"Moving_Jaw_tip"
|
| 29 |
+
],
|
| 30 |
+
"ee_link_name": "Moving_Jaw",
|
| 31 |
+
"image_width": 640,
|
| 32 |
+
"image_height": 480,
|
| 33 |
+
"fovy_rad": 0.904443180717216,
|
| 34 |
+
"K": [
|
| 35 |
+
[
|
| 36 |
+
470.0622603291871,
|
| 37 |
+
0.0,
|
| 38 |
+
311.1713564003101
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
0.0,
|
| 42 |
+
494.03250435472665,
|
| 43 |
+
235.33234889838764
|
| 44 |
+
],
|
| 45 |
+
[
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
1.0
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"camera_eye": [
|
| 52 |
+
-2.326950713545506,
|
| 53 |
+
-5.552433685268711,
|
| 54 |
+
0.9733115303777439
|
| 55 |
+
],
|
| 56 |
+
"camera_target": [
|
| 57 |
+
-2.6935736158817036,
|
| 58 |
+
-4.793455398251187,
|
| 59 |
+
0.9822209077578692
|
| 60 |
+
],
|
| 61 |
+
"camera_roll_rad": -0.03930742822420574,
|
| 62 |
+
"camera_pose_world_cv": [
|
| 63 |
+
[
|
| 64 |
+
0.8980295062065125,
|
| 65 |
+
0.06613272428512573,
|
| 66 |
+
-0.4349362254142761,
|
| 67 |
+
-2.326950788497925
|
| 68 |
+
],
|
| 69 |
+
[
|
| 70 |
+
0.43286967277526855,
|
| 71 |
+
0.043646931648254395,
|
| 72 |
+
0.9003992080688477,
|
| 73 |
+
-5.552433490753174
|
| 74 |
+
],
|
| 75 |
+
[
|
| 76 |
+
0.078529492020607,
|
| 77 |
+
-0.9968557357788086,
|
| 78 |
+
0.010569334030151367,
|
| 79 |
+
0.9733115434646606
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0,
|
| 85 |
+
1.0
|
| 86 |
+
]
|
| 87 |
+
],
|
| 88 |
+
"T_base_world": [
|
| 89 |
+
[
|
| 90 |
+
0.5804315805435181,
|
| 91 |
+
0.8143090605735779,
|
| 92 |
+
-8.028524689507321e-08,
|
| 93 |
+
-2.685173273086548
|
| 94 |
+
],
|
| 95 |
+
[
|
| 96 |
+
-0.8143090605735779,
|
| 97 |
+
0.5804315805435181,
|
| 98 |
+
-2.568476276110232e-08,
|
| 99 |
+
-4.783660411834717
|
| 100 |
+
],
|
| 101 |
+
[
|
| 102 |
+
2.568476276110232e-08,
|
| 103 |
+
8.028524689507321e-08,
|
| 104 |
+
1.0,
|
| 105 |
+
0.7811593413352966
|
| 106 |
+
],
|
| 107 |
+
[
|
| 108 |
+
0.0,
|
| 109 |
+
0.0,
|
| 110 |
+
0.0,
|
| 111 |
+
1.0
|
| 112 |
+
]
|
| 113 |
+
],
|
| 114 |
+
"lighting": {
|
| 115 |
+
"aug_enabled": true,
|
| 116 |
+
"params": {
|
| 117 |
+
"ambient": [
|
| 118 |
+
0.2893173019060573,
|
| 119 |
+
0.28706815302005795,
|
| 120 |
+
0.29217359695587414
|
| 121 |
+
],
|
| 122 |
+
"directional_primary": {
|
| 123 |
+
"direction": [
|
| 124 |
+
-0.3376350551650219,
|
| 125 |
+
-0.10627779145055354,
|
| 126 |
+
-0.9352580384942463
|
| 127 |
+
],
|
| 128 |
+
"color": [
|
| 129 |
+
1.019221297374498,
|
| 130 |
+
0.964820998879728,
|
| 131 |
+
0.8715633443172655
|
| 132 |
+
],
|
| 133 |
+
"azimuth_rad": -2.8366399893375234,
|
| 134 |
+
"elevation_rad": 1.2089873574301557,
|
| 135 |
+
"color_temp_k": 4694.516783676749,
|
| 136 |
+
"intensity": 0.964820998879728
|
| 137 |
+
},
|
| 138 |
+
"directional_fill": {
|
| 139 |
+
"direction": [
|
| 140 |
+
-0.40777193506686965,
|
| 141 |
+
0.15973054979423756,
|
| 142 |
+
-0.8990040035696454
|
| 143 |
+
],
|
| 144 |
+
"color": [
|
| 145 |
+
0.8940017988505431,
|
| 146 |
+
0.9179823058965915,
|
| 147 |
+
0.9563511171702689
|
| 148 |
+
],
|
| 149 |
+
"azimuth_rad": 2.7682485050075663,
|
| 150 |
+
"elevation_rad": 1.1174899073936686,
|
| 151 |
+
"color_temp_k": 6017.058345625929,
|
| 152 |
+
"intensity": 0.9275745087150109
|
| 153 |
+
},
|
| 154 |
+
"point_color_scale": [
|
| 155 |
+
0.8065956250778409,
|
| 156 |
+
0.8371430835009266,
|
| 157 |
+
0.8860190169778637
|
| 158 |
+
],
|
| 159 |
+
"shadow": true
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"frames": [
|
| 163 |
+
{
|
| 164 |
+
"frame_idx": 0,
|
| 165 |
+
"qpos": [
|
| 166 |
+
0.0,
|
| 167 |
+
0.0,
|
| 168 |
+
0.0,
|
| 169 |
+
0.0,
|
| 170 |
+
0.0,
|
| 171 |
+
-1.100000023841858
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
]
|
| 175 |
+
}
|
so100/ProcTHOR/test/bg_000039/scene_b00_010/scene_meta.json
ADDED
|
@@ -0,0 +1,175 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "so100",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 39,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 9,
|
| 9 |
+
"n_dof": 6,
|
| 10 |
+
"num_links": 9,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"shoulder_pan",
|
| 13 |
+
"shoulder_lift",
|
| 14 |
+
"elbow_flex",
|
| 15 |
+
"wrist_flex",
|
| 16 |
+
"wrist_roll",
|
| 17 |
+
"gripper"
|
| 18 |
+
],
|
| 19 |
+
"link_names": [
|
| 20 |
+
"Base",
|
| 21 |
+
"Rotation_Pitch",
|
| 22 |
+
"Upper_Arm",
|
| 23 |
+
"Lower_Arm",
|
| 24 |
+
"Wrist_Pitch_Roll",
|
| 25 |
+
"Fixed_Jaw",
|
| 26 |
+
"Moving_Jaw",
|
| 27 |
+
"Fixed_Jaw_tip",
|
| 28 |
+
"Moving_Jaw_tip"
|
| 29 |
+
],
|
| 30 |
+
"ee_link_name": "Moving_Jaw",
|
| 31 |
+
"image_width": 640,
|
| 32 |
+
"image_height": 480,
|
| 33 |
+
"fovy_rad": 1.167293991388189,
|
| 34 |
+
"K": [
|
| 35 |
+
[
|
| 36 |
+
376.3891794241996,
|
| 37 |
+
0.0,
|
| 38 |
+
319.5113851107962
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
0.0,
|
| 42 |
+
363.41973830994544,
|
| 43 |
+
220.30838647654943
|
| 44 |
+
],
|
| 45 |
+
[
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
1.0
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"camera_eye": [
|
| 52 |
+
-2.1721533165383646,
|
| 53 |
+
-4.232808082065983,
|
| 54 |
+
1.1279798763947773
|
| 55 |
+
],
|
| 56 |
+
"camera_target": [
|
| 57 |
+
-2.710936430902505,
|
| 58 |
+
-4.782011189606736,
|
| 59 |
+
0.9291504337560292
|
| 60 |
+
],
|
| 61 |
+
"camera_roll_rad": -0.03788438650515369,
|
| 62 |
+
"camera_pose_world_cv": [
|
| 63 |
+
[
|
| 64 |
+
-0.7250620126724243,
|
| 65 |
+
0.12068793177604675,
|
| 66 |
+
-0.6780263185501099,
|
| 67 |
+
-2.1721532344818115
|
| 68 |
+
],
|
| 69 |
+
[
|
| 70 |
+
0.6847730875015259,
|
| 71 |
+
0.23111283779144287,
|
| 72 |
+
-0.6911388635635376,
|
| 73 |
+
-4.2328081130981445
|
| 74 |
+
],
|
| 75 |
+
[
|
| 76 |
+
0.07328841090202332,
|
| 77 |
+
-0.9654126167297363,
|
| 78 |
+
-0.2502148151397705,
|
| 79 |
+
1.1279798746109009
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0,
|
| 85 |
+
1.0
|
| 86 |
+
]
|
| 87 |
+
],
|
| 88 |
+
"T_base_world": [
|
| 89 |
+
[
|
| 90 |
+
0.5804315805435181,
|
| 91 |
+
0.8143090605735779,
|
| 92 |
+
-8.028524689507321e-08,
|
| 93 |
+
-2.685173273086548
|
| 94 |
+
],
|
| 95 |
+
[
|
| 96 |
+
-0.8143090605735779,
|
| 97 |
+
0.5804315805435181,
|
| 98 |
+
-2.568476276110232e-08,
|
| 99 |
+
-4.783660411834717
|
| 100 |
+
],
|
| 101 |
+
[
|
| 102 |
+
2.568476276110232e-08,
|
| 103 |
+
8.028524689507321e-08,
|
| 104 |
+
1.0,
|
| 105 |
+
0.7811593413352966
|
| 106 |
+
],
|
| 107 |
+
[
|
| 108 |
+
0.0,
|
| 109 |
+
0.0,
|
| 110 |
+
0.0,
|
| 111 |
+
1.0
|
| 112 |
+
]
|
| 113 |
+
],
|
| 114 |
+
"lighting": {
|
| 115 |
+
"aug_enabled": true,
|
| 116 |
+
"params": {
|
| 117 |
+
"ambient": [
|
| 118 |
+
0.25272457722744984,
|
| 119 |
+
0.2517794018480714,
|
| 120 |
+
0.26592440785962684
|
| 121 |
+
],
|
| 122 |
+
"directional_primary": {
|
| 123 |
+
"direction": [
|
| 124 |
+
-0.3376350551650219,
|
| 125 |
+
-0.10627779145055354,
|
| 126 |
+
-0.9352580384942463
|
| 127 |
+
],
|
| 128 |
+
"color": [
|
| 129 |
+
1.1111443717130336,
|
| 130 |
+
1.0584666344438771,
|
| 131 |
+
0.9681619419824661
|
| 132 |
+
],
|
| 133 |
+
"azimuth_rad": -2.8366399893375234,
|
| 134 |
+
"elevation_rad": 1.2089873574301557,
|
| 135 |
+
"color_temp_k": 4789.0289789432245,
|
| 136 |
+
"intensity": 1.0584666344438771
|
| 137 |
+
},
|
| 138 |
+
"directional_fill": {
|
| 139 |
+
"direction": [
|
| 140 |
+
-0.40777193506686965,
|
| 141 |
+
0.15973054979423756,
|
| 142 |
+
-0.8990040035696454
|
| 143 |
+
],
|
| 144 |
+
"color": [
|
| 145 |
+
0.881753902084512,
|
| 146 |
+
0.8783686463442866,
|
| 147 |
+
0.8725653507896146
|
| 148 |
+
],
|
| 149 |
+
"azimuth_rad": 2.7682485050075663,
|
| 150 |
+
"elevation_rad": 1.1174899073936686,
|
| 151 |
+
"color_temp_k": 5444.942483443361,
|
| 152 |
+
"intensity": 0.8783686463442866
|
| 153 |
+
},
|
| 154 |
+
"point_color_scale": [
|
| 155 |
+
1.0739456780595016,
|
| 156 |
+
1.0966880426959016,
|
| 157 |
+
1.133075826114142
|
| 158 |
+
],
|
| 159 |
+
"shadow": true
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"frames": [
|
| 163 |
+
{
|
| 164 |
+
"frame_idx": 0,
|
| 165 |
+
"qpos": [
|
| 166 |
+
0.0,
|
| 167 |
+
0.0,
|
| 168 |
+
0.0,
|
| 169 |
+
0.0,
|
| 170 |
+
0.0,
|
| 171 |
+
-1.100000023841858
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
]
|
| 175 |
+
}
|
so100/ProcTHOR/test/bg_000039/scene_b00_011/scene_meta.json
ADDED
|
@@ -0,0 +1,175 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "so100",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 39,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 10,
|
| 9 |
+
"n_dof": 6,
|
| 10 |
+
"num_links": 9,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"shoulder_pan",
|
| 13 |
+
"shoulder_lift",
|
| 14 |
+
"elbow_flex",
|
| 15 |
+
"wrist_flex",
|
| 16 |
+
"wrist_roll",
|
| 17 |
+
"gripper"
|
| 18 |
+
],
|
| 19 |
+
"link_names": [
|
| 20 |
+
"Base",
|
| 21 |
+
"Rotation_Pitch",
|
| 22 |
+
"Upper_Arm",
|
| 23 |
+
"Lower_Arm",
|
| 24 |
+
"Wrist_Pitch_Roll",
|
| 25 |
+
"Fixed_Jaw",
|
| 26 |
+
"Moving_Jaw",
|
| 27 |
+
"Fixed_Jaw_tip",
|
| 28 |
+
"Moving_Jaw_tip"
|
| 29 |
+
],
|
| 30 |
+
"ee_link_name": "Moving_Jaw",
|
| 31 |
+
"image_width": 640,
|
| 32 |
+
"image_height": 480,
|
| 33 |
+
"fovy_rad": 1.0722701152464824,
|
| 34 |
+
"K": [
|
| 35 |
+
[
|
| 36 |
+
413.36224341526514,
|
| 37 |
+
0.0,
|
| 38 |
+
294.9821084486621
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
0.0,
|
| 42 |
+
403.9125235784301,
|
| 43 |
+
236.5226261156487
|
| 44 |
+
],
|
| 45 |
+
[
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
1.0
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"camera_eye": [
|
| 52 |
+
-1.9088603898252376,
|
| 53 |
+
-4.888344505606491,
|
| 54 |
+
0.85280545980472
|
| 55 |
+
],
|
| 56 |
+
"camera_target": [
|
| 57 |
+
-2.672420934680415,
|
| 58 |
+
-4.8164368403796605,
|
| 59 |
+
0.9122182400160213
|
| 60 |
+
],
|
| 61 |
+
"camera_roll_rad": 0.02004556395416636,
|
| 62 |
+
"camera_pose_world_cv": [
|
| 63 |
+
[
|
| 64 |
+
0.09060174226760864,
|
| 65 |
+
-0.08059185743331909,
|
| 66 |
+
-0.9926209449768066,
|
| 67 |
+
-1.908860445022583
|
| 68 |
+
],
|
| 69 |
+
[
|
| 70 |
+
0.9950851798057556,
|
| 71 |
+
-0.032668113708496094,
|
| 72 |
+
0.09347906708717346,
|
| 73 |
+
-4.8883442878723145
|
| 74 |
+
],
|
| 75 |
+
[
|
| 76 |
+
-0.03996074199676514,
|
| 77 |
+
-0.9962117671966553,
|
| 78 |
+
0.07723593711853027,
|
| 79 |
+
0.8528054356575012
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0,
|
| 85 |
+
1.0
|
| 86 |
+
]
|
| 87 |
+
],
|
| 88 |
+
"T_base_world": [
|
| 89 |
+
[
|
| 90 |
+
0.5804315805435181,
|
| 91 |
+
0.8143090605735779,
|
| 92 |
+
-8.028524689507321e-08,
|
| 93 |
+
-2.685173273086548
|
| 94 |
+
],
|
| 95 |
+
[
|
| 96 |
+
-0.8143090605735779,
|
| 97 |
+
0.5804315805435181,
|
| 98 |
+
-2.568476276110232e-08,
|
| 99 |
+
-4.783660411834717
|
| 100 |
+
],
|
| 101 |
+
[
|
| 102 |
+
2.568476276110232e-08,
|
| 103 |
+
8.028524689507321e-08,
|
| 104 |
+
1.0,
|
| 105 |
+
0.7811593413352966
|
| 106 |
+
],
|
| 107 |
+
[
|
| 108 |
+
0.0,
|
| 109 |
+
0.0,
|
| 110 |
+
0.0,
|
| 111 |
+
1.0
|
| 112 |
+
]
|
| 113 |
+
],
|
| 114 |
+
"lighting": {
|
| 115 |
+
"aug_enabled": true,
|
| 116 |
+
"params": {
|
| 117 |
+
"ambient": [
|
| 118 |
+
0.22088039442198473,
|
| 119 |
+
0.2141217787788134,
|
| 120 |
+
0.23233625280338566
|
| 121 |
+
],
|
| 122 |
+
"directional_primary": {
|
| 123 |
+
"direction": [
|
| 124 |
+
-0.3376350551650219,
|
| 125 |
+
-0.10627779145055354,
|
| 126 |
+
-0.9352580384942463
|
| 127 |
+
],
|
| 128 |
+
"color": [
|
| 129 |
+
1.241612253835956,
|
| 130 |
+
1.1718439696706415,
|
| 131 |
+
1.0522411968158167
|
| 132 |
+
],
|
| 133 |
+
"azimuth_rad": -2.8366399893375234,
|
| 134 |
+
"elevation_rad": 1.2089873574301557,
|
| 135 |
+
"color_temp_k": 4649.468871636267,
|
| 136 |
+
"intensity": 1.1718439696706415
|
| 137 |
+
},
|
| 138 |
+
"directional_fill": {
|
| 139 |
+
"direction": [
|
| 140 |
+
-0.40777193506686965,
|
| 141 |
+
0.15973054979423756,
|
| 142 |
+
-0.8990040035696454
|
| 143 |
+
],
|
| 144 |
+
"color": [
|
| 145 |
+
0.6438479986092829,
|
| 146 |
+
0.6620193000674286,
|
| 147 |
+
0.6910933824004619
|
| 148 |
+
],
|
| 149 |
+
"azimuth_rad": 2.7682485050075663,
|
| 150 |
+
"elevation_rad": 1.1174899073936686,
|
| 151 |
+
"color_temp_k": 6043.004097713281,
|
| 152 |
+
"intensity": 0.6692878206506869
|
| 153 |
+
},
|
| 154 |
+
"point_color_scale": [
|
| 155 |
+
0.80627047972907,
|
| 156 |
+
0.8367074085779606,
|
| 157 |
+
0.8854064947361856
|
| 158 |
+
],
|
| 159 |
+
"shadow": true
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"frames": [
|
| 163 |
+
{
|
| 164 |
+
"frame_idx": 0,
|
| 165 |
+
"qpos": [
|
| 166 |
+
0.0,
|
| 167 |
+
0.0,
|
| 168 |
+
0.0,
|
| 169 |
+
0.0,
|
| 170 |
+
0.0,
|
| 171 |
+
-1.100000023841858
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
]
|
| 175 |
+
}
|
so100/ProcTHOR/test/bg_000039/scene_b00_012/scene_meta.json
ADDED
|
@@ -0,0 +1,175 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "so100",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 39,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 11,
|
| 9 |
+
"n_dof": 6,
|
| 10 |
+
"num_links": 9,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"shoulder_pan",
|
| 13 |
+
"shoulder_lift",
|
| 14 |
+
"elbow_flex",
|
| 15 |
+
"wrist_flex",
|
| 16 |
+
"wrist_roll",
|
| 17 |
+
"gripper"
|
| 18 |
+
],
|
| 19 |
+
"link_names": [
|
| 20 |
+
"Base",
|
| 21 |
+
"Rotation_Pitch",
|
| 22 |
+
"Upper_Arm",
|
| 23 |
+
"Lower_Arm",
|
| 24 |
+
"Wrist_Pitch_Roll",
|
| 25 |
+
"Fixed_Jaw",
|
| 26 |
+
"Moving_Jaw",
|
| 27 |
+
"Fixed_Jaw_tip",
|
| 28 |
+
"Moving_Jaw_tip"
|
| 29 |
+
],
|
| 30 |
+
"ee_link_name": "Moving_Jaw",
|
| 31 |
+
"image_width": 640,
|
| 32 |
+
"image_height": 480,
|
| 33 |
+
"fovy_rad": 1.2836673687180757,
|
| 34 |
+
"K": [
|
| 35 |
+
[
|
| 36 |
+
330.6580898062911,
|
| 37 |
+
0.0,
|
| 38 |
+
290.9945264717654
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
0.0,
|
| 42 |
+
321.1140942125542,
|
| 43 |
+
241.86560827772473
|
| 44 |
+
],
|
| 45 |
+
[
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
1.0
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"camera_eye": [
|
| 52 |
+
-2.6530261161167608,
|
| 53 |
+
-5.318880764565066,
|
| 54 |
+
0.7355961108692598
|
| 55 |
+
],
|
| 56 |
+
"camera_target": [
|
| 57 |
+
-2.6418350218199027,
|
| 58 |
+
-4.804483231835667,
|
| 59 |
+
0.9012524016346048
|
| 60 |
+
],
|
| 61 |
+
"camera_roll_rad": -0.033201839141716594,
|
| 62 |
+
"camera_pose_world_cv": [
|
| 63 |
+
[
|
| 64 |
+
0.9971176981925964,
|
| 65 |
+
0.07299042493104935,
|
| 66 |
+
0.020703904330730438,
|
| 67 |
+
-2.6530261039733887
|
| 68 |
+
],
|
| 69 |
+
[
|
| 70 |
+
-0.04203362017869949,
|
| 71 |
+
0.3042796850204468,
|
| 72 |
+
0.9516549706459045,
|
| 73 |
+
-5.318880558013916
|
| 74 |
+
],
|
| 75 |
+
[
|
| 76 |
+
0.0631619244813919,
|
| 77 |
+
-0.9497823119163513,
|
| 78 |
+
0.30647075176239014,
|
| 79 |
+
0.7355961203575134
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0,
|
| 85 |
+
1.0
|
| 86 |
+
]
|
| 87 |
+
],
|
| 88 |
+
"T_base_world": [
|
| 89 |
+
[
|
| 90 |
+
0.5804315805435181,
|
| 91 |
+
0.8143090605735779,
|
| 92 |
+
-8.028524689507321e-08,
|
| 93 |
+
-2.685173273086548
|
| 94 |
+
],
|
| 95 |
+
[
|
| 96 |
+
-0.8143090605735779,
|
| 97 |
+
0.5804315805435181,
|
| 98 |
+
-2.568476276110232e-08,
|
| 99 |
+
-4.783660411834717
|
| 100 |
+
],
|
| 101 |
+
[
|
| 102 |
+
2.568476276110232e-08,
|
| 103 |
+
8.028524689507321e-08,
|
| 104 |
+
1.0,
|
| 105 |
+
0.7811593413352966
|
| 106 |
+
],
|
| 107 |
+
[
|
| 108 |
+
0.0,
|
| 109 |
+
0.0,
|
| 110 |
+
0.0,
|
| 111 |
+
1.0
|
| 112 |
+
]
|
| 113 |
+
],
|
| 114 |
+
"lighting": {
|
| 115 |
+
"aug_enabled": true,
|
| 116 |
+
"params": {
|
| 117 |
+
"ambient": [
|
| 118 |
+
0.3752227013630461,
|
| 119 |
+
0.3520293310279116,
|
| 120 |
+
0.35798430480363846
|
| 121 |
+
],
|
| 122 |
+
"directional_primary": {
|
| 123 |
+
"direction": [
|
| 124 |
+
-0.3376350551650219,
|
| 125 |
+
-0.10627779145055354,
|
| 126 |
+
-0.9352580384942463
|
| 127 |
+
],
|
| 128 |
+
"color": [
|
| 129 |
+
0.9943508580911705,
|
| 130 |
+
0.9741304374341627,
|
| 131 |
+
0.9394668591650067
|
| 132 |
+
],
|
| 133 |
+
"azimuth_rad": -2.8366399893375234,
|
| 134 |
+
"elevation_rad": 1.2089873574301557,
|
| 135 |
+
"color_temp_k": 5203.465633407549,
|
| 136 |
+
"intensity": 0.9741304374341627
|
| 137 |
+
},
|
| 138 |
+
"directional_fill": {
|
| 139 |
+
"direction": [
|
| 140 |
+
-0.40777193506686965,
|
| 141 |
+
0.15973054979423756,
|
| 142 |
+
-0.8990040035696454
|
| 143 |
+
],
|
| 144 |
+
"color": [
|
| 145 |
+
0.9126156261418169,
|
| 146 |
+
0.8823641435203832,
|
| 147 |
+
0.8305044590264967
|
| 148 |
+
],
|
| 149 |
+
"azimuth_rad": 2.7682485050075663,
|
| 150 |
+
"elevation_rad": 1.1174899073936686,
|
| 151 |
+
"color_temp_k": 5010.220309129016,
|
| 152 |
+
"intensity": 0.8823641435203832
|
| 153 |
+
},
|
| 154 |
+
"point_color_scale": [
|
| 155 |
+
0.9213251939107407,
|
| 156 |
+
0.944385001179159,
|
| 157 |
+
0.9812806928086281
|
| 158 |
+
],
|
| 159 |
+
"shadow": true
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"frames": [
|
| 163 |
+
{
|
| 164 |
+
"frame_idx": 0,
|
| 165 |
+
"qpos": [
|
| 166 |
+
0.0,
|
| 167 |
+
0.0,
|
| 168 |
+
0.0,
|
| 169 |
+
0.0,
|
| 170 |
+
0.0,
|
| 171 |
+
-1.100000023841858
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
]
|
| 175 |
+
}
|
so100/ProcTHOR/test/bg_000039/scene_b00_013/scene_meta.json
ADDED
|
@@ -0,0 +1,175 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "so100",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 39,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 12,
|
| 9 |
+
"n_dof": 6,
|
| 10 |
+
"num_links": 9,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"shoulder_pan",
|
| 13 |
+
"shoulder_lift",
|
| 14 |
+
"elbow_flex",
|
| 15 |
+
"wrist_flex",
|
| 16 |
+
"wrist_roll",
|
| 17 |
+
"gripper"
|
| 18 |
+
],
|
| 19 |
+
"link_names": [
|
| 20 |
+
"Base",
|
| 21 |
+
"Rotation_Pitch",
|
| 22 |
+
"Upper_Arm",
|
| 23 |
+
"Lower_Arm",
|
| 24 |
+
"Wrist_Pitch_Roll",
|
| 25 |
+
"Fixed_Jaw",
|
| 26 |
+
"Moving_Jaw",
|
| 27 |
+
"Fixed_Jaw_tip",
|
| 28 |
+
"Moving_Jaw_tip"
|
| 29 |
+
],
|
| 30 |
+
"ee_link_name": "Moving_Jaw",
|
| 31 |
+
"image_width": 640,
|
| 32 |
+
"image_height": 480,
|
| 33 |
+
"fovy_rad": 1.0067879096477732,
|
| 34 |
+
"K": [
|
| 35 |
+
[
|
| 36 |
+
455.9985067284927,
|
| 37 |
+
0.0,
|
| 38 |
+
299.1107701526089
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
0.0,
|
| 42 |
+
435.7950732683401,
|
| 43 |
+
222.15914831354345
|
| 44 |
+
],
|
| 45 |
+
[
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
1.0
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"camera_eye": [
|
| 52 |
+
-2.977790010900971,
|
| 53 |
+
-5.157436290312614,
|
| 54 |
+
1.1450241510518904
|
| 55 |
+
],
|
| 56 |
+
"camera_target": [
|
| 57 |
+
-2.7258130251718473,
|
| 58 |
+
-4.81765986845884,
|
| 59 |
+
0.9402722438691916
|
| 60 |
+
],
|
| 61 |
+
"camera_roll_rad": 0.03372668125844745,
|
| 62 |
+
"camera_pose_world_cv": [
|
| 63 |
+
[
|
| 64 |
+
0.7839092016220093,
|
| 65 |
+
-0.313070148229599,
|
| 66 |
+
0.5361655354499817,
|
| 67 |
+
-2.977790117263794
|
| 68 |
+
],
|
| 69 |
+
[
|
| 70 |
+
-0.6179043054580688,
|
| 71 |
+
-0.3090032935142517,
|
| 72 |
+
0.7229878902435303,
|
| 73 |
+
-5.157436370849609
|
| 74 |
+
],
|
| 75 |
+
[
|
| 76 |
+
-0.0606689453125,
|
| 77 |
+
-0.8980557918548584,
|
| 78 |
+
-0.43567782640457153,
|
| 79 |
+
1.1450241804122925
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0,
|
| 85 |
+
1.0
|
| 86 |
+
]
|
| 87 |
+
],
|
| 88 |
+
"T_base_world": [
|
| 89 |
+
[
|
| 90 |
+
0.5804315805435181,
|
| 91 |
+
0.8143090605735779,
|
| 92 |
+
-8.028524689507321e-08,
|
| 93 |
+
-2.685173273086548
|
| 94 |
+
],
|
| 95 |
+
[
|
| 96 |
+
-0.8143090605735779,
|
| 97 |
+
0.5804315805435181,
|
| 98 |
+
-2.568476276110232e-08,
|
| 99 |
+
-4.783660411834717
|
| 100 |
+
],
|
| 101 |
+
[
|
| 102 |
+
2.568476276110232e-08,
|
| 103 |
+
8.028524689507321e-08,
|
| 104 |
+
1.0,
|
| 105 |
+
0.7811593413352966
|
| 106 |
+
],
|
| 107 |
+
[
|
| 108 |
+
0.0,
|
| 109 |
+
0.0,
|
| 110 |
+
0.0,
|
| 111 |
+
1.0
|
| 112 |
+
]
|
| 113 |
+
],
|
| 114 |
+
"lighting": {
|
| 115 |
+
"aug_enabled": true,
|
| 116 |
+
"params": {
|
| 117 |
+
"ambient": [
|
| 118 |
+
0.2355360627370572,
|
| 119 |
+
0.24586658025117808,
|
| 120 |
+
0.25007985722940274
|
| 121 |
+
],
|
| 122 |
+
"directional_primary": {
|
| 123 |
+
"direction": [
|
| 124 |
+
-0.3376350551650219,
|
| 125 |
+
-0.10627779145055354,
|
| 126 |
+
-0.9352580384942463
|
| 127 |
+
],
|
| 128 |
+
"color": [
|
| 129 |
+
0.9363640006108055,
|
| 130 |
+
0.8798346028431369,
|
| 131 |
+
0.7829270638128476
|
| 132 |
+
],
|
| 133 |
+
"azimuth_rad": -2.8366399893375234,
|
| 134 |
+
"elevation_rad": 1.2089873574301557,
|
| 135 |
+
"color_temp_k": 4582.142458772574,
|
| 136 |
+
"intensity": 0.8798346028431369
|
| 137 |
+
},
|
| 138 |
+
"directional_fill": {
|
| 139 |
+
"direction": [
|
| 140 |
+
-0.40777193506686965,
|
| 141 |
+
0.15973054979423756,
|
| 142 |
+
-0.8990040035696454
|
| 143 |
+
],
|
| 144 |
+
"color": [
|
| 145 |
+
0.6377479378861591,
|
| 146 |
+
0.6532044581057871,
|
| 147 |
+
0.6779348904571921
|
| 148 |
+
],
|
| 149 |
+
"azimuth_rad": 2.7682485050075663,
|
| 150 |
+
"elevation_rad": 1.1174899073936686,
|
| 151 |
+
"color_temp_k": 5968.814783063672,
|
| 152 |
+
"intensity": 0.6593870661936384
|
| 153 |
+
},
|
| 154 |
+
"point_color_scale": [
|
| 155 |
+
1.195091560859608,
|
| 156 |
+
1.1985807360504592,
|
| 157 |
+
1.204163416355821
|
| 158 |
+
],
|
| 159 |
+
"shadow": true
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"frames": [
|
| 163 |
+
{
|
| 164 |
+
"frame_idx": 0,
|
| 165 |
+
"qpos": [
|
| 166 |
+
0.0,
|
| 167 |
+
0.0,
|
| 168 |
+
0.0,
|
| 169 |
+
0.0,
|
| 170 |
+
0.0,
|
| 171 |
+
-1.100000023841858
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
]
|
| 175 |
+
}
|
so100/ProcTHOR/test/bg_000039/scene_b00_014/scene_meta.json
ADDED
|
@@ -0,0 +1,175 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "so100",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 39,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 13,
|
| 9 |
+
"n_dof": 6,
|
| 10 |
+
"num_links": 9,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"shoulder_pan",
|
| 13 |
+
"shoulder_lift",
|
| 14 |
+
"elbow_flex",
|
| 15 |
+
"wrist_flex",
|
| 16 |
+
"wrist_roll",
|
| 17 |
+
"gripper"
|
| 18 |
+
],
|
| 19 |
+
"link_names": [
|
| 20 |
+
"Base",
|
| 21 |
+
"Rotation_Pitch",
|
| 22 |
+
"Upper_Arm",
|
| 23 |
+
"Lower_Arm",
|
| 24 |
+
"Wrist_Pitch_Roll",
|
| 25 |
+
"Fixed_Jaw",
|
| 26 |
+
"Moving_Jaw",
|
| 27 |
+
"Fixed_Jaw_tip",
|
| 28 |
+
"Moving_Jaw_tip"
|
| 29 |
+
],
|
| 30 |
+
"ee_link_name": "Moving_Jaw",
|
| 31 |
+
"image_width": 640,
|
| 32 |
+
"image_height": 480,
|
| 33 |
+
"fovy_rad": 0.9210782264851662,
|
| 34 |
+
"K": [
|
| 35 |
+
[
|
| 36 |
+
461.91915188039025,
|
| 37 |
+
0.0,
|
| 38 |
+
312.25555078579157
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
0.0,
|
| 42 |
+
483.75354274310916,
|
| 43 |
+
228.7715953279844
|
| 44 |
+
],
|
| 45 |
+
[
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
1.0
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"camera_eye": [
|
| 52 |
+
-3.2267146525640062,
|
| 53 |
+
-5.234241761426565,
|
| 54 |
+
0.8686747443409749
|
| 55 |
+
],
|
| 56 |
+
"camera_target": [
|
| 57 |
+
-2.7324429012601765,
|
| 58 |
+
-4.794507404054985,
|
| 59 |
+
1.0253519872027141
|
| 60 |
+
],
|
| 61 |
+
"camera_roll_rad": 0.04916217652802381,
|
| 62 |
+
"camera_pose_world_cv": [
|
| 63 |
+
[
|
| 64 |
+
0.6783776879310608,
|
| 65 |
+
0.10609528422355652,
|
| 66 |
+
0.7270127534866333,
|
| 67 |
+
-3.226714611053467
|
| 68 |
+
],
|
| 69 |
+
[
|
| 70 |
+
-0.7284771203994751,
|
| 71 |
+
0.22578096389770508,
|
| 72 |
+
0.6467951536178589,
|
| 73 |
+
-5.234241962432861
|
| 74 |
+
],
|
| 75 |
+
[
|
| 76 |
+
-0.09552377462387085,
|
| 77 |
+
-0.9683835506439209,
|
| 78 |
+
0.2304527759552002,
|
| 79 |
+
0.8686747550964355
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0,
|
| 85 |
+
1.0
|
| 86 |
+
]
|
| 87 |
+
],
|
| 88 |
+
"T_base_world": [
|
| 89 |
+
[
|
| 90 |
+
0.5804315805435181,
|
| 91 |
+
0.8143090605735779,
|
| 92 |
+
-8.028524689507321e-08,
|
| 93 |
+
-2.685173273086548
|
| 94 |
+
],
|
| 95 |
+
[
|
| 96 |
+
-0.8143090605735779,
|
| 97 |
+
0.5804315805435181,
|
| 98 |
+
-2.568476276110232e-08,
|
| 99 |
+
-4.783660411834717
|
| 100 |
+
],
|
| 101 |
+
[
|
| 102 |
+
2.568476276110232e-08,
|
| 103 |
+
8.028524689507321e-08,
|
| 104 |
+
1.0,
|
| 105 |
+
0.7811593413352966
|
| 106 |
+
],
|
| 107 |
+
[
|
| 108 |
+
0.0,
|
| 109 |
+
0.0,
|
| 110 |
+
0.0,
|
| 111 |
+
1.0
|
| 112 |
+
]
|
| 113 |
+
],
|
| 114 |
+
"lighting": {
|
| 115 |
+
"aug_enabled": true,
|
| 116 |
+
"params": {
|
| 117 |
+
"ambient": [
|
| 118 |
+
0.2313197753601498,
|
| 119 |
+
0.22749410551017504,
|
| 120 |
+
0.23597661105773862
|
| 121 |
+
],
|
| 122 |
+
"directional_primary": {
|
| 123 |
+
"direction": [
|
| 124 |
+
-0.3376350551650219,
|
| 125 |
+
-0.10627779145055354,
|
| 126 |
+
-0.9352580384942463
|
| 127 |
+
],
|
| 128 |
+
"color": [
|
| 129 |
+
1.1067266278401173,
|
| 130 |
+
1.12907839976954,
|
| 131 |
+
1.1648412348566164
|
| 132 |
+
],
|
| 133 |
+
"azimuth_rad": -2.8366399893375234,
|
| 134 |
+
"elevation_rad": 1.2089873574301557,
|
| 135 |
+
"color_temp_k": 5892.818921258236,
|
| 136 |
+
"intensity": 1.1380191085413092
|
| 137 |
+
},
|
| 138 |
+
"directional_fill": {
|
| 139 |
+
"direction": [
|
| 140 |
+
-0.40777193506686965,
|
| 141 |
+
0.15973054979423756,
|
| 142 |
+
-0.8990040035696454
|
| 143 |
+
],
|
| 144 |
+
"color": [
|
| 145 |
+
0.6552884935017461,
|
| 146 |
+
0.6812865855669425,
|
| 147 |
+
0.7228835328712568
|
| 148 |
+
],
|
| 149 |
+
"azimuth_rad": 2.7682485050075663,
|
| 150 |
+
"elevation_rad": 1.1174899073936686,
|
| 151 |
+
"color_temp_k": 6251.731240500232,
|
| 152 |
+
"intensity": 0.6916858223930211
|
| 153 |
+
},
|
| 154 |
+
"point_color_scale": [
|
| 155 |
+
1.0396154419406893,
|
| 156 |
+
1.04915666038408,
|
| 157 |
+
1.0644226098935057
|
| 158 |
+
],
|
| 159 |
+
"shadow": true
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"frames": [
|
| 163 |
+
{
|
| 164 |
+
"frame_idx": 0,
|
| 165 |
+
"qpos": [
|
| 166 |
+
0.0,
|
| 167 |
+
0.0,
|
| 168 |
+
0.0,
|
| 169 |
+
0.0,
|
| 170 |
+
0.0,
|
| 171 |
+
-1.100000023841858
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
]
|
| 175 |
+
}
|
so100/ProcTHOR/test/bg_000039/scene_b00_015/scene_meta.json
ADDED
|
@@ -0,0 +1,175 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "so100",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 39,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 14,
|
| 9 |
+
"n_dof": 6,
|
| 10 |
+
"num_links": 9,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"shoulder_pan",
|
| 13 |
+
"shoulder_lift",
|
| 14 |
+
"elbow_flex",
|
| 15 |
+
"wrist_flex",
|
| 16 |
+
"wrist_roll",
|
| 17 |
+
"gripper"
|
| 18 |
+
],
|
| 19 |
+
"link_names": [
|
| 20 |
+
"Base",
|
| 21 |
+
"Rotation_Pitch",
|
| 22 |
+
"Upper_Arm",
|
| 23 |
+
"Lower_Arm",
|
| 24 |
+
"Wrist_Pitch_Roll",
|
| 25 |
+
"Fixed_Jaw",
|
| 26 |
+
"Moving_Jaw",
|
| 27 |
+
"Fixed_Jaw_tip",
|
| 28 |
+
"Moving_Jaw_tip"
|
| 29 |
+
],
|
| 30 |
+
"ee_link_name": "Moving_Jaw",
|
| 31 |
+
"image_width": 640,
|
| 32 |
+
"image_height": 480,
|
| 33 |
+
"fovy_rad": 1.2539842473737888,
|
| 34 |
+
"K": [
|
| 35 |
+
[
|
| 36 |
+
332.9668393456739,
|
| 37 |
+
0.0,
|
| 38 |
+
317.51360439656
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
0.0,
|
| 42 |
+
331.2547519472893,
|
| 43 |
+
244.39870329080563
|
| 44 |
+
],
|
| 45 |
+
[
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
1.0
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"camera_eye": [
|
| 52 |
+
-1.9785417829293246,
|
| 53 |
+
-4.095207355461867,
|
| 54 |
+
1.1606381653420919
|
| 55 |
+
],
|
| 56 |
+
"camera_target": [
|
| 57 |
+
-2.64194260635184,
|
| 58 |
+
-4.788861385216873,
|
| 59 |
+
1.02585594202541
|
| 60 |
+
],
|
| 61 |
+
"camera_roll_rad": 0.03140619287675535,
|
| 62 |
+
"camera_pose_world_cv": [
|
| 63 |
+
[
|
| 64 |
+
-0.7152326107025146,
|
| 65 |
+
0.14128893613815308,
|
| 66 |
+
-0.6844558715820312,
|
| 67 |
+
-1.9785417318344116
|
| 68 |
+
],
|
| 69 |
+
[
|
| 70 |
+
0.6961166262626648,
|
| 71 |
+
0.05691373348236084,
|
| 72 |
+
-0.7156693339347839,
|
| 73 |
+
-4.095207214355469
|
| 74 |
+
],
|
| 75 |
+
[
|
| 76 |
+
-0.06216123700141907,
|
| 77 |
+
-0.988331139087677,
|
| 78 |
+
-0.13906008005142212,
|
| 79 |
+
1.1606382131576538
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0,
|
| 85 |
+
1.0
|
| 86 |
+
]
|
| 87 |
+
],
|
| 88 |
+
"T_base_world": [
|
| 89 |
+
[
|
| 90 |
+
0.5804315805435181,
|
| 91 |
+
0.8143090605735779,
|
| 92 |
+
-8.028524689507321e-08,
|
| 93 |
+
-2.685173273086548
|
| 94 |
+
],
|
| 95 |
+
[
|
| 96 |
+
-0.8143090605735779,
|
| 97 |
+
0.5804315805435181,
|
| 98 |
+
-2.568476276110232e-08,
|
| 99 |
+
-4.783660411834717
|
| 100 |
+
],
|
| 101 |
+
[
|
| 102 |
+
2.568476276110232e-08,
|
| 103 |
+
8.028524689507321e-08,
|
| 104 |
+
1.0,
|
| 105 |
+
0.7811593413352966
|
| 106 |
+
],
|
| 107 |
+
[
|
| 108 |
+
0.0,
|
| 109 |
+
0.0,
|
| 110 |
+
0.0,
|
| 111 |
+
1.0
|
| 112 |
+
]
|
| 113 |
+
],
|
| 114 |
+
"lighting": {
|
| 115 |
+
"aug_enabled": true,
|
| 116 |
+
"params": {
|
| 117 |
+
"ambient": [
|
| 118 |
+
0.39200533085681777,
|
| 119 |
+
0.35666255633804944,
|
| 120 |
+
0.3931637190817806
|
| 121 |
+
],
|
| 122 |
+
"directional_primary": {
|
| 123 |
+
"direction": [
|
| 124 |
+
-0.3376350551650219,
|
| 125 |
+
-0.10627779145055354,
|
| 126 |
+
-0.9352580384942463
|
| 127 |
+
],
|
| 128 |
+
"color": [
|
| 129 |
+
1.1062888047645907,
|
| 130 |
+
1.0374990790766558,
|
| 131 |
+
0.9195738350401964
|
| 132 |
+
],
|
| 133 |
+
"azimuth_rad": -2.8366399893375234,
|
| 134 |
+
"elevation_rad": 1.2089873574301557,
|
| 135 |
+
"color_temp_k": 4552.808444085484,
|
| 136 |
+
"intensity": 1.0374990790766558
|
| 137 |
+
},
|
| 138 |
+
"directional_fill": {
|
| 139 |
+
"direction": [
|
| 140 |
+
-0.40777193506686965,
|
| 141 |
+
0.15973054979423756,
|
| 142 |
+
-0.8990040035696454
|
| 143 |
+
],
|
| 144 |
+
"color": [
|
| 145 |
+
0.7983510331912838,
|
| 146 |
+
0.8014690330196903,
|
| 147 |
+
0.8064578327451406
|
| 148 |
+
],
|
| 149 |
+
"azimuth_rad": 2.7682485050075663,
|
| 150 |
+
"elevation_rad": 1.1174899073936686,
|
| 151 |
+
"color_temp_k": 5577.686228343574,
|
| 152 |
+
"intensity": 0.8027162329510529
|
| 153 |
+
},
|
| 154 |
+
"point_color_scale": [
|
| 155 |
+
1.0097693041978317,
|
| 156 |
+
0.9630808115144686,
|
| 157 |
+
0.8830433954858459
|
| 158 |
+
],
|
| 159 |
+
"shadow": true
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"frames": [
|
| 163 |
+
{
|
| 164 |
+
"frame_idx": 0,
|
| 165 |
+
"qpos": [
|
| 166 |
+
0.0,
|
| 167 |
+
0.0,
|
| 168 |
+
0.0,
|
| 169 |
+
0.0,
|
| 170 |
+
0.0,
|
| 171 |
+
-1.100000023841858
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
]
|
| 175 |
+
}
|
so100/ProcTHOR/test/bg_000039/scene_b00_016/scene_meta.json
ADDED
|
@@ -0,0 +1,175 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "so100",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 39,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 15,
|
| 9 |
+
"n_dof": 6,
|
| 10 |
+
"num_links": 9,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"shoulder_pan",
|
| 13 |
+
"shoulder_lift",
|
| 14 |
+
"elbow_flex",
|
| 15 |
+
"wrist_flex",
|
| 16 |
+
"wrist_roll",
|
| 17 |
+
"gripper"
|
| 18 |
+
],
|
| 19 |
+
"link_names": [
|
| 20 |
+
"Base",
|
| 21 |
+
"Rotation_Pitch",
|
| 22 |
+
"Upper_Arm",
|
| 23 |
+
"Lower_Arm",
|
| 24 |
+
"Wrist_Pitch_Roll",
|
| 25 |
+
"Fixed_Jaw",
|
| 26 |
+
"Moving_Jaw",
|
| 27 |
+
"Fixed_Jaw_tip",
|
| 28 |
+
"Moving_Jaw_tip"
|
| 29 |
+
],
|
| 30 |
+
"ee_link_name": "Moving_Jaw",
|
| 31 |
+
"image_width": 640,
|
| 32 |
+
"image_height": 480,
|
| 33 |
+
"fovy_rad": 1.188447323154954,
|
| 34 |
+
"K": [
|
| 35 |
+
[
|
| 36 |
+
348.2020578687185,
|
| 37 |
+
0.0,
|
| 38 |
+
323.44563456650593
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
0.0,
|
| 42 |
+
355.19237548231536,
|
| 43 |
+
218.72254383559567
|
| 44 |
+
],
|
| 45 |
+
[
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
1.0
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"camera_eye": [
|
| 52 |
+
-3.1989856506099423,
|
| 53 |
+
-4.624176492305908,
|
| 54 |
+
1.1654780035369838
|
| 55 |
+
],
|
| 56 |
+
"camera_target": [
|
| 57 |
+
-2.6535277613367323,
|
| 58 |
+
-4.776474579825976,
|
| 59 |
+
0.9639380835255094
|
| 60 |
+
],
|
| 61 |
+
"camera_roll_rad": -0.013106307153251201,
|
| 62 |
+
"camera_pose_world_cv": [
|
| 63 |
+
[
|
| 64 |
+
-0.2603691816329956,
|
| 65 |
+
-0.32986393570899963,
|
| 66 |
+
0.9074126482009888,
|
| 67 |
+
-3.1989855766296387
|
| 68 |
+
],
|
| 69 |
+
[
|
| 70 |
+
-0.9651933908462524,
|
| 71 |
+
0.06488966941833496,
|
| 72 |
+
-0.25335976481437683,
|
| 73 |
+
-4.624176502227783
|
| 74 |
+
],
|
| 75 |
+
[
|
| 76 |
+
0.0246925950050354,
|
| 77 |
+
-0.9417957067489624,
|
| 78 |
+
-0.3352776765823364,
|
| 79 |
+
1.165477991104126
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0,
|
| 85 |
+
1.0
|
| 86 |
+
]
|
| 87 |
+
],
|
| 88 |
+
"T_base_world": [
|
| 89 |
+
[
|
| 90 |
+
0.5804315805435181,
|
| 91 |
+
0.8143090605735779,
|
| 92 |
+
-8.028524689507321e-08,
|
| 93 |
+
-2.685173273086548
|
| 94 |
+
],
|
| 95 |
+
[
|
| 96 |
+
-0.8143090605735779,
|
| 97 |
+
0.5804315805435181,
|
| 98 |
+
-2.568476276110232e-08,
|
| 99 |
+
-4.783660411834717
|
| 100 |
+
],
|
| 101 |
+
[
|
| 102 |
+
2.568476276110232e-08,
|
| 103 |
+
8.028524689507321e-08,
|
| 104 |
+
1.0,
|
| 105 |
+
0.7811593413352966
|
| 106 |
+
],
|
| 107 |
+
[
|
| 108 |
+
0.0,
|
| 109 |
+
0.0,
|
| 110 |
+
0.0,
|
| 111 |
+
1.0
|
| 112 |
+
]
|
| 113 |
+
],
|
| 114 |
+
"lighting": {
|
| 115 |
+
"aug_enabled": true,
|
| 116 |
+
"params": {
|
| 117 |
+
"ambient": [
|
| 118 |
+
0.2283692017964608,
|
| 119 |
+
0.2392217229894723,
|
| 120 |
+
0.23776770615750875
|
| 121 |
+
],
|
| 122 |
+
"directional_primary": {
|
| 123 |
+
"direction": [
|
| 124 |
+
-0.3376350551650219,
|
| 125 |
+
-0.10627779145055354,
|
| 126 |
+
-0.9352580384942463
|
| 127 |
+
],
|
| 128 |
+
"color": [
|
| 129 |
+
0.8309842659198621,
|
| 130 |
+
0.8501576634233599,
|
| 131 |
+
0.8808350994289562
|
| 132 |
+
],
|
| 133 |
+
"azimuth_rad": -2.8366399893375234,
|
| 134 |
+
"elevation_rad": 1.2089873574301557,
|
| 135 |
+
"color_temp_k": 5947.022464955735,
|
| 136 |
+
"intensity": 0.8578270224247588
|
| 137 |
+
},
|
| 138 |
+
"directional_fill": {
|
| 139 |
+
"direction": [
|
| 140 |
+
-0.40777193506686965,
|
| 141 |
+
0.15973054979423756,
|
| 142 |
+
-0.8990040035696454
|
| 143 |
+
],
|
| 144 |
+
"color": [
|
| 145 |
+
0.8144128043130823,
|
| 146 |
+
0.7932032879744509,
|
| 147 |
+
0.7568441171082259
|
| 148 |
+
],
|
| 149 |
+
"azimuth_rad": 2.7682485050075663,
|
| 150 |
+
"elevation_rad": 1.1174899073936686,
|
| 151 |
+
"color_temp_k": 5118.013319983066,
|
| 152 |
+
"intensity": 0.7932032879744509
|
| 153 |
+
},
|
| 154 |
+
"point_color_scale": [
|
| 155 |
+
0.9549653644465725,
|
| 156 |
+
0.9221772765922898,
|
| 157 |
+
0.8659691259849478
|
| 158 |
+
],
|
| 159 |
+
"shadow": true
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"frames": [
|
| 163 |
+
{
|
| 164 |
+
"frame_idx": 0,
|
| 165 |
+
"qpos": [
|
| 166 |
+
0.0,
|
| 167 |
+
0.0,
|
| 168 |
+
0.0,
|
| 169 |
+
0.0,
|
| 170 |
+
0.0,
|
| 171 |
+
-1.100000023841858
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
]
|
| 175 |
+
}
|
so100/ProcTHOR/test/bg_000039/scene_b01_001/scene_meta.json
ADDED
|
@@ -0,0 +1,175 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "so100",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 39,
|
| 7 |
+
"base_idx": 1,
|
| 8 |
+
"cam_idx": 0,
|
| 9 |
+
"n_dof": 6,
|
| 10 |
+
"num_links": 9,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"shoulder_pan",
|
| 13 |
+
"shoulder_lift",
|
| 14 |
+
"elbow_flex",
|
| 15 |
+
"wrist_flex",
|
| 16 |
+
"wrist_roll",
|
| 17 |
+
"gripper"
|
| 18 |
+
],
|
| 19 |
+
"link_names": [
|
| 20 |
+
"Base",
|
| 21 |
+
"Rotation_Pitch",
|
| 22 |
+
"Upper_Arm",
|
| 23 |
+
"Lower_Arm",
|
| 24 |
+
"Wrist_Pitch_Roll",
|
| 25 |
+
"Fixed_Jaw",
|
| 26 |
+
"Moving_Jaw",
|
| 27 |
+
"Fixed_Jaw_tip",
|
| 28 |
+
"Moving_Jaw_tip"
|
| 29 |
+
],
|
| 30 |
+
"ee_link_name": "Moving_Jaw",
|
| 31 |
+
"image_width": 640,
|
| 32 |
+
"image_height": 480,
|
| 33 |
+
"fovy_rad": 1.073973526748294,
|
| 34 |
+
"K": [
|
| 35 |
+
[
|
| 36 |
+
411.60379551140505,
|
| 37 |
+
0.0,
|
| 38 |
+
306.4341880050966
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
0.0,
|
| 42 |
+
403.13026940025645,
|
| 43 |
+
254.97299909796132
|
| 44 |
+
],
|
| 45 |
+
[
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
1.0
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"camera_eye": [
|
| 52 |
+
-3.8659033878510254,
|
| 53 |
+
-3.532325790499513,
|
| 54 |
+
0.909021459625289
|
| 55 |
+
],
|
| 56 |
+
"camera_target": [
|
| 57 |
+
-3.97342506324368,
|
| 58 |
+
-4.333107492051982,
|
| 59 |
+
1.0287858109826704
|
| 60 |
+
],
|
| 61 |
+
"camera_roll_rad": 0.03750186421137315,
|
| 62 |
+
"camera_pose_world_cv": [
|
| 63 |
+
[
|
| 64 |
+
-0.9897811412811279,
|
| 65 |
+
0.05480913817882538,
|
| 66 |
+
-0.13163866102695465,
|
| 67 |
+
-3.865903377532959
|
| 68 |
+
],
|
| 69 |
+
[
|
| 70 |
+
0.12181329727172852,
|
| 71 |
+
-0.15488624572753906,
|
| 72 |
+
-0.9803935885429382,
|
| 73 |
+
-3.5323257446289062
|
| 74 |
+
],
|
| 75 |
+
[
|
| 76 |
+
-0.07412354648113251,
|
| 77 |
+
-0.9864106774330139,
|
| 78 |
+
0.14662671089172363,
|
| 79 |
+
0.9090214371681213
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0,
|
| 85 |
+
1.0
|
| 86 |
+
]
|
| 87 |
+
],
|
| 88 |
+
"T_base_world": [
|
| 89 |
+
[
|
| 90 |
+
-0.29489386081695557,
|
| 91 |
+
0.9555299282073975,
|
| 92 |
+
-3.539095061455555e-08,
|
| 93 |
+
-3.996128559112549
|
| 94 |
+
],
|
| 95 |
+
[
|
| 96 |
+
-0.9555299282073975,
|
| 97 |
+
-0.29489386081695557,
|
| 98 |
+
4.7960323712459285e-08,
|
| 99 |
+
-4.302455425262451
|
| 100 |
+
],
|
| 101 |
+
[
|
| 102 |
+
3.539095061455555e-08,
|
| 103 |
+
4.7960323712459285e-08,
|
| 104 |
+
1.0,
|
| 105 |
+
0.7811593413352966
|
| 106 |
+
],
|
| 107 |
+
[
|
| 108 |
+
0.0,
|
| 109 |
+
0.0,
|
| 110 |
+
0.0,
|
| 111 |
+
1.0
|
| 112 |
+
]
|
| 113 |
+
],
|
| 114 |
+
"lighting": {
|
| 115 |
+
"aug_enabled": true,
|
| 116 |
+
"params": {
|
| 117 |
+
"ambient": [
|
| 118 |
+
0.365207549108913,
|
| 119 |
+
0.3389751292373065,
|
| 120 |
+
0.3489403091286434
|
| 121 |
+
],
|
| 122 |
+
"directional_primary": {
|
| 123 |
+
"direction": [
|
| 124 |
+
-0.3376350551650219,
|
| 125 |
+
-0.10627779145055354,
|
| 126 |
+
-0.9352580384942463
|
| 127 |
+
],
|
| 128 |
+
"color": [
|
| 129 |
+
1.1507245734808718,
|
| 130 |
+
1.1736558608025616,
|
| 131 |
+
1.210345920517265
|
| 132 |
+
],
|
| 133 |
+
"azimuth_rad": -2.8366399893375234,
|
| 134 |
+
"elevation_rad": 1.2089873574301557,
|
| 135 |
+
"color_temp_k": 5887.736510083527,
|
| 136 |
+
"intensity": 1.1828283757312374
|
| 137 |
+
},
|
| 138 |
+
"directional_fill": {
|
| 139 |
+
"direction": [
|
| 140 |
+
-0.40777193506686965,
|
| 141 |
+
0.15973054979423756,
|
| 142 |
+
-0.8990040035696454
|
| 143 |
+
],
|
| 144 |
+
"color": [
|
| 145 |
+
0.6858640333361226,
|
| 146 |
+
0.6567773534634141,
|
| 147 |
+
0.6069144736816283
|
| 148 |
+
],
|
| 149 |
+
"azimuth_rad": 2.7682485050075663,
|
| 150 |
+
"elevation_rad": 1.1174899073936686,
|
| 151 |
+
"color_temp_k": 4867.328979919379,
|
| 152 |
+
"intensity": 0.6567773534634141
|
| 153 |
+
},
|
| 154 |
+
"point_color_scale": [
|
| 155 |
+
0.8081529583739215,
|
| 156 |
+
0.8348262397132635,
|
| 157 |
+
0.877503489856211
|
| 158 |
+
],
|
| 159 |
+
"shadow": false
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"frames": [
|
| 163 |
+
{
|
| 164 |
+
"frame_idx": 0,
|
| 165 |
+
"qpos": [
|
| 166 |
+
0.0,
|
| 167 |
+
0.0,
|
| 168 |
+
0.0,
|
| 169 |
+
0.0,
|
| 170 |
+
0.0,
|
| 171 |
+
-1.100000023841858
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
]
|
| 175 |
+
}
|
so100/ProcTHOR/test/bg_000039/scene_b01_002/scene_meta.json
ADDED
|
@@ -0,0 +1,175 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "so100",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 39,
|
| 7 |
+
"base_idx": 1,
|
| 8 |
+
"cam_idx": 1,
|
| 9 |
+
"n_dof": 6,
|
| 10 |
+
"num_links": 9,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"shoulder_pan",
|
| 13 |
+
"shoulder_lift",
|
| 14 |
+
"elbow_flex",
|
| 15 |
+
"wrist_flex",
|
| 16 |
+
"wrist_roll",
|
| 17 |
+
"gripper"
|
| 18 |
+
],
|
| 19 |
+
"link_names": [
|
| 20 |
+
"Base",
|
| 21 |
+
"Rotation_Pitch",
|
| 22 |
+
"Upper_Arm",
|
| 23 |
+
"Lower_Arm",
|
| 24 |
+
"Wrist_Pitch_Roll",
|
| 25 |
+
"Fixed_Jaw",
|
| 26 |
+
"Moving_Jaw",
|
| 27 |
+
"Fixed_Jaw_tip",
|
| 28 |
+
"Moving_Jaw_tip"
|
| 29 |
+
],
|
| 30 |
+
"ee_link_name": "Moving_Jaw",
|
| 31 |
+
"image_width": 640,
|
| 32 |
+
"image_height": 480,
|
| 33 |
+
"fovy_rad": 1.249033238895377,
|
| 34 |
+
"K": [
|
| 35 |
+
[
|
| 36 |
+
336.3164979782267,
|
| 37 |
+
0.0,
|
| 38 |
+
294.6140425976561
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
0.0,
|
| 42 |
+
332.9866120369182,
|
| 43 |
+
245.62178655903517
|
| 44 |
+
],
|
| 45 |
+
[
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
1.0
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"camera_eye": [
|
| 52 |
+
-4.432987461086218,
|
| 53 |
+
-4.143846988170487,
|
| 54 |
+
1.0865588789891758
|
| 55 |
+
],
|
| 56 |
+
"camera_target": [
|
| 57 |
+
-3.9975987098065247,
|
| 58 |
+
-4.273002411707537,
|
| 59 |
+
1.0109758129025062
|
| 60 |
+
],
|
| 61 |
+
"camera_roll_rad": -0.01178728902219714,
|
| 62 |
+
"camera_pose_world_cv": [
|
| 63 |
+
[
|
| 64 |
+
-0.2806057929992676,
|
| 65 |
+
-0.1640535295009613,
|
| 66 |
+
0.9456990957260132,
|
| 67 |
+
-4.432987689971924
|
| 68 |
+
],
|
| 69 |
+
[
|
| 70 |
+
-0.9595413208007812,
|
| 71 |
+
0.024077892303466797,
|
| 72 |
+
-0.2805361747741699,
|
| 73 |
+
-4.1438469886779785
|
| 74 |
+
],
|
| 75 |
+
[
|
| 76 |
+
0.023252546787261963,
|
| 77 |
+
-0.9861575365066528,
|
| 78 |
+
-0.16417264938354492,
|
| 79 |
+
1.0865589380264282
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0,
|
| 85 |
+
1.0
|
| 86 |
+
]
|
| 87 |
+
],
|
| 88 |
+
"T_base_world": [
|
| 89 |
+
[
|
| 90 |
+
-0.2948939800262451,
|
| 91 |
+
0.955530047416687,
|
| 92 |
+
0.0,
|
| 93 |
+
-3.996128559112549
|
| 94 |
+
],
|
| 95 |
+
[
|
| 96 |
+
-0.955530047416687,
|
| 97 |
+
-0.2948939800262451,
|
| 98 |
+
-0.0,
|
| 99 |
+
-4.302455425262451
|
| 100 |
+
],
|
| 101 |
+
[
|
| 102 |
+
-0.0,
|
| 103 |
+
0.0,
|
| 104 |
+
1.0,
|
| 105 |
+
0.7811593413352966
|
| 106 |
+
],
|
| 107 |
+
[
|
| 108 |
+
0.0,
|
| 109 |
+
0.0,
|
| 110 |
+
0.0,
|
| 111 |
+
1.0
|
| 112 |
+
]
|
| 113 |
+
],
|
| 114 |
+
"lighting": {
|
| 115 |
+
"aug_enabled": true,
|
| 116 |
+
"params": {
|
| 117 |
+
"ambient": [
|
| 118 |
+
0.31993778265140044,
|
| 119 |
+
0.31003055555454556,
|
| 120 |
+
0.2923592792316194
|
| 121 |
+
],
|
| 122 |
+
"directional_primary": {
|
| 123 |
+
"direction": [
|
| 124 |
+
-0.3376350551650219,
|
| 125 |
+
-0.10627779145055354,
|
| 126 |
+
-0.9352580384942463
|
| 127 |
+
],
|
| 128 |
+
"color": [
|
| 129 |
+
1.1745137227994071,
|
| 130 |
+
1.1315696954952066,
|
| 131 |
+
1.05795136297372
|
| 132 |
+
],
|
| 133 |
+
"azimuth_rad": -2.8366399893375234,
|
| 134 |
+
"elevation_rad": 1.2089873574301557,
|
| 135 |
+
"color_temp_k": 4957.845056483912,
|
| 136 |
+
"intensity": 1.1315696954952066
|
| 137 |
+
},
|
| 138 |
+
"directional_fill": {
|
| 139 |
+
"direction": [
|
| 140 |
+
-0.40777193506686965,
|
| 141 |
+
0.15973054979423756,
|
| 142 |
+
-0.8990040035696454
|
| 143 |
+
],
|
| 144 |
+
"color": [
|
| 145 |
+
0.9434929234508815,
|
| 146 |
+
0.9049217972072743,
|
| 147 |
+
0.8387998665039477
|
| 148 |
+
],
|
| 149 |
+
"azimuth_rad": 2.7682485050075663,
|
| 150 |
+
"elevation_rad": 1.1174899073936686,
|
| 151 |
+
"color_temp_k": 4891.089825778418,
|
| 152 |
+
"intensity": 0.9049217972072743
|
| 153 |
+
},
|
| 154 |
+
"point_color_scale": [
|
| 155 |
+
1.0736031496687888,
|
| 156 |
+
1.0855812638344304,
|
| 157 |
+
1.1047462464994575
|
| 158 |
+
],
|
| 159 |
+
"shadow": true
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"frames": [
|
| 163 |
+
{
|
| 164 |
+
"frame_idx": 0,
|
| 165 |
+
"qpos": [
|
| 166 |
+
0.0,
|
| 167 |
+
0.0,
|
| 168 |
+
0.0,
|
| 169 |
+
0.0,
|
| 170 |
+
0.0,
|
| 171 |
+
-1.100000023841858
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
]
|
| 175 |
+
}
|
so100/ProcTHOR/test/bg_000039/scene_b01_003/scene_meta.json
ADDED
|
@@ -0,0 +1,175 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "so100",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 39,
|
| 7 |
+
"base_idx": 1,
|
| 8 |
+
"cam_idx": 2,
|
| 9 |
+
"n_dof": 6,
|
| 10 |
+
"num_links": 9,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"shoulder_pan",
|
| 13 |
+
"shoulder_lift",
|
| 14 |
+
"elbow_flex",
|
| 15 |
+
"wrist_flex",
|
| 16 |
+
"wrist_roll",
|
| 17 |
+
"gripper"
|
| 18 |
+
],
|
| 19 |
+
"link_names": [
|
| 20 |
+
"Base",
|
| 21 |
+
"Rotation_Pitch",
|
| 22 |
+
"Upper_Arm",
|
| 23 |
+
"Lower_Arm",
|
| 24 |
+
"Wrist_Pitch_Roll",
|
| 25 |
+
"Fixed_Jaw",
|
| 26 |
+
"Moving_Jaw",
|
| 27 |
+
"Fixed_Jaw_tip",
|
| 28 |
+
"Moving_Jaw_tip"
|
| 29 |
+
],
|
| 30 |
+
"ee_link_name": "Moving_Jaw",
|
| 31 |
+
"image_width": 640,
|
| 32 |
+
"image_height": 480,
|
| 33 |
+
"fovy_rad": 1.1113144401554254,
|
| 34 |
+
"K": [
|
| 35 |
+
[
|
| 36 |
+
405.7787111136301,
|
| 37 |
+
0.0,
|
| 38 |
+
295.4508215399711
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
0.0,
|
| 42 |
+
386.5256224774402,
|
| 43 |
+
228.90168944496335
|
| 44 |
+
],
|
| 45 |
+
[
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
1.0
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"camera_eye": [
|
| 52 |
+
-4.652293687474017,
|
| 53 |
+
-3.704901176775994,
|
| 54 |
+
0.7174415634162077
|
| 55 |
+
],
|
| 56 |
+
"camera_target": [
|
| 57 |
+
-3.980970552273588,
|
| 58 |
+
-4.352026603071742,
|
| 59 |
+
0.9919396679536917
|
| 60 |
+
],
|
| 61 |
+
"camera_roll_rad": -0.046180988696059376,
|
| 62 |
+
"camera_pose_world_cv": [
|
| 63 |
+
[
|
| 64 |
+
-0.7098067998886108,
|
| 65 |
+
0.13844448328018188,
|
| 66 |
+
0.6906575560569763,
|
| 67 |
+
-4.652293682098389
|
| 68 |
+
],
|
| 69 |
+
[
|
| 70 |
+
-0.698818027973175,
|
| 71 |
+
-0.2615588903427124,
|
| 72 |
+
-0.6657630801200867,
|
| 73 |
+
-3.7049012184143066
|
| 74 |
+
],
|
| 75 |
+
[
|
| 76 |
+
0.08847647905349731,
|
| 77 |
+
-0.9552069306373596,
|
| 78 |
+
0.28240394592285156,
|
| 79 |
+
0.7174415588378906
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0,
|
| 85 |
+
1.0
|
| 86 |
+
]
|
| 87 |
+
],
|
| 88 |
+
"T_base_world": [
|
| 89 |
+
[
|
| 90 |
+
-0.29489386081695557,
|
| 91 |
+
0.9555299282073975,
|
| 92 |
+
-3.539095061455555e-08,
|
| 93 |
+
-3.996128559112549
|
| 94 |
+
],
|
| 95 |
+
[
|
| 96 |
+
-0.9555299282073975,
|
| 97 |
+
-0.29489386081695557,
|
| 98 |
+
4.7960323712459285e-08,
|
| 99 |
+
-4.302455425262451
|
| 100 |
+
],
|
| 101 |
+
[
|
| 102 |
+
3.539095061455555e-08,
|
| 103 |
+
4.7960323712459285e-08,
|
| 104 |
+
1.0,
|
| 105 |
+
0.7811593413352966
|
| 106 |
+
],
|
| 107 |
+
[
|
| 108 |
+
0.0,
|
| 109 |
+
0.0,
|
| 110 |
+
0.0,
|
| 111 |
+
1.0
|
| 112 |
+
]
|
| 113 |
+
],
|
| 114 |
+
"lighting": {
|
| 115 |
+
"aug_enabled": true,
|
| 116 |
+
"params": {
|
| 117 |
+
"ambient": [
|
| 118 |
+
0.313705487388744,
|
| 119 |
+
0.3275114321908698,
|
| 120 |
+
0.3289044188275402
|
| 121 |
+
],
|
| 122 |
+
"directional_primary": {
|
| 123 |
+
"direction": [
|
| 124 |
+
-0.3376350551650219,
|
| 125 |
+
-0.10627779145055354,
|
| 126 |
+
-0.9352580384942463
|
| 127 |
+
],
|
| 128 |
+
"color": [
|
| 129 |
+
1.2043555922030766,
|
| 130 |
+
1.1287370701978474,
|
| 131 |
+
0.9991053181888832
|
| 132 |
+
],
|
| 133 |
+
"azimuth_rad": -2.8366399893375234,
|
| 134 |
+
"elevation_rad": 1.2089873574301557,
|
| 135 |
+
"color_temp_k": 4542.943987047975,
|
| 136 |
+
"intensity": 1.1287370701978474
|
| 137 |
+
},
|
| 138 |
+
"directional_fill": {
|
| 139 |
+
"direction": [
|
| 140 |
+
-0.40777193506686965,
|
| 141 |
+
0.15973054979423756,
|
| 142 |
+
-0.8990040035696454
|
| 143 |
+
],
|
| 144 |
+
"color": [
|
| 145 |
+
0.7839784966957937,
|
| 146 |
+
0.813931581432098,
|
| 147 |
+
0.861856517010185
|
| 148 |
+
],
|
| 149 |
+
"azimuth_rad": 2.7682485050075663,
|
| 150 |
+
"elevation_rad": 1.1174899073936686,
|
| 151 |
+
"color_temp_k": 6225.332848224637,
|
| 152 |
+
"intensity": 0.8259128153266196
|
| 153 |
+
},
|
| 154 |
+
"point_color_scale": [
|
| 155 |
+
0.8599780027893037,
|
| 156 |
+
0.8888530626415201,
|
| 157 |
+
0.9350531584050663
|
| 158 |
+
],
|
| 159 |
+
"shadow": true
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"frames": [
|
| 163 |
+
{
|
| 164 |
+
"frame_idx": 0,
|
| 165 |
+
"qpos": [
|
| 166 |
+
0.0,
|
| 167 |
+
0.0,
|
| 168 |
+
0.0,
|
| 169 |
+
0.0,
|
| 170 |
+
0.0,
|
| 171 |
+
-1.100000023841858
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
]
|
| 175 |
+
}
|
so100/ProcTHOR/test/bg_000039/scene_b01_004/scene_meta.json
ADDED
|
@@ -0,0 +1,175 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "so100",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 39,
|
| 7 |
+
"base_idx": 1,
|
| 8 |
+
"cam_idx": 3,
|
| 9 |
+
"n_dof": 6,
|
| 10 |
+
"num_links": 9,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"shoulder_pan",
|
| 13 |
+
"shoulder_lift",
|
| 14 |
+
"elbow_flex",
|
| 15 |
+
"wrist_flex",
|
| 16 |
+
"wrist_roll",
|
| 17 |
+
"gripper"
|
| 18 |
+
],
|
| 19 |
+
"link_names": [
|
| 20 |
+
"Base",
|
| 21 |
+
"Rotation_Pitch",
|
| 22 |
+
"Upper_Arm",
|
| 23 |
+
"Lower_Arm",
|
| 24 |
+
"Wrist_Pitch_Roll",
|
| 25 |
+
"Fixed_Jaw",
|
| 26 |
+
"Moving_Jaw",
|
| 27 |
+
"Fixed_Jaw_tip",
|
| 28 |
+
"Moving_Jaw_tip"
|
| 29 |
+
],
|
| 30 |
+
"ee_link_name": "Moving_Jaw",
|
| 31 |
+
"image_width": 640,
|
| 32 |
+
"image_height": 480,
|
| 33 |
+
"fovy_rad": 1.2634440759049919,
|
| 34 |
+
"K": [
|
| 35 |
+
[
|
| 36 |
+
319.8770353894591,
|
| 37 |
+
0.0,
|
| 38 |
+
323.55484647798676
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
0.0,
|
| 42 |
+
327.97838686718796,
|
| 43 |
+
219.77167861775717
|
| 44 |
+
],
|
| 45 |
+
[
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
1.0
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"camera_eye": [
|
| 52 |
+
-4.650588235400084,
|
| 53 |
+
-3.8540131231847474,
|
| 54 |
+
0.8087786838641333
|
| 55 |
+
],
|
| 56 |
+
"camera_target": [
|
| 57 |
+
-4.044246279021248,
|
| 58 |
+
-4.335702840635517,
|
| 59 |
+
0.9890867404285982
|
| 60 |
+
],
|
| 61 |
+
"camera_roll_rad": 0.03681033283757654,
|
| 62 |
+
"camera_pose_world_cv": [
|
| 63 |
+
[
|
| 64 |
+
-0.6072816848754883,
|
| 65 |
+
0.22283455729484558,
|
| 66 |
+
0.7625967264175415,
|
| 67 |
+
-4.650588035583496
|
| 68 |
+
],
|
| 69 |
+
[
|
| 70 |
+
-0.7912502288818359,
|
| 71 |
+
-0.0830845832824707,
|
| 72 |
+
-0.6058218479156494,
|
| 73 |
+
-3.854013204574585
|
| 74 |
+
],
|
| 75 |
+
[
|
| 76 |
+
-0.07163801789283752,
|
| 77 |
+
-0.9713093042373657,
|
| 78 |
+
0.22677373886108398,
|
| 79 |
+
0.808778703212738
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0,
|
| 85 |
+
1.0
|
| 86 |
+
]
|
| 87 |
+
],
|
| 88 |
+
"T_base_world": [
|
| 89 |
+
[
|
| 90 |
+
-0.2948939800262451,
|
| 91 |
+
0.955530047416687,
|
| 92 |
+
0.0,
|
| 93 |
+
-3.996128559112549
|
| 94 |
+
],
|
| 95 |
+
[
|
| 96 |
+
-0.955530047416687,
|
| 97 |
+
-0.2948939800262451,
|
| 98 |
+
-0.0,
|
| 99 |
+
-4.302455425262451
|
| 100 |
+
],
|
| 101 |
+
[
|
| 102 |
+
-0.0,
|
| 103 |
+
0.0,
|
| 104 |
+
1.0,
|
| 105 |
+
0.7811593413352966
|
| 106 |
+
],
|
| 107 |
+
[
|
| 108 |
+
0.0,
|
| 109 |
+
0.0,
|
| 110 |
+
0.0,
|
| 111 |
+
1.0
|
| 112 |
+
]
|
| 113 |
+
],
|
| 114 |
+
"lighting": {
|
| 115 |
+
"aug_enabled": true,
|
| 116 |
+
"params": {
|
| 117 |
+
"ambient": [
|
| 118 |
+
0.22812458881866102,
|
| 119 |
+
0.22274285747362418,
|
| 120 |
+
0.2136131979558529
|
| 121 |
+
],
|
| 122 |
+
"directional_primary": {
|
| 123 |
+
"direction": [
|
| 124 |
+
-0.3376350551650219,
|
| 125 |
+
-0.10627779145055354,
|
| 126 |
+
-0.9352580384942463
|
| 127 |
+
],
|
| 128 |
+
"color": [
|
| 129 |
+
0.9503373269656706,
|
| 130 |
+
0.8946035650025341,
|
| 131 |
+
0.7990599730657288
|
| 132 |
+
],
|
| 133 |
+
"azimuth_rad": -2.8366399893375234,
|
| 134 |
+
"elevation_rad": 1.2089873574301557,
|
| 135 |
+
"color_temp_k": 4610.000640930687,
|
| 136 |
+
"intensity": 0.8946035650025341
|
| 137 |
+
},
|
| 138 |
+
"directional_fill": {
|
| 139 |
+
"direction": [
|
| 140 |
+
-0.40777193506686965,
|
| 141 |
+
0.15973054979423756,
|
| 142 |
+
-0.8990040035696454
|
| 143 |
+
],
|
| 144 |
+
"color": [
|
| 145 |
+
0.7455193383096876,
|
| 146 |
+
0.7382275604812301,
|
| 147 |
+
0.7257273699181599
|
| 148 |
+
],
|
| 149 |
+
"azimuth_rad": 2.7682485050075663,
|
| 150 |
+
"elevation_rad": 1.1174899073936686,
|
| 151 |
+
"color_temp_k": 5358.8941130505245,
|
| 152 |
+
"intensity": 0.7382275604812301
|
| 153 |
+
},
|
| 154 |
+
"point_color_scale": [
|
| 155 |
+
0.8308428276022418,
|
| 156 |
+
0.8086291251539685,
|
| 157 |
+
0.7705484923854999
|
| 158 |
+
],
|
| 159 |
+
"shadow": false
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"frames": [
|
| 163 |
+
{
|
| 164 |
+
"frame_idx": 0,
|
| 165 |
+
"qpos": [
|
| 166 |
+
0.0,
|
| 167 |
+
0.0,
|
| 168 |
+
0.0,
|
| 169 |
+
0.0,
|
| 170 |
+
0.0,
|
| 171 |
+
-1.100000023841858
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
]
|
| 175 |
+
}
|
so100/ProcTHOR/test/bg_000039/scene_b01_005/scene_meta.json
ADDED
|
@@ -0,0 +1,175 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "so100",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 39,
|
| 7 |
+
"base_idx": 1,
|
| 8 |
+
"cam_idx": 4,
|
| 9 |
+
"n_dof": 6,
|
| 10 |
+
"num_links": 9,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"shoulder_pan",
|
| 13 |
+
"shoulder_lift",
|
| 14 |
+
"elbow_flex",
|
| 15 |
+
"wrist_flex",
|
| 16 |
+
"wrist_roll",
|
| 17 |
+
"gripper"
|
| 18 |
+
],
|
| 19 |
+
"link_names": [
|
| 20 |
+
"Base",
|
| 21 |
+
"Rotation_Pitch",
|
| 22 |
+
"Upper_Arm",
|
| 23 |
+
"Lower_Arm",
|
| 24 |
+
"Wrist_Pitch_Roll",
|
| 25 |
+
"Fixed_Jaw",
|
| 26 |
+
"Moving_Jaw",
|
| 27 |
+
"Fixed_Jaw_tip",
|
| 28 |
+
"Moving_Jaw_tip"
|
| 29 |
+
],
|
| 30 |
+
"ee_link_name": "Moving_Jaw",
|
| 31 |
+
"image_width": 640,
|
| 32 |
+
"image_height": 480,
|
| 33 |
+
"fovy_rad": 1.0892483371423807,
|
| 34 |
+
"K": [
|
| 35 |
+
[
|
| 36 |
+
408.58166354910065,
|
| 37 |
+
0.0,
|
| 38 |
+
316.81817162011487
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
0.0,
|
| 42 |
+
396.2142746302754,
|
| 43 |
+
231.89197751020302
|
| 44 |
+
],
|
| 45 |
+
[
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
1.0
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"camera_eye": [
|
| 52 |
+
-4.680338545021026,
|
| 53 |
+
-4.441096059432812,
|
| 54 |
+
1.1395203872315514
|
| 55 |
+
],
|
| 56 |
+
"camera_target": [
|
| 57 |
+
-3.9943338983659897,
|
| 58 |
+
-4.258036622895792,
|
| 59 |
+
0.9369505761854424
|
| 60 |
+
],
|
| 61 |
+
"camera_roll_rad": 0.03278239667342729,
|
| 62 |
+
"camera_pose_world_cv": [
|
| 63 |
+
[
|
| 64 |
+
0.23990494012832642,
|
| 65 |
+
-0.28140515089035034,
|
| 66 |
+
0.9291161298751831,
|
| 67 |
+
-4.680338382720947
|
| 68 |
+
],
|
| 69 |
+
[
|
| 70 |
+
-0.9687498211860657,
|
| 71 |
+
-0.007282078266143799,
|
| 72 |
+
0.24793317914009094,
|
| 73 |
+
-4.44109582901001
|
| 74 |
+
],
|
| 75 |
+
[
|
| 76 |
+
-0.06300368905067444,
|
| 77 |
+
-0.9595614671707153,
|
| 78 |
+
-0.2743581533432007,
|
| 79 |
+
1.1395204067230225
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0,
|
| 85 |
+
1.0
|
| 86 |
+
]
|
| 87 |
+
],
|
| 88 |
+
"T_base_world": [
|
| 89 |
+
[
|
| 90 |
+
-0.2948939800262451,
|
| 91 |
+
0.955530047416687,
|
| 92 |
+
0.0,
|
| 93 |
+
-3.996128559112549
|
| 94 |
+
],
|
| 95 |
+
[
|
| 96 |
+
-0.955530047416687,
|
| 97 |
+
-0.2948939800262451,
|
| 98 |
+
-0.0,
|
| 99 |
+
-4.302455425262451
|
| 100 |
+
],
|
| 101 |
+
[
|
| 102 |
+
-0.0,
|
| 103 |
+
0.0,
|
| 104 |
+
1.0,
|
| 105 |
+
0.7811593413352966
|
| 106 |
+
],
|
| 107 |
+
[
|
| 108 |
+
0.0,
|
| 109 |
+
0.0,
|
| 110 |
+
0.0,
|
| 111 |
+
1.0
|
| 112 |
+
]
|
| 113 |
+
],
|
| 114 |
+
"lighting": {
|
| 115 |
+
"aug_enabled": true,
|
| 116 |
+
"params": {
|
| 117 |
+
"ambient": [
|
| 118 |
+
0.32725363520836553,
|
| 119 |
+
0.3052742038593436,
|
| 120 |
+
0.3070259093963856
|
| 121 |
+
],
|
| 122 |
+
"directional_primary": {
|
| 123 |
+
"direction": [
|
| 124 |
+
-0.3376350551650219,
|
| 125 |
+
-0.10627779145055354,
|
| 126 |
+
-0.9352580384942463
|
| 127 |
+
],
|
| 128 |
+
"color": [
|
| 129 |
+
1.209795099585202,
|
| 130 |
+
1.1786021812832979,
|
| 131 |
+
1.1251286070514623
|
| 132 |
+
],
|
| 133 |
+
"azimuth_rad": -2.8366399893375234,
|
| 134 |
+
"elevation_rad": 1.2089873574301557,
|
| 135 |
+
"color_temp_k": 5121.913886063377,
|
| 136 |
+
"intensity": 1.1786021812832979
|
| 137 |
+
},
|
| 138 |
+
"directional_fill": {
|
| 139 |
+
"direction": [
|
| 140 |
+
-0.40777193506686965,
|
| 141 |
+
0.15973054979423756,
|
| 142 |
+
-0.8990040035696454
|
| 143 |
+
],
|
| 144 |
+
"color": [
|
| 145 |
+
0.7781629365059504,
|
| 146 |
+
0.7482322110094131,
|
| 147 |
+
0.6969223958724922
|
| 148 |
+
],
|
| 149 |
+
"azimuth_rad": 2.7682485050075663,
|
| 150 |
+
"elevation_rad": 1.1174899073936686,
|
| 151 |
+
"color_temp_k": 4928.543991402296,
|
| 152 |
+
"intensity": 0.7482322110094131
|
| 153 |
+
},
|
| 154 |
+
"point_color_scale": [
|
| 155 |
+
0.7936978989048727,
|
| 156 |
+
0.8029527385894716,
|
| 157 |
+
0.8177604820848297
|
| 158 |
+
],
|
| 159 |
+
"shadow": true
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"frames": [
|
| 163 |
+
{
|
| 164 |
+
"frame_idx": 0,
|
| 165 |
+
"qpos": [
|
| 166 |
+
0.0,
|
| 167 |
+
0.0,
|
| 168 |
+
0.0,
|
| 169 |
+
0.0,
|
| 170 |
+
0.0,
|
| 171 |
+
-1.100000023841858
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
]
|
| 175 |
+
}
|
so100/ProcTHOR/test/bg_000039/scene_b01_006/scene_meta.json
ADDED
|
@@ -0,0 +1,175 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "so100",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 39,
|
| 7 |
+
"base_idx": 1,
|
| 8 |
+
"cam_idx": 5,
|
| 9 |
+
"n_dof": 6,
|
| 10 |
+
"num_links": 9,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"shoulder_pan",
|
| 13 |
+
"shoulder_lift",
|
| 14 |
+
"elbow_flex",
|
| 15 |
+
"wrist_flex",
|
| 16 |
+
"wrist_roll",
|
| 17 |
+
"gripper"
|
| 18 |
+
],
|
| 19 |
+
"link_names": [
|
| 20 |
+
"Base",
|
| 21 |
+
"Rotation_Pitch",
|
| 22 |
+
"Upper_Arm",
|
| 23 |
+
"Lower_Arm",
|
| 24 |
+
"Wrist_Pitch_Roll",
|
| 25 |
+
"Fixed_Jaw",
|
| 26 |
+
"Moving_Jaw",
|
| 27 |
+
"Fixed_Jaw_tip",
|
| 28 |
+
"Moving_Jaw_tip"
|
| 29 |
+
],
|
| 30 |
+
"ee_link_name": "Moving_Jaw",
|
| 31 |
+
"image_width": 640,
|
| 32 |
+
"image_height": 480,
|
| 33 |
+
"fovy_rad": 0.904172050911711,
|
| 34 |
+
"K": [
|
| 35 |
+
[
|
| 36 |
+
474.9000176405576,
|
| 37 |
+
0.0,
|
| 38 |
+
350.38764166525533
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
0.0,
|
| 42 |
+
494.2029502894274,
|
| 43 |
+
255.63109797025615
|
| 44 |
+
],
|
| 45 |
+
[
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
1.0
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"camera_eye": [
|
| 52 |
+
-4.207418664941729,
|
| 53 |
+
-4.872741927966856,
|
| 54 |
+
1.0240359418017788
|
| 55 |
+
],
|
| 56 |
+
"camera_target": [
|
| 57 |
+
-3.982466174371749,
|
| 58 |
+
-4.340578380682888,
|
| 59 |
+
0.9662381490163411
|
| 60 |
+
],
|
| 61 |
+
"camera_roll_rad": 0.006362537550624062,
|
| 62 |
+
"camera_pose_world_cv": [
|
| 63 |
+
[
|
| 64 |
+
0.9205197095870972,
|
| 65 |
+
-0.050474539399147034,
|
| 66 |
+
0.38742193579673767,
|
| 67 |
+
-4.207418441772461
|
| 68 |
+
],
|
| 69 |
+
[
|
| 70 |
+
-0.39049088954925537,
|
| 71 |
+
-0.08672457933425903,
|
| 72 |
+
0.9165128469467163,
|
| 73 |
+
-4.87274169921875
|
| 74 |
+
],
|
| 75 |
+
[
|
| 76 |
+
-0.012661546468734741,
|
| 77 |
+
-0.994952917098999,
|
| 78 |
+
-0.0995415449142456,
|
| 79 |
+
1.024035930633545
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0,
|
| 85 |
+
1.0
|
| 86 |
+
]
|
| 87 |
+
],
|
| 88 |
+
"T_base_world": [
|
| 89 |
+
[
|
| 90 |
+
-0.2948939800262451,
|
| 91 |
+
0.955530047416687,
|
| 92 |
+
0.0,
|
| 93 |
+
-3.996128559112549
|
| 94 |
+
],
|
| 95 |
+
[
|
| 96 |
+
-0.955530047416687,
|
| 97 |
+
-0.2948939800262451,
|
| 98 |
+
-0.0,
|
| 99 |
+
-4.302455425262451
|
| 100 |
+
],
|
| 101 |
+
[
|
| 102 |
+
-0.0,
|
| 103 |
+
0.0,
|
| 104 |
+
1.0,
|
| 105 |
+
0.7811593413352966
|
| 106 |
+
],
|
| 107 |
+
[
|
| 108 |
+
0.0,
|
| 109 |
+
0.0,
|
| 110 |
+
0.0,
|
| 111 |
+
1.0
|
| 112 |
+
]
|
| 113 |
+
],
|
| 114 |
+
"lighting": {
|
| 115 |
+
"aug_enabled": true,
|
| 116 |
+
"params": {
|
| 117 |
+
"ambient": [
|
| 118 |
+
0.37733883215352315,
|
| 119 |
+
0.3620267471078951,
|
| 120 |
+
0.36403213171494303
|
| 121 |
+
],
|
| 122 |
+
"directional_primary": {
|
| 123 |
+
"direction": [
|
| 124 |
+
-0.3376350551650219,
|
| 125 |
+
-0.10627779145055354,
|
| 126 |
+
-0.9352580384942463
|
| 127 |
+
],
|
| 128 |
+
"color": [
|
| 129 |
+
1.0724753496751436,
|
| 130 |
+
1.107221038790507,
|
| 131 |
+
1.162814141375089
|
| 132 |
+
],
|
| 133 |
+
"azimuth_rad": -2.8366399893375234,
|
| 134 |
+
"elevation_rad": 1.2089873574301557,
|
| 135 |
+
"color_temp_k": 6119.839274338482,
|
| 136 |
+
"intensity": 1.1211193144366525
|
| 137 |
+
},
|
| 138 |
+
"directional_fill": {
|
| 139 |
+
"direction": [
|
| 140 |
+
-0.40777193506686965,
|
| 141 |
+
0.15973054979423756,
|
| 142 |
+
-0.8990040035696454
|
| 143 |
+
],
|
| 144 |
+
"color": [
|
| 145 |
+
0.756737156198098,
|
| 146 |
+
0.7398803816775629,
|
| 147 |
+
0.710983053928074
|
| 148 |
+
],
|
| 149 |
+
"azimuth_rad": 2.7682485050075663,
|
| 150 |
+
"elevation_rad": 1.1174899073936686,
|
| 151 |
+
"color_temp_k": 5174.52703093293,
|
| 152 |
+
"intensity": 0.7398803816775629
|
| 153 |
+
},
|
| 154 |
+
"point_color_scale": [
|
| 155 |
+
0.8292376346188751,
|
| 156 |
+
0.8390686891257749,
|
| 157 |
+
0.8547983763368145
|
| 158 |
+
],
|
| 159 |
+
"shadow": true
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"frames": [
|
| 163 |
+
{
|
| 164 |
+
"frame_idx": 0,
|
| 165 |
+
"qpos": [
|
| 166 |
+
0.0,
|
| 167 |
+
0.0,
|
| 168 |
+
0.0,
|
| 169 |
+
0.0,
|
| 170 |
+
0.0,
|
| 171 |
+
-1.100000023841858
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
]
|
| 175 |
+
}
|
so100/ProcTHOR/test/bg_000039/scene_b01_007/scene_meta.json
ADDED
|
@@ -0,0 +1,175 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "so100",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 39,
|
| 7 |
+
"base_idx": 1,
|
| 8 |
+
"cam_idx": 6,
|
| 9 |
+
"n_dof": 6,
|
| 10 |
+
"num_links": 9,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"shoulder_pan",
|
| 13 |
+
"shoulder_lift",
|
| 14 |
+
"elbow_flex",
|
| 15 |
+
"wrist_flex",
|
| 16 |
+
"wrist_roll",
|
| 17 |
+
"gripper"
|
| 18 |
+
],
|
| 19 |
+
"link_names": [
|
| 20 |
+
"Base",
|
| 21 |
+
"Rotation_Pitch",
|
| 22 |
+
"Upper_Arm",
|
| 23 |
+
"Lower_Arm",
|
| 24 |
+
"Wrist_Pitch_Roll",
|
| 25 |
+
"Fixed_Jaw",
|
| 26 |
+
"Moving_Jaw",
|
| 27 |
+
"Fixed_Jaw_tip",
|
| 28 |
+
"Moving_Jaw_tip"
|
| 29 |
+
],
|
| 30 |
+
"ee_link_name": "Moving_Jaw",
|
| 31 |
+
"image_width": 640,
|
| 32 |
+
"image_height": 480,
|
| 33 |
+
"fovy_rad": 1.2185141733942342,
|
| 34 |
+
"K": [
|
| 35 |
+
[
|
| 36 |
+
350.4447749041845,
|
| 37 |
+
0.0,
|
| 38 |
+
297.82154931627485
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
0.0,
|
| 42 |
+
343.93137874705286,
|
| 43 |
+
242.95657253859275
|
| 44 |
+
],
|
| 45 |
+
[
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
1.0
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"camera_eye": [
|
| 52 |
+
-4.672254840864516,
|
| 53 |
+
-4.161139412454606,
|
| 54 |
+
0.6896738902605763
|
| 55 |
+
],
|
| 56 |
+
"camera_target": [
|
| 57 |
+
-3.981608098239672,
|
| 58 |
+
-4.296719200645286,
|
| 59 |
+
1.0288637584709002
|
| 60 |
+
],
|
| 61 |
+
"camera_roll_rad": 0.00659778129597887,
|
| 62 |
+
"camera_pose_world_cv": [
|
| 63 |
+
[
|
| 64 |
+
-0.18699347972869873,
|
| 65 |
+
0.428510844707489,
|
| 66 |
+
0.883975088596344,
|
| 67 |
+
-4.672255039215088
|
| 68 |
+
],
|
| 69 |
+
[
|
| 70 |
+
-0.9822892546653748,
|
| 71 |
+
-0.07067310810089111,
|
| 72 |
+
-0.17353138327598572,
|
| 73 |
+
-4.161139488220215
|
| 74 |
+
],
|
| 75 |
+
[
|
| 76 |
+
-0.011886775493621826,
|
| 77 |
+
-0.9007683992385864,
|
| 78 |
+
0.4341369867324829,
|
| 79 |
+
0.689673900604248
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0,
|
| 85 |
+
1.0
|
| 86 |
+
]
|
| 87 |
+
],
|
| 88 |
+
"T_base_world": [
|
| 89 |
+
[
|
| 90 |
+
-0.2948939800262451,
|
| 91 |
+
0.955530047416687,
|
| 92 |
+
0.0,
|
| 93 |
+
-3.996128559112549
|
| 94 |
+
],
|
| 95 |
+
[
|
| 96 |
+
-0.955530047416687,
|
| 97 |
+
-0.2948939800262451,
|
| 98 |
+
-0.0,
|
| 99 |
+
-4.302455425262451
|
| 100 |
+
],
|
| 101 |
+
[
|
| 102 |
+
-0.0,
|
| 103 |
+
0.0,
|
| 104 |
+
1.0,
|
| 105 |
+
0.7811593413352966
|
| 106 |
+
],
|
| 107 |
+
[
|
| 108 |
+
0.0,
|
| 109 |
+
0.0,
|
| 110 |
+
0.0,
|
| 111 |
+
1.0
|
| 112 |
+
]
|
| 113 |
+
],
|
| 114 |
+
"lighting": {
|
| 115 |
+
"aug_enabled": true,
|
| 116 |
+
"params": {
|
| 117 |
+
"ambient": [
|
| 118 |
+
0.36676376679568595,
|
| 119 |
+
0.36372978984869325,
|
| 120 |
+
0.35035154229496995
|
| 121 |
+
],
|
| 122 |
+
"directional_primary": {
|
| 123 |
+
"direction": [
|
| 124 |
+
-0.3376350551650219,
|
| 125 |
+
-0.10627779145055354,
|
| 126 |
+
-0.9352580384942463
|
| 127 |
+
],
|
| 128 |
+
"color": [
|
| 129 |
+
1.0892701318859064,
|
| 130 |
+
1.1195148060405347,
|
| 131 |
+
1.1679062846879404
|
| 132 |
+
],
|
| 133 |
+
"azimuth_rad": -2.8366399893375234,
|
| 134 |
+
"elevation_rad": 1.2089873574301557,
|
| 135 |
+
"color_temp_k": 6034.541098805838,
|
| 136 |
+
"intensity": 1.131612675702386
|
| 137 |
+
},
|
| 138 |
+
"directional_fill": {
|
| 139 |
+
"direction": [
|
| 140 |
+
-0.40777193506686965,
|
| 141 |
+
0.15973054979423756,
|
| 142 |
+
-0.8990040035696454
|
| 143 |
+
],
|
| 144 |
+
"color": [
|
| 145 |
+
0.6892965448943352,
|
| 146 |
+
0.7173445012990871,
|
| 147 |
+
0.76222123154669
|
| 148 |
+
],
|
| 149 |
+
"azimuth_rad": 2.7682485050075663,
|
| 150 |
+
"elevation_rad": 1.1174899073936686,
|
| 151 |
+
"color_temp_k": 6269.952085893523,
|
| 152 |
+
"intensity": 0.7285636838609878
|
| 153 |
+
},
|
| 154 |
+
"point_color_scale": [
|
| 155 |
+
0.817842158625752,
|
| 156 |
+
0.82549915233879,
|
| 157 |
+
0.8377503422796507
|
| 158 |
+
],
|
| 159 |
+
"shadow": true
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"frames": [
|
| 163 |
+
{
|
| 164 |
+
"frame_idx": 0,
|
| 165 |
+
"qpos": [
|
| 166 |
+
0.0,
|
| 167 |
+
0.0,
|
| 168 |
+
0.0,
|
| 169 |
+
0.0,
|
| 170 |
+
0.0,
|
| 171 |
+
-1.100000023841858
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
]
|
| 175 |
+
}
|
so100/ProcTHOR/test/bg_000039/scene_b01_008/scene_meta.json
ADDED
|
@@ -0,0 +1,175 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "so100",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 39,
|
| 7 |
+
"base_idx": 1,
|
| 8 |
+
"cam_idx": 7,
|
| 9 |
+
"n_dof": 6,
|
| 10 |
+
"num_links": 9,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"shoulder_pan",
|
| 13 |
+
"shoulder_lift",
|
| 14 |
+
"elbow_flex",
|
| 15 |
+
"wrist_flex",
|
| 16 |
+
"wrist_roll",
|
| 17 |
+
"gripper"
|
| 18 |
+
],
|
| 19 |
+
"link_names": [
|
| 20 |
+
"Base",
|
| 21 |
+
"Rotation_Pitch",
|
| 22 |
+
"Upper_Arm",
|
| 23 |
+
"Lower_Arm",
|
| 24 |
+
"Wrist_Pitch_Roll",
|
| 25 |
+
"Fixed_Jaw",
|
| 26 |
+
"Moving_Jaw",
|
| 27 |
+
"Fixed_Jaw_tip",
|
| 28 |
+
"Moving_Jaw_tip"
|
| 29 |
+
],
|
| 30 |
+
"ee_link_name": "Moving_Jaw",
|
| 31 |
+
"image_width": 640,
|
| 32 |
+
"image_height": 480,
|
| 33 |
+
"fovy_rad": 1.0463263882582234,
|
| 34 |
+
"K": [
|
| 35 |
+
[
|
| 36 |
+
433.9806677489489,
|
| 37 |
+
0.0,
|
| 38 |
+
289.11134330955974
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
0.0,
|
| 42 |
+
416.1106677707709,
|
| 43 |
+
235.27964302574955
|
| 44 |
+
],
|
| 45 |
+
[
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
1.0
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"camera_eye": [
|
| 52 |
+
-4.513346258551537,
|
| 53 |
+
-4.238299881849155,
|
| 54 |
+
0.7365640608600151
|
| 55 |
+
],
|
| 56 |
+
"camera_target": [
|
| 57 |
+
-4.037394432001088,
|
| 58 |
+
-4.305781986863087,
|
| 59 |
+
0.9491177404404603
|
| 60 |
+
],
|
| 61 |
+
"camera_roll_rad": 0.02291735860949029,
|
| 62 |
+
"camera_pose_world_cv": [
|
| 63 |
+
[
|
| 64 |
+
-0.12188637256622314,
|
| 65 |
+
0.4064035415649414,
|
| 66 |
+
0.9055272936820984,
|
| 67 |
+
-4.513346195220947
|
| 68 |
+
],
|
| 69 |
+
[
|
| 70 |
+
-0.9916589260101318,
|
| 71 |
+
-0.011344492435455322,
|
| 72 |
+
-0.12838861346244812,
|
| 73 |
+
-4.23829984664917
|
| 74 |
+
],
|
| 75 |
+
[
|
| 76 |
+
-0.04190492630004883,
|
| 77 |
+
-0.9136230945587158,
|
| 78 |
+
0.40439629554748535,
|
| 79 |
+
0.736564040184021
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0,
|
| 85 |
+
1.0
|
| 86 |
+
]
|
| 87 |
+
],
|
| 88 |
+
"T_base_world": [
|
| 89 |
+
[
|
| 90 |
+
-0.2948939800262451,
|
| 91 |
+
0.955530047416687,
|
| 92 |
+
0.0,
|
| 93 |
+
-3.996128559112549
|
| 94 |
+
],
|
| 95 |
+
[
|
| 96 |
+
-0.955530047416687,
|
| 97 |
+
-0.2948939800262451,
|
| 98 |
+
-0.0,
|
| 99 |
+
-4.302455425262451
|
| 100 |
+
],
|
| 101 |
+
[
|
| 102 |
+
-0.0,
|
| 103 |
+
0.0,
|
| 104 |
+
1.0,
|
| 105 |
+
0.7811593413352966
|
| 106 |
+
],
|
| 107 |
+
[
|
| 108 |
+
0.0,
|
| 109 |
+
0.0,
|
| 110 |
+
0.0,
|
| 111 |
+
1.0
|
| 112 |
+
]
|
| 113 |
+
],
|
| 114 |
+
"lighting": {
|
| 115 |
+
"aug_enabled": true,
|
| 116 |
+
"params": {
|
| 117 |
+
"ambient": [
|
| 118 |
+
0.2732768811084312,
|
| 119 |
+
0.29674237367071854,
|
| 120 |
+
0.2797804382779347
|
| 121 |
+
],
|
| 122 |
+
"directional_primary": {
|
| 123 |
+
"direction": [
|
| 124 |
+
-0.3376350551650219,
|
| 125 |
+
-0.10627779145055354,
|
| 126 |
+
-0.9352580384942463
|
| 127 |
+
],
|
| 128 |
+
"color": [
|
| 129 |
+
0.9344930020466377,
|
| 130 |
+
0.9548251944476323,
|
| 131 |
+
0.9873567022892238
|
| 132 |
+
],
|
| 133 |
+
"azimuth_rad": -2.8366399893375234,
|
| 134 |
+
"elevation_rad": 1.2089873574301557,
|
| 135 |
+
"color_temp_k": 5922.2861411040485,
|
| 136 |
+
"intensity": 0.9629580714080301
|
| 137 |
+
},
|
| 138 |
+
"directional_fill": {
|
| 139 |
+
"direction": [
|
| 140 |
+
-0.40777193506686965,
|
| 141 |
+
0.15973054979423756,
|
| 142 |
+
-0.8990040035696454
|
| 143 |
+
],
|
| 144 |
+
"color": [
|
| 145 |
+
0.5996159080050252,
|
| 146 |
+
0.5831141176835436,
|
| 147 |
+
0.5548253342752896
|
| 148 |
+
],
|
| 149 |
+
"azimuth_rad": 2.7682485050075663,
|
| 150 |
+
"elevation_rad": 1.1174899073936686,
|
| 151 |
+
"color_temp_k": 5095.722595995547,
|
| 152 |
+
"intensity": 0.5831141176835436
|
| 153 |
+
},
|
| 154 |
+
"point_color_scale": [
|
| 155 |
+
1.0519626124873545,
|
| 156 |
+
1.0775008712640264,
|
| 157 |
+
1.1183620853067013
|
| 158 |
+
],
|
| 159 |
+
"shadow": false
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"frames": [
|
| 163 |
+
{
|
| 164 |
+
"frame_idx": 0,
|
| 165 |
+
"qpos": [
|
| 166 |
+
0.0,
|
| 167 |
+
0.0,
|
| 168 |
+
0.0,
|
| 169 |
+
0.0,
|
| 170 |
+
0.0,
|
| 171 |
+
-1.100000023841858
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
]
|
| 175 |
+
}
|
so100/ProcTHOR/test/bg_000039/scene_b01_009/scene_meta.json
ADDED
|
@@ -0,0 +1,175 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "so100",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 39,
|
| 7 |
+
"base_idx": 1,
|
| 8 |
+
"cam_idx": 8,
|
| 9 |
+
"n_dof": 6,
|
| 10 |
+
"num_links": 9,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"shoulder_pan",
|
| 13 |
+
"shoulder_lift",
|
| 14 |
+
"elbow_flex",
|
| 15 |
+
"wrist_flex",
|
| 16 |
+
"wrist_roll",
|
| 17 |
+
"gripper"
|
| 18 |
+
],
|
| 19 |
+
"link_names": [
|
| 20 |
+
"Base",
|
| 21 |
+
"Rotation_Pitch",
|
| 22 |
+
"Upper_Arm",
|
| 23 |
+
"Lower_Arm",
|
| 24 |
+
"Wrist_Pitch_Roll",
|
| 25 |
+
"Fixed_Jaw",
|
| 26 |
+
"Moving_Jaw",
|
| 27 |
+
"Fixed_Jaw_tip",
|
| 28 |
+
"Moving_Jaw_tip"
|
| 29 |
+
],
|
| 30 |
+
"ee_link_name": "Moving_Jaw",
|
| 31 |
+
"image_width": 640,
|
| 32 |
+
"image_height": 480,
|
| 33 |
+
"fovy_rad": 0.9065346797354114,
|
| 34 |
+
"K": [
|
| 35 |
+
[
|
| 36 |
+
488.92083276301724,
|
| 37 |
+
0.0,
|
| 38 |
+
341.6791135119233
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
0.0,
|
| 42 |
+
492.72087200429263,
|
| 43 |
+
251.6628597603131
|
| 44 |
+
],
|
| 45 |
+
[
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
1.0
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"camera_eye": [
|
| 52 |
+
-4.602669681254739,
|
| 53 |
+
-5.034096522010786,
|
| 54 |
+
0.793206394734575
|
| 55 |
+
],
|
| 56 |
+
"camera_target": [
|
| 57 |
+
-4.017712233363029,
|
| 58 |
+
-4.3377669218418555,
|
| 59 |
+
0.9525568050085631
|
| 60 |
+
],
|
| 61 |
+
"camera_roll_rad": -0.011306922349734176,
|
| 62 |
+
"camera_pose_world_cv": [
|
| 63 |
+
[
|
| 64 |
+
0.7629767656326294,
|
| 65 |
+
0.1282995045185089,
|
| 66 |
+
0.6335659027099609,
|
| 67 |
+
-4.602669715881348
|
| 68 |
+
],
|
| 69 |
+
[
|
| 70 |
+
-0.6460421085357666,
|
| 71 |
+
0.11757254600524902,
|
| 72 |
+
0.7541926503181458,
|
| 73 |
+
-5.034096717834473
|
| 74 |
+
],
|
| 75 |
+
[
|
| 76 |
+
0.022272616624832153,
|
| 77 |
+
-0.984741747379303,
|
| 78 |
+
0.17259204387664795,
|
| 79 |
+
0.7932063937187195
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0,
|
| 85 |
+
1.0
|
| 86 |
+
]
|
| 87 |
+
],
|
| 88 |
+
"T_base_world": [
|
| 89 |
+
[
|
| 90 |
+
-0.2948939800262451,
|
| 91 |
+
0.955530047416687,
|
| 92 |
+
0.0,
|
| 93 |
+
-3.996128559112549
|
| 94 |
+
],
|
| 95 |
+
[
|
| 96 |
+
-0.955530047416687,
|
| 97 |
+
-0.2948939800262451,
|
| 98 |
+
-0.0,
|
| 99 |
+
-4.302455425262451
|
| 100 |
+
],
|
| 101 |
+
[
|
| 102 |
+
-0.0,
|
| 103 |
+
0.0,
|
| 104 |
+
1.0,
|
| 105 |
+
0.7811593413352966
|
| 106 |
+
],
|
| 107 |
+
[
|
| 108 |
+
0.0,
|
| 109 |
+
0.0,
|
| 110 |
+
0.0,
|
| 111 |
+
1.0
|
| 112 |
+
]
|
| 113 |
+
],
|
| 114 |
+
"lighting": {
|
| 115 |
+
"aug_enabled": true,
|
| 116 |
+
"params": {
|
| 117 |
+
"ambient": [
|
| 118 |
+
0.3644705893767301,
|
| 119 |
+
0.36913302011941557,
|
| 120 |
+
0.3661371281462763
|
| 121 |
+
],
|
| 122 |
+
"directional_primary": {
|
| 123 |
+
"direction": [
|
| 124 |
+
-0.3376350551650219,
|
| 125 |
+
-0.10627779145055354,
|
| 126 |
+
-0.9352580384942463
|
| 127 |
+
],
|
| 128 |
+
"color": [
|
| 129 |
+
1.1135198466413017,
|
| 130 |
+
1.085170919870985,
|
| 131 |
+
1.036572759693299
|
| 132 |
+
],
|
| 133 |
+
"azimuth_rad": -2.8366399893375234,
|
| 134 |
+
"elevation_rad": 1.2089873574301557,
|
| 135 |
+
"color_temp_k": 5126.801031310782,
|
| 136 |
+
"intensity": 1.085170919870985
|
| 137 |
+
},
|
| 138 |
+
"directional_fill": {
|
| 139 |
+
"direction": [
|
| 140 |
+
-0.40777193506686965,
|
| 141 |
+
0.15973054979423756,
|
| 142 |
+
-0.8990040035696454
|
| 143 |
+
],
|
| 144 |
+
"color": [
|
| 145 |
+
0.6081996490730085,
|
| 146 |
+
0.60956115019572,
|
| 147 |
+
0.6117395519920585
|
| 148 |
+
],
|
| 149 |
+
"azimuth_rad": 2.7682485050075663,
|
| 150 |
+
"elevation_rad": 1.1174899073936686,
|
| 151 |
+
"color_temp_k": 5544.63164365432,
|
| 152 |
+
"intensity": 0.6101057506448047
|
| 153 |
+
},
|
| 154 |
+
"point_color_scale": [
|
| 155 |
+
1.1896001473374953,
|
| 156 |
+
1.1773729665626789,
|
| 157 |
+
1.1564120852344224
|
| 158 |
+
],
|
| 159 |
+
"shadow": true
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"frames": [
|
| 163 |
+
{
|
| 164 |
+
"frame_idx": 0,
|
| 165 |
+
"qpos": [
|
| 166 |
+
0.0,
|
| 167 |
+
0.0,
|
| 168 |
+
0.0,
|
| 169 |
+
0.0,
|
| 170 |
+
0.0,
|
| 171 |
+
-1.100000023841858
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
]
|
| 175 |
+
}
|
so100/ProcTHOR/test/bg_000039/scene_b01_010/scene_meta.json
ADDED
|
@@ -0,0 +1,175 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "so100",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 39,
|
| 7 |
+
"base_idx": 1,
|
| 8 |
+
"cam_idx": 9,
|
| 9 |
+
"n_dof": 6,
|
| 10 |
+
"num_links": 9,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"shoulder_pan",
|
| 13 |
+
"shoulder_lift",
|
| 14 |
+
"elbow_flex",
|
| 15 |
+
"wrist_flex",
|
| 16 |
+
"wrist_roll",
|
| 17 |
+
"gripper"
|
| 18 |
+
],
|
| 19 |
+
"link_names": [
|
| 20 |
+
"Base",
|
| 21 |
+
"Rotation_Pitch",
|
| 22 |
+
"Upper_Arm",
|
| 23 |
+
"Lower_Arm",
|
| 24 |
+
"Wrist_Pitch_Roll",
|
| 25 |
+
"Fixed_Jaw",
|
| 26 |
+
"Moving_Jaw",
|
| 27 |
+
"Fixed_Jaw_tip",
|
| 28 |
+
"Moving_Jaw_tip"
|
| 29 |
+
],
|
| 30 |
+
"ee_link_name": "Moving_Jaw",
|
| 31 |
+
"image_width": 640,
|
| 32 |
+
"image_height": 480,
|
| 33 |
+
"fovy_rad": 1.0583343473695113,
|
| 34 |
+
"K": [
|
| 35 |
+
[
|
| 36 |
+
390.0622415304455,
|
| 37 |
+
0.0,
|
| 38 |
+
327.6259752212586
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
0.0,
|
| 42 |
+
410.3975425093041,
|
| 43 |
+
246.81233748065674
|
| 44 |
+
],
|
| 45 |
+
[
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
1.0
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"camera_eye": [
|
| 52 |
+
-3.524502184071887,
|
| 53 |
+
-5.059607052951561,
|
| 54 |
+
1.0794683857649605
|
| 55 |
+
],
|
| 56 |
+
"camera_target": [
|
| 57 |
+
-3.9965907177956823,
|
| 58 |
+
-4.272221078425432,
|
| 59 |
+
0.9214104524287766
|
| 60 |
+
],
|
| 61 |
+
"camera_roll_rad": 0.030577107183546434,
|
| 62 |
+
"camera_pose_world_cv": [
|
| 63 |
+
[
|
| 64 |
+
0.861386775970459,
|
| 65 |
+
0.03466702997684479,
|
| 66 |
+
-0.5067652463912964,
|
| 67 |
+
-3.5245022773742676
|
| 68 |
+
],
|
| 69 |
+
[
|
| 70 |
+
0.5043660998344421,
|
| 71 |
+
-0.17667222023010254,
|
| 72 |
+
0.8452229499816895,
|
| 73 |
+
-5.059607028961182
|
| 74 |
+
],
|
| 75 |
+
[
|
| 76 |
+
-0.060229986906051636,
|
| 77 |
+
-0.983659029006958,
|
| 78 |
+
-0.16966795921325684,
|
| 79 |
+
1.0794683694839478
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0,
|
| 85 |
+
1.0
|
| 86 |
+
]
|
| 87 |
+
],
|
| 88 |
+
"T_base_world": [
|
| 89 |
+
[
|
| 90 |
+
-0.2948939800262451,
|
| 91 |
+
0.955530047416687,
|
| 92 |
+
0.0,
|
| 93 |
+
-3.996128559112549
|
| 94 |
+
],
|
| 95 |
+
[
|
| 96 |
+
-0.955530047416687,
|
| 97 |
+
-0.2948939800262451,
|
| 98 |
+
-0.0,
|
| 99 |
+
-4.302455425262451
|
| 100 |
+
],
|
| 101 |
+
[
|
| 102 |
+
-0.0,
|
| 103 |
+
0.0,
|
| 104 |
+
1.0,
|
| 105 |
+
0.7811593413352966
|
| 106 |
+
],
|
| 107 |
+
[
|
| 108 |
+
0.0,
|
| 109 |
+
0.0,
|
| 110 |
+
0.0,
|
| 111 |
+
1.0
|
| 112 |
+
]
|
| 113 |
+
],
|
| 114 |
+
"lighting": {
|
| 115 |
+
"aug_enabled": true,
|
| 116 |
+
"params": {
|
| 117 |
+
"ambient": [
|
| 118 |
+
0.2440261119596403,
|
| 119 |
+
0.23795262432839157,
|
| 120 |
+
0.25521597473700297
|
| 121 |
+
],
|
| 122 |
+
"directional_primary": {
|
| 123 |
+
"direction": [
|
| 124 |
+
-0.3376350551650219,
|
| 125 |
+
-0.10627779145055354,
|
| 126 |
+
-0.9352580384942463
|
| 127 |
+
],
|
| 128 |
+
"color": [
|
| 129 |
+
1.156887580364056,
|
| 130 |
+
1.0910892912467798,
|
| 131 |
+
0.9782922241885924
|
| 132 |
+
],
|
| 133 |
+
"azimuth_rad": -2.8366399893375234,
|
| 134 |
+
"elevation_rad": 1.2089873574301557,
|
| 135 |
+
"color_temp_k": 4638.498043781435,
|
| 136 |
+
"intensity": 1.0910892912467798
|
| 137 |
+
},
|
| 138 |
+
"directional_fill": {
|
| 139 |
+
"direction": [
|
| 140 |
+
-0.40777193506686965,
|
| 141 |
+
0.15973054979423756,
|
| 142 |
+
-0.8990040035696454
|
| 143 |
+
],
|
| 144 |
+
"color": [
|
| 145 |
+
0.6574946676826074,
|
| 146 |
+
0.6759812424938282,
|
| 147 |
+
0.7055597621917812
|
| 148 |
+
],
|
| 149 |
+
"azimuth_rad": 2.7682485050075663,
|
| 150 |
+
"elevation_rad": 1.1174899073936686,
|
| 151 |
+
"color_temp_k": 6041.0368014838095,
|
| 152 |
+
"intensity": 0.6833758724183164
|
| 153 |
+
},
|
| 154 |
+
"point_color_scale": [
|
| 155 |
+
0.781971119152539,
|
| 156 |
+
0.7994236770845398,
|
| 157 |
+
0.8273477697757413
|
| 158 |
+
],
|
| 159 |
+
"shadow": true
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"frames": [
|
| 163 |
+
{
|
| 164 |
+
"frame_idx": 0,
|
| 165 |
+
"qpos": [
|
| 166 |
+
0.0,
|
| 167 |
+
0.0,
|
| 168 |
+
0.0,
|
| 169 |
+
0.0,
|
| 170 |
+
0.0,
|
| 171 |
+
-1.100000023841858
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
]
|
| 175 |
+
}
|
so100/ProcTHOR/test/bg_000039/scene_b01_011/scene_meta.json
ADDED
|
@@ -0,0 +1,175 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "so100",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 39,
|
| 7 |
+
"base_idx": 1,
|
| 8 |
+
"cam_idx": 10,
|
| 9 |
+
"n_dof": 6,
|
| 10 |
+
"num_links": 9,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"shoulder_pan",
|
| 13 |
+
"shoulder_lift",
|
| 14 |
+
"elbow_flex",
|
| 15 |
+
"wrist_flex",
|
| 16 |
+
"wrist_roll",
|
| 17 |
+
"gripper"
|
| 18 |
+
],
|
| 19 |
+
"link_names": [
|
| 20 |
+
"Base",
|
| 21 |
+
"Rotation_Pitch",
|
| 22 |
+
"Upper_Arm",
|
| 23 |
+
"Lower_Arm",
|
| 24 |
+
"Wrist_Pitch_Roll",
|
| 25 |
+
"Fixed_Jaw",
|
| 26 |
+
"Moving_Jaw",
|
| 27 |
+
"Fixed_Jaw_tip",
|
| 28 |
+
"Moving_Jaw_tip"
|
| 29 |
+
],
|
| 30 |
+
"ee_link_name": "Moving_Jaw",
|
| 31 |
+
"image_width": 640,
|
| 32 |
+
"image_height": 480,
|
| 33 |
+
"fovy_rad": 1.1535625865802663,
|
| 34 |
+
"K": [
|
| 35 |
+
[
|
| 36 |
+
375.4991656873316,
|
| 37 |
+
0.0,
|
| 38 |
+
336.6645803091329
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
0.0,
|
| 42 |
+
368.9028481108702,
|
| 43 |
+
221.91248465054494
|
| 44 |
+
],
|
| 45 |
+
[
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
1.0
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"camera_eye": [
|
| 52 |
+
-4.0417360734915695,
|
| 53 |
+
-3.5655525061438578,
|
| 54 |
+
0.7616603921155244
|
| 55 |
+
],
|
| 56 |
+
"camera_target": [
|
| 57 |
+
-3.985562781821739,
|
| 58 |
+
-4.281904480957239,
|
| 59 |
+
1.0003583513105843
|
| 60 |
+
],
|
| 61 |
+
"camera_roll_rad": 0.04896370492974521,
|
| 62 |
+
"camera_pose_world_cv": [
|
| 63 |
+
[
|
| 64 |
+
-0.9897537231445312,
|
| 65 |
+
0.1219988465309143,
|
| 66 |
+
0.07418941706418991,
|
| 67 |
+
-4.041736125946045
|
| 68 |
+
],
|
| 69 |
+
[
|
| 70 |
+
-0.10852958261966705,
|
| 71 |
+
-0.3051398992538452,
|
| 72 |
+
-0.9461030960083008,
|
| 73 |
+
-3.5655524730682373
|
| 74 |
+
],
|
| 75 |
+
[
|
| 76 |
+
-0.0927853211760521,
|
| 77 |
+
-0.9444607496261597,
|
| 78 |
+
0.3152538537979126,
|
| 79 |
+
0.7616603970527649
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0,
|
| 85 |
+
1.0
|
| 86 |
+
]
|
| 87 |
+
],
|
| 88 |
+
"T_base_world": [
|
| 89 |
+
[
|
| 90 |
+
-0.2948939800262451,
|
| 91 |
+
0.955530047416687,
|
| 92 |
+
0.0,
|
| 93 |
+
-3.996128559112549
|
| 94 |
+
],
|
| 95 |
+
[
|
| 96 |
+
-0.955530047416687,
|
| 97 |
+
-0.2948939800262451,
|
| 98 |
+
-0.0,
|
| 99 |
+
-4.302455425262451
|
| 100 |
+
],
|
| 101 |
+
[
|
| 102 |
+
-0.0,
|
| 103 |
+
0.0,
|
| 104 |
+
1.0,
|
| 105 |
+
0.7811593413352966
|
| 106 |
+
],
|
| 107 |
+
[
|
| 108 |
+
0.0,
|
| 109 |
+
0.0,
|
| 110 |
+
0.0,
|
| 111 |
+
1.0
|
| 112 |
+
]
|
| 113 |
+
],
|
| 114 |
+
"lighting": {
|
| 115 |
+
"aug_enabled": true,
|
| 116 |
+
"params": {
|
| 117 |
+
"ambient": [
|
| 118 |
+
0.38775904857156784,
|
| 119 |
+
0.372296586602637,
|
| 120 |
+
0.35188505403386555
|
| 121 |
+
],
|
| 122 |
+
"directional_primary": {
|
| 123 |
+
"direction": [
|
| 124 |
+
-0.3376350551650219,
|
| 125 |
+
-0.10627779145055354,
|
| 126 |
+
-0.9352580384942463
|
| 127 |
+
],
|
| 128 |
+
"color": [
|
| 129 |
+
0.9018160176382706,
|
| 130 |
+
0.9473284025038521,
|
| 131 |
+
1.0201482182887827
|
| 132 |
+
],
|
| 133 |
+
"azimuth_rad": -2.8366399893375234,
|
| 134 |
+
"elevation_rad": 1.2089873574301557,
|
| 135 |
+
"color_temp_k": 6442.740808725948,
|
| 136 |
+
"intensity": 0.9655333564500848
|
| 137 |
+
},
|
| 138 |
+
"directional_fill": {
|
| 139 |
+
"direction": [
|
| 140 |
+
-0.40777193506686965,
|
| 141 |
+
0.15973054979423756,
|
| 142 |
+
-0.8990040035696454
|
| 143 |
+
],
|
| 144 |
+
"color": [
|
| 145 |
+
0.5717956392669212,
|
| 146 |
+
0.5597042408127589,
|
| 147 |
+
0.5389761291770521
|
| 148 |
+
],
|
| 149 |
+
"azimuth_rad": 2.7682485050075663,
|
| 150 |
+
"elevation_rad": 1.1174899073936686,
|
| 151 |
+
"color_temp_k": 5191.382964366932,
|
| 152 |
+
"intensity": 0.5597042408127589
|
| 153 |
+
},
|
| 154 |
+
"point_color_scale": [
|
| 155 |
+
0.9090383282726947,
|
| 156 |
+
0.8791232892417647,
|
| 157 |
+
0.8278403651887418
|
| 158 |
+
],
|
| 159 |
+
"shadow": true
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"frames": [
|
| 163 |
+
{
|
| 164 |
+
"frame_idx": 0,
|
| 165 |
+
"qpos": [
|
| 166 |
+
0.0,
|
| 167 |
+
0.0,
|
| 168 |
+
0.0,
|
| 169 |
+
0.0,
|
| 170 |
+
0.0,
|
| 171 |
+
-1.100000023841858
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
]
|
| 175 |
+
}
|
so100/ProcTHOR/test/bg_000039/scene_b01_012/scene_meta.json
ADDED
|
@@ -0,0 +1,175 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "so100",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 39,
|
| 7 |
+
"base_idx": 1,
|
| 8 |
+
"cam_idx": 11,
|
| 9 |
+
"n_dof": 6,
|
| 10 |
+
"num_links": 9,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"shoulder_pan",
|
| 13 |
+
"shoulder_lift",
|
| 14 |
+
"elbow_flex",
|
| 15 |
+
"wrist_flex",
|
| 16 |
+
"wrist_roll",
|
| 17 |
+
"gripper"
|
| 18 |
+
],
|
| 19 |
+
"link_names": [
|
| 20 |
+
"Base",
|
| 21 |
+
"Rotation_Pitch",
|
| 22 |
+
"Upper_Arm",
|
| 23 |
+
"Lower_Arm",
|
| 24 |
+
"Wrist_Pitch_Roll",
|
| 25 |
+
"Fixed_Jaw",
|
| 26 |
+
"Moving_Jaw",
|
| 27 |
+
"Fixed_Jaw_tip",
|
| 28 |
+
"Moving_Jaw_tip"
|
| 29 |
+
],
|
| 30 |
+
"ee_link_name": "Moving_Jaw",
|
| 31 |
+
"image_width": 640,
|
| 32 |
+
"image_height": 480,
|
| 33 |
+
"fovy_rad": 1.15509836551351,
|
| 34 |
+
"K": [
|
| 35 |
+
[
|
| 36 |
+
371.3421315939427,
|
| 37 |
+
0.0,
|
| 38 |
+
326.56298002796154
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
0.0,
|
| 42 |
+
368.28386199883136,
|
| 43 |
+
233.19731557718612
|
| 44 |
+
],
|
| 45 |
+
[
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
1.0
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"camera_eye": [
|
| 52 |
+
-4.489241809347164,
|
| 53 |
+
-4.40242329664614,
|
| 54 |
+
0.9193227748944385
|
| 55 |
+
],
|
| 56 |
+
"camera_target": [
|
| 57 |
+
-4.0392420530655695,
|
| 58 |
+
-4.268523025506789,
|
| 59 |
+
0.9271668427574591
|
| 60 |
+
],
|
| 61 |
+
"camera_roll_rad": -0.019421231241915395,
|
| 62 |
+
"camera_pose_world_cv": [
|
| 63 |
+
[
|
| 64 |
+
0.28436142206192017,
|
| 65 |
+
0.027074068784713745,
|
| 66 |
+
0.9583348035812378,
|
| 67 |
+
-4.489241600036621
|
| 68 |
+
],
|
| 69 |
+
[
|
| 70 |
+
-0.9579305648803711,
|
| 71 |
+
-0.032459378242492676,
|
| 72 |
+
0.28515851497650146,
|
| 73 |
+
-4.40242338180542
|
| 74 |
+
],
|
| 75 |
+
[
|
| 76 |
+
0.038827359676361084,
|
| 77 |
+
-0.9991062879562378,
|
| 78 |
+
0.016704916954040527,
|
| 79 |
+
0.9193227887153625
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0,
|
| 85 |
+
1.0
|
| 86 |
+
]
|
| 87 |
+
],
|
| 88 |
+
"T_base_world": [
|
| 89 |
+
[
|
| 90 |
+
-0.2948939800262451,
|
| 91 |
+
0.955530047416687,
|
| 92 |
+
0.0,
|
| 93 |
+
-3.996128559112549
|
| 94 |
+
],
|
| 95 |
+
[
|
| 96 |
+
-0.955530047416687,
|
| 97 |
+
-0.2948939800262451,
|
| 98 |
+
-0.0,
|
| 99 |
+
-4.302455425262451
|
| 100 |
+
],
|
| 101 |
+
[
|
| 102 |
+
-0.0,
|
| 103 |
+
0.0,
|
| 104 |
+
1.0,
|
| 105 |
+
0.7811593413352966
|
| 106 |
+
],
|
| 107 |
+
[
|
| 108 |
+
0.0,
|
| 109 |
+
0.0,
|
| 110 |
+
0.0,
|
| 111 |
+
1.0
|
| 112 |
+
]
|
| 113 |
+
],
|
| 114 |
+
"lighting": {
|
| 115 |
+
"aug_enabled": true,
|
| 116 |
+
"params": {
|
| 117 |
+
"ambient": [
|
| 118 |
+
0.2151328784405406,
|
| 119 |
+
0.2164312959656381,
|
| 120 |
+
0.21436172377085594
|
| 121 |
+
],
|
| 122 |
+
"directional_primary": {
|
| 123 |
+
"direction": [
|
| 124 |
+
-0.3376350551650219,
|
| 125 |
+
-0.10627779145055354,
|
| 126 |
+
-0.9352580384942463
|
| 127 |
+
],
|
| 128 |
+
"color": [
|
| 129 |
+
1.0812329644616077,
|
| 130 |
+
1.070045737942903,
|
| 131 |
+
1.050867635339409
|
| 132 |
+
],
|
| 133 |
+
"azimuth_rad": -2.8366399893375234,
|
| 134 |
+
"elevation_rad": 1.2089873574301557,
|
| 135 |
+
"color_temp_k": 5350.644214514586,
|
| 136 |
+
"intensity": 1.070045737942903
|
| 137 |
+
},
|
| 138 |
+
"directional_fill": {
|
| 139 |
+
"direction": [
|
| 140 |
+
-0.40777193506686965,
|
| 141 |
+
0.15973054979423756,
|
| 142 |
+
-0.8990040035696454
|
| 143 |
+
],
|
| 144 |
+
"color": [
|
| 145 |
+
0.9286447075517142,
|
| 146 |
+
0.8873530810856316,
|
| 147 |
+
0.8165674357152043
|
| 148 |
+
],
|
| 149 |
+
"azimuth_rad": 2.7682485050075663,
|
| 150 |
+
"elevation_rad": 1.1174899073936686,
|
| 151 |
+
"color_temp_k": 4835.236006207128,
|
| 152 |
+
"intensity": 0.8873530810856316
|
| 153 |
+
},
|
| 154 |
+
"point_color_scale": [
|
| 155 |
+
0.8705628065470725,
|
| 156 |
+
0.8370949148889196,
|
| 157 |
+
0.7797213863320862
|
| 158 |
+
],
|
| 159 |
+
"shadow": true
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"frames": [
|
| 163 |
+
{
|
| 164 |
+
"frame_idx": 0,
|
| 165 |
+
"qpos": [
|
| 166 |
+
0.0,
|
| 167 |
+
0.0,
|
| 168 |
+
0.0,
|
| 169 |
+
0.0,
|
| 170 |
+
0.0,
|
| 171 |
+
-1.100000023841858
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
]
|
| 175 |
+
}
|
so100/ProcTHOR/test/bg_000039/scene_b01_013/scene_meta.json
ADDED
|
@@ -0,0 +1,175 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "so100",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 39,
|
| 7 |
+
"base_idx": 1,
|
| 8 |
+
"cam_idx": 12,
|
| 9 |
+
"n_dof": 6,
|
| 10 |
+
"num_links": 9,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"shoulder_pan",
|
| 13 |
+
"shoulder_lift",
|
| 14 |
+
"elbow_flex",
|
| 15 |
+
"wrist_flex",
|
| 16 |
+
"wrist_roll",
|
| 17 |
+
"gripper"
|
| 18 |
+
],
|
| 19 |
+
"link_names": [
|
| 20 |
+
"Base",
|
| 21 |
+
"Rotation_Pitch",
|
| 22 |
+
"Upper_Arm",
|
| 23 |
+
"Lower_Arm",
|
| 24 |
+
"Wrist_Pitch_Roll",
|
| 25 |
+
"Fixed_Jaw",
|
| 26 |
+
"Moving_Jaw",
|
| 27 |
+
"Fixed_Jaw_tip",
|
| 28 |
+
"Moving_Jaw_tip"
|
| 29 |
+
],
|
| 30 |
+
"ee_link_name": "Moving_Jaw",
|
| 31 |
+
"image_width": 640,
|
| 32 |
+
"image_height": 480,
|
| 33 |
+
"fovy_rad": 1.1138639154777372,
|
| 34 |
+
"K": [
|
| 35 |
+
[
|
| 36 |
+
383.44912102235156,
|
| 37 |
+
0.0,
|
| 38 |
+
318.1130656873642
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
0.0,
|
| 42 |
+
385.4284023130771,
|
| 43 |
+
216.19934748475222
|
| 44 |
+
],
|
| 45 |
+
[
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
1.0
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"camera_eye": [
|
| 52 |
+
-3.66801321984952,
|
| 53 |
+
-3.3581017166251654,
|
| 54 |
+
0.984276986058175
|
| 55 |
+
],
|
| 56 |
+
"camera_target": [
|
| 57 |
+
-4.045797539713743,
|
| 58 |
+
-4.267221762495964,
|
| 59 |
+
0.9275327358480966
|
| 60 |
+
],
|
| 61 |
+
"camera_roll_rad": -0.01834917734906954,
|
| 62 |
+
"camera_pose_world_cv": [
|
| 63 |
+
[
|
| 64 |
+
-0.9236316680908203,
|
| 65 |
+
-0.011814862489700317,
|
| 66 |
+
-0.3831000328063965,
|
| 67 |
+
-3.668013334274292
|
| 68 |
+
],
|
| 69 |
+
[
|
| 70 |
+
0.3815278708934784,
|
| 71 |
+
0.06718111038208008,
|
| 72 |
+
-0.9219129681587219,
|
| 73 |
+
-3.3581016063690186
|
| 74 |
+
],
|
| 75 |
+
[
|
| 76 |
+
0.036629289388656616,
|
| 77 |
+
-0.9976710677146912,
|
| 78 |
+
-0.057542622089385986,
|
| 79 |
+
0.9842770099639893
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0,
|
| 85 |
+
1.0
|
| 86 |
+
]
|
| 87 |
+
],
|
| 88 |
+
"T_base_world": [
|
| 89 |
+
[
|
| 90 |
+
-0.29489386081695557,
|
| 91 |
+
0.9555299282073975,
|
| 92 |
+
-3.539095061455555e-08,
|
| 93 |
+
-3.996128559112549
|
| 94 |
+
],
|
| 95 |
+
[
|
| 96 |
+
-0.9555299282073975,
|
| 97 |
+
-0.29489386081695557,
|
| 98 |
+
4.7960323712459285e-08,
|
| 99 |
+
-4.302455425262451
|
| 100 |
+
],
|
| 101 |
+
[
|
| 102 |
+
3.539095061455555e-08,
|
| 103 |
+
4.7960323712459285e-08,
|
| 104 |
+
1.0,
|
| 105 |
+
0.7811593413352966
|
| 106 |
+
],
|
| 107 |
+
[
|
| 108 |
+
0.0,
|
| 109 |
+
0.0,
|
| 110 |
+
0.0,
|
| 111 |
+
1.0
|
| 112 |
+
]
|
| 113 |
+
],
|
| 114 |
+
"lighting": {
|
| 115 |
+
"aug_enabled": true,
|
| 116 |
+
"params": {
|
| 117 |
+
"ambient": [
|
| 118 |
+
0.31432322525321704,
|
| 119 |
+
0.3106492955466367,
|
| 120 |
+
0.34021681191659764
|
| 121 |
+
],
|
| 122 |
+
"directional_primary": {
|
| 123 |
+
"direction": [
|
| 124 |
+
-0.3376350551650219,
|
| 125 |
+
-0.10627779145055354,
|
| 126 |
+
-0.9352580384942463
|
| 127 |
+
],
|
| 128 |
+
"color": [
|
| 129 |
+
0.9820246152673981,
|
| 130 |
+
1.0085437827320491,
|
| 131 |
+
1.0509744506754908
|
| 132 |
+
],
|
| 133 |
+
"azimuth_rad": -2.8366399893375234,
|
| 134 |
+
"elevation_rad": 1.2089873574301557,
|
| 135 |
+
"color_temp_k": 6020.416616627317,
|
| 136 |
+
"intensity": 1.0191514497179095
|
| 137 |
+
},
|
| 138 |
+
"directional_fill": {
|
| 139 |
+
"direction": [
|
| 140 |
+
-0.40777193506686965,
|
| 141 |
+
0.15973054979423756,
|
| 142 |
+
-0.8990040035696454
|
| 143 |
+
],
|
| 144 |
+
"color": [
|
| 145 |
+
0.7102996502491645,
|
| 146 |
+
0.6915327020096568,
|
| 147 |
+
0.6593607907419291
|
| 148 |
+
],
|
| 149 |
+
"azimuth_rad": 2.7682485050075663,
|
| 150 |
+
"elevation_rad": 1.1174899073936686,
|
| 151 |
+
"color_temp_k": 5112.311522238535,
|
| 152 |
+
"intensity": 0.6915327020096568
|
| 153 |
+
},
|
| 154 |
+
"point_color_scale": [
|
| 155 |
+
0.8311109467421866,
|
| 156 |
+
0.8433212786107779,
|
| 157 |
+
0.862857809600524
|
| 158 |
+
],
|
| 159 |
+
"shadow": true
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"frames": [
|
| 163 |
+
{
|
| 164 |
+
"frame_idx": 0,
|
| 165 |
+
"qpos": [
|
| 166 |
+
0.0,
|
| 167 |
+
0.0,
|
| 168 |
+
0.0,
|
| 169 |
+
0.0,
|
| 170 |
+
0.0,
|
| 171 |
+
-1.100000023841858
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
]
|
| 175 |
+
}
|
so100/ProcTHOR/test/bg_000039/scene_b01_014/scene_meta.json
ADDED
|
@@ -0,0 +1,175 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "so100",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 39,
|
| 7 |
+
"base_idx": 1,
|
| 8 |
+
"cam_idx": 13,
|
| 9 |
+
"n_dof": 6,
|
| 10 |
+
"num_links": 9,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"shoulder_pan",
|
| 13 |
+
"shoulder_lift",
|
| 14 |
+
"elbow_flex",
|
| 15 |
+
"wrist_flex",
|
| 16 |
+
"wrist_roll",
|
| 17 |
+
"gripper"
|
| 18 |
+
],
|
| 19 |
+
"link_names": [
|
| 20 |
+
"Base",
|
| 21 |
+
"Rotation_Pitch",
|
| 22 |
+
"Upper_Arm",
|
| 23 |
+
"Lower_Arm",
|
| 24 |
+
"Wrist_Pitch_Roll",
|
| 25 |
+
"Fixed_Jaw",
|
| 26 |
+
"Moving_Jaw",
|
| 27 |
+
"Fixed_Jaw_tip",
|
| 28 |
+
"Moving_Jaw_tip"
|
| 29 |
+
],
|
| 30 |
+
"ee_link_name": "Moving_Jaw",
|
| 31 |
+
"image_width": 640,
|
| 32 |
+
"image_height": 480,
|
| 33 |
+
"fovy_rad": 1.1126973396872715,
|
| 34 |
+
"K": [
|
| 35 |
+
[
|
| 36 |
+
395.95334674111643,
|
| 37 |
+
0.0,
|
| 38 |
+
308.7556878975344
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
0.0,
|
| 42 |
+
385.92990442284844,
|
| 43 |
+
231.40179376952668
|
| 44 |
+
],
|
| 45 |
+
[
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
1.0
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"camera_eye": [
|
| 52 |
+
-4.093654594120803,
|
| 53 |
+
-5.087156661268773,
|
| 54 |
+
1.045207079541175
|
| 55 |
+
],
|
| 56 |
+
"camera_target": [
|
| 57 |
+
-3.9620397022182097,
|
| 58 |
+
-4.328672520371935,
|
| 59 |
+
0.8858039246465432
|
| 60 |
+
],
|
| 61 |
+
"camera_roll_rad": -0.0458235921257577,
|
| 62 |
+
"camera_pose_world_cv": [
|
| 63 |
+
[
|
| 64 |
+
0.9843142032623291,
|
| 65 |
+
0.055650580674409866,
|
| 66 |
+
0.16741728782653809,
|
| 67 |
+
-4.093654632568359
|
| 68 |
+
],
|
| 69 |
+
[
|
| 70 |
+
-0.15196765959262848,
|
| 71 |
+
-0.21458739042282104,
|
| 72 |
+
0.9648099541664124,
|
| 73 |
+
-5.087156772613525
|
| 74 |
+
],
|
| 75 |
+
[
|
| 76 |
+
0.08961788564920425,
|
| 77 |
+
-0.9751182198524475,
|
| 78 |
+
-0.2027643322944641,
|
| 79 |
+
1.0452070236206055
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0,
|
| 85 |
+
1.0
|
| 86 |
+
]
|
| 87 |
+
],
|
| 88 |
+
"T_base_world": [
|
| 89 |
+
[
|
| 90 |
+
-0.29489386081695557,
|
| 91 |
+
0.9555299282073975,
|
| 92 |
+
-3.539095061455555e-08,
|
| 93 |
+
-3.996128559112549
|
| 94 |
+
],
|
| 95 |
+
[
|
| 96 |
+
-0.9555299282073975,
|
| 97 |
+
-0.29489386081695557,
|
| 98 |
+
4.7960323712459285e-08,
|
| 99 |
+
-4.302455425262451
|
| 100 |
+
],
|
| 101 |
+
[
|
| 102 |
+
3.539095061455555e-08,
|
| 103 |
+
4.7960323712459285e-08,
|
| 104 |
+
1.0,
|
| 105 |
+
0.7811593413352966
|
| 106 |
+
],
|
| 107 |
+
[
|
| 108 |
+
0.0,
|
| 109 |
+
0.0,
|
| 110 |
+
0.0,
|
| 111 |
+
1.0
|
| 112 |
+
]
|
| 113 |
+
],
|
| 114 |
+
"lighting": {
|
| 115 |
+
"aug_enabled": true,
|
| 116 |
+
"params": {
|
| 117 |
+
"ambient": [
|
| 118 |
+
0.3700923975047399,
|
| 119 |
+
0.34890770685498523,
|
| 120 |
+
0.3491982379612549
|
| 121 |
+
],
|
| 122 |
+
"directional_primary": {
|
| 123 |
+
"direction": [
|
| 124 |
+
-0.3376350551650219,
|
| 125 |
+
-0.10627779145055354,
|
| 126 |
+
-0.9352580384942463
|
| 127 |
+
],
|
| 128 |
+
"color": [
|
| 129 |
+
0.9494505991185241,
|
| 130 |
+
0.9562444017406654,
|
| 131 |
+
0.9671144859360913
|
| 132 |
+
],
|
| 133 |
+
"azimuth_rad": -2.8366399893375234,
|
| 134 |
+
"elevation_rad": 1.2089873574301557,
|
| 135 |
+
"color_temp_k": 5641.690769167951,
|
| 136 |
+
"intensity": 0.9589619227895219
|
| 137 |
+
},
|
| 138 |
+
"directional_fill": {
|
| 139 |
+
"direction": [
|
| 140 |
+
-0.40777193506686965,
|
| 141 |
+
0.15973054979423756,
|
| 142 |
+
-0.8990040035696454
|
| 143 |
+
],
|
| 144 |
+
"color": [
|
| 145 |
+
0.6584107372323375,
|
| 146 |
+
0.6350824440580177,
|
| 147 |
+
0.5950910843306126
|
| 148 |
+
],
|
| 149 |
+
"azimuth_rad": 2.7682485050075663,
|
| 150 |
+
"elevation_rad": 1.1174899073936686,
|
| 151 |
+
"color_temp_k": 4975.247136525689,
|
| 152 |
+
"intensity": 0.6350824440580177
|
| 153 |
+
},
|
| 154 |
+
"point_color_scale": [
|
| 155 |
+
1.147093976166385,
|
| 156 |
+
1.128233203071038,
|
| 157 |
+
1.0959004491933002
|
| 158 |
+
],
|
| 159 |
+
"shadow": true
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"frames": [
|
| 163 |
+
{
|
| 164 |
+
"frame_idx": 0,
|
| 165 |
+
"qpos": [
|
| 166 |
+
0.0,
|
| 167 |
+
0.0,
|
| 168 |
+
0.0,
|
| 169 |
+
0.0,
|
| 170 |
+
0.0,
|
| 171 |
+
-1.100000023841858
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
]
|
| 175 |
+
}
|
so100/ProcTHOR/test/bg_000039/scene_b01_015/scene_meta.json
ADDED
|
@@ -0,0 +1,175 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "so100",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 39,
|
| 7 |
+
"base_idx": 1,
|
| 8 |
+
"cam_idx": 14,
|
| 9 |
+
"n_dof": 6,
|
| 10 |
+
"num_links": 9,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"shoulder_pan",
|
| 13 |
+
"shoulder_lift",
|
| 14 |
+
"elbow_flex",
|
| 15 |
+
"wrist_flex",
|
| 16 |
+
"wrist_roll",
|
| 17 |
+
"gripper"
|
| 18 |
+
],
|
| 19 |
+
"link_names": [
|
| 20 |
+
"Base",
|
| 21 |
+
"Rotation_Pitch",
|
| 22 |
+
"Upper_Arm",
|
| 23 |
+
"Lower_Arm",
|
| 24 |
+
"Wrist_Pitch_Roll",
|
| 25 |
+
"Fixed_Jaw",
|
| 26 |
+
"Moving_Jaw",
|
| 27 |
+
"Fixed_Jaw_tip",
|
| 28 |
+
"Moving_Jaw_tip"
|
| 29 |
+
],
|
| 30 |
+
"ee_link_name": "Moving_Jaw",
|
| 31 |
+
"image_width": 640,
|
| 32 |
+
"image_height": 480,
|
| 33 |
+
"fovy_rad": 0.9783961839261216,
|
| 34 |
+
"K": [
|
| 35 |
+
[
|
| 36 |
+
433.5299980480401,
|
| 37 |
+
0.0,
|
| 38 |
+
290.95657071929867
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
0.0,
|
| 42 |
+
450.8239933283191,
|
| 43 |
+
245.08659096184022
|
| 44 |
+
],
|
| 45 |
+
[
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
1.0
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"camera_eye": [
|
| 52 |
+
-4.0683138161797885,
|
| 53 |
+
-3.819310234455352,
|
| 54 |
+
0.8424360747061203
|
| 55 |
+
],
|
| 56 |
+
"camera_target": [
|
| 57 |
+
-3.9826428358491155,
|
| 58 |
+
-4.300190335577887,
|
| 59 |
+
0.9800209182343982
|
| 60 |
+
],
|
| 61 |
+
"camera_roll_rad": 0.04692366394765271,
|
| 62 |
+
"camera_pose_world_cv": [
|
| 63 |
+
[
|
| 64 |
+
-0.9757101535797119,
|
| 65 |
+
0.139600932598114,
|
| 66 |
+
0.16882282495498657,
|
| 67 |
+
-4.0683135986328125
|
| 68 |
+
],
|
| 69 |
+
[
|
| 70 |
+
-0.1996336281299591,
|
| 71 |
+
-0.249311625957489,
|
| 72 |
+
-0.9476233124732971,
|
| 73 |
+
-3.819310188293457
|
| 74 |
+
],
|
| 75 |
+
[
|
| 76 |
+
-0.09019962698221207,
|
| 77 |
+
-0.9583085179328918,
|
| 78 |
+
0.27112483978271484,
|
| 79 |
+
0.8424360752105713
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0,
|
| 85 |
+
1.0
|
| 86 |
+
]
|
| 87 |
+
],
|
| 88 |
+
"T_base_world": [
|
| 89 |
+
[
|
| 90 |
+
-0.29489386081695557,
|
| 91 |
+
0.9555299282073975,
|
| 92 |
+
-3.539095061455555e-08,
|
| 93 |
+
-3.996128559112549
|
| 94 |
+
],
|
| 95 |
+
[
|
| 96 |
+
-0.9555299282073975,
|
| 97 |
+
-0.29489386081695557,
|
| 98 |
+
4.7960323712459285e-08,
|
| 99 |
+
-4.302455425262451
|
| 100 |
+
],
|
| 101 |
+
[
|
| 102 |
+
3.539095061455555e-08,
|
| 103 |
+
4.7960323712459285e-08,
|
| 104 |
+
1.0,
|
| 105 |
+
0.7811593413352966
|
| 106 |
+
],
|
| 107 |
+
[
|
| 108 |
+
0.0,
|
| 109 |
+
0.0,
|
| 110 |
+
0.0,
|
| 111 |
+
1.0
|
| 112 |
+
]
|
| 113 |
+
],
|
| 114 |
+
"lighting": {
|
| 115 |
+
"aug_enabled": true,
|
| 116 |
+
"params": {
|
| 117 |
+
"ambient": [
|
| 118 |
+
0.2507009251831178,
|
| 119 |
+
0.25517393292538987,
|
| 120 |
+
0.24324574366089696
|
| 121 |
+
],
|
| 122 |
+
"directional_primary": {
|
| 123 |
+
"direction": [
|
| 124 |
+
-0.3376350551650219,
|
| 125 |
+
-0.10627779145055354,
|
| 126 |
+
-0.9352580384942463
|
| 127 |
+
],
|
| 128 |
+
"color": [
|
| 129 |
+
0.8171096234582301,
|
| 130 |
+
0.8484116219740928,
|
| 131 |
+
0.8984948195994732
|
| 132 |
+
],
|
| 133 |
+
"azimuth_rad": -2.8366399893375234,
|
| 134 |
+
"elevation_rad": 1.2089873574301557,
|
| 135 |
+
"color_temp_k": 6227.165053574644,
|
| 136 |
+
"intensity": 0.8609324213804379
|
| 137 |
+
},
|
| 138 |
+
"directional_fill": {
|
| 139 |
+
"direction": [
|
| 140 |
+
-0.40777193506686965,
|
| 141 |
+
0.15973054979423756,
|
| 142 |
+
-0.8990040035696454
|
| 143 |
+
],
|
| 144 |
+
"color": [
|
| 145 |
+
0.7364479073058892,
|
| 146 |
+
0.7663446674338109,
|
| 147 |
+
0.8141794836384859
|
| 148 |
+
],
|
| 149 |
+
"azimuth_rad": 2.7682485050075663,
|
| 150 |
+
"elevation_rad": 1.1174899073936686,
|
| 151 |
+
"color_temp_k": 6268.254673518366,
|
| 152 |
+
"intensity": 0.7783033714849796
|
| 153 |
+
},
|
| 154 |
+
"point_color_scale": [
|
| 155 |
+
1.1557294936933196,
|
| 156 |
+
1.1189009553852616,
|
| 157 |
+
1.0557663182857335
|
| 158 |
+
],
|
| 159 |
+
"shadow": true
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"frames": [
|
| 163 |
+
{
|
| 164 |
+
"frame_idx": 0,
|
| 165 |
+
"qpos": [
|
| 166 |
+
0.0,
|
| 167 |
+
0.0,
|
| 168 |
+
0.0,
|
| 169 |
+
0.0,
|
| 170 |
+
0.0,
|
| 171 |
+
-1.100000023841858
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
]
|
| 175 |
+
}
|
so100/ProcTHOR/test/bg_000039/scene_b01_016/scene_meta.json
ADDED
|
@@ -0,0 +1,175 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "so100",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 39,
|
| 7 |
+
"base_idx": 1,
|
| 8 |
+
"cam_idx": 15,
|
| 9 |
+
"n_dof": 6,
|
| 10 |
+
"num_links": 9,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"shoulder_pan",
|
| 13 |
+
"shoulder_lift",
|
| 14 |
+
"elbow_flex",
|
| 15 |
+
"wrist_flex",
|
| 16 |
+
"wrist_roll",
|
| 17 |
+
"gripper"
|
| 18 |
+
],
|
| 19 |
+
"link_names": [
|
| 20 |
+
"Base",
|
| 21 |
+
"Rotation_Pitch",
|
| 22 |
+
"Upper_Arm",
|
| 23 |
+
"Lower_Arm",
|
| 24 |
+
"Wrist_Pitch_Roll",
|
| 25 |
+
"Fixed_Jaw",
|
| 26 |
+
"Moving_Jaw",
|
| 27 |
+
"Fixed_Jaw_tip",
|
| 28 |
+
"Moving_Jaw_tip"
|
| 29 |
+
],
|
| 30 |
+
"ee_link_name": "Moving_Jaw",
|
| 31 |
+
"image_width": 640,
|
| 32 |
+
"image_height": 480,
|
| 33 |
+
"fovy_rad": 1.2673023030936574,
|
| 34 |
+
"K": [
|
| 35 |
+
[
|
| 36 |
+
333.6147202663961,
|
| 37 |
+
0.0,
|
| 38 |
+
330.4772766999899
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
0.0,
|
| 42 |
+
326.6542454114159,
|
| 43 |
+
228.3096410476307
|
| 44 |
+
],
|
| 45 |
+
[
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
1.0
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"camera_eye": [
|
| 52 |
+
-4.553241725182736,
|
| 53 |
+
-3.9633729295090916,
|
| 54 |
+
1.0725659406120673
|
| 55 |
+
],
|
| 56 |
+
"camera_target": [
|
| 57 |
+
-3.9574981846159183,
|
| 58 |
+
-4.278279076388722,
|
| 59 |
+
0.9680514471915962
|
| 60 |
+
],
|
| 61 |
+
"camera_roll_rad": 0.04460369014351098,
|
| 62 |
+
"camera_pose_world_cv": [
|
| 63 |
+
[
|
| 64 |
+
-0.47753608226776123,
|
| 65 |
+
-0.09332957863807678,
|
| 66 |
+
0.8736411333084106,
|
| 67 |
+
-4.553241729736328
|
| 68 |
+
],
|
| 69 |
+
[
|
| 70 |
+
-0.8741903305053711,
|
| 71 |
+
0.15010309219360352,
|
| 72 |
+
-0.46180111169815063,
|
| 73 |
+
-3.9633729457855225
|
| 74 |
+
],
|
| 75 |
+
[
|
| 76 |
+
-0.08803653717041016,
|
| 77 |
+
-0.9842553734779358,
|
| 78 |
+
-0.153267502784729,
|
| 79 |
+
1.0725659132003784
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0,
|
| 85 |
+
1.0
|
| 86 |
+
]
|
| 87 |
+
],
|
| 88 |
+
"T_base_world": [
|
| 89 |
+
[
|
| 90 |
+
-0.29489386081695557,
|
| 91 |
+
0.9555299282073975,
|
| 92 |
+
-3.539095061455555e-08,
|
| 93 |
+
-3.996128559112549
|
| 94 |
+
],
|
| 95 |
+
[
|
| 96 |
+
-0.9555299282073975,
|
| 97 |
+
-0.29489386081695557,
|
| 98 |
+
4.7960323712459285e-08,
|
| 99 |
+
-4.302455425262451
|
| 100 |
+
],
|
| 101 |
+
[
|
| 102 |
+
3.539095061455555e-08,
|
| 103 |
+
4.7960323712459285e-08,
|
| 104 |
+
1.0,
|
| 105 |
+
0.7811593413352966
|
| 106 |
+
],
|
| 107 |
+
[
|
| 108 |
+
0.0,
|
| 109 |
+
0.0,
|
| 110 |
+
0.0,
|
| 111 |
+
1.0
|
| 112 |
+
]
|
| 113 |
+
],
|
| 114 |
+
"lighting": {
|
| 115 |
+
"aug_enabled": true,
|
| 116 |
+
"params": {
|
| 117 |
+
"ambient": [
|
| 118 |
+
0.35317407072774615,
|
| 119 |
+
0.3729197049680618,
|
| 120 |
+
0.3647457831256537
|
| 121 |
+
],
|
| 122 |
+
"directional_primary": {
|
| 123 |
+
"direction": [
|
| 124 |
+
-0.3376350551650219,
|
| 125 |
+
-0.10627779145055354,
|
| 126 |
+
-0.9352580384942463
|
| 127 |
+
],
|
| 128 |
+
"color": [
|
| 129 |
+
1.0669938837879447,
|
| 130 |
+
1.1235828102136827,
|
| 131 |
+
1.214125092494864
|
| 132 |
+
],
|
| 133 |
+
"azimuth_rad": -2.8366399893375234,
|
| 134 |
+
"elevation_rad": 1.2089873574301557,
|
| 135 |
+
"color_temp_k": 6487.40218049955,
|
| 136 |
+
"intensity": 1.146218380783978
|
| 137 |
+
},
|
| 138 |
+
"directional_fill": {
|
| 139 |
+
"direction": [
|
| 140 |
+
-0.40777193506686965,
|
| 141 |
+
0.15973054979423756,
|
| 142 |
+
-0.8990040035696454
|
| 143 |
+
],
|
| 144 |
+
"color": [
|
| 145 |
+
0.6248813179939363,
|
| 146 |
+
0.6290359754859769,
|
| 147 |
+
0.6356834274732418
|
| 148 |
+
],
|
| 149 |
+
"azimuth_rad": 2.7682485050075663,
|
| 150 |
+
"elevation_rad": 1.1174899073936686,
|
| 151 |
+
"color_temp_k": 5631.747954045158,
|
| 152 |
+
"intensity": 0.6306978384827931
|
| 153 |
+
},
|
| 154 |
+
"point_color_scale": [
|
| 155 |
+
1.1042648208377221,
|
| 156 |
+
1.0851245281540312,
|
| 157 |
+
1.0523125978391321
|
| 158 |
+
],
|
| 159 |
+
"shadow": true
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"frames": [
|
| 163 |
+
{
|
| 164 |
+
"frame_idx": 0,
|
| 165 |
+
"qpos": [
|
| 166 |
+
0.0,
|
| 167 |
+
0.0,
|
| 168 |
+
0.0,
|
| 169 |
+
0.0,
|
| 170 |
+
0.0,
|
| 171 |
+
-1.100000023841858
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
]
|
| 175 |
+
}
|
so100/ProcTHOR/test/bg_000039/scene_b02_001/scene_meta.json
ADDED
|
@@ -0,0 +1,175 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "so100",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 39,
|
| 7 |
+
"base_idx": 2,
|
| 8 |
+
"cam_idx": 0,
|
| 9 |
+
"n_dof": 6,
|
| 10 |
+
"num_links": 9,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"shoulder_pan",
|
| 13 |
+
"shoulder_lift",
|
| 14 |
+
"elbow_flex",
|
| 15 |
+
"wrist_flex",
|
| 16 |
+
"wrist_roll",
|
| 17 |
+
"gripper"
|
| 18 |
+
],
|
| 19 |
+
"link_names": [
|
| 20 |
+
"Base",
|
| 21 |
+
"Rotation_Pitch",
|
| 22 |
+
"Upper_Arm",
|
| 23 |
+
"Lower_Arm",
|
| 24 |
+
"Wrist_Pitch_Roll",
|
| 25 |
+
"Fixed_Jaw",
|
| 26 |
+
"Moving_Jaw",
|
| 27 |
+
"Fixed_Jaw_tip",
|
| 28 |
+
"Moving_Jaw_tip"
|
| 29 |
+
],
|
| 30 |
+
"ee_link_name": "Moving_Jaw",
|
| 31 |
+
"image_width": 640,
|
| 32 |
+
"image_height": 480,
|
| 33 |
+
"fovy_rad": 1.2104411060362235,
|
| 34 |
+
"K": [
|
| 35 |
+
[
|
| 36 |
+
329.6211193357414,
|
| 37 |
+
0.0,
|
| 38 |
+
351.7845283514163
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
0.0,
|
| 42 |
+
346.9068610406035,
|
| 43 |
+
249.12280923843522
|
| 44 |
+
],
|
| 45 |
+
[
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
1.0
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"camera_eye": [
|
| 52 |
+
-3.239349271236326,
|
| 53 |
+
-3.784558633392715,
|
| 54 |
+
1.1704426751983856
|
| 55 |
+
],
|
| 56 |
+
"camera_target": [
|
| 57 |
+
-2.6537177481278196,
|
| 58 |
+
-4.275083714159871,
|
| 59 |
+
0.9562258939158765
|
| 60 |
+
],
|
| 61 |
+
"camera_roll_rad": -0.020168086085783077,
|
| 62 |
+
"camera_pose_world_cv": [
|
| 63 |
+
[
|
| 64 |
+
-0.6332437992095947,
|
| 65 |
+
-0.23271113634109497,
|
| 66 |
+
0.7381381392478943,
|
| 67 |
+
-3.239349365234375
|
| 68 |
+
],
|
| 69 |
+
[
|
| 70 |
+
-0.772977888584137,
|
| 71 |
+
0.1423170566558838,
|
| 72 |
+
-0.6182646155357361,
|
| 73 |
+
-3.7845585346221924
|
| 74 |
+
],
|
| 75 |
+
[
|
| 76 |
+
0.038827478885650635,
|
| 77 |
+
-0.9620766043663025,
|
| 78 |
+
-0.2700018286705017,
|
| 79 |
+
1.1704427003860474
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0,
|
| 85 |
+
1.0
|
| 86 |
+
]
|
| 87 |
+
],
|
| 88 |
+
"T_base_world": [
|
| 89 |
+
[
|
| 90 |
+
0.9999996423721313,
|
| 91 |
+
-0.0008781550568528473,
|
| 92 |
+
5.9578461275577865e-08,
|
| 93 |
+
-2.70257568359375
|
| 94 |
+
],
|
| 95 |
+
[
|
| 96 |
+
0.0008781550568528473,
|
| 97 |
+
0.9999996423721313,
|
| 98 |
+
5.963080695892131e-08,
|
| 99 |
+
-4.2265496253967285
|
| 100 |
+
],
|
| 101 |
+
[
|
| 102 |
+
-5.963080695892131e-08,
|
| 103 |
+
-5.9578461275577865e-08,
|
| 104 |
+
1.0,
|
| 105 |
+
0.7811593413352966
|
| 106 |
+
],
|
| 107 |
+
[
|
| 108 |
+
0.0,
|
| 109 |
+
0.0,
|
| 110 |
+
0.0,
|
| 111 |
+
1.0
|
| 112 |
+
]
|
| 113 |
+
],
|
| 114 |
+
"lighting": {
|
| 115 |
+
"aug_enabled": true,
|
| 116 |
+
"params": {
|
| 117 |
+
"ambient": [
|
| 118 |
+
0.27220546646318344,
|
| 119 |
+
0.2636136253748739,
|
| 120 |
+
0.2637850191625181
|
| 121 |
+
],
|
| 122 |
+
"directional_primary": {
|
| 123 |
+
"direction": [
|
| 124 |
+
-0.3376350551650219,
|
| 125 |
+
-0.10627779145055354,
|
| 126 |
+
-0.9352580384942463
|
| 127 |
+
],
|
| 128 |
+
"color": [
|
| 129 |
+
0.9577230821637375,
|
| 130 |
+
0.9518700470040429,
|
| 131 |
+
0.9418362724445665
|
| 132 |
+
],
|
| 133 |
+
"azimuth_rad": -2.8366399893375234,
|
| 134 |
+
"elevation_rad": 1.2089873574301557,
|
| 135 |
+
"color_temp_k": 5412.15734935792,
|
| 136 |
+
"intensity": 0.9518700470040429
|
| 137 |
+
},
|
| 138 |
+
"directional_fill": {
|
| 139 |
+
"direction": [
|
| 140 |
+
-0.40777193506686965,
|
| 141 |
+
0.15973054979423756,
|
| 142 |
+
-0.8990040035696454
|
| 143 |
+
],
|
| 144 |
+
"color": [
|
| 145 |
+
0.6807471542830335,
|
| 146 |
+
0.657908522741875,
|
| 147 |
+
0.6187565829570318
|
| 148 |
+
],
|
| 149 |
+
"azimuth_rad": 2.7682485050075663,
|
| 150 |
+
"elevation_rad": 1.1174899073936686,
|
| 151 |
+
"color_temp_k": 5004.085821059198,
|
| 152 |
+
"intensity": 0.657908522741875
|
| 153 |
+
},
|
| 154 |
+
"point_color_scale": [
|
| 155 |
+
0.8108603250892032,
|
| 156 |
+
0.8338917602439226,
|
| 157 |
+
0.8707420564914735
|
| 158 |
+
],
|
| 159 |
+
"shadow": true
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"frames": [
|
| 163 |
+
{
|
| 164 |
+
"frame_idx": 0,
|
| 165 |
+
"qpos": [
|
| 166 |
+
0.0,
|
| 167 |
+
0.0,
|
| 168 |
+
0.0,
|
| 169 |
+
0.0,
|
| 170 |
+
0.0,
|
| 171 |
+
-1.100000023841858
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
]
|
| 175 |
+
}
|
so100/ProcTHOR/test/bg_000039/scene_b02_002/scene_meta.json
ADDED
|
@@ -0,0 +1,175 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "so100",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 39,
|
| 7 |
+
"base_idx": 2,
|
| 8 |
+
"cam_idx": 1,
|
| 9 |
+
"n_dof": 6,
|
| 10 |
+
"num_links": 9,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"shoulder_pan",
|
| 13 |
+
"shoulder_lift",
|
| 14 |
+
"elbow_flex",
|
| 15 |
+
"wrist_flex",
|
| 16 |
+
"wrist_roll",
|
| 17 |
+
"gripper"
|
| 18 |
+
],
|
| 19 |
+
"link_names": [
|
| 20 |
+
"Base",
|
| 21 |
+
"Rotation_Pitch",
|
| 22 |
+
"Upper_Arm",
|
| 23 |
+
"Lower_Arm",
|
| 24 |
+
"Wrist_Pitch_Roll",
|
| 25 |
+
"Fixed_Jaw",
|
| 26 |
+
"Moving_Jaw",
|
| 27 |
+
"Fixed_Jaw_tip",
|
| 28 |
+
"Moving_Jaw_tip"
|
| 29 |
+
],
|
| 30 |
+
"ee_link_name": "Moving_Jaw",
|
| 31 |
+
"image_width": 640,
|
| 32 |
+
"image_height": 480,
|
| 33 |
+
"fovy_rad": 0.97900979895987,
|
| 34 |
+
"K": [
|
| 35 |
+
[
|
| 36 |
+
469.09300924172203,
|
| 37 |
+
0.0,
|
| 38 |
+
344.733781880187
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
0.0,
|
| 42 |
+
450.4907338391956,
|
| 43 |
+
240.96942148732964
|
| 44 |
+
],
|
| 45 |
+
[
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
1.0
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"camera_eye": [
|
| 52 |
+
-2.249528564355774,
|
| 53 |
+
-3.824963142252095,
|
| 54 |
+
1.163034251927222
|
| 55 |
+
],
|
| 56 |
+
"camera_target": [
|
| 57 |
+
-2.7376878140789382,
|
| 58 |
+
-4.210879630009304,
|
| 59 |
+
1.0115576384556464
|
| 60 |
+
],
|
| 61 |
+
"camera_roll_rad": 0.01078221915147562,
|
| 62 |
+
"camera_pose_world_cv": [
|
| 63 |
+
[
|
| 64 |
+
-0.6160218715667725,
|
| 65 |
+
0.19886904954910278,
|
| 66 |
+
-0.762212872505188,
|
| 67 |
+
-2.249528646469116
|
| 68 |
+
],
|
| 69 |
+
[
|
| 70 |
+
0.7874505519866943,
|
| 71 |
+
0.12972986698150635,
|
| 72 |
+
-0.6025711297988892,
|
| 73 |
+
-3.824963092803955
|
| 74 |
+
],
|
| 75 |
+
[
|
| 76 |
+
-0.020951002836227417,
|
| 77 |
+
-0.9714018106460571,
|
| 78 |
+
-0.2365158200263977,
|
| 79 |
+
1.163034200668335
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0,
|
| 85 |
+
1.0
|
| 86 |
+
]
|
| 87 |
+
],
|
| 88 |
+
"T_base_world": [
|
| 89 |
+
[
|
| 90 |
+
0.9999996423721313,
|
| 91 |
+
-0.0008781550568528473,
|
| 92 |
+
5.9578461275577865e-08,
|
| 93 |
+
-2.70257568359375
|
| 94 |
+
],
|
| 95 |
+
[
|
| 96 |
+
0.0008781550568528473,
|
| 97 |
+
0.9999996423721313,
|
| 98 |
+
5.963080695892131e-08,
|
| 99 |
+
-4.2265496253967285
|
| 100 |
+
],
|
| 101 |
+
[
|
| 102 |
+
-5.963080695892131e-08,
|
| 103 |
+
-5.9578461275577865e-08,
|
| 104 |
+
1.0,
|
| 105 |
+
0.7811593413352966
|
| 106 |
+
],
|
| 107 |
+
[
|
| 108 |
+
0.0,
|
| 109 |
+
0.0,
|
| 110 |
+
0.0,
|
| 111 |
+
1.0
|
| 112 |
+
]
|
| 113 |
+
],
|
| 114 |
+
"lighting": {
|
| 115 |
+
"aug_enabled": true,
|
| 116 |
+
"params": {
|
| 117 |
+
"ambient": [
|
| 118 |
+
0.23408637474303196,
|
| 119 |
+
0.23939045244901588,
|
| 120 |
+
0.26135614598706997
|
| 121 |
+
],
|
| 122 |
+
"directional_primary": {
|
| 123 |
+
"direction": [
|
| 124 |
+
-0.3376350551650219,
|
| 125 |
+
-0.10627779145055354,
|
| 126 |
+
-0.9352580384942463
|
| 127 |
+
],
|
| 128 |
+
"color": [
|
| 129 |
+
0.9273827546579849,
|
| 130 |
+
0.8690989350131917,
|
| 131 |
+
0.7691838156221176
|
| 132 |
+
],
|
| 133 |
+
"azimuth_rad": -2.8366399893375234,
|
| 134 |
+
"elevation_rad": 1.2089873574301557,
|
| 135 |
+
"color_temp_k": 4541.966384514118,
|
| 136 |
+
"intensity": 0.8690989350131917
|
| 137 |
+
},
|
| 138 |
+
"directional_fill": {
|
| 139 |
+
"direction": [
|
| 140 |
+
-0.40777193506686965,
|
| 141 |
+
0.15973054979423756,
|
| 142 |
+
-0.8990040035696454
|
| 143 |
+
],
|
| 144 |
+
"color": [
|
| 145 |
+
0.6728210922199197,
|
| 146 |
+
0.6841867717928528,
|
| 147 |
+
0.702371859109546
|
| 148 |
+
],
|
| 149 |
+
"azimuth_rad": 2.7682485050075663,
|
| 150 |
+
"elevation_rad": 1.1174899073936686,
|
| 151 |
+
"color_temp_k": 5830.0460077582875,
|
| 152 |
+
"intensity": 0.6887330436220261
|
| 153 |
+
},
|
| 154 |
+
"point_color_scale": [
|
| 155 |
+
1.0950733904983183,
|
| 156 |
+
1.0446944679717163,
|
| 157 |
+
0.9583306007832557
|
| 158 |
+
],
|
| 159 |
+
"shadow": true
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"frames": [
|
| 163 |
+
{
|
| 164 |
+
"frame_idx": 0,
|
| 165 |
+
"qpos": [
|
| 166 |
+
0.0,
|
| 167 |
+
0.0,
|
| 168 |
+
0.0,
|
| 169 |
+
0.0,
|
| 170 |
+
0.0,
|
| 171 |
+
-1.100000023841858
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
]
|
| 175 |
+
}
|
so100/ProcTHOR/test/bg_000039/scene_b02_003/scene_meta.json
ADDED
|
@@ -0,0 +1,175 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "so100",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 39,
|
| 7 |
+
"base_idx": 2,
|
| 8 |
+
"cam_idx": 2,
|
| 9 |
+
"n_dof": 6,
|
| 10 |
+
"num_links": 9,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"shoulder_pan",
|
| 13 |
+
"shoulder_lift",
|
| 14 |
+
"elbow_flex",
|
| 15 |
+
"wrist_flex",
|
| 16 |
+
"wrist_roll",
|
| 17 |
+
"gripper"
|
| 18 |
+
],
|
| 19 |
+
"link_names": [
|
| 20 |
+
"Base",
|
| 21 |
+
"Rotation_Pitch",
|
| 22 |
+
"Upper_Arm",
|
| 23 |
+
"Lower_Arm",
|
| 24 |
+
"Wrist_Pitch_Roll",
|
| 25 |
+
"Fixed_Jaw",
|
| 26 |
+
"Moving_Jaw",
|
| 27 |
+
"Fixed_Jaw_tip",
|
| 28 |
+
"Moving_Jaw_tip"
|
| 29 |
+
],
|
| 30 |
+
"ee_link_name": "Moving_Jaw",
|
| 31 |
+
"image_width": 640,
|
| 32 |
+
"image_height": 480,
|
| 33 |
+
"fovy_rad": 1.200777574705953,
|
| 34 |
+
"K": [
|
| 35 |
+
[
|
| 36 |
+
366.8400094242258,
|
| 37 |
+
0.0,
|
| 38 |
+
293.43784183369024
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
0.0,
|
| 42 |
+
350.5145248062148,
|
| 43 |
+
225.4767558531567
|
| 44 |
+
],
|
| 45 |
+
[
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
1.0
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"camera_eye": [
|
| 52 |
+
-1.9433992598522456,
|
| 53 |
+
-3.9713194386368214,
|
| 54 |
+
1.1553055524547917
|
| 55 |
+
],
|
| 56 |
+
"camera_target": [
|
| 57 |
+
-2.706221105725335,
|
| 58 |
+
-4.177497901366255,
|
| 59 |
+
0.9567273882800214
|
| 60 |
+
],
|
| 61 |
+
"camera_roll_rad": 0.03989150464742107,
|
| 62 |
+
"camera_pose_world_cv": [
|
| 63 |
+
[
|
| 64 |
+
-0.2413398027420044,
|
| 65 |
+
0.25532880425453186,
|
| 66 |
+
-0.9362492561340332,
|
| 67 |
+
-1.9433993101119995
|
| 68 |
+
],
|
| 69 |
+
[
|
| 70 |
+
0.9673577547073364,
|
| 71 |
+
-0.013546884059906006,
|
| 72 |
+
-0.2530530095100403,
|
| 73 |
+
-3.9713194370269775
|
| 74 |
+
],
|
| 75 |
+
[
|
| 76 |
+
-0.07729509472846985,
|
| 77 |
+
-0.9667595028877258,
|
| 78 |
+
-0.24372464418411255,
|
| 79 |
+
1.1553055047988892
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0,
|
| 85 |
+
1.0
|
| 86 |
+
]
|
| 87 |
+
],
|
| 88 |
+
"T_base_world": [
|
| 89 |
+
[
|
| 90 |
+
0.9999996423721313,
|
| 91 |
+
-0.0008781550568528473,
|
| 92 |
+
5.9578461275577865e-08,
|
| 93 |
+
-2.70257568359375
|
| 94 |
+
],
|
| 95 |
+
[
|
| 96 |
+
0.0008781550568528473,
|
| 97 |
+
0.9999996423721313,
|
| 98 |
+
5.963080695892131e-08,
|
| 99 |
+
-4.2265496253967285
|
| 100 |
+
],
|
| 101 |
+
[
|
| 102 |
+
-5.963080695892131e-08,
|
| 103 |
+
-5.9578461275577865e-08,
|
| 104 |
+
1.0,
|
| 105 |
+
0.7811593413352966
|
| 106 |
+
],
|
| 107 |
+
[
|
| 108 |
+
0.0,
|
| 109 |
+
0.0,
|
| 110 |
+
0.0,
|
| 111 |
+
1.0
|
| 112 |
+
]
|
| 113 |
+
],
|
| 114 |
+
"lighting": {
|
| 115 |
+
"aug_enabled": true,
|
| 116 |
+
"params": {
|
| 117 |
+
"ambient": [
|
| 118 |
+
0.24939309094619452,
|
| 119 |
+
0.23418752667370912,
|
| 120 |
+
0.24001572112626943
|
| 121 |
+
],
|
| 122 |
+
"directional_primary": {
|
| 123 |
+
"direction": [
|
| 124 |
+
-0.3376350551650219,
|
| 125 |
+
-0.10627779145055354,
|
| 126 |
+
-0.9352580384942463
|
| 127 |
+
],
|
| 128 |
+
"color": [
|
| 129 |
+
1.232817971979604,
|
| 130 |
+
1.1928138951316845,
|
| 131 |
+
1.1242354776781083
|
| 132 |
+
],
|
| 133 |
+
"azimuth_rad": -2.8366399893375234,
|
| 134 |
+
"elevation_rad": 1.2089873574301557,
|
| 135 |
+
"color_temp_k": 5020.891888964755,
|
| 136 |
+
"intensity": 1.1928138951316845
|
| 137 |
+
},
|
| 138 |
+
"directional_fill": {
|
| 139 |
+
"direction": [
|
| 140 |
+
-0.40777193506686965,
|
| 141 |
+
0.15973054979423756,
|
| 142 |
+
-0.8990040035696454
|
| 143 |
+
],
|
| 144 |
+
"color": [
|
| 145 |
+
0.6872514633888039,
|
| 146 |
+
0.7143241451713184,
|
| 147 |
+
0.7576404360233417
|
| 148 |
+
],
|
| 149 |
+
"azimuth_rad": 2.7682485050075663,
|
| 150 |
+
"elevation_rad": 1.1174899073936686,
|
| 151 |
+
"color_temp_k": 6246.67480236799,
|
| 152 |
+
"intensity": 0.7251532178843242
|
| 153 |
+
},
|
| 154 |
+
"point_color_scale": [
|
| 155 |
+
1.1094038468274385,
|
| 156 |
+
1.072660559300515,
|
| 157 |
+
1.0096720663972174
|
| 158 |
+
],
|
| 159 |
+
"shadow": true
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"frames": [
|
| 163 |
+
{
|
| 164 |
+
"frame_idx": 0,
|
| 165 |
+
"qpos": [
|
| 166 |
+
0.0,
|
| 167 |
+
0.0,
|
| 168 |
+
0.0,
|
| 169 |
+
0.0,
|
| 170 |
+
0.0,
|
| 171 |
+
-1.100000023841858
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
]
|
| 175 |
+
}
|
so100/ProcTHOR/test/bg_000039/scene_b02_004/scene_meta.json
ADDED
|
@@ -0,0 +1,175 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "so100",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 39,
|
| 7 |
+
"base_idx": 2,
|
| 8 |
+
"cam_idx": 3,
|
| 9 |
+
"n_dof": 6,
|
| 10 |
+
"num_links": 9,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"shoulder_pan",
|
| 13 |
+
"shoulder_lift",
|
| 14 |
+
"elbow_flex",
|
| 15 |
+
"wrist_flex",
|
| 16 |
+
"wrist_roll",
|
| 17 |
+
"gripper"
|
| 18 |
+
],
|
| 19 |
+
"link_names": [
|
| 20 |
+
"Base",
|
| 21 |
+
"Rotation_Pitch",
|
| 22 |
+
"Upper_Arm",
|
| 23 |
+
"Lower_Arm",
|
| 24 |
+
"Wrist_Pitch_Roll",
|
| 25 |
+
"Fixed_Jaw",
|
| 26 |
+
"Moving_Jaw",
|
| 27 |
+
"Fixed_Jaw_tip",
|
| 28 |
+
"Moving_Jaw_tip"
|
| 29 |
+
],
|
| 30 |
+
"ee_link_name": "Moving_Jaw",
|
| 31 |
+
"image_width": 640,
|
| 32 |
+
"image_height": 480,
|
| 33 |
+
"fovy_rad": 0.8625429955683397,
|
| 34 |
+
"K": [
|
| 35 |
+
[
|
| 36 |
+
522.3130872480739,
|
| 37 |
+
0.0,
|
| 38 |
+
324.3844913197474
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
0.0,
|
| 42 |
+
521.5567462530927,
|
| 43 |
+
236.3480163676911
|
| 44 |
+
],
|
| 45 |
+
[
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
1.0
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"camera_eye": [
|
| 52 |
+
-2.1957597050540407,
|
| 53 |
+
-4.923186951340215,
|
| 54 |
+
0.8857467836171475
|
| 55 |
+
],
|
| 56 |
+
"camera_target": [
|
| 57 |
+
-2.7464270334264738,
|
| 58 |
+
-4.2337968049359205,
|
| 59 |
+
0.9415615537563622
|
| 60 |
+
],
|
| 61 |
+
"camera_roll_rad": -0.02051314000299475,
|
| 62 |
+
"camera_pose_world_cv": [
|
| 63 |
+
[
|
| 64 |
+
0.7822942733764648,
|
| 65 |
+
-0.007322371006011963,
|
| 66 |
+
-0.6228660941123962,
|
| 67 |
+
-2.1957597732543945
|
| 68 |
+
],
|
| 69 |
+
[
|
| 70 |
+
0.6215627789497375,
|
| 71 |
+
0.07488429546356201,
|
| 72 |
+
0.7797771692276001,
|
| 73 |
+
-4.923186779022217
|
| 74 |
+
],
|
| 75 |
+
[
|
| 76 |
+
0.04093295335769653,
|
| 77 |
+
-0.9971655607223511,
|
| 78 |
+
0.0631328821182251,
|
| 79 |
+
0.8857467770576477
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0,
|
| 85 |
+
1.0
|
| 86 |
+
]
|
| 87 |
+
],
|
| 88 |
+
"T_base_world": [
|
| 89 |
+
[
|
| 90 |
+
0.9999996423721313,
|
| 91 |
+
-0.0008781550568528473,
|
| 92 |
+
5.9578461275577865e-08,
|
| 93 |
+
-2.70257568359375
|
| 94 |
+
],
|
| 95 |
+
[
|
| 96 |
+
0.0008781550568528473,
|
| 97 |
+
0.9999996423721313,
|
| 98 |
+
5.963080695892131e-08,
|
| 99 |
+
-4.2265496253967285
|
| 100 |
+
],
|
| 101 |
+
[
|
| 102 |
+
-5.963080695892131e-08,
|
| 103 |
+
-5.9578461275577865e-08,
|
| 104 |
+
1.0,
|
| 105 |
+
0.7811593413352966
|
| 106 |
+
],
|
| 107 |
+
[
|
| 108 |
+
0.0,
|
| 109 |
+
0.0,
|
| 110 |
+
0.0,
|
| 111 |
+
1.0
|
| 112 |
+
]
|
| 113 |
+
],
|
| 114 |
+
"lighting": {
|
| 115 |
+
"aug_enabled": true,
|
| 116 |
+
"params": {
|
| 117 |
+
"ambient": [
|
| 118 |
+
0.3806044410633765,
|
| 119 |
+
0.39170070193203294,
|
| 120 |
+
0.3626297814100256
|
| 121 |
+
],
|
| 122 |
+
"directional_primary": {
|
| 123 |
+
"direction": [
|
| 124 |
+
-0.3376350551650219,
|
| 125 |
+
-0.10627779145055354,
|
| 126 |
+
-0.9352580384942463
|
| 127 |
+
],
|
| 128 |
+
"color": [
|
| 129 |
+
1.058458443197952,
|
| 130 |
+
1.0880842016353915,
|
| 131 |
+
1.1354854151352947
|
| 132 |
+
],
|
| 133 |
+
"azimuth_rad": -2.8366399893375234,
|
| 134 |
+
"elevation_rad": 1.2089873574301557,
|
| 135 |
+
"color_temp_k": 6038.682227032424,
|
| 136 |
+
"intensity": 1.0999345050103673
|
| 137 |
+
},
|
| 138 |
+
"directional_fill": {
|
| 139 |
+
"direction": [
|
| 140 |
+
-0.40777193506686965,
|
| 141 |
+
0.15973054979423756,
|
| 142 |
+
-0.8990040035696454
|
| 143 |
+
],
|
| 144 |
+
"color": [
|
| 145 |
+
0.9516878872025827,
|
| 146 |
+
0.9248837637797096,
|
| 147 |
+
0.8789338379119271
|
| 148 |
+
],
|
| 149 |
+
"azimuth_rad": 2.7682485050075663,
|
| 150 |
+
"elevation_rad": 1.1174899073936686,
|
| 151 |
+
"color_temp_k": 5085.984678406149,
|
| 152 |
+
"intensity": 0.9248837637797096
|
| 153 |
+
},
|
| 154 |
+
"point_color_scale": [
|
| 155 |
+
1.0017434681117035,
|
| 156 |
+
0.9962528518223808,
|
| 157 |
+
0.9868403667549704
|
| 158 |
+
],
|
| 159 |
+
"shadow": true
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"frames": [
|
| 163 |
+
{
|
| 164 |
+
"frame_idx": 0,
|
| 165 |
+
"qpos": [
|
| 166 |
+
0.0,
|
| 167 |
+
0.0,
|
| 168 |
+
0.0,
|
| 169 |
+
0.0,
|
| 170 |
+
0.0,
|
| 171 |
+
-1.100000023841858
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
]
|
| 175 |
+
}
|
so100/ProcTHOR/test/bg_000039/scene_b02_005/scene_meta.json
ADDED
|
@@ -0,0 +1,175 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "so100",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 39,
|
| 7 |
+
"base_idx": 2,
|
| 8 |
+
"cam_idx": 4,
|
| 9 |
+
"n_dof": 6,
|
| 10 |
+
"num_links": 9,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"shoulder_pan",
|
| 13 |
+
"shoulder_lift",
|
| 14 |
+
"elbow_flex",
|
| 15 |
+
"wrist_flex",
|
| 16 |
+
"wrist_roll",
|
| 17 |
+
"gripper"
|
| 18 |
+
],
|
| 19 |
+
"link_names": [
|
| 20 |
+
"Base",
|
| 21 |
+
"Rotation_Pitch",
|
| 22 |
+
"Upper_Arm",
|
| 23 |
+
"Lower_Arm",
|
| 24 |
+
"Wrist_Pitch_Roll",
|
| 25 |
+
"Fixed_Jaw",
|
| 26 |
+
"Moving_Jaw",
|
| 27 |
+
"Fixed_Jaw_tip",
|
| 28 |
+
"Moving_Jaw_tip"
|
| 29 |
+
],
|
| 30 |
+
"ee_link_name": "Moving_Jaw",
|
| 31 |
+
"image_width": 640,
|
| 32 |
+
"image_height": 480,
|
| 33 |
+
"fovy_rad": 1.0637913865787791,
|
| 34 |
+
"K": [
|
| 35 |
+
[
|
| 36 |
+
393.24201450415677,
|
| 37 |
+
0.0,
|
| 38 |
+
341.8861496053379
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
0.0,
|
| 42 |
+
407.8398166720429,
|
| 43 |
+
237.70592390417855
|
| 44 |
+
],
|
| 45 |
+
[
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
1.0
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"camera_eye": [
|
| 52 |
+
-2.231131791913745,
|
| 53 |
+
-4.869823406108801,
|
| 54 |
+
0.890160278184468
|
| 55 |
+
],
|
| 56 |
+
"camera_target": [
|
| 57 |
+
-2.6831327721863643,
|
| 58 |
+
-4.229961957108661,
|
| 59 |
+
0.8850353763321012
|
| 60 |
+
],
|
| 61 |
+
"camera_roll_rad": 0.012247603657303402,
|
| 62 |
+
"camera_pose_world_cv": [
|
| 63 |
+
[
|
| 64 |
+
0.8166143298149109,
|
| 65 |
+
-0.016231685876846313,
|
| 66 |
+
-0.5769554376602173,
|
| 67 |
+
-2.2311317920684814
|
| 68 |
+
],
|
| 69 |
+
[
|
| 70 |
+
0.5766638517379761,
|
| 71 |
+
-0.019472897052764893,
|
| 72 |
+
0.8167494535446167,
|
| 73 |
+
-4.869823455810547
|
| 74 |
+
],
|
| 75 |
+
[
|
| 76 |
+
-0.024492204189300537,
|
| 77 |
+
-0.9996786117553711,
|
| 78 |
+
-0.006541609764099121,
|
| 79 |
+
0.8901602625846863
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0,
|
| 85 |
+
1.0
|
| 86 |
+
]
|
| 87 |
+
],
|
| 88 |
+
"T_base_world": [
|
| 89 |
+
[
|
| 90 |
+
0.9999996423721313,
|
| 91 |
+
-0.0008781550568528473,
|
| 92 |
+
5.9578461275577865e-08,
|
| 93 |
+
-2.70257568359375
|
| 94 |
+
],
|
| 95 |
+
[
|
| 96 |
+
0.0008781550568528473,
|
| 97 |
+
0.9999996423721313,
|
| 98 |
+
5.963080695892131e-08,
|
| 99 |
+
-4.2265496253967285
|
| 100 |
+
],
|
| 101 |
+
[
|
| 102 |
+
-5.963080695892131e-08,
|
| 103 |
+
-5.9578461275577865e-08,
|
| 104 |
+
1.0,
|
| 105 |
+
0.7811593413352966
|
| 106 |
+
],
|
| 107 |
+
[
|
| 108 |
+
0.0,
|
| 109 |
+
0.0,
|
| 110 |
+
0.0,
|
| 111 |
+
1.0
|
| 112 |
+
]
|
| 113 |
+
],
|
| 114 |
+
"lighting": {
|
| 115 |
+
"aug_enabled": true,
|
| 116 |
+
"params": {
|
| 117 |
+
"ambient": [
|
| 118 |
+
0.2631922838633148,
|
| 119 |
+
0.26360808659843465,
|
| 120 |
+
0.2777387445128342
|
| 121 |
+
],
|
| 122 |
+
"directional_primary": {
|
| 123 |
+
"direction": [
|
| 124 |
+
-0.3376350551650219,
|
| 125 |
+
-0.10627779145055354,
|
| 126 |
+
-0.9352580384942463
|
| 127 |
+
],
|
| 128 |
+
"color": [
|
| 129 |
+
1.0231885171815596,
|
| 130 |
+
0.9870827271543379,
|
| 131 |
+
0.9251870871076722
|
| 132 |
+
],
|
| 133 |
+
"azimuth_rad": -2.8366399893375234,
|
| 134 |
+
"elevation_rad": 1.2089873574301557,
|
| 135 |
+
"color_temp_k": 4977.45311897426,
|
| 136 |
+
"intensity": 0.9870827271543379
|
| 137 |
+
},
|
| 138 |
+
"directional_fill": {
|
| 139 |
+
"direction": [
|
| 140 |
+
-0.40777193506686965,
|
| 141 |
+
0.15973054979423756,
|
| 142 |
+
-0.8990040035696454
|
| 143 |
+
],
|
| 144 |
+
"color": [
|
| 145 |
+
0.9118558114199506,
|
| 146 |
+
0.9358520814437689,
|
| 147 |
+
0.9742461134818781
|
| 148 |
+
],
|
| 149 |
+
"azimuth_rad": 2.7682485050075663,
|
| 150 |
+
"elevation_rad": 1.1174899073936686,
|
| 151 |
+
"color_temp_k": 6007.615528331185,
|
| 152 |
+
"intensity": 0.9454505894532962
|
| 153 |
+
},
|
| 154 |
+
"point_color_scale": [
|
| 155 |
+
1.1433358577385486,
|
| 156 |
+
1.0929078656910922,
|
| 157 |
+
1.0064598793240243
|
| 158 |
+
],
|
| 159 |
+
"shadow": true
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"frames": [
|
| 163 |
+
{
|
| 164 |
+
"frame_idx": 0,
|
| 165 |
+
"qpos": [
|
| 166 |
+
0.0,
|
| 167 |
+
0.0,
|
| 168 |
+
0.0,
|
| 169 |
+
0.0,
|
| 170 |
+
0.0,
|
| 171 |
+
-1.100000023841858
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
]
|
| 175 |
+
}
|
so100/ProcTHOR/test/bg_000039/scene_b02_006/scene_meta.json
ADDED
|
@@ -0,0 +1,175 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "so100",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 39,
|
| 7 |
+
"base_idx": 2,
|
| 8 |
+
"cam_idx": 5,
|
| 9 |
+
"n_dof": 6,
|
| 10 |
+
"num_links": 9,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"shoulder_pan",
|
| 13 |
+
"shoulder_lift",
|
| 14 |
+
"elbow_flex",
|
| 15 |
+
"wrist_flex",
|
| 16 |
+
"wrist_roll",
|
| 17 |
+
"gripper"
|
| 18 |
+
],
|
| 19 |
+
"link_names": [
|
| 20 |
+
"Base",
|
| 21 |
+
"Rotation_Pitch",
|
| 22 |
+
"Upper_Arm",
|
| 23 |
+
"Lower_Arm",
|
| 24 |
+
"Wrist_Pitch_Roll",
|
| 25 |
+
"Fixed_Jaw",
|
| 26 |
+
"Moving_Jaw",
|
| 27 |
+
"Fixed_Jaw_tip",
|
| 28 |
+
"Moving_Jaw_tip"
|
| 29 |
+
],
|
| 30 |
+
"ee_link_name": "Moving_Jaw",
|
| 31 |
+
"image_width": 640,
|
| 32 |
+
"image_height": 480,
|
| 33 |
+
"fovy_rad": 0.8634047317827346,
|
| 34 |
+
"K": [
|
| 35 |
+
[
|
| 36 |
+
495.9988342088835,
|
| 37 |
+
0.0,
|
| 38 |
+
313.9847065647221
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
0.0,
|
| 42 |
+
520.9655357679495,
|
| 43 |
+
246.3722117416309
|
| 44 |
+
],
|
| 45 |
+
[
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
1.0
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"camera_eye": [
|
| 52 |
+
-2.636078334559582,
|
| 53 |
+
-3.7741906588998693,
|
| 54 |
+
0.8855111318169602
|
| 55 |
+
],
|
| 56 |
+
"camera_target": [
|
| 57 |
+
-2.745888331767126,
|
| 58 |
+
-4.276306278122766,
|
| 59 |
+
0.957478665381037
|
| 60 |
+
],
|
| 61 |
+
"camera_roll_rad": -0.03415139338291803,
|
| 62 |
+
"camera_pose_world_cv": [
|
| 63 |
+
[
|
| 64 |
+
-0.972611665725708,
|
| 65 |
+
-0.09623025357723236,
|
| 66 |
+
-0.21158108115196228,
|
| 67 |
+
-2.636078357696533
|
| 68 |
+
],
|
| 69 |
+
[
|
| 70 |
+
0.22239236533641815,
|
| 71 |
+
-0.12056785821914673,
|
| 72 |
+
-0.9674735069274902,
|
| 73 |
+
-3.774190664291382
|
| 74 |
+
],
|
| 75 |
+
[
|
| 76 |
+
0.06759032607078552,
|
| 77 |
+
-0.988029956817627,
|
| 78 |
+
0.13866662979125977,
|
| 79 |
+
0.8855111598968506
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0,
|
| 85 |
+
1.0
|
| 86 |
+
]
|
| 87 |
+
],
|
| 88 |
+
"T_base_world": [
|
| 89 |
+
[
|
| 90 |
+
0.9999996423721313,
|
| 91 |
+
-0.0008781550568528473,
|
| 92 |
+
5.9578461275577865e-08,
|
| 93 |
+
-2.70257568359375
|
| 94 |
+
],
|
| 95 |
+
[
|
| 96 |
+
0.0008781550568528473,
|
| 97 |
+
0.9999996423721313,
|
| 98 |
+
5.963080695892131e-08,
|
| 99 |
+
-4.2265496253967285
|
| 100 |
+
],
|
| 101 |
+
[
|
| 102 |
+
-5.963080695892131e-08,
|
| 103 |
+
-5.9578461275577865e-08,
|
| 104 |
+
1.0,
|
| 105 |
+
0.7811593413352966
|
| 106 |
+
],
|
| 107 |
+
[
|
| 108 |
+
0.0,
|
| 109 |
+
0.0,
|
| 110 |
+
0.0,
|
| 111 |
+
1.0
|
| 112 |
+
]
|
| 113 |
+
],
|
| 114 |
+
"lighting": {
|
| 115 |
+
"aug_enabled": true,
|
| 116 |
+
"params": {
|
| 117 |
+
"ambient": [
|
| 118 |
+
0.36278113639842025,
|
| 119 |
+
0.3502111000452321,
|
| 120 |
+
0.3560605906067757
|
| 121 |
+
],
|
| 122 |
+
"directional_primary": {
|
| 123 |
+
"direction": [
|
| 124 |
+
-0.3376350551650219,
|
| 125 |
+
-0.10627779145055354,
|
| 126 |
+
-0.9352580384942463
|
| 127 |
+
],
|
| 128 |
+
"color": [
|
| 129 |
+
0.9397328940230165,
|
| 130 |
+
0.9039365970666456,
|
| 131 |
+
0.8425715165700101
|
| 132 |
+
],
|
| 133 |
+
"azimuth_rad": -2.8366399893375234,
|
| 134 |
+
"elevation_rad": 1.2089873574301557,
|
| 135 |
+
"color_temp_k": 4934.279270841831,
|
| 136 |
+
"intensity": 0.9039365970666456
|
| 137 |
+
},
|
| 138 |
+
"directional_fill": {
|
| 139 |
+
"direction": [
|
| 140 |
+
-0.40777193506686965,
|
| 141 |
+
0.15973054979423756,
|
| 142 |
+
-0.8990040035696454
|
| 143 |
+
],
|
| 144 |
+
"color": [
|
| 145 |
+
0.570459232794007,
|
| 146 |
+
0.5839628142424766,
|
| 147 |
+
0.6055685445600278
|
| 148 |
+
],
|
| 149 |
+
"azimuth_rad": 2.7682485050075663,
|
| 150 |
+
"elevation_rad": 1.1174899073936686,
|
| 151 |
+
"color_temp_k": 5958.2423016424,
|
| 152 |
+
"intensity": 0.5893642468218644
|
| 153 |
+
},
|
| 154 |
+
"point_color_scale": [
|
| 155 |
+
1.166019007584678,
|
| 156 |
+
1.1852738863534154,
|
| 157 |
+
1.216081692383396
|
| 158 |
+
],
|
| 159 |
+
"shadow": true
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"frames": [
|
| 163 |
+
{
|
| 164 |
+
"frame_idx": 0,
|
| 165 |
+
"qpos": [
|
| 166 |
+
0.0,
|
| 167 |
+
0.0,
|
| 168 |
+
0.0,
|
| 169 |
+
0.0,
|
| 170 |
+
0.0,
|
| 171 |
+
-1.100000023841858
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
]
|
| 175 |
+
}
|
so100/ProcTHOR/test/bg_000039/scene_b02_007/scene_meta.json
ADDED
|
@@ -0,0 +1,175 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "so100",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 39,
|
| 7 |
+
"base_idx": 2,
|
| 8 |
+
"cam_idx": 6,
|
| 9 |
+
"n_dof": 6,
|
| 10 |
+
"num_links": 9,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"shoulder_pan",
|
| 13 |
+
"shoulder_lift",
|
| 14 |
+
"elbow_flex",
|
| 15 |
+
"wrist_flex",
|
| 16 |
+
"wrist_roll",
|
| 17 |
+
"gripper"
|
| 18 |
+
],
|
| 19 |
+
"link_names": [
|
| 20 |
+
"Base",
|
| 21 |
+
"Rotation_Pitch",
|
| 22 |
+
"Upper_Arm",
|
| 23 |
+
"Lower_Arm",
|
| 24 |
+
"Wrist_Pitch_Roll",
|
| 25 |
+
"Fixed_Jaw",
|
| 26 |
+
"Moving_Jaw",
|
| 27 |
+
"Fixed_Jaw_tip",
|
| 28 |
+
"Moving_Jaw_tip"
|
| 29 |
+
],
|
| 30 |
+
"ee_link_name": "Moving_Jaw",
|
| 31 |
+
"image_width": 640,
|
| 32 |
+
"image_height": 480,
|
| 33 |
+
"fovy_rad": 1.125090928157212,
|
| 34 |
+
"K": [
|
| 35 |
+
[
|
| 36 |
+
371.2397659178759,
|
| 37 |
+
0.0,
|
| 38 |
+
313.595943780842
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
0.0,
|
| 42 |
+
380.64954734478897,
|
| 43 |
+
262.6578069877454
|
| 44 |
+
],
|
| 45 |
+
[
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
1.0
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"camera_eye": [
|
| 52 |
+
-2.6427562391545885,
|
| 53 |
+
-3.4136575742118707,
|
| 54 |
+
1.1236064724991155
|
| 55 |
+
],
|
| 56 |
+
"camera_target": [
|
| 57 |
+
-2.6765989178636036,
|
| 58 |
+
-4.179849730277946,
|
| 59 |
+
0.993230995012315
|
| 60 |
+
],
|
| 61 |
+
"camera_roll_rad": 0.0369952854271178,
|
| 62 |
+
"camera_pose_world_cv": [
|
| 63 |
+
[
|
| 64 |
+
-0.9957458972930908,
|
| 65 |
+
0.08122609555721283,
|
| 66 |
+
-0.04350294917821884,
|
| 67 |
+
-2.642756223678589
|
| 68 |
+
],
|
| 69 |
+
[
|
| 70 |
+
0.056383028626441956,
|
| 71 |
+
0.16370677947998047,
|
| 72 |
+
-0.9848964810371399,
|
| 73 |
+
-3.4136576652526855
|
| 74 |
+
],
|
| 75 |
+
[
|
| 76 |
+
-0.07287756353616714,
|
| 77 |
+
-0.9831593632698059,
|
| 78 |
+
-0.16759014129638672,
|
| 79 |
+
1.1236064434051514
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0,
|
| 85 |
+
1.0
|
| 86 |
+
]
|
| 87 |
+
],
|
| 88 |
+
"T_base_world": [
|
| 89 |
+
[
|
| 90 |
+
0.9999996423721313,
|
| 91 |
+
-0.0008781550568528473,
|
| 92 |
+
5.9578461275577865e-08,
|
| 93 |
+
-2.70257568359375
|
| 94 |
+
],
|
| 95 |
+
[
|
| 96 |
+
0.0008781550568528473,
|
| 97 |
+
0.9999996423721313,
|
| 98 |
+
5.963080695892131e-08,
|
| 99 |
+
-4.2265496253967285
|
| 100 |
+
],
|
| 101 |
+
[
|
| 102 |
+
-5.963080695892131e-08,
|
| 103 |
+
-5.9578461275577865e-08,
|
| 104 |
+
1.0,
|
| 105 |
+
0.7811593413352966
|
| 106 |
+
],
|
| 107 |
+
[
|
| 108 |
+
0.0,
|
| 109 |
+
0.0,
|
| 110 |
+
0.0,
|
| 111 |
+
1.0
|
| 112 |
+
]
|
| 113 |
+
],
|
| 114 |
+
"lighting": {
|
| 115 |
+
"aug_enabled": true,
|
| 116 |
+
"params": {
|
| 117 |
+
"ambient": [
|
| 118 |
+
0.3601220590100849,
|
| 119 |
+
0.3504995533256643,
|
| 120 |
+
0.36286975765312
|
| 121 |
+
],
|
| 122 |
+
"directional_primary": {
|
| 123 |
+
"direction": [
|
| 124 |
+
-0.3376350551650219,
|
| 125 |
+
-0.10627779145055354,
|
| 126 |
+
-0.9352580384942463
|
| 127 |
+
],
|
| 128 |
+
"color": [
|
| 129 |
+
1.113907432310809,
|
| 130 |
+
1.094512815802534,
|
| 131 |
+
1.0612649017883482
|
| 132 |
+
],
|
| 133 |
+
"azimuth_rad": -2.8366399893375234,
|
| 134 |
+
"elevation_rad": 1.2089873574301557,
|
| 135 |
+
"color_temp_k": 5246.859108346703,
|
| 136 |
+
"intensity": 1.094512815802534
|
| 137 |
+
},
|
| 138 |
+
"directional_fill": {
|
| 139 |
+
"direction": [
|
| 140 |
+
-0.40777193506686965,
|
| 141 |
+
0.15973054979423756,
|
| 142 |
+
-0.8990040035696454
|
| 143 |
+
],
|
| 144 |
+
"color": [
|
| 145 |
+
0.581948554639699,
|
| 146 |
+
0.557750780663874,
|
| 147 |
+
0.5162688824196024
|
| 148 |
+
],
|
| 149 |
+
"azimuth_rad": 2.7682485050075663,
|
| 150 |
+
"elevation_rad": 1.1174899073936686,
|
| 151 |
+
"color_temp_k": 4880.220526168562,
|
| 152 |
+
"intensity": 0.557750780663874
|
| 153 |
+
},
|
| 154 |
+
"point_color_scale": [
|
| 155 |
+
1.0143628764082073,
|
| 156 |
+
1.038852723671281,
|
| 157 |
+
1.078036479292199
|
| 158 |
+
],
|
| 159 |
+
"shadow": true
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"frames": [
|
| 163 |
+
{
|
| 164 |
+
"frame_idx": 0,
|
| 165 |
+
"qpos": [
|
| 166 |
+
0.0,
|
| 167 |
+
0.0,
|
| 168 |
+
0.0,
|
| 169 |
+
0.0,
|
| 170 |
+
0.0,
|
| 171 |
+
-1.100000023841858
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
]
|
| 175 |
+
}
|
so100/ProcTHOR/test/bg_000039/scene_b02_008/scene_meta.json
ADDED
|
@@ -0,0 +1,175 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "so100",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 39,
|
| 7 |
+
"base_idx": 2,
|
| 8 |
+
"cam_idx": 7,
|
| 9 |
+
"n_dof": 6,
|
| 10 |
+
"num_links": 9,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"shoulder_pan",
|
| 13 |
+
"shoulder_lift",
|
| 14 |
+
"elbow_flex",
|
| 15 |
+
"wrist_flex",
|
| 16 |
+
"wrist_roll",
|
| 17 |
+
"gripper"
|
| 18 |
+
],
|
| 19 |
+
"link_names": [
|
| 20 |
+
"Base",
|
| 21 |
+
"Rotation_Pitch",
|
| 22 |
+
"Upper_Arm",
|
| 23 |
+
"Lower_Arm",
|
| 24 |
+
"Wrist_Pitch_Roll",
|
| 25 |
+
"Fixed_Jaw",
|
| 26 |
+
"Moving_Jaw",
|
| 27 |
+
"Fixed_Jaw_tip",
|
| 28 |
+
"Moving_Jaw_tip"
|
| 29 |
+
],
|
| 30 |
+
"ee_link_name": "Moving_Jaw",
|
| 31 |
+
"image_width": 640,
|
| 32 |
+
"image_height": 480,
|
| 33 |
+
"fovy_rad": 1.1201966290609189,
|
| 34 |
+
"K": [
|
| 35 |
+
[
|
| 36 |
+
373.76096800382606,
|
| 37 |
+
0.0,
|
| 38 |
+
299.46233833347986
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
0.0,
|
| 42 |
+
382.7223185273141,
|
| 43 |
+
229.91898869282332
|
| 44 |
+
],
|
| 45 |
+
[
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
1.0
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"camera_eye": [
|
| 52 |
+
-2.2160960711873106,
|
| 53 |
+
-4.9779095133837385,
|
| 54 |
+
1.1177941534658062
|
| 55 |
+
],
|
| 56 |
+
"camera_target": [
|
| 57 |
+
-2.709818288158071,
|
| 58 |
+
-4.2591160511565285,
|
| 59 |
+
0.984522090929234
|
| 60 |
+
],
|
| 61 |
+
"camera_roll_rad": -0.03385193331018614,
|
| 62 |
+
"camera_pose_world_cv": [
|
| 63 |
+
[
|
| 64 |
+
0.8166066408157349,
|
| 65 |
+
0.14110493659973145,
|
| 66 |
+
-0.5596811771392822,
|
| 67 |
+
-2.2160961627960205
|
| 68 |
+
],
|
| 69 |
+
[
|
| 70 |
+
0.5733072757720947,
|
| 71 |
+
-0.0859411358833313,
|
| 72 |
+
0.8148207664489746,
|
| 73 |
+
-4.977909564971924
|
| 74 |
+
],
|
| 75 |
+
[
|
| 76 |
+
0.06687560677528381,
|
| 77 |
+
-0.9862573146820068,
|
| 78 |
+
-0.15107661485671997,
|
| 79 |
+
1.117794156074524
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0,
|
| 85 |
+
1.0
|
| 86 |
+
]
|
| 87 |
+
],
|
| 88 |
+
"T_base_world": [
|
| 89 |
+
[
|
| 90 |
+
0.9999996423721313,
|
| 91 |
+
-0.0008781550568528473,
|
| 92 |
+
5.9578461275577865e-08,
|
| 93 |
+
-2.70257568359375
|
| 94 |
+
],
|
| 95 |
+
[
|
| 96 |
+
0.0008781550568528473,
|
| 97 |
+
0.9999996423721313,
|
| 98 |
+
5.963080695892131e-08,
|
| 99 |
+
-4.2265496253967285
|
| 100 |
+
],
|
| 101 |
+
[
|
| 102 |
+
-5.963080695892131e-08,
|
| 103 |
+
-5.9578461275577865e-08,
|
| 104 |
+
1.0,
|
| 105 |
+
0.7811593413352966
|
| 106 |
+
],
|
| 107 |
+
[
|
| 108 |
+
0.0,
|
| 109 |
+
0.0,
|
| 110 |
+
0.0,
|
| 111 |
+
1.0
|
| 112 |
+
]
|
| 113 |
+
],
|
| 114 |
+
"lighting": {
|
| 115 |
+
"aug_enabled": true,
|
| 116 |
+
"params": {
|
| 117 |
+
"ambient": [
|
| 118 |
+
0.32359477711514867,
|
| 119 |
+
0.3500259164883485,
|
| 120 |
+
0.3433313206959322
|
| 121 |
+
],
|
| 122 |
+
"directional_primary": {
|
| 123 |
+
"direction": [
|
| 124 |
+
-0.3376350551650219,
|
| 125 |
+
-0.10627779145055354,
|
| 126 |
+
-0.9352580384942463
|
| 127 |
+
],
|
| 128 |
+
"color": [
|
| 129 |
+
0.958258126831401,
|
| 130 |
+
0.8982295097480781,
|
| 131 |
+
0.7953233090338105
|
| 132 |
+
],
|
| 133 |
+
"azimuth_rad": -2.8366399893375234,
|
| 134 |
+
"elevation_rad": 1.2089873574301557,
|
| 135 |
+
"color_temp_k": 4545.286685293373,
|
| 136 |
+
"intensity": 0.8982295097480781
|
| 137 |
+
},
|
| 138 |
+
"directional_fill": {
|
| 139 |
+
"direction": [
|
| 140 |
+
-0.40777193506686965,
|
| 141 |
+
0.15973054979423756,
|
| 142 |
+
-0.8990040035696454
|
| 143 |
+
],
|
| 144 |
+
"color": [
|
| 145 |
+
0.5694858737746278,
|
| 146 |
+
0.5524155297793119,
|
| 147 |
+
0.5231520829301988
|
| 148 |
+
],
|
| 149 |
+
"azimuth_rad": 2.7682485050075663,
|
| 150 |
+
"elevation_rad": 1.1174899073936686,
|
| 151 |
+
"color_temp_k": 5058.553219578449,
|
| 152 |
+
"intensity": 0.5524155297793119
|
| 153 |
+
},
|
| 154 |
+
"point_color_scale": [
|
| 155 |
+
0.8298123638510468,
|
| 156 |
+
0.8042587129395097,
|
| 157 |
+
0.7604524542340172
|
| 158 |
+
],
|
| 159 |
+
"shadow": true
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"frames": [
|
| 163 |
+
{
|
| 164 |
+
"frame_idx": 0,
|
| 165 |
+
"qpos": [
|
| 166 |
+
0.0,
|
| 167 |
+
0.0,
|
| 168 |
+
0.0,
|
| 169 |
+
0.0,
|
| 170 |
+
0.0,
|
| 171 |
+
-1.100000023841858
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
]
|
| 175 |
+
}
|
so100/ProcTHOR/test/bg_000039/scene_b02_009/scene_meta.json
ADDED
|
@@ -0,0 +1,175 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "so100",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 39,
|
| 7 |
+
"base_idx": 2,
|
| 8 |
+
"cam_idx": 8,
|
| 9 |
+
"n_dof": 6,
|
| 10 |
+
"num_links": 9,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"shoulder_pan",
|
| 13 |
+
"shoulder_lift",
|
| 14 |
+
"elbow_flex",
|
| 15 |
+
"wrist_flex",
|
| 16 |
+
"wrist_roll",
|
| 17 |
+
"gripper"
|
| 18 |
+
],
|
| 19 |
+
"link_names": [
|
| 20 |
+
"Base",
|
| 21 |
+
"Rotation_Pitch",
|
| 22 |
+
"Upper_Arm",
|
| 23 |
+
"Lower_Arm",
|
| 24 |
+
"Wrist_Pitch_Roll",
|
| 25 |
+
"Fixed_Jaw",
|
| 26 |
+
"Moving_Jaw",
|
| 27 |
+
"Fixed_Jaw_tip",
|
| 28 |
+
"Moving_Jaw_tip"
|
| 29 |
+
],
|
| 30 |
+
"ee_link_name": "Moving_Jaw",
|
| 31 |
+
"image_width": 640,
|
| 32 |
+
"image_height": 480,
|
| 33 |
+
"fovy_rad": 0.9480482211876283,
|
| 34 |
+
"K": [
|
| 35 |
+
[
|
| 36 |
+
463.80312588218476,
|
| 37 |
+
0.0,
|
| 38 |
+
308.51414434941904
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
0.0,
|
| 42 |
+
467.8009276408174,
|
| 43 |
+
218.5822599750505
|
| 44 |
+
],
|
| 45 |
+
[
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
1.0
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"camera_eye": [
|
| 52 |
+
-2.317386552582246,
|
| 53 |
+
-4.895265482579187,
|
| 54 |
+
0.9813757097934339
|
| 55 |
+
],
|
| 56 |
+
"camera_target": [
|
| 57 |
+
-2.7297638547256624,
|
| 58 |
+
-4.185657792828766,
|
| 59 |
+
0.9031442786290439
|
| 60 |
+
],
|
| 61 |
+
"camera_roll_rad": 0.0367302097186476,
|
| 62 |
+
"camera_pose_world_cv": [
|
| 63 |
+
[
|
| 64 |
+
0.8657727241516113,
|
| 65 |
+
-0.015908539295196533,
|
| 66 |
+
-0.5001844763755798,
|
| 67 |
+
-2.3173866271972656
|
| 68 |
+
],
|
| 69 |
+
[
|
| 70 |
+
0.4950751066207886,
|
| 71 |
+
-0.11869746446609497,
|
| 72 |
+
0.8607041835784912,
|
| 73 |
+
-4.895265579223633
|
| 74 |
+
],
|
| 75 |
+
[
|
| 76 |
+
-0.0730632096529007,
|
| 77 |
+
-0.9928030967712402,
|
| 78 |
+
-0.09488910436630249,
|
| 79 |
+
0.9813756942749023
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0,
|
| 85 |
+
1.0
|
| 86 |
+
]
|
| 87 |
+
],
|
| 88 |
+
"T_base_world": [
|
| 89 |
+
[
|
| 90 |
+
0.9999996423721313,
|
| 91 |
+
-0.0008781550568528473,
|
| 92 |
+
5.9578461275577865e-08,
|
| 93 |
+
-2.70257568359375
|
| 94 |
+
],
|
| 95 |
+
[
|
| 96 |
+
0.0008781550568528473,
|
| 97 |
+
0.9999996423721313,
|
| 98 |
+
5.963080695892131e-08,
|
| 99 |
+
-4.2265496253967285
|
| 100 |
+
],
|
| 101 |
+
[
|
| 102 |
+
-5.963080695892131e-08,
|
| 103 |
+
-5.9578461275577865e-08,
|
| 104 |
+
1.0,
|
| 105 |
+
0.7811593413352966
|
| 106 |
+
],
|
| 107 |
+
[
|
| 108 |
+
0.0,
|
| 109 |
+
0.0,
|
| 110 |
+
0.0,
|
| 111 |
+
1.0
|
| 112 |
+
]
|
| 113 |
+
],
|
| 114 |
+
"lighting": {
|
| 115 |
+
"aug_enabled": true,
|
| 116 |
+
"params": {
|
| 117 |
+
"ambient": [
|
| 118 |
+
0.22015884143420902,
|
| 119 |
+
0.2249908696498475,
|
| 120 |
+
0.22490299817135528
|
| 121 |
+
],
|
| 122 |
+
"directional_primary": {
|
| 123 |
+
"direction": [
|
| 124 |
+
-0.3376350551650219,
|
| 125 |
+
-0.10627779145055354,
|
| 126 |
+
-0.9352580384942463
|
| 127 |
+
],
|
| 128 |
+
"color": [
|
| 129 |
+
0.9731395552750104,
|
| 130 |
+
0.9890774199536011,
|
| 131 |
+
1.0145780034393461
|
| 132 |
+
],
|
| 133 |
+
"azimuth_rad": -2.8366399893375234,
|
| 134 |
+
"elevation_rad": 1.2089873574301557,
|
| 135 |
+
"color_temp_k": 5820.213443126369,
|
| 136 |
+
"intensity": 0.9954525658250374
|
| 137 |
+
},
|
| 138 |
+
"directional_fill": {
|
| 139 |
+
"direction": [
|
| 140 |
+
-0.40777193506686965,
|
| 141 |
+
0.15973054979423756,
|
| 142 |
+
-0.8990040035696454
|
| 143 |
+
],
|
| 144 |
+
"color": [
|
| 145 |
+
0.8426720697078328,
|
| 146 |
+
0.8136667861600992,
|
| 147 |
+
0.763943442935413
|
| 148 |
+
],
|
| 149 |
+
"azimuth_rad": 2.7682485050075663,
|
| 150 |
+
"elevation_rad": 1.1174899073936686,
|
| 151 |
+
"color_temp_k": 4990.74830067167,
|
| 152 |
+
"intensity": 0.8136667861600992
|
| 153 |
+
},
|
| 154 |
+
"point_color_scale": [
|
| 155 |
+
0.8854446798700213,
|
| 156 |
+
0.8912306215289231,
|
| 157 |
+
0.9004881281831659
|
| 158 |
+
],
|
| 159 |
+
"shadow": true
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"frames": [
|
| 163 |
+
{
|
| 164 |
+
"frame_idx": 0,
|
| 165 |
+
"qpos": [
|
| 166 |
+
0.0,
|
| 167 |
+
0.0,
|
| 168 |
+
0.0,
|
| 169 |
+
0.0,
|
| 170 |
+
0.0,
|
| 171 |
+
-1.100000023841858
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
]
|
| 175 |
+
}
|
so100/ProcTHOR/test/bg_000039/scene_b02_010/scene_meta.json
ADDED
|
@@ -0,0 +1,175 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "so100",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 39,
|
| 7 |
+
"base_idx": 2,
|
| 8 |
+
"cam_idx": 9,
|
| 9 |
+
"n_dof": 6,
|
| 10 |
+
"num_links": 9,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"shoulder_pan",
|
| 13 |
+
"shoulder_lift",
|
| 14 |
+
"elbow_flex",
|
| 15 |
+
"wrist_flex",
|
| 16 |
+
"wrist_roll",
|
| 17 |
+
"gripper"
|
| 18 |
+
],
|
| 19 |
+
"link_names": [
|
| 20 |
+
"Base",
|
| 21 |
+
"Rotation_Pitch",
|
| 22 |
+
"Upper_Arm",
|
| 23 |
+
"Lower_Arm",
|
| 24 |
+
"Wrist_Pitch_Roll",
|
| 25 |
+
"Fixed_Jaw",
|
| 26 |
+
"Moving_Jaw",
|
| 27 |
+
"Fixed_Jaw_tip",
|
| 28 |
+
"Moving_Jaw_tip"
|
| 29 |
+
],
|
| 30 |
+
"ee_link_name": "Moving_Jaw",
|
| 31 |
+
"image_width": 640,
|
| 32 |
+
"image_height": 480,
|
| 33 |
+
"fovy_rad": 1.1789832031353464,
|
| 34 |
+
"K": [
|
| 35 |
+
[
|
| 36 |
+
373.0073488207033,
|
| 37 |
+
0.0,
|
| 38 |
+
330.55244787634103
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
0.0,
|
| 42 |
+
358.841168933642,
|
| 43 |
+
241.60524924448194
|
| 44 |
+
],
|
| 45 |
+
[
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
1.0
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"camera_eye": [
|
| 52 |
+
-2.1125081536718664,
|
| 53 |
+
-4.399931183538378,
|
| 54 |
+
0.886128712202913
|
| 55 |
+
],
|
| 56 |
+
"camera_target": [
|
| 57 |
+
-2.7338866802748143,
|
| 58 |
+
-4.275900300276116,
|
| 59 |
+
0.953790342286541
|
| 60 |
+
],
|
| 61 |
+
"camera_roll_rad": -0.04995034472224069,
|
| 62 |
+
"camera_pose_world_cv": [
|
| 63 |
+
[
|
| 64 |
+
0.2051529884338379,
|
| 65 |
+
-0.08408388495445251,
|
| 66 |
+
-0.9751114249229431,
|
| 67 |
+
-2.1125080585479736
|
| 68 |
+
],
|
| 69 |
+
[
|
| 70 |
+
0.973692774772644,
|
| 71 |
+
0.11848568916320801,
|
| 72 |
+
0.19463759660720825,
|
| 73 |
+
-4.399930953979492
|
| 74 |
+
],
|
| 75 |
+
[
|
| 76 |
+
0.0991707444190979,
|
| 77 |
+
-0.9893893599510193,
|
| 78 |
+
0.10617971420288086,
|
| 79 |
+
0.8861287236213684
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0,
|
| 85 |
+
1.0
|
| 86 |
+
]
|
| 87 |
+
],
|
| 88 |
+
"T_base_world": [
|
| 89 |
+
[
|
| 90 |
+
0.9999996423721313,
|
| 91 |
+
-0.0008781550568528473,
|
| 92 |
+
5.9578461275577865e-08,
|
| 93 |
+
-2.70257568359375
|
| 94 |
+
],
|
| 95 |
+
[
|
| 96 |
+
0.0008781550568528473,
|
| 97 |
+
0.9999996423721313,
|
| 98 |
+
5.963080695892131e-08,
|
| 99 |
+
-4.2265496253967285
|
| 100 |
+
],
|
| 101 |
+
[
|
| 102 |
+
-5.963080695892131e-08,
|
| 103 |
+
-5.9578461275577865e-08,
|
| 104 |
+
1.0,
|
| 105 |
+
0.7811593413352966
|
| 106 |
+
],
|
| 107 |
+
[
|
| 108 |
+
0.0,
|
| 109 |
+
0.0,
|
| 110 |
+
0.0,
|
| 111 |
+
1.0
|
| 112 |
+
]
|
| 113 |
+
],
|
| 114 |
+
"lighting": {
|
| 115 |
+
"aug_enabled": true,
|
| 116 |
+
"params": {
|
| 117 |
+
"ambient": [
|
| 118 |
+
0.31886547509368773,
|
| 119 |
+
0.2999362182304695,
|
| 120 |
+
0.29750968849919057
|
| 121 |
+
],
|
| 122 |
+
"directional_primary": {
|
| 123 |
+
"direction": [
|
| 124 |
+
-0.3376350551650219,
|
| 125 |
+
-0.10627779145055354,
|
| 126 |
+
-0.9352580384942463
|
| 127 |
+
],
|
| 128 |
+
"color": [
|
| 129 |
+
1.1333607389621216,
|
| 130 |
+
1.1644549933615935,
|
| 131 |
+
1.2142058004007485
|
| 132 |
+
],
|
| 133 |
+
"azimuth_rad": -2.8366399893375234,
|
| 134 |
+
"elevation_rad": 1.2089873574301557,
|
| 135 |
+
"color_temp_k": 6028.412735134954,
|
| 136 |
+
"intensity": 1.1768926951213823
|
| 137 |
+
},
|
| 138 |
+
"directional_fill": {
|
| 139 |
+
"direction": [
|
| 140 |
+
-0.40777193506686965,
|
| 141 |
+
0.15973054979423756,
|
| 142 |
+
-0.8990040035696454
|
| 143 |
+
],
|
| 144 |
+
"color": [
|
| 145 |
+
0.8968382723627097,
|
| 146 |
+
0.9322545870875326,
|
| 147 |
+
0.988920690647249
|
| 148 |
+
],
|
| 149 |
+
"azimuth_rad": 2.7682485050075663,
|
| 150 |
+
"elevation_rad": 1.1174899073936686,
|
| 151 |
+
"color_temp_k": 6248.4261337620055,
|
| 152 |
+
"intensity": 0.9464211129774617
|
| 153 |
+
},
|
| 154 |
+
"point_color_scale": [
|
| 155 |
+
1.0458122656118576,
|
| 156 |
+
1.0271585642597052,
|
| 157 |
+
0.9951807905131582
|
| 158 |
+
],
|
| 159 |
+
"shadow": true
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"frames": [
|
| 163 |
+
{
|
| 164 |
+
"frame_idx": 0,
|
| 165 |
+
"qpos": [
|
| 166 |
+
0.0,
|
| 167 |
+
0.0,
|
| 168 |
+
0.0,
|
| 169 |
+
0.0,
|
| 170 |
+
0.0,
|
| 171 |
+
-1.100000023841858
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
]
|
| 175 |
+
}
|
so100/ProcTHOR/test/bg_000039/scene_b02_011/scene_meta.json
ADDED
|
@@ -0,0 +1,175 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "so100",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 39,
|
| 7 |
+
"base_idx": 2,
|
| 8 |
+
"cam_idx": 10,
|
| 9 |
+
"n_dof": 6,
|
| 10 |
+
"num_links": 9,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"shoulder_pan",
|
| 13 |
+
"shoulder_lift",
|
| 14 |
+
"elbow_flex",
|
| 15 |
+
"wrist_flex",
|
| 16 |
+
"wrist_roll",
|
| 17 |
+
"gripper"
|
| 18 |
+
],
|
| 19 |
+
"link_names": [
|
| 20 |
+
"Base",
|
| 21 |
+
"Rotation_Pitch",
|
| 22 |
+
"Upper_Arm",
|
| 23 |
+
"Lower_Arm",
|
| 24 |
+
"Wrist_Pitch_Roll",
|
| 25 |
+
"Fixed_Jaw",
|
| 26 |
+
"Moving_Jaw",
|
| 27 |
+
"Fixed_Jaw_tip",
|
| 28 |
+
"Moving_Jaw_tip"
|
| 29 |
+
],
|
| 30 |
+
"ee_link_name": "Moving_Jaw",
|
| 31 |
+
"image_width": 640,
|
| 32 |
+
"image_height": 480,
|
| 33 |
+
"fovy_rad": 0.9336612532536038,
|
| 34 |
+
"K": [
|
| 35 |
+
[
|
| 36 |
+
474.3094616041987,
|
| 37 |
+
0.0,
|
| 38 |
+
307.6144152908998
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
0.0,
|
| 42 |
+
476.2045281383962,
|
| 43 |
+
219.32757906334854
|
| 44 |
+
],
|
| 45 |
+
[
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
1.0
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"camera_eye": [
|
| 52 |
+
-2.212541877510718,
|
| 53 |
+
-3.896524498513731,
|
| 54 |
+
1.043316220805032
|
| 55 |
+
],
|
| 56 |
+
"camera_target": [
|
| 57 |
+
-2.6636763205819056,
|
| 58 |
+
-4.243853515961083,
|
| 59 |
+
1.0107241663927051
|
| 60 |
+
],
|
| 61 |
+
"camera_roll_rad": -0.026009492896859086,
|
| 62 |
+
"camera_pose_world_cv": [
|
| 63 |
+
[
|
| 64 |
+
-0.6115741729736328,
|
| 65 |
+
0.013503551483154297,
|
| 66 |
+
-0.7910719513893127,
|
| 67 |
+
-2.2125418186187744
|
| 68 |
+
],
|
| 69 |
+
[
|
| 70 |
+
0.7894824147224426,
|
| 71 |
+
0.07601702213287354,
|
| 72 |
+
-0.6090476512908936,
|
| 73 |
+
-3.896524429321289
|
| 74 |
+
],
|
| 75 |
+
[
|
| 76 |
+
0.0519106388092041,
|
| 77 |
+
-0.997015118598938,
|
| 78 |
+
-0.057150840759277344,
|
| 79 |
+
1.0433162450790405
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0,
|
| 85 |
+
1.0
|
| 86 |
+
]
|
| 87 |
+
],
|
| 88 |
+
"T_base_world": [
|
| 89 |
+
[
|
| 90 |
+
0.9999996423721313,
|
| 91 |
+
-0.0008781550568528473,
|
| 92 |
+
5.9578461275577865e-08,
|
| 93 |
+
-2.70257568359375
|
| 94 |
+
],
|
| 95 |
+
[
|
| 96 |
+
0.0008781550568528473,
|
| 97 |
+
0.9999996423721313,
|
| 98 |
+
5.963080695892131e-08,
|
| 99 |
+
-4.2265496253967285
|
| 100 |
+
],
|
| 101 |
+
[
|
| 102 |
+
-5.963080695892131e-08,
|
| 103 |
+
-5.9578461275577865e-08,
|
| 104 |
+
1.0,
|
| 105 |
+
0.7811593413352966
|
| 106 |
+
],
|
| 107 |
+
[
|
| 108 |
+
0.0,
|
| 109 |
+
0.0,
|
| 110 |
+
0.0,
|
| 111 |
+
1.0
|
| 112 |
+
]
|
| 113 |
+
],
|
| 114 |
+
"lighting": {
|
| 115 |
+
"aug_enabled": true,
|
| 116 |
+
"params": {
|
| 117 |
+
"ambient": [
|
| 118 |
+
0.25593168262219923,
|
| 119 |
+
0.268002593333539,
|
| 120 |
+
0.2527944714114365
|
| 121 |
+
],
|
| 122 |
+
"directional_primary": {
|
| 123 |
+
"direction": [
|
| 124 |
+
-0.3376350551650219,
|
| 125 |
+
-0.10627779145055354,
|
| 126 |
+
-0.9352580384942463
|
| 127 |
+
],
|
| 128 |
+
"color": [
|
| 129 |
+
0.9461291147237627,
|
| 130 |
+
0.9389506914569057,
|
| 131 |
+
0.9266448229994365
|
| 132 |
+
],
|
| 133 |
+
"azimuth_rad": -2.8366399893375234,
|
| 134 |
+
"elevation_rad": 1.2089873574301557,
|
| 135 |
+
"color_temp_k": 5390.783504666124,
|
| 136 |
+
"intensity": 0.9389506914569057
|
| 137 |
+
},
|
| 138 |
+
"directional_fill": {
|
| 139 |
+
"direction": [
|
| 140 |
+
-0.40777193506686965,
|
| 141 |
+
0.15973054979423756,
|
| 142 |
+
-0.8990040035696454
|
| 143 |
+
],
|
| 144 |
+
"color": [
|
| 145 |
+
0.845692784808266,
|
| 146 |
+
0.8696651504647914,
|
| 147 |
+
0.9080209355152322
|
| 148 |
+
],
|
| 149 |
+
"azimuth_rad": 2.7682485050075663,
|
| 150 |
+
"elevation_rad": 1.1174899073936686,
|
| 151 |
+
"color_temp_k": 6045.288688349613,
|
| 152 |
+
"intensity": 0.8792540967274016
|
| 153 |
+
},
|
| 154 |
+
"point_color_scale": [
|
| 155 |
+
0.9183647582347519,
|
| 156 |
+
0.9044446220296235,
|
| 157 |
+
0.8805815313922606
|
| 158 |
+
],
|
| 159 |
+
"shadow": true
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"frames": [
|
| 163 |
+
{
|
| 164 |
+
"frame_idx": 0,
|
| 165 |
+
"qpos": [
|
| 166 |
+
0.0,
|
| 167 |
+
0.0,
|
| 168 |
+
0.0,
|
| 169 |
+
0.0,
|
| 170 |
+
0.0,
|
| 171 |
+
-1.100000023841858
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
]
|
| 175 |
+
}
|
so100/ProcTHOR/test/bg_000039/scene_b02_012/scene_meta.json
ADDED
|
@@ -0,0 +1,175 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "so100",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 39,
|
| 7 |
+
"base_idx": 2,
|
| 8 |
+
"cam_idx": 11,
|
| 9 |
+
"n_dof": 6,
|
| 10 |
+
"num_links": 9,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"shoulder_pan",
|
| 13 |
+
"shoulder_lift",
|
| 14 |
+
"elbow_flex",
|
| 15 |
+
"wrist_flex",
|
| 16 |
+
"wrist_roll",
|
| 17 |
+
"gripper"
|
| 18 |
+
],
|
| 19 |
+
"link_names": [
|
| 20 |
+
"Base",
|
| 21 |
+
"Rotation_Pitch",
|
| 22 |
+
"Upper_Arm",
|
| 23 |
+
"Lower_Arm",
|
| 24 |
+
"Wrist_Pitch_Roll",
|
| 25 |
+
"Fixed_Jaw",
|
| 26 |
+
"Moving_Jaw",
|
| 27 |
+
"Fixed_Jaw_tip",
|
| 28 |
+
"Moving_Jaw_tip"
|
| 29 |
+
],
|
| 30 |
+
"ee_link_name": "Moving_Jaw",
|
| 31 |
+
"image_width": 640,
|
| 32 |
+
"image_height": 480,
|
| 33 |
+
"fovy_rad": 0.8624469870084067,
|
| 34 |
+
"K": [
|
| 35 |
+
[
|
| 36 |
+
541.6530067708259,
|
| 37 |
+
0.0,
|
| 38 |
+
289.1161347689065
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
0.0,
|
| 42 |
+
521.6226832978541,
|
| 43 |
+
256.7600700432183
|
| 44 |
+
],
|
| 45 |
+
[
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
1.0
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"camera_eye": [
|
| 52 |
+
-2.108141223590695,
|
| 53 |
+
-4.921009375771303,
|
| 54 |
+
0.9186430442380069
|
| 55 |
+
],
|
| 56 |
+
"camera_target": [
|
| 57 |
+
-2.691930096093193,
|
| 58 |
+
-4.214168852355347,
|
| 59 |
+
0.9480696803637847
|
| 60 |
+
],
|
| 61 |
+
"camera_roll_rad": 0.0328794031482679,
|
| 62 |
+
"camera_pose_world_cv": [
|
| 63 |
+
[
|
| 64 |
+
0.7680186033248901,
|
| 65 |
+
-0.07105123996734619,
|
| 66 |
+
-0.636474072933197,
|
| 67 |
+
-2.1081411838531494
|
| 68 |
+
],
|
| 69 |
+
[
|
| 70 |
+
0.637050986289978,
|
| 71 |
+
-0.017162203788757324,
|
| 72 |
+
0.7706307172775269,
|
| 73 |
+
-4.921009540557861
|
| 74 |
+
],
|
| 75 |
+
[
|
| 76 |
+
-0.06567758321762085,
|
| 77 |
+
-0.99732506275177,
|
| 78 |
+
0.032082319259643555,
|
| 79 |
+
0.918643057346344
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0,
|
| 85 |
+
1.0
|
| 86 |
+
]
|
| 87 |
+
],
|
| 88 |
+
"T_base_world": [
|
| 89 |
+
[
|
| 90 |
+
0.9999996423721313,
|
| 91 |
+
-0.0008781550568528473,
|
| 92 |
+
5.9578461275577865e-08,
|
| 93 |
+
-2.70257568359375
|
| 94 |
+
],
|
| 95 |
+
[
|
| 96 |
+
0.0008781550568528473,
|
| 97 |
+
0.9999996423721313,
|
| 98 |
+
5.963080695892131e-08,
|
| 99 |
+
-4.2265496253967285
|
| 100 |
+
],
|
| 101 |
+
[
|
| 102 |
+
-5.963080695892131e-08,
|
| 103 |
+
-5.9578461275577865e-08,
|
| 104 |
+
1.0,
|
| 105 |
+
0.7811593413352966
|
| 106 |
+
],
|
| 107 |
+
[
|
| 108 |
+
0.0,
|
| 109 |
+
0.0,
|
| 110 |
+
0.0,
|
| 111 |
+
1.0
|
| 112 |
+
]
|
| 113 |
+
],
|
| 114 |
+
"lighting": {
|
| 115 |
+
"aug_enabled": true,
|
| 116 |
+
"params": {
|
| 117 |
+
"ambient": [
|
| 118 |
+
0.36115775021121876,
|
| 119 |
+
0.34675460369661737,
|
| 120 |
+
0.34549968369149586
|
| 121 |
+
],
|
| 122 |
+
"directional_primary": {
|
| 123 |
+
"direction": [
|
| 124 |
+
-0.3376350551650219,
|
| 125 |
+
-0.10627779145055354,
|
| 126 |
+
-0.9352580384942463
|
| 127 |
+
],
|
| 128 |
+
"color": [
|
| 129 |
+
0.9674513843784426,
|
| 130 |
+
1.0017975496295943,
|
| 131 |
+
1.0567514140314371
|
| 132 |
+
],
|
| 133 |
+
"azimuth_rad": -2.8366399893375234,
|
| 134 |
+
"elevation_rad": 1.2089873574301557,
|
| 135 |
+
"color_temp_k": 6176.414518424751,
|
| 136 |
+
"intensity": 1.015536015730055
|
| 137 |
+
},
|
| 138 |
+
"directional_fill": {
|
| 139 |
+
"direction": [
|
| 140 |
+
-0.40777193506686965,
|
| 141 |
+
0.15973054979423756,
|
| 142 |
+
-0.8990040035696454
|
| 143 |
+
],
|
| 144 |
+
"color": [
|
| 145 |
+
0.6029694939149993,
|
| 146 |
+
0.5853299113762298,
|
| 147 |
+
0.5550906270240533
|
| 148 |
+
],
|
| 149 |
+
"azimuth_rad": 2.7682485050075663,
|
| 150 |
+
"elevation_rad": 1.1174899073936686,
|
| 151 |
+
"color_temp_k": 5069.483753742145,
|
| 152 |
+
"intensity": 0.5853299113762298
|
| 153 |
+
},
|
| 154 |
+
"point_color_scale": [
|
| 155 |
+
1.180269397039309,
|
| 156 |
+
1.1711713434038022,
|
| 157 |
+
1.155574680028648
|
| 158 |
+
],
|
| 159 |
+
"shadow": true
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"frames": [
|
| 163 |
+
{
|
| 164 |
+
"frame_idx": 0,
|
| 165 |
+
"qpos": [
|
| 166 |
+
0.0,
|
| 167 |
+
0.0,
|
| 168 |
+
0.0,
|
| 169 |
+
0.0,
|
| 170 |
+
0.0,
|
| 171 |
+
-1.100000023841858
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
]
|
| 175 |
+
}
|
so100/ProcTHOR/test/bg_000039/scene_b02_013/scene_meta.json
ADDED
|
@@ -0,0 +1,175 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "so100",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 39,
|
| 7 |
+
"base_idx": 2,
|
| 8 |
+
"cam_idx": 12,
|
| 9 |
+
"n_dof": 6,
|
| 10 |
+
"num_links": 9,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"shoulder_pan",
|
| 13 |
+
"shoulder_lift",
|
| 14 |
+
"elbow_flex",
|
| 15 |
+
"wrist_flex",
|
| 16 |
+
"wrist_roll",
|
| 17 |
+
"gripper"
|
| 18 |
+
],
|
| 19 |
+
"link_names": [
|
| 20 |
+
"Base",
|
| 21 |
+
"Rotation_Pitch",
|
| 22 |
+
"Upper_Arm",
|
| 23 |
+
"Lower_Arm",
|
| 24 |
+
"Wrist_Pitch_Roll",
|
| 25 |
+
"Fixed_Jaw",
|
| 26 |
+
"Moving_Jaw",
|
| 27 |
+
"Fixed_Jaw_tip",
|
| 28 |
+
"Moving_Jaw_tip"
|
| 29 |
+
],
|
| 30 |
+
"ee_link_name": "Moving_Jaw",
|
| 31 |
+
"image_width": 640,
|
| 32 |
+
"image_height": 480,
|
| 33 |
+
"fovy_rad": 0.8786754614689436,
|
| 34 |
+
"K": [
|
| 35 |
+
[
|
| 36 |
+
527.6771056676627,
|
| 37 |
+
0.0,
|
| 38 |
+
320.48657894437133
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
0.0,
|
| 42 |
+
510.669015726624,
|
| 43 |
+
218.11811194588
|
| 44 |
+
],
|
| 45 |
+
[
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
1.0
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"camera_eye": [
|
| 52 |
+
-2.204501162923462,
|
| 53 |
+
-4.128426388406393,
|
| 54 |
+
1.0313927450401428
|
| 55 |
+
],
|
| 56 |
+
"camera_target": [
|
| 57 |
+
-2.6683866734578605,
|
| 58 |
+
-4.189481682259306,
|
| 59 |
+
0.9924798036302329
|
| 60 |
+
],
|
| 61 |
+
"camera_roll_rad": 0.012839694625010736,
|
| 62 |
+
"camera_pose_world_cv": [
|
| 63 |
+
[
|
| 64 |
+
-0.12833857536315918,
|
| 65 |
+
0.08549606800079346,
|
| 66 |
+
-0.9880384206771851,
|
| 67 |
+
-2.204501152038574
|
| 68 |
+
],
|
| 69 |
+
[
|
| 70 |
+
0.9914003610610962,
|
| 71 |
+
-0.014645218849182129,
|
| 72 |
+
-0.13004255294799805,
|
| 73 |
+
-4.128426551818848
|
| 74 |
+
],
|
| 75 |
+
[
|
| 76 |
+
-0.025588303804397583,
|
| 77 |
+
-0.996230959892273,
|
| 78 |
+
-0.08288121223449707,
|
| 79 |
+
1.0313926935195923
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0,
|
| 85 |
+
1.0
|
| 86 |
+
]
|
| 87 |
+
],
|
| 88 |
+
"T_base_world": [
|
| 89 |
+
[
|
| 90 |
+
0.9999996423721313,
|
| 91 |
+
-0.0008781550568528473,
|
| 92 |
+
5.9578461275577865e-08,
|
| 93 |
+
-2.70257568359375
|
| 94 |
+
],
|
| 95 |
+
[
|
| 96 |
+
0.0008781550568528473,
|
| 97 |
+
0.9999996423721313,
|
| 98 |
+
5.963080695892131e-08,
|
| 99 |
+
-4.2265496253967285
|
| 100 |
+
],
|
| 101 |
+
[
|
| 102 |
+
-5.963080695892131e-08,
|
| 103 |
+
-5.9578461275577865e-08,
|
| 104 |
+
1.0,
|
| 105 |
+
0.7811593413352966
|
| 106 |
+
],
|
| 107 |
+
[
|
| 108 |
+
0.0,
|
| 109 |
+
0.0,
|
| 110 |
+
0.0,
|
| 111 |
+
1.0
|
| 112 |
+
]
|
| 113 |
+
],
|
| 114 |
+
"lighting": {
|
| 115 |
+
"aug_enabled": true,
|
| 116 |
+
"params": {
|
| 117 |
+
"ambient": [
|
| 118 |
+
0.2683594013401271,
|
| 119 |
+
0.2795185912784281,
|
| 120 |
+
0.27652513668670925
|
| 121 |
+
],
|
| 122 |
+
"directional_primary": {
|
| 123 |
+
"direction": [
|
| 124 |
+
-0.3376350551650219,
|
| 125 |
+
-0.10627779145055354,
|
| 126 |
+
-0.9352580384942463
|
| 127 |
+
],
|
| 128 |
+
"color": [
|
| 129 |
+
1.1204326153839859,
|
| 130 |
+
1.1317989143707456,
|
| 131 |
+
1.1499849927495618
|
| 132 |
+
],
|
| 133 |
+
"azimuth_rad": -2.8366399893375234,
|
| 134 |
+
"elevation_rad": 1.2089873574301557,
|
| 135 |
+
"color_temp_k": 5700.050066591028,
|
| 136 |
+
"intensity": 1.1363454339654497
|
| 137 |
+
},
|
| 138 |
+
"directional_fill": {
|
| 139 |
+
"direction": [
|
| 140 |
+
-0.40777193506686965,
|
| 141 |
+
0.15973054979423756,
|
| 142 |
+
-0.8990040035696454
|
| 143 |
+
],
|
| 144 |
+
"color": [
|
| 145 |
+
0.9074415977752702,
|
| 146 |
+
0.8824292645321683,
|
| 147 |
+
0.8395509789725651
|
| 148 |
+
],
|
| 149 |
+
"azimuth_rad": 2.7682485050075663,
|
| 150 |
+
"elevation_rad": 1.1174899073936686,
|
| 151 |
+
"color_temp_k": 5095.073440227004,
|
| 152 |
+
"intensity": 0.8824292645321683
|
| 153 |
+
},
|
| 154 |
+
"point_color_scale": [
|
| 155 |
+
1.0378408781645623,
|
| 156 |
+
1.0344179126649578,
|
| 157 |
+
1.0285499718084927
|
| 158 |
+
],
|
| 159 |
+
"shadow": true
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"frames": [
|
| 163 |
+
{
|
| 164 |
+
"frame_idx": 0,
|
| 165 |
+
"qpos": [
|
| 166 |
+
0.0,
|
| 167 |
+
0.0,
|
| 168 |
+
0.0,
|
| 169 |
+
0.0,
|
| 170 |
+
0.0,
|
| 171 |
+
-1.100000023841858
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
]
|
| 175 |
+
}
|
so100/ProcTHOR/test/bg_000039/scene_b02_014/scene_meta.json
ADDED
|
@@ -0,0 +1,175 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "so100",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 39,
|
| 7 |
+
"base_idx": 2,
|
| 8 |
+
"cam_idx": 13,
|
| 9 |
+
"n_dof": 6,
|
| 10 |
+
"num_links": 9,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"shoulder_pan",
|
| 13 |
+
"shoulder_lift",
|
| 14 |
+
"elbow_flex",
|
| 15 |
+
"wrist_flex",
|
| 16 |
+
"wrist_roll",
|
| 17 |
+
"gripper"
|
| 18 |
+
],
|
| 19 |
+
"link_names": [
|
| 20 |
+
"Base",
|
| 21 |
+
"Rotation_Pitch",
|
| 22 |
+
"Upper_Arm",
|
| 23 |
+
"Lower_Arm",
|
| 24 |
+
"Wrist_Pitch_Roll",
|
| 25 |
+
"Fixed_Jaw",
|
| 26 |
+
"Moving_Jaw",
|
| 27 |
+
"Fixed_Jaw_tip",
|
| 28 |
+
"Moving_Jaw_tip"
|
| 29 |
+
],
|
| 30 |
+
"ee_link_name": "Moving_Jaw",
|
| 31 |
+
"image_width": 640,
|
| 32 |
+
"image_height": 480,
|
| 33 |
+
"fovy_rad": 0.9866710747414718,
|
| 34 |
+
"K": [
|
| 35 |
+
[
|
| 36 |
+
449.11676886024907,
|
| 37 |
+
0.0,
|
| 38 |
+
317.306401665096
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
0.0,
|
| 42 |
+
446.36189415521966,
|
| 43 |
+
223.41130849290136
|
| 44 |
+
],
|
| 45 |
+
[
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
1.0
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"camera_eye": [
|
| 52 |
+
-3.484556931434498,
|
| 53 |
+
-4.0553585656424325,
|
| 54 |
+
1.039892511018007
|
| 55 |
+
],
|
| 56 |
+
"camera_target": [
|
| 57 |
+
-2.696567657374929,
|
| 58 |
+
-4.181741686194023,
|
| 59 |
+
0.9500184341858168
|
| 60 |
+
],
|
| 61 |
+
"camera_roll_rad": -0.03426282321979371,
|
| 62 |
+
"camera_pose_world_cv": [
|
| 63 |
+
[
|
| 64 |
+
-0.15042567253112793,
|
| 65 |
+
-0.12108030915260315,
|
| 66 |
+
0.9811787605285645,
|
| 67 |
+
-3.4845569133758545
|
| 68 |
+
],
|
| 69 |
+
[
|
| 70 |
+
-0.9862771034240723,
|
| 71 |
+
-0.04992729425430298,
|
| 72 |
+
-0.15736845135688782,
|
| 73 |
+
-4.055358409881592
|
| 74 |
+
],
|
| 75 |
+
[
|
| 76 |
+
0.06804189085960388,
|
| 77 |
+
-0.9913864135742188,
|
| 78 |
+
-0.11190837621688843,
|
| 79 |
+
1.039892554283142
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0,
|
| 85 |
+
1.0
|
| 86 |
+
]
|
| 87 |
+
],
|
| 88 |
+
"T_base_world": [
|
| 89 |
+
[
|
| 90 |
+
0.9999996423721313,
|
| 91 |
+
-0.0008781550568528473,
|
| 92 |
+
5.9578461275577865e-08,
|
| 93 |
+
-2.70257568359375
|
| 94 |
+
],
|
| 95 |
+
[
|
| 96 |
+
0.0008781550568528473,
|
| 97 |
+
0.9999996423721313,
|
| 98 |
+
5.963080695892131e-08,
|
| 99 |
+
-4.2265496253967285
|
| 100 |
+
],
|
| 101 |
+
[
|
| 102 |
+
-5.963080695892131e-08,
|
| 103 |
+
-5.9578461275577865e-08,
|
| 104 |
+
1.0,
|
| 105 |
+
0.7811593413352966
|
| 106 |
+
],
|
| 107 |
+
[
|
| 108 |
+
0.0,
|
| 109 |
+
0.0,
|
| 110 |
+
0.0,
|
| 111 |
+
1.0
|
| 112 |
+
]
|
| 113 |
+
],
|
| 114 |
+
"lighting": {
|
| 115 |
+
"aug_enabled": true,
|
| 116 |
+
"params": {
|
| 117 |
+
"ambient": [
|
| 118 |
+
0.29376163820395595,
|
| 119 |
+
0.3022774470836618,
|
| 120 |
+
0.28317118821678816
|
| 121 |
+
],
|
| 122 |
+
"directional_primary": {
|
| 123 |
+
"direction": [
|
| 124 |
+
-0.3376350551650219,
|
| 125 |
+
-0.10627779145055354,
|
| 126 |
+
-0.9352580384942463
|
| 127 |
+
],
|
| 128 |
+
"color": [
|
| 129 |
+
0.934874694459404,
|
| 130 |
+
0.9114869169677083,
|
| 131 |
+
0.8713935841248015
|
| 132 |
+
],
|
| 133 |
+
"azimuth_rad": -2.8366399893375234,
|
| 134 |
+
"elevation_rad": 1.2089873574301557,
|
| 135 |
+
"color_temp_k": 5133.443880757248,
|
| 136 |
+
"intensity": 0.9114869169677083
|
| 137 |
+
},
|
| 138 |
+
"directional_fill": {
|
| 139 |
+
"direction": [
|
| 140 |
+
-0.40777193506686965,
|
| 141 |
+
0.15973054979423756,
|
| 142 |
+
-0.8990040035696454
|
| 143 |
+
],
|
| 144 |
+
"color": [
|
| 145 |
+
0.6090734136623766,
|
| 146 |
+
0.6041002054976747,
|
| 147 |
+
0.5955747057867573
|
| 148 |
+
],
|
| 149 |
+
"azimuth_rad": 2.7682485050075663,
|
| 150 |
+
"elevation_rad": 1.1174899073936686,
|
| 151 |
+
"color_temp_k": 5382.393963323051,
|
| 152 |
+
"intensity": 0.6041002054976747
|
| 153 |
+
},
|
| 154 |
+
"point_color_scale": [
|
| 155 |
+
0.8819574135739279,
|
| 156 |
+
0.843550747036667,
|
| 157 |
+
0.7777107472585058
|
| 158 |
+
],
|
| 159 |
+
"shadow": true
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"frames": [
|
| 163 |
+
{
|
| 164 |
+
"frame_idx": 0,
|
| 165 |
+
"qpos": [
|
| 166 |
+
0.0,
|
| 167 |
+
0.0,
|
| 168 |
+
0.0,
|
| 169 |
+
0.0,
|
| 170 |
+
0.0,
|
| 171 |
+
-1.100000023841858
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
]
|
| 175 |
+
}
|
so100/ProcTHOR/test/bg_000039/scene_b02_015/scene_meta.json
ADDED
|
@@ -0,0 +1,175 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "so100",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 39,
|
| 7 |
+
"base_idx": 2,
|
| 8 |
+
"cam_idx": 14,
|
| 9 |
+
"n_dof": 6,
|
| 10 |
+
"num_links": 9,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"shoulder_pan",
|
| 13 |
+
"shoulder_lift",
|
| 14 |
+
"elbow_flex",
|
| 15 |
+
"wrist_flex",
|
| 16 |
+
"wrist_roll",
|
| 17 |
+
"gripper"
|
| 18 |
+
],
|
| 19 |
+
"link_names": [
|
| 20 |
+
"Base",
|
| 21 |
+
"Rotation_Pitch",
|
| 22 |
+
"Upper_Arm",
|
| 23 |
+
"Lower_Arm",
|
| 24 |
+
"Wrist_Pitch_Roll",
|
| 25 |
+
"Fixed_Jaw",
|
| 26 |
+
"Moving_Jaw",
|
| 27 |
+
"Fixed_Jaw_tip",
|
| 28 |
+
"Moving_Jaw_tip"
|
| 29 |
+
],
|
| 30 |
+
"ee_link_name": "Moving_Jaw",
|
| 31 |
+
"image_width": 640,
|
| 32 |
+
"image_height": 480,
|
| 33 |
+
"fovy_rad": 1.002465409243849,
|
| 34 |
+
"K": [
|
| 35 |
+
[
|
| 36 |
+
434.7512468053805,
|
| 37 |
+
0.0,
|
| 38 |
+
333.3048016441644
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
0.0,
|
| 42 |
+
438.0328040349218,
|
| 43 |
+
233.99081726084938
|
| 44 |
+
],
|
| 45 |
+
[
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
1.0
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"camera_eye": [
|
| 52 |
+
-2.1169542449474728,
|
| 53 |
+
-4.0809686831125935,
|
| 54 |
+
0.9917531412064811
|
| 55 |
+
],
|
| 56 |
+
"camera_target": [
|
| 57 |
+
-2.6589603715541132,
|
| 58 |
+
-4.248146367501407,
|
| 59 |
+
0.9919793784394109
|
| 60 |
+
],
|
| 61 |
+
"camera_roll_rad": 0.04497876163570577,
|
| 62 |
+
"camera_pose_world_cv": [
|
| 63 |
+
[
|
| 64 |
+
-0.2935831546783447,
|
| 65 |
+
0.026098817586898804,
|
| 66 |
+
-0.9555772542953491,
|
| 67 |
+
-2.1169543266296387
|
| 68 |
+
],
|
| 69 |
+
[
|
| 70 |
+
0.9517028331756592,
|
| 71 |
+
-0.08596253395080566,
|
| 72 |
+
-0.29474061727523804,
|
| 73 |
+
-4.080968856811523
|
| 74 |
+
],
|
| 75 |
+
[
|
| 76 |
+
-0.08983626961708069,
|
| 77 |
+
-0.9959564805030823,
|
| 78 |
+
0.00039887428283691406,
|
| 79 |
+
0.9917531609535217
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0,
|
| 85 |
+
1.0
|
| 86 |
+
]
|
| 87 |
+
],
|
| 88 |
+
"T_base_world": [
|
| 89 |
+
[
|
| 90 |
+
0.9999996423721313,
|
| 91 |
+
-0.0008781550568528473,
|
| 92 |
+
5.9578461275577865e-08,
|
| 93 |
+
-2.70257568359375
|
| 94 |
+
],
|
| 95 |
+
[
|
| 96 |
+
0.0008781550568528473,
|
| 97 |
+
0.9999996423721313,
|
| 98 |
+
5.963080695892131e-08,
|
| 99 |
+
-4.2265496253967285
|
| 100 |
+
],
|
| 101 |
+
[
|
| 102 |
+
-5.963080695892131e-08,
|
| 103 |
+
-5.9578461275577865e-08,
|
| 104 |
+
1.0,
|
| 105 |
+
0.7811593413352966
|
| 106 |
+
],
|
| 107 |
+
[
|
| 108 |
+
0.0,
|
| 109 |
+
0.0,
|
| 110 |
+
0.0,
|
| 111 |
+
1.0
|
| 112 |
+
]
|
| 113 |
+
],
|
| 114 |
+
"lighting": {
|
| 115 |
+
"aug_enabled": true,
|
| 116 |
+
"params": {
|
| 117 |
+
"ambient": [
|
| 118 |
+
0.35652334091379806,
|
| 119 |
+
0.34028955153318313,
|
| 120 |
+
0.3351283494105531
|
| 121 |
+
],
|
| 122 |
+
"directional_primary": {
|
| 123 |
+
"direction": [
|
| 124 |
+
-0.3376350551650219,
|
| 125 |
+
-0.10627779145055354,
|
| 126 |
+
-0.9352580384942463
|
| 127 |
+
],
|
| 128 |
+
"color": [
|
| 129 |
+
0.9238451169970919,
|
| 130 |
+
0.9733344389925636,
|
| 131 |
+
1.0525173541853186
|
| 132 |
+
],
|
| 133 |
+
"azimuth_rad": -2.8366399893375234,
|
| 134 |
+
"elevation_rad": 1.2089873574301557,
|
| 135 |
+
"color_temp_k": 6496.633142371704,
|
| 136 |
+
"intensity": 0.9931301677907522
|
| 137 |
+
},
|
| 138 |
+
"directional_fill": {
|
| 139 |
+
"direction": [
|
| 140 |
+
-0.40777193506686965,
|
| 141 |
+
0.15973054979423756,
|
| 142 |
+
-0.8990040035696454
|
| 143 |
+
],
|
| 144 |
+
"color": [
|
| 145 |
+
0.7835152956600471,
|
| 146 |
+
0.7596394087734579,
|
| 147 |
+
0.7187093169678765
|
| 148 |
+
],
|
| 149 |
+
"azimuth_rad": 2.7682485050075663,
|
| 150 |
+
"elevation_rad": 1.1174899073936686,
|
| 151 |
+
"color_temp_k": 5050.992096459856,
|
| 152 |
+
"intensity": 0.7596394087734579
|
| 153 |
+
},
|
| 154 |
+
"point_color_scale": [
|
| 155 |
+
0.807515393572567,
|
| 156 |
+
0.8136150210524443,
|
| 157 |
+
0.8233744250202482
|
| 158 |
+
],
|
| 159 |
+
"shadow": true
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"frames": [
|
| 163 |
+
{
|
| 164 |
+
"frame_idx": 0,
|
| 165 |
+
"qpos": [
|
| 166 |
+
0.0,
|
| 167 |
+
0.0,
|
| 168 |
+
0.0,
|
| 169 |
+
0.0,
|
| 170 |
+
0.0,
|
| 171 |
+
-1.100000023841858
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
]
|
| 175 |
+
}
|
so100/ProcTHOR/test/bg_000039/scene_b02_016/scene_meta.json
ADDED
|
@@ -0,0 +1,175 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "so100",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 39,
|
| 7 |
+
"base_idx": 2,
|
| 8 |
+
"cam_idx": 15,
|
| 9 |
+
"n_dof": 6,
|
| 10 |
+
"num_links": 9,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"shoulder_pan",
|
| 13 |
+
"shoulder_lift",
|
| 14 |
+
"elbow_flex",
|
| 15 |
+
"wrist_flex",
|
| 16 |
+
"wrist_roll",
|
| 17 |
+
"gripper"
|
| 18 |
+
],
|
| 19 |
+
"link_names": [
|
| 20 |
+
"Base",
|
| 21 |
+
"Rotation_Pitch",
|
| 22 |
+
"Upper_Arm",
|
| 23 |
+
"Lower_Arm",
|
| 24 |
+
"Wrist_Pitch_Roll",
|
| 25 |
+
"Fixed_Jaw",
|
| 26 |
+
"Moving_Jaw",
|
| 27 |
+
"Fixed_Jaw_tip",
|
| 28 |
+
"Moving_Jaw_tip"
|
| 29 |
+
],
|
| 30 |
+
"ee_link_name": "Moving_Jaw",
|
| 31 |
+
"image_width": 640,
|
| 32 |
+
"image_height": 480,
|
| 33 |
+
"fovy_rad": 0.8807203950523516,
|
| 34 |
+
"K": [
|
| 35 |
+
[
|
| 36 |
+
494.0508480958957,
|
| 37 |
+
0.0,
|
| 38 |
+
348.41194053474476
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
0.0,
|
| 42 |
+
509.315560302548,
|
| 43 |
+
243.0971506862811
|
| 44 |
+
],
|
| 45 |
+
[
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
1.0
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"camera_eye": [
|
| 52 |
+
-2.1282958268920025,
|
| 53 |
+
-4.535363200956074,
|
| 54 |
+
1.1489819598193667
|
| 55 |
+
],
|
| 56 |
+
"camera_target": [
|
| 57 |
+
-2.710125534742303,
|
| 58 |
+
-4.269507795304503,
|
| 59 |
+
1.0026687295737606
|
| 60 |
+
],
|
| 61 |
+
"camera_roll_rad": -0.03733296485080818,
|
| 62 |
+
"camera_pose_world_cv": [
|
| 63 |
+
[
|
| 64 |
+
0.39931344985961914,
|
| 65 |
+
0.23323628306388855,
|
| 66 |
+
-0.886650800704956,
|
| 67 |
+
-2.1282958984375
|
| 68 |
+
],
|
| 69 |
+
[
|
| 70 |
+
0.9139260053634644,
|
| 71 |
+
-0.02455759048461914,
|
| 72 |
+
0.40513718128204346,
|
| 73 |
+
-4.53536319732666
|
| 74 |
+
],
|
| 75 |
+
[
|
| 76 |
+
0.07271867990493774,
|
| 77 |
+
-0.9721099138259888,
|
| 78 |
+
-0.22296690940856934,
|
| 79 |
+
1.1489819288253784
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0,
|
| 85 |
+
1.0
|
| 86 |
+
]
|
| 87 |
+
],
|
| 88 |
+
"T_base_world": [
|
| 89 |
+
[
|
| 90 |
+
0.9999996423721313,
|
| 91 |
+
-0.0008781550568528473,
|
| 92 |
+
5.9578461275577865e-08,
|
| 93 |
+
-2.70257568359375
|
| 94 |
+
],
|
| 95 |
+
[
|
| 96 |
+
0.0008781550568528473,
|
| 97 |
+
0.9999996423721313,
|
| 98 |
+
5.963080695892131e-08,
|
| 99 |
+
-4.2265496253967285
|
| 100 |
+
],
|
| 101 |
+
[
|
| 102 |
+
-5.963080695892131e-08,
|
| 103 |
+
-5.9578461275577865e-08,
|
| 104 |
+
1.0,
|
| 105 |
+
0.7811593413352966
|
| 106 |
+
],
|
| 107 |
+
[
|
| 108 |
+
0.0,
|
| 109 |
+
0.0,
|
| 110 |
+
0.0,
|
| 111 |
+
1.0
|
| 112 |
+
]
|
| 113 |
+
],
|
| 114 |
+
"lighting": {
|
| 115 |
+
"aug_enabled": true,
|
| 116 |
+
"params": {
|
| 117 |
+
"ambient": [
|
| 118 |
+
0.28750675084500266,
|
| 119 |
+
0.28655257483705876,
|
| 120 |
+
0.25959718484490907
|
| 121 |
+
],
|
| 122 |
+
"directional_primary": {
|
| 123 |
+
"direction": [
|
| 124 |
+
-0.3376350551650219,
|
| 125 |
+
-0.10627779145055354,
|
| 126 |
+
-0.9352580384942463
|
| 127 |
+
],
|
| 128 |
+
"color": [
|
| 129 |
+
0.9819095664494476,
|
| 130 |
+
0.9180390525450842,
|
| 131 |
+
0.8085467429947467
|
| 132 |
+
],
|
| 133 |
+
"azimuth_rad": -2.8366399893375234,
|
| 134 |
+
"elevation_rad": 1.2089873574301557,
|
| 135 |
+
"color_temp_k": 4506.103378293191,
|
| 136 |
+
"intensity": 0.9180390525450842
|
| 137 |
+
},
|
| 138 |
+
"directional_fill": {
|
| 139 |
+
"direction": [
|
| 140 |
+
-0.40777193506686965,
|
| 141 |
+
0.15973054979423756,
|
| 142 |
+
-0.8990040035696454
|
| 143 |
+
],
|
| 144 |
+
"color": [
|
| 145 |
+
0.576381696659978,
|
| 146 |
+
0.5520376185608178,
|
| 147 |
+
0.5103049132479718
|
| 148 |
+
],
|
| 149 |
+
"azimuth_rad": 2.7682485050075663,
|
| 150 |
+
"elevation_rad": 1.1174899073936686,
|
| 151 |
+
"color_temp_k": 4870.0202077163285,
|
| 152 |
+
"intensity": 0.5520376185608178
|
| 153 |
+
},
|
| 154 |
+
"point_color_scale": [
|
| 155 |
+
1.0989614039129987,
|
| 156 |
+
1.1106741032170107,
|
| 157 |
+
1.12941442210343
|
| 158 |
+
],
|
| 159 |
+
"shadow": true
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"frames": [
|
| 163 |
+
{
|
| 164 |
+
"frame_idx": 0,
|
| 165 |
+
"qpos": [
|
| 166 |
+
0.0,
|
| 167 |
+
0.0,
|
| 168 |
+
0.0,
|
| 169 |
+
0.0,
|
| 170 |
+
0.0,
|
| 171 |
+
-1.100000023841858
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
]
|
| 175 |
+
}
|
so100/ProcTHOR/test/bg_000059/scene_b00_001/scene_meta.json
ADDED
|
@@ -0,0 +1,175 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "so100",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 59,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 0,
|
| 9 |
+
"n_dof": 6,
|
| 10 |
+
"num_links": 9,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"shoulder_pan",
|
| 13 |
+
"shoulder_lift",
|
| 14 |
+
"elbow_flex",
|
| 15 |
+
"wrist_flex",
|
| 16 |
+
"wrist_roll",
|
| 17 |
+
"gripper"
|
| 18 |
+
],
|
| 19 |
+
"link_names": [
|
| 20 |
+
"Base",
|
| 21 |
+
"Rotation_Pitch",
|
| 22 |
+
"Upper_Arm",
|
| 23 |
+
"Lower_Arm",
|
| 24 |
+
"Wrist_Pitch_Roll",
|
| 25 |
+
"Fixed_Jaw",
|
| 26 |
+
"Moving_Jaw",
|
| 27 |
+
"Fixed_Jaw_tip",
|
| 28 |
+
"Moving_Jaw_tip"
|
| 29 |
+
],
|
| 30 |
+
"ee_link_name": "Moving_Jaw",
|
| 31 |
+
"image_width": 640,
|
| 32 |
+
"image_height": 480,
|
| 33 |
+
"fovy_rad": 1.254729666406887,
|
| 34 |
+
"K": [
|
| 35 |
+
[
|
| 36 |
+
341.5906498000865,
|
| 37 |
+
0.0,
|
| 38 |
+
299.62018993357964
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
0.0,
|
| 42 |
+
330.99502981104365,
|
| 43 |
+
218.01055562551988
|
| 44 |
+
],
|
| 45 |
+
[
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
1.0
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"camera_eye": [
|
| 52 |
+
-0.9576244352017431,
|
| 53 |
+
-5.149585348885216,
|
| 54 |
+
1.3191488281487223
|
| 55 |
+
],
|
| 56 |
+
"camera_target": [
|
| 57 |
+
-0.6789633008006801,
|
| 58 |
+
-4.343311643581083,
|
| 59 |
+
1.1391011126406594
|
| 60 |
+
],
|
| 61 |
+
"camera_roll_rad": -0.0006413294614401183,
|
| 62 |
+
"camera_pose_world_cv": [
|
| 63 |
+
[
|
| 64 |
+
0.9452287554740906,
|
| 65 |
+
-0.0662451833486557,
|
| 66 |
+
0.3196156322956085,
|
| 67 |
+
-0.9576244354248047
|
| 68 |
+
],
|
| 69 |
+
[
|
| 70 |
+
-0.32640618085861206,
|
| 71 |
+
-0.19559919834136963,
|
| 72 |
+
0.9247702360153198,
|
| 73 |
+
-5.149585247039795
|
| 74 |
+
],
|
| 75 |
+
[
|
| 76 |
+
0.0012550055980682373,
|
| 77 |
+
-0.97844398021698,
|
| 78 |
+
-0.2065088152885437,
|
| 79 |
+
1.3191487789154053
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0,
|
| 85 |
+
1.0
|
| 86 |
+
]
|
| 87 |
+
],
|
| 88 |
+
"T_base_world": [
|
| 89 |
+
[
|
| 90 |
+
-0.9866729974746704,
|
| 91 |
+
0.1627155989408493,
|
| 92 |
+
-3.213563104509376e-08,
|
| 93 |
+
-0.6754273176193237
|
| 94 |
+
],
|
| 95 |
+
[
|
| 96 |
+
-0.1627155989408493,
|
| 97 |
+
-0.9866729974746704,
|
| 98 |
+
2.7270090185993467e-08,
|
| 99 |
+
-4.386993885040283
|
| 100 |
+
],
|
| 101 |
+
[
|
| 102 |
+
-2.7270090185993467e-08,
|
| 103 |
+
3.213563104509376e-08,
|
| 104 |
+
1.0,
|
| 105 |
+
0.9372063875198364
|
| 106 |
+
],
|
| 107 |
+
[
|
| 108 |
+
0.0,
|
| 109 |
+
0.0,
|
| 110 |
+
0.0,
|
| 111 |
+
1.0
|
| 112 |
+
]
|
| 113 |
+
],
|
| 114 |
+
"lighting": {
|
| 115 |
+
"aug_enabled": true,
|
| 116 |
+
"params": {
|
| 117 |
+
"ambient": [
|
| 118 |
+
0.3248744260401662,
|
| 119 |
+
0.32223229654875607,
|
| 120 |
+
0.3513422336990597
|
| 121 |
+
],
|
| 122 |
+
"directional_primary": {
|
| 123 |
+
"direction": [
|
| 124 |
+
-0.6097129990935647,
|
| 125 |
+
0.14077950861028388,
|
| 126 |
+
-0.7800199912129032
|
| 127 |
+
],
|
| 128 |
+
"color": [
|
| 129 |
+
1.0737772060582413,
|
| 130 |
+
1.0742841990600231,
|
| 131 |
+
1.0750953878628737
|
| 132 |
+
],
|
| 133 |
+
"azimuth_rad": 2.9146746701415776,
|
| 134 |
+
"elevation_rad": 0.8946977652135885,
|
| 135 |
+
"color_temp_k": 5509.436931364382,
|
| 136 |
+
"intensity": 1.0744869962607357
|
| 137 |
+
},
|
| 138 |
+
"directional_fill": {
|
| 139 |
+
"direction": [
|
| 140 |
+
0.22598974060128327,
|
| 141 |
+
-0.00870032731165902,
|
| 142 |
+
-0.974090827103733
|
| 143 |
+
],
|
| 144 |
+
"color": [
|
| 145 |
+
0.7718571022265736,
|
| 146 |
+
0.7544367492667953,
|
| 147 |
+
0.7245732870500327
|
| 148 |
+
],
|
| 149 |
+
"azimuth_rad": -0.03847976768640704,
|
| 150 |
+
"elevation_rad": 1.3426655209751523,
|
| 151 |
+
"color_temp_k": 5170.135123479142,
|
| 152 |
+
"intensity": 0.7544367492667953
|
| 153 |
+
},
|
| 154 |
+
"point_color_scale": [
|
| 155 |
+
1.0437738074148941,
|
| 156 |
+
1.0022720424050966,
|
| 157 |
+
0.9311261595311584
|
| 158 |
+
],
|
| 159 |
+
"shadow": true
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"frames": [
|
| 163 |
+
{
|
| 164 |
+
"frame_idx": 0,
|
| 165 |
+
"qpos": [
|
| 166 |
+
0.0,
|
| 167 |
+
0.0,
|
| 168 |
+
0.0,
|
| 169 |
+
0.0,
|
| 170 |
+
0.0,
|
| 171 |
+
-1.100000023841858
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
]
|
| 175 |
+
}
|
so100/ProcTHOR/test/bg_000059/scene_b00_002/scene_meta.json
ADDED
|
@@ -0,0 +1,175 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "so100",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 59,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 1,
|
| 9 |
+
"n_dof": 6,
|
| 10 |
+
"num_links": 9,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"shoulder_pan",
|
| 13 |
+
"shoulder_lift",
|
| 14 |
+
"elbow_flex",
|
| 15 |
+
"wrist_flex",
|
| 16 |
+
"wrist_roll",
|
| 17 |
+
"gripper"
|
| 18 |
+
],
|
| 19 |
+
"link_names": [
|
| 20 |
+
"Base",
|
| 21 |
+
"Rotation_Pitch",
|
| 22 |
+
"Upper_Arm",
|
| 23 |
+
"Lower_Arm",
|
| 24 |
+
"Wrist_Pitch_Roll",
|
| 25 |
+
"Fixed_Jaw",
|
| 26 |
+
"Moving_Jaw",
|
| 27 |
+
"Fixed_Jaw_tip",
|
| 28 |
+
"Moving_Jaw_tip"
|
| 29 |
+
],
|
| 30 |
+
"ee_link_name": "Moving_Jaw",
|
| 31 |
+
"image_width": 640,
|
| 32 |
+
"image_height": 480,
|
| 33 |
+
"fovy_rad": 0.8540429458318423,
|
| 34 |
+
"K": [
|
| 35 |
+
[
|
| 36 |
+
525.7354039564862,
|
| 37 |
+
0.0,
|
| 38 |
+
322.7590953904646
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
0.0,
|
| 42 |
+
527.4482761088652,
|
| 43 |
+
257.727039748364
|
| 44 |
+
],
|
| 45 |
+
[
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
1.0
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"camera_eye": [
|
| 52 |
+
-0.13265397325011075,
|
| 53 |
+
-4.48285345213281,
|
| 54 |
+
1.3246735047375486
|
| 55 |
+
],
|
| 56 |
+
"camera_target": [
|
| 57 |
+
-0.725176863527706,
|
| 58 |
+
-4.363567841389419,
|
| 59 |
+
1.0623418522374377
|
| 60 |
+
],
|
| 61 |
+
"camera_roll_rad": -0.02975583126040219,
|
| 62 |
+
"camera_pose_world_cv": [
|
| 63 |
+
[
|
| 64 |
+
0.17379462718963623,
|
| 65 |
+
0.4013608396053314,
|
| 66 |
+
-0.8992801904678345,
|
| 67 |
+
-0.13265396654605865
|
| 68 |
+
],
|
| 69 |
+
[
|
| 70 |
+
0.9832693338394165,
|
| 71 |
+
-0.020131349563598633,
|
| 72 |
+
0.181041419506073,
|
| 73 |
+
-4.482853412628174
|
| 74 |
+
],
|
| 75 |
+
[
|
| 76 |
+
0.05455923080444336,
|
| 77 |
+
-0.9156987071037292,
|
| 78 |
+
-0.39814460277557373,
|
| 79 |
+
1.3246735334396362
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0,
|
| 85 |
+
1.0
|
| 86 |
+
]
|
| 87 |
+
],
|
| 88 |
+
"T_base_world": [
|
| 89 |
+
[
|
| 90 |
+
-0.9866729974746704,
|
| 91 |
+
0.1627156138420105,
|
| 92 |
+
2.9702864168257292e-08,
|
| 93 |
+
-0.6754273176193237
|
| 94 |
+
],
|
| 95 |
+
[
|
| 96 |
+
-0.1627156138420105,
|
| 97 |
+
-0.9866729974746704,
|
| 98 |
+
2.432770651594751e-09,
|
| 99 |
+
-4.386993885040283
|
| 100 |
+
],
|
| 101 |
+
[
|
| 102 |
+
2.9702864168257292e-08,
|
| 103 |
+
-2.432770651594751e-09,
|
| 104 |
+
1.0,
|
| 105 |
+
0.9372063875198364
|
| 106 |
+
],
|
| 107 |
+
[
|
| 108 |
+
0.0,
|
| 109 |
+
0.0,
|
| 110 |
+
0.0,
|
| 111 |
+
1.0
|
| 112 |
+
]
|
| 113 |
+
],
|
| 114 |
+
"lighting": {
|
| 115 |
+
"aug_enabled": true,
|
| 116 |
+
"params": {
|
| 117 |
+
"ambient": [
|
| 118 |
+
0.2664560174329107,
|
| 119 |
+
0.24596932378986178,
|
| 120 |
+
0.25543005603634716
|
| 121 |
+
],
|
| 122 |
+
"directional_primary": {
|
| 123 |
+
"direction": [
|
| 124 |
+
-0.6097129990935647,
|
| 125 |
+
0.14077950861028388,
|
| 126 |
+
-0.7800199912129032
|
| 127 |
+
],
|
| 128 |
+
"color": [
|
| 129 |
+
1.1053339283558126,
|
| 130 |
+
1.0383249095765479,
|
| 131 |
+
0.9234523059549512
|
| 132 |
+
],
|
| 133 |
+
"azimuth_rad": 2.9146746701415776,
|
| 134 |
+
"elevation_rad": 0.8946977652135885,
|
| 135 |
+
"color_temp_k": 4578.06151232851,
|
| 136 |
+
"intensity": 1.0383249095765479
|
| 137 |
+
},
|
| 138 |
+
"directional_fill": {
|
| 139 |
+
"direction": [
|
| 140 |
+
0.22598974060128327,
|
| 141 |
+
-0.00870032731165902,
|
| 142 |
+
-0.974090827103733
|
| 143 |
+
],
|
| 144 |
+
"color": [
|
| 145 |
+
0.9375910693523658,
|
| 146 |
+
0.8944688694214946,
|
| 147 |
+
0.8205450981114297
|
| 148 |
+
],
|
| 149 |
+
"azimuth_rad": -0.03847976768640704,
|
| 150 |
+
"elevation_rad": 1.3426655209751523,
|
| 151 |
+
"color_temp_k": 4811.288018349596,
|
| 152 |
+
"intensity": 0.8944688694214946
|
| 153 |
+
},
|
| 154 |
+
"point_color_scale": [
|
| 155 |
+
1.1601652431244696,
|
| 156 |
+
1.1062218091206226,
|
| 157 |
+
1.0137473508283137
|
| 158 |
+
],
|
| 159 |
+
"shadow": true
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"frames": [
|
| 163 |
+
{
|
| 164 |
+
"frame_idx": 0,
|
| 165 |
+
"qpos": [
|
| 166 |
+
0.0,
|
| 167 |
+
0.0,
|
| 168 |
+
0.0,
|
| 169 |
+
0.0,
|
| 170 |
+
0.0,
|
| 171 |
+
-1.100000023841858
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
]
|
| 175 |
+
}
|