zhx0506 commited on
Commit
71aec18
·
verified ·
1 Parent(s): 4a40ad5

Add files using upload-large-folder tool

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. ur_10e/ProcTHOR/test/bg_000191/scene_b00_001/scene_meta.json +174 -0
  2. ur_10e/ProcTHOR/test/bg_000191/scene_b00_002/scene_meta.json +174 -0
  3. ur_10e/ProcTHOR/test/bg_000191/scene_b00_005/scene_meta.json +174 -0
  4. ur_10e/ProcTHOR/test/bg_000191/scene_b00_006/scene_meta.json +174 -0
  5. ur_10e/ProcTHOR/test/bg_000191/scene_b00_007/scene_meta.json +174 -0
  6. ur_10e/ProcTHOR/test/bg_000191/scene_b00_014/scene_meta.json +174 -0
  7. ur_10e/ProcTHOR/test/bg_000191/scene_b00_016/scene_meta.json +174 -0
  8. ur_10e/ProcTHOR/test/bg_000191/scene_b01_002/scene_meta.json +174 -0
  9. ur_10e/ProcTHOR/test/bg_000191/scene_b01_006/scene_meta.json +174 -0
  10. ur_10e/ProcTHOR/test/bg_000191/scene_b01_007/scene_meta.json +174 -0
  11. ur_10e/ProcTHOR/test/bg_000191/scene_b01_008/scene_meta.json +174 -0
  12. ur_10e/ProcTHOR/test/bg_000191/scene_b01_009/scene_meta.json +174 -0
  13. ur_10e/ProcTHOR/test/bg_000191/scene_b01_010/scene_meta.json +174 -0
  14. ur_10e/ProcTHOR/test/bg_000191/scene_b01_011/scene_meta.json +174 -0
  15. ur_10e/ProcTHOR/test/bg_000191/scene_b01_013/scene_meta.json +174 -0
  16. ur_10e/ProcTHOR/test/bg_000191/scene_b01_014/scene_meta.json +174 -0
  17. ur_10e/ProcTHOR/test/bg_000191/scene_b02_002/scene_meta.json +174 -0
  18. ur_10e/ProcTHOR/test/bg_000191/scene_b02_005/scene_meta.json +174 -0
  19. ur_10e/ProcTHOR/test/bg_000191/scene_b02_007/scene_meta.json +174 -0
  20. ur_10e/ProcTHOR/test/bg_000191/scene_b02_010/scene_meta.json +174 -0
  21. ur_10e/ProcTHOR/test/bg_000191/scene_b02_011/scene_meta.json +174 -0
  22. ur_10e/ProcTHOR/test/bg_000191/scene_b02_016/scene_meta.json +174 -0
  23. ur_10e/ProcTHOR/test/bg_000191/scene_b03_001/scene_meta.json +174 -0
  24. ur_10e/ProcTHOR/test/bg_000191/scene_b03_003/scene_meta.json +174 -0
  25. ur_10e/ProcTHOR/test/bg_000191/scene_b03_004/scene_meta.json +174 -0
  26. ur_10e/ProcTHOR/test/bg_000191/scene_b03_006/scene_meta.json +174 -0
  27. ur_10e/ProcTHOR/test/bg_000191/scene_b03_011/scene_meta.json +174 -0
  28. ur_10e/ProcTHOR/test/bg_000191/scene_b03_013/scene_meta.json +174 -0
  29. ur_10e/ProcTHOR/test/bg_000191/scene_b03_014/scene_meta.json +174 -0
  30. ur_10e/ProcTHOR/test/bg_000191/scene_b03_016/scene_meta.json +174 -0
  31. ur_10e/ProcTHOR/test/bg_000265/scene_b07_001/scene_meta.json +174 -0
  32. ur_10e/ProcTHOR/test/bg_000265/scene_b07_002/scene_meta.json +174 -0
  33. ur_10e/ProcTHOR/test/bg_000265/scene_b07_003/scene_meta.json +174 -0
  34. ur_10e/ProcTHOR/test/bg_000265/scene_b07_004/scene_meta.json +174 -0
  35. ur_10e/ProcTHOR/test/bg_000265/scene_b07_005/scene_meta.json +174 -0
  36. ur_10e/ProcTHOR/test/bg_000265/scene_b07_006/scene_meta.json +174 -0
  37. ur_10e/ProcTHOR/test/bg_000265/scene_b07_007/scene_meta.json +174 -0
  38. ur_10e/ProcTHOR/test/bg_000265/scene_b07_008/scene_meta.json +174 -0
  39. ur_10e/ProcTHOR/test/bg_000265/scene_b07_009/scene_meta.json +174 -0
  40. ur_10e/ProcTHOR/test/bg_000265/scene_b07_010/scene_meta.json +174 -0
  41. ur_10e/ProcTHOR/test/bg_000265/scene_b07_011/scene_meta.json +174 -0
  42. ur_10e/ProcTHOR/test/bg_000265/scene_b07_012/scene_meta.json +174 -0
  43. ur_10e/ProcTHOR/test/bg_000265/scene_b07_013/scene_meta.json +174 -0
  44. ur_10e/ProcTHOR/test/bg_000265/scene_b07_014/scene_meta.json +174 -0
  45. ur_10e/ProcTHOR/test/bg_000265/scene_b07_015/scene_meta.json +174 -0
  46. ur_10e/ProcTHOR/test/bg_000265/scene_b07_016/scene_meta.json +174 -0
  47. ur_10e/ProcTHOR/test/bg_000355/scene_b01_001/scene_meta.json +174 -0
  48. ur_10e/ProcTHOR/test/bg_000355/scene_b01_002/scene_meta.json +174 -0
  49. ur_10e/ProcTHOR/test/bg_000355/scene_b01_003/scene_meta.json +174 -0
  50. ur_10e/ProcTHOR/test/bg_000355/scene_b01_004/scene_meta.json +174 -0
ur_10e/ProcTHOR/test/bg_000191/scene_b00_001/scene_meta.json ADDED
@@ -0,0 +1,174 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "ur_10e",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 191,
7
+ "base_idx": 0,
8
+ "cam_idx": 0,
9
+ "n_dof": 6,
10
+ "num_links": 8,
11
+ "joint_names": [
12
+ "shoulder_pan_joint",
13
+ "shoulder_lift_joint",
14
+ "elbow_joint",
15
+ "wrist_1_joint",
16
+ "wrist_2_joint",
17
+ "wrist_3_joint"
18
+ ],
19
+ "link_names": [
20
+ "dummy_root_0",
21
+ "base",
22
+ "shoulder_link",
23
+ "upper_arm_link",
24
+ "forearm_link",
25
+ "wrist_1_link",
26
+ "wrist_2_link",
27
+ "wrist_3_link"
28
+ ],
29
+ "ee_link_name": "wrist_3_link",
30
+ "image_width": 640,
31
+ "image_height": 480,
32
+ "fovy_rad": 0.9150500037509667,
33
+ "K": [
34
+ [
35
+ 491.3760093281142,
36
+ 0.0,
37
+ 290.5205003979721
38
+ ],
39
+ [
40
+ 0.0,
41
+ 487.4383051355568,
42
+ 239.37850987726512
43
+ ],
44
+ [
45
+ 0.0,
46
+ 0.0,
47
+ 1.0
48
+ ]
49
+ ],
50
+ "camera_eye": [
51
+ -8.874518678325781,
52
+ -6.8578638853115175,
53
+ 1.5153507015986545
54
+ ],
55
+ "camera_target": [
56
+ -10.399466498939807,
57
+ -7.028660279586318,
58
+ 0.8700659119076729
59
+ ],
60
+ "camera_roll_rad": 0.00010727906497373652,
61
+ "camera_pose_world_cv": [
62
+ [
63
+ -0.11122298240661621,
64
+ 0.38525712490081787,
65
+ -0.9160822629928589,
66
+ -8.874518394470215
67
+ ],
68
+ [
69
+ 0.99379563331604,
70
+ 0.04293358325958252,
71
+ -0.10260248184204102,
72
+ -6.857863903045654
73
+ ],
74
+ [
75
+ -0.0001977682113647461,
76
+ -0.9218101501464844,
77
+ -0.3876418471336365,
78
+ 1.5153506994247437
79
+ ],
80
+ [
81
+ 0.0,
82
+ 0.0,
83
+ 0.0,
84
+ 1.0
85
+ ]
86
+ ],
87
+ "T_base_world": [
88
+ [
89
+ 0.9703622460365295,
90
+ -0.24165502190589905,
91
+ 0.0,
92
+ -10.426219940185547
93
+ ],
94
+ [
95
+ 0.24165502190589905,
96
+ 0.9703622460365295,
97
+ 0.0,
98
+ -7.069668292999268
99
+ ],
100
+ [
101
+ 0.0,
102
+ 0.0,
103
+ 1.0,
104
+ 0.7581021785736084
105
+ ],
106
+ [
107
+ 0.0,
108
+ 0.0,
109
+ 0.0,
110
+ 1.0
111
+ ]
112
+ ],
113
+ "lighting": {
114
+ "aug_enabled": true,
115
+ "params": {
116
+ "ambient": [
117
+ 0.264122141949071,
118
+ 0.2646996634025498,
119
+ 0.2646939199747227
120
+ ],
121
+ "directional_primary": {
122
+ "direction": [
123
+ 0.5316919141838249,
124
+ -0.5695727172567494,
125
+ -0.6268098803850359
126
+ ],
127
+ "color": [
128
+ 0.8539277978249155,
129
+ 0.8568294818321007,
130
+ 0.8614721762435972
131
+ ],
132
+ "azimuth_rad": -0.8197821547743387,
133
+ "elevation_rad": 0.6774521941721563,
134
+ "color_temp_k": 5567.639097926811,
135
+ "intensity": 0.8579901554349748
136
+ },
137
+ "directional_fill": {
138
+ "direction": [
139
+ 0.08504117971366258,
140
+ -0.3202773640944039,
141
+ -0.9434990226818728
142
+ ],
143
+ "color": [
144
+ 0.8668885714755981,
145
+ 0.8534574256100863,
146
+ 0.8304326041263519
147
+ ],
148
+ "azimuth_rad": -1.3112614722645917,
149
+ "elevation_rad": 1.2330354601548543,
150
+ "color_temp_k": 5275.180921031539,
151
+ "intensity": 0.8534574256100863
152
+ },
153
+ "point_color_scale": [
154
+ 0.9823330080657741,
155
+ 0.9829496570716028,
156
+ 0.983936295480929
157
+ ],
158
+ "shadow": true
159
+ }
160
+ },
161
+ "frames": [
162
+ {
163
+ "frame_idx": 0,
164
+ "qpos": [
165
+ 0.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0
171
+ ]
172
+ }
173
+ ]
174
+ }
ur_10e/ProcTHOR/test/bg_000191/scene_b00_002/scene_meta.json ADDED
@@ -0,0 +1,174 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "ur_10e",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 191,
7
+ "base_idx": 0,
8
+ "cam_idx": 1,
9
+ "n_dof": 6,
10
+ "num_links": 8,
11
+ "joint_names": [
12
+ "shoulder_pan_joint",
13
+ "shoulder_lift_joint",
14
+ "elbow_joint",
15
+ "wrist_1_joint",
16
+ "wrist_2_joint",
17
+ "wrist_3_joint"
18
+ ],
19
+ "link_names": [
20
+ "dummy_root_0",
21
+ "base",
22
+ "shoulder_link",
23
+ "upper_arm_link",
24
+ "forearm_link",
25
+ "wrist_1_link",
26
+ "wrist_2_link",
27
+ "wrist_3_link"
28
+ ],
29
+ "ee_link_name": "wrist_3_link",
30
+ "image_width": 640,
31
+ "image_height": 480,
32
+ "fovy_rad": 0.8368291168015946,
33
+ "K": [
34
+ [
35
+ 537.8435795920659,
36
+ 0.0,
37
+ 320.46032034576126
38
+ ],
39
+ [
40
+ 0.0,
41
+ 539.7233354778047,
42
+ 221.05849671943835
43
+ ],
44
+ [
45
+ 0.0,
46
+ 0.0,
47
+ 1.0
48
+ ]
49
+ ],
50
+ "camera_eye": [
51
+ -12.509117309847527,
52
+ -7.427369065495607,
53
+ 0.9554809938608603
54
+ ],
55
+ "camera_target": [
56
+ -10.441608804066133,
57
+ -7.069314777912241,
58
+ 0.9230899144564587
59
+ ],
60
+ "camera_roll_rad": -0.031558911895342025,
61
+ "camera_pose_world_cv": [
62
+ [
63
+ 0.17126089334487915,
64
+ -0.004415005445480347,
65
+ 0.9852157831192017,
66
+ -12.509117126464844
67
+ ],
68
+ [
69
+ -0.9832049608230591,
70
+ -0.06477940082550049,
71
+ 0.17062106728553772,
72
+ -7.427369117736816
73
+ ],
74
+ [
75
+ 0.06306836009025574,
76
+ -0.9978898763656616,
77
+ -0.01543503999710083,
78
+ 0.9554809927940369
79
+ ],
80
+ [
81
+ 0.0,
82
+ 0.0,
83
+ 0.0,
84
+ 1.0
85
+ ]
86
+ ],
87
+ "T_base_world": [
88
+ [
89
+ 0.9703622460365295,
90
+ -0.24165502190589905,
91
+ 0.0,
92
+ -10.426219940185547
93
+ ],
94
+ [
95
+ 0.24165502190589905,
96
+ 0.9703622460365295,
97
+ 0.0,
98
+ -7.069668292999268
99
+ ],
100
+ [
101
+ 0.0,
102
+ 0.0,
103
+ 1.0,
104
+ 0.7581021785736084
105
+ ],
106
+ [
107
+ 0.0,
108
+ 0.0,
109
+ 0.0,
110
+ 1.0
111
+ ]
112
+ ],
113
+ "lighting": {
114
+ "aug_enabled": true,
115
+ "params": {
116
+ "ambient": [
117
+ 0.36261883229663994,
118
+ 0.35833885770057616,
119
+ 0.3797016102666478
120
+ ],
121
+ "directional_primary": {
122
+ "direction": [
123
+ 0.5316919141838249,
124
+ -0.5695727172567494,
125
+ -0.6268098803850359
126
+ ],
127
+ "color": [
128
+ 0.9937014732145625,
129
+ 1.0098099172249682,
130
+ 1.035583427641617
131
+ ],
132
+ "azimuth_rad": -0.8197821547743387,
133
+ "elevation_rad": 0.6774521941721563,
134
+ "color_temp_k": 5817.016320485613,
135
+ "intensity": 1.0162532948291303
136
+ },
137
+ "directional_fill": {
138
+ "direction": [
139
+ 0.08504117971366258,
140
+ -0.3202773640944039,
141
+ -0.9434990226818728
142
+ ],
143
+ "color": [
144
+ 0.8180852838650609,
145
+ 0.7989367579745935,
146
+ 0.7661107135909352
147
+ ],
148
+ "azimuth_rad": -1.3112614722645917,
149
+ "elevation_rad": 1.2330354601548543,
150
+ "color_temp_k": 5157.606979359287,
151
+ "intensity": 0.7989367579745935
152
+ },
153
+ "point_color_scale": [
154
+ 0.9805043746587029,
155
+ 0.9995868799424613,
156
+ 1.0301188883964751
157
+ ],
158
+ "shadow": true
159
+ }
160
+ },
161
+ "frames": [
162
+ {
163
+ "frame_idx": 0,
164
+ "qpos": [
165
+ 0.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0
171
+ ]
172
+ }
173
+ ]
174
+ }
ur_10e/ProcTHOR/test/bg_000191/scene_b00_005/scene_meta.json ADDED
@@ -0,0 +1,174 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "ur_10e",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 191,
7
+ "base_idx": 0,
8
+ "cam_idx": 4,
9
+ "n_dof": 6,
10
+ "num_links": 8,
11
+ "joint_names": [
12
+ "shoulder_pan_joint",
13
+ "shoulder_lift_joint",
14
+ "elbow_joint",
15
+ "wrist_1_joint",
16
+ "wrist_2_joint",
17
+ "wrist_3_joint"
18
+ ],
19
+ "link_names": [
20
+ "dummy_root_0",
21
+ "base",
22
+ "shoulder_link",
23
+ "upper_arm_link",
24
+ "forearm_link",
25
+ "wrist_1_link",
26
+ "wrist_2_link",
27
+ "wrist_3_link"
28
+ ],
29
+ "ee_link_name": "wrist_3_link",
30
+ "image_width": 640,
31
+ "image_height": 480,
32
+ "fovy_rad": 1.0345919490737283,
33
+ "K": [
34
+ [
35
+ 438.6514285551263,
36
+ 0.0,
37
+ 298.7340263540315
38
+ ],
39
+ [
40
+ 0.0,
41
+ 421.80974778276567,
42
+ 260.8815921551476
43
+ ],
44
+ [
45
+ 0.0,
46
+ 0.0,
47
+ 1.0
48
+ ]
49
+ ],
50
+ "camera_eye": [
51
+ -11.544676342369291,
52
+ -4.909715986810625,
53
+ 1.7842032447211957
54
+ ],
55
+ "camera_target": [
56
+ -10.433217408926817,
57
+ -7.088726486756063,
58
+ 0.9393649673244907
59
+ ],
60
+ "camera_roll_rad": 0.031180422092009982,
61
+ "camera_pose_world_cv": [
62
+ [
63
+ -0.8983211517333984,
64
+ -0.09253205358982086,
65
+ 0.4294847846031189,
66
+ -11.544676780700684
67
+ ],
68
+ [
69
+ -0.4353727698326111,
70
+ 0.31856346130371094,
71
+ -0.8420023918151855,
72
+ -4.9097161293029785
73
+ ],
74
+ [
75
+ -0.058905914425849915,
76
+ -0.9433743953704834,
77
+ -0.3264580965042114,
78
+ 1.784203290939331
79
+ ],
80
+ [
81
+ 0.0,
82
+ 0.0,
83
+ 0.0,
84
+ 1.0
85
+ ]
86
+ ],
87
+ "T_base_world": [
88
+ [
89
+ 0.9703622460365295,
90
+ -0.24165502190589905,
91
+ 0.0,
92
+ -10.426219940185547
93
+ ],
94
+ [
95
+ 0.24165502190589905,
96
+ 0.9703622460365295,
97
+ 0.0,
98
+ -7.069668292999268
99
+ ],
100
+ [
101
+ 0.0,
102
+ 0.0,
103
+ 1.0,
104
+ 0.7581021785736084
105
+ ],
106
+ [
107
+ 0.0,
108
+ 0.0,
109
+ 0.0,
110
+ 1.0
111
+ ]
112
+ ],
113
+ "lighting": {
114
+ "aug_enabled": true,
115
+ "params": {
116
+ "ambient": [
117
+ 0.21949021246459532,
118
+ 0.23689562380780513,
119
+ 0.24163008638705008
120
+ ],
121
+ "directional_primary": {
122
+ "direction": [
123
+ 0.5316919141838249,
124
+ -0.5695727172567494,
125
+ -0.6268098803850359
126
+ ],
127
+ "color": [
128
+ 1.1012036629705109,
129
+ 1.0682333662105539,
130
+ 1.0117128574791994
131
+ ],
132
+ "azimuth_rad": -0.8197821547743387,
133
+ "elevation_rad": 0.6774521941721563,
134
+ "color_temp_k": 5059.081138703995,
135
+ "intensity": 1.0682333662105539
136
+ },
137
+ "directional_fill": {
138
+ "direction": [
139
+ 0.08504117971366258,
140
+ -0.3202773640944039,
141
+ -0.9434990226818728
142
+ ],
143
+ "color": [
144
+ 0.9295975513882322,
145
+ 0.9178628567047229,
146
+ 0.8977462372472782
147
+ ],
148
+ "azimuth_rad": -1.3112614722645917,
149
+ "elevation_rad": 1.2330354601548543,
150
+ "color_temp_k": 5317.35997458209,
151
+ "intensity": 0.9178628567047229
152
+ },
153
+ "point_color_scale": [
154
+ 1.128470178054918,
155
+ 1.0884396431514392,
156
+ 1.0198158690311896
157
+ ],
158
+ "shadow": true
159
+ }
160
+ },
161
+ "frames": [
162
+ {
163
+ "frame_idx": 0,
164
+ "qpos": [
165
+ 0.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0
171
+ ]
172
+ }
173
+ ]
174
+ }
ur_10e/ProcTHOR/test/bg_000191/scene_b00_006/scene_meta.json ADDED
@@ -0,0 +1,174 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "ur_10e",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 191,
7
+ "base_idx": 0,
8
+ "cam_idx": 5,
9
+ "n_dof": 6,
10
+ "num_links": 8,
11
+ "joint_names": [
12
+ "shoulder_pan_joint",
13
+ "shoulder_lift_joint",
14
+ "elbow_joint",
15
+ "wrist_1_joint",
16
+ "wrist_2_joint",
17
+ "wrist_3_joint"
18
+ ],
19
+ "link_names": [
20
+ "dummy_root_0",
21
+ "base",
22
+ "shoulder_link",
23
+ "upper_arm_link",
24
+ "forearm_link",
25
+ "wrist_1_link",
26
+ "wrist_2_link",
27
+ "wrist_3_link"
28
+ ],
29
+ "ee_link_name": "wrist_3_link",
30
+ "image_width": 640,
31
+ "image_height": 480,
32
+ "fovy_rad": 1.0150930954813913,
33
+ "K": [
34
+ [
35
+ 419.61943403071746,
36
+ 0.0,
37
+ 315.172557372344
38
+ ],
39
+ [
40
+ 0.0,
41
+ 431.54443845859976,
42
+ 240.6694361990154
43
+ ],
44
+ [
45
+ 0.0,
46
+ 0.0,
47
+ 1.0
48
+ ]
49
+ ],
50
+ "camera_eye": [
51
+ -9.307606962452446,
52
+ -8.236873931854095,
53
+ 1.85582861004798
54
+ ],
55
+ "camera_target": [
56
+ -10.389576675230817,
57
+ -7.093512147647487,
58
+ 0.957465091845135
59
+ ],
60
+ "camera_roll_rad": -0.002693300296619641,
61
+ "camera_pose_world_cv": [
62
+ [
63
+ 0.7244920134544373,
64
+ 0.3445942997932434,
65
+ -0.5969641208648682,
66
+ -9.30760669708252
67
+ ],
68
+ [
69
+ 0.6892673373222351,
70
+ -0.356309711933136,
71
+ 0.630836009979248,
72
+ -8.236873626708984
73
+ ],
74
+ [
75
+ 0.004678308963775635,
76
+ -0.8685034513473511,
77
+ -0.4956611394882202,
78
+ 1.8558286428451538
79
+ ],
80
+ [
81
+ 0.0,
82
+ 0.0,
83
+ 0.0,
84
+ 1.0
85
+ ]
86
+ ],
87
+ "T_base_world": [
88
+ [
89
+ 0.9703622460365295,
90
+ -0.24165502190589905,
91
+ 0.0,
92
+ -10.426219940185547
93
+ ],
94
+ [
95
+ 0.24165502190589905,
96
+ 0.9703622460365295,
97
+ 0.0,
98
+ -7.069668292999268
99
+ ],
100
+ [
101
+ 0.0,
102
+ 0.0,
103
+ 1.0,
104
+ 0.7581021785736084
105
+ ],
106
+ [
107
+ 0.0,
108
+ 0.0,
109
+ 0.0,
110
+ 1.0
111
+ ]
112
+ ],
113
+ "lighting": {
114
+ "aug_enabled": true,
115
+ "params": {
116
+ "ambient": [
117
+ 0.31842036074183544,
118
+ 0.3162683897965171,
119
+ 0.31680374740753364
120
+ ],
121
+ "directional_primary": {
122
+ "direction": [
123
+ 0.5316919141838249,
124
+ -0.5695727172567494,
125
+ -0.6268098803850359
126
+ ],
127
+ "color": [
128
+ 0.8227954501746297,
129
+ 0.8645318937150258,
130
+ 0.9313102033796595
131
+ ],
132
+ "azimuth_rad": -0.8197821547743387,
133
+ "elevation_rad": 0.6774521941721563,
134
+ "color_temp_k": 6447.235356804959,
135
+ "intensity": 0.8812264711311842
136
+ },
137
+ "directional_fill": {
138
+ "direction": [
139
+ 0.08504117971366258,
140
+ -0.3202773640944039,
141
+ -0.9434990226818728
142
+ ],
143
+ "color": [
144
+ 0.7111289148966747,
145
+ 0.7202835592638175,
146
+ 0.7349309902512459
147
+ ],
148
+ "azimuth_rad": -1.3112614722645917,
149
+ "elevation_rad": 1.2330354601548543,
150
+ "color_temp_k": 5752.909795463425,
151
+ "intensity": 0.7239454170106746
152
+ },
153
+ "point_color_scale": [
154
+ 0.9457631940140006,
155
+ 0.9761704608697158,
156
+ 1.0248220878388603
157
+ ],
158
+ "shadow": true
159
+ }
160
+ },
161
+ "frames": [
162
+ {
163
+ "frame_idx": 0,
164
+ "qpos": [
165
+ 0.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0
171
+ ]
172
+ }
173
+ ]
174
+ }
ur_10e/ProcTHOR/test/bg_000191/scene_b00_007/scene_meta.json ADDED
@@ -0,0 +1,174 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "ur_10e",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 191,
7
+ "base_idx": 0,
8
+ "cam_idx": 6,
9
+ "n_dof": 6,
10
+ "num_links": 8,
11
+ "joint_names": [
12
+ "shoulder_pan_joint",
13
+ "shoulder_lift_joint",
14
+ "elbow_joint",
15
+ "wrist_1_joint",
16
+ "wrist_2_joint",
17
+ "wrist_3_joint"
18
+ ],
19
+ "link_names": [
20
+ "dummy_root_0",
21
+ "base",
22
+ "shoulder_link",
23
+ "upper_arm_link",
24
+ "forearm_link",
25
+ "wrist_1_link",
26
+ "wrist_2_link",
27
+ "wrist_3_link"
28
+ ],
29
+ "ee_link_name": "wrist_3_link",
30
+ "image_width": 640,
31
+ "image_height": 480,
32
+ "fovy_rad": 1.1989617093181386,
33
+ "K": [
34
+ [
35
+ 354.81914056910625,
36
+ 0.0,
37
+ 288.6252529445254
38
+ ],
39
+ [
40
+ 0.0,
41
+ 351.19812281467625,
42
+ 231.5049754050273
43
+ ],
44
+ [
45
+ 0.0,
46
+ 0.0,
47
+ 1.0
48
+ ]
49
+ ],
50
+ "camera_eye": [
51
+ -9.008551225747805,
52
+ -5.277410111873566,
53
+ 1.1247449547101578
54
+ ],
55
+ "camera_target": [
56
+ -10.443646292698011,
57
+ -7.095839220282727,
58
+ 0.9168762967549209
59
+ ],
60
+ "camera_roll_rad": 0.010621191314951234,
61
+ "camera_pose_world_cv": [
62
+ [
63
+ -0.783636212348938,
64
+ 0.07202979922294617,
65
+ -0.6170303225517273,
66
+ -9.008551597595215
67
+ ],
68
+ [
69
+ 0.6208599805831909,
70
+ 0.0569835901260376,
71
+ -0.7818477749824524,
72
+ -5.27741003036499
73
+ ],
74
+ [
75
+ -0.02115577459335327,
76
+ -0.9957734942436218,
77
+ -0.08937466144561768,
78
+ 1.1247450113296509
79
+ ],
80
+ [
81
+ 0.0,
82
+ 0.0,
83
+ 0.0,
84
+ 1.0
85
+ ]
86
+ ],
87
+ "T_base_world": [
88
+ [
89
+ 0.9703622460365295,
90
+ -0.24165502190589905,
91
+ 0.0,
92
+ -10.426219940185547
93
+ ],
94
+ [
95
+ 0.24165502190589905,
96
+ 0.9703622460365295,
97
+ 0.0,
98
+ -7.069668292999268
99
+ ],
100
+ [
101
+ 0.0,
102
+ 0.0,
103
+ 1.0,
104
+ 0.7581021785736084
105
+ ],
106
+ [
107
+ 0.0,
108
+ 0.0,
109
+ 0.0,
110
+ 1.0
111
+ ]
112
+ ],
113
+ "lighting": {
114
+ "aug_enabled": true,
115
+ "params": {
116
+ "ambient": [
117
+ 0.35569645433669383,
118
+ 0.361287345986723,
119
+ 0.34086171025274686
120
+ ],
121
+ "directional_primary": {
122
+ "direction": [
123
+ 0.5316919141838249,
124
+ -0.5695727172567494,
125
+ -0.6268098803850359
126
+ ],
127
+ "color": [
128
+ 0.9057279148166448,
129
+ 0.9355851473949945,
130
+ 0.983356719520354
131
+ ],
132
+ "azimuth_rad": -0.8197821547743387,
133
+ "elevation_rad": 0.6774521941721563,
134
+ "color_temp_k": 6130.213171631642,
135
+ "intensity": 0.9475280404263344
136
+ },
137
+ "directional_fill": {
138
+ "direction": [
139
+ 0.08504117971366258,
140
+ -0.3202773640944039,
141
+ -0.9434990226818728
142
+ ],
143
+ "color": [
144
+ 0.8732470841546528,
145
+ 0.872227330655635,
146
+ 0.8704791818001759
147
+ ],
148
+ "azimuth_rad": -1.3112614722645917,
149
+ "elevation_rad": 1.2330354601548543,
150
+ "color_temp_k": 5483.298038691501,
151
+ "intensity": 0.872227330655635
152
+ },
153
+ "point_color_scale": [
154
+ 1.1510285329532053,
155
+ 1.1797854207219218,
156
+ 1.2257964411518685
157
+ ],
158
+ "shadow": false
159
+ }
160
+ },
161
+ "frames": [
162
+ {
163
+ "frame_idx": 0,
164
+ "qpos": [
165
+ 0.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0
171
+ ]
172
+ }
173
+ ]
174
+ }
ur_10e/ProcTHOR/test/bg_000191/scene_b00_014/scene_meta.json ADDED
@@ -0,0 +1,174 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "ur_10e",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 191,
7
+ "base_idx": 0,
8
+ "cam_idx": 13,
9
+ "n_dof": 6,
10
+ "num_links": 8,
11
+ "joint_names": [
12
+ "shoulder_pan_joint",
13
+ "shoulder_lift_joint",
14
+ "elbow_joint",
15
+ "wrist_1_joint",
16
+ "wrist_2_joint",
17
+ "wrist_3_joint"
18
+ ],
19
+ "link_names": [
20
+ "dummy_root_0",
21
+ "base",
22
+ "shoulder_link",
23
+ "upper_arm_link",
24
+ "forearm_link",
25
+ "wrist_1_link",
26
+ "wrist_2_link",
27
+ "wrist_3_link"
28
+ ],
29
+ "ee_link_name": "wrist_3_link",
30
+ "image_width": 640,
31
+ "image_height": 480,
32
+ "fovy_rad": 1.3026021184259138,
33
+ "K": [
34
+ [
35
+ 321.9427074767542,
36
+ 0.0,
37
+ 343.14068996893883
38
+ ],
39
+ [
40
+ 0.0,
41
+ 314.85345243690347,
42
+ 259.02661518108357
43
+ ],
44
+ [
45
+ 0.0,
46
+ 0.0,
47
+ 1.0
48
+ ]
49
+ ],
50
+ "camera_eye": [
51
+ -11.39874435408847,
52
+ -7.891769077524056,
53
+ 1.3195671148085026
54
+ ],
55
+ "camera_target": [
56
+ -10.425056159231803,
57
+ -7.117476093913785,
58
+ 0.8742058536886722
59
+ ],
60
+ "camera_roll_rad": 0.0003442501591557415,
61
+ "camera_pose_world_cv": [
62
+ [
63
+ 0.622227668762207,
64
+ -0.2642364501953125,
65
+ 0.7368934154510498,
66
+ -11.398744583129883
67
+ ],
68
+ [
69
+ -0.7828360795974731,
70
+ -0.20924556255340576,
71
+ 0.5859897136688232,
72
+ -7.891768932342529
73
+ ],
74
+ [
75
+ -0.0006482303142547607,
76
+ -0.9414857625961304,
77
+ -0.33705222606658936,
78
+ 1.319567084312439
79
+ ],
80
+ [
81
+ 0.0,
82
+ 0.0,
83
+ 0.0,
84
+ 1.0
85
+ ]
86
+ ],
87
+ "T_base_world": [
88
+ [
89
+ 0.9703622460365295,
90
+ -0.24165502190589905,
91
+ 0.0,
92
+ -10.426219940185547
93
+ ],
94
+ [
95
+ 0.24165502190589905,
96
+ 0.9703622460365295,
97
+ 0.0,
98
+ -7.069668292999268
99
+ ],
100
+ [
101
+ 0.0,
102
+ 0.0,
103
+ 1.0,
104
+ 0.7581021785736084
105
+ ],
106
+ [
107
+ 0.0,
108
+ 0.0,
109
+ 0.0,
110
+ 1.0
111
+ ]
112
+ ],
113
+ "lighting": {
114
+ "aug_enabled": true,
115
+ "params": {
116
+ "ambient": [
117
+ 0.3044076094144424,
118
+ 0.27664778769665666,
119
+ 0.278588008414975
120
+ ],
121
+ "directional_primary": {
122
+ "direction": [
123
+ 0.5316919141838249,
124
+ -0.5695727172567494,
125
+ -0.6268098803850359
126
+ ],
127
+ "color": [
128
+ 1.0217129636588251,
129
+ 0.9994262231514337,
130
+ 0.9612203822816199
131
+ ],
132
+ "azimuth_rad": -0.8197821547743387,
133
+ "elevation_rad": 0.6774521941721563,
134
+ "color_temp_k": 5181.435207648932,
135
+ "intensity": 0.9994262231514337
136
+ },
137
+ "directional_fill": {
138
+ "direction": [
139
+ 0.08504117971366258,
140
+ -0.3202773640944039,
141
+ -0.9434990226818728
142
+ ],
143
+ "color": [
144
+ 0.7526538055032826,
145
+ 0.7602402970787008,
146
+ 0.7723786835993697
147
+ ],
148
+ "azimuth_rad": -1.3112614722645917,
149
+ "elevation_rad": 1.2330354601548543,
150
+ "color_temp_k": 5698.787923930112,
151
+ "intensity": 0.763274893708868
152
+ },
153
+ "point_color_scale": [
154
+ 0.8242826486366222,
155
+ 0.8304683926305539,
156
+ 0.8403655830208445
157
+ ],
158
+ "shadow": true
159
+ }
160
+ },
161
+ "frames": [
162
+ {
163
+ "frame_idx": 0,
164
+ "qpos": [
165
+ 0.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0
171
+ ]
172
+ }
173
+ ]
174
+ }
ur_10e/ProcTHOR/test/bg_000191/scene_b00_016/scene_meta.json ADDED
@@ -0,0 +1,174 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "ur_10e",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 191,
7
+ "base_idx": 0,
8
+ "cam_idx": 15,
9
+ "n_dof": 6,
10
+ "num_links": 8,
11
+ "joint_names": [
12
+ "shoulder_pan_joint",
13
+ "shoulder_lift_joint",
14
+ "elbow_joint",
15
+ "wrist_1_joint",
16
+ "wrist_2_joint",
17
+ "wrist_3_joint"
18
+ ],
19
+ "link_names": [
20
+ "dummy_root_0",
21
+ "base",
22
+ "shoulder_link",
23
+ "upper_arm_link",
24
+ "forearm_link",
25
+ "wrist_1_link",
26
+ "wrist_2_link",
27
+ "wrist_3_link"
28
+ ],
29
+ "ee_link_name": "wrist_3_link",
30
+ "image_width": 640,
31
+ "image_height": 480,
32
+ "fovy_rad": 0.9914302986012474,
33
+ "K": [
34
+ [
35
+ 446.18448246034836,
36
+ 0.0,
37
+ 293.11068587632093
38
+ ],
39
+ [
40
+ 0.0,
41
+ 443.826539228417,
42
+ 262.25660566186275
43
+ ],
44
+ [
45
+ 0.0,
46
+ 0.0,
47
+ 1.0
48
+ ]
49
+ ],
50
+ "camera_eye": [
51
+ -11.14094936082858,
52
+ -5.020758365718384,
53
+ 1.8868057772560172
54
+ ],
55
+ "camera_target": [
56
+ -10.454820648380888,
57
+ -7.064951028546915,
58
+ 0.9650610739374426
59
+ ],
60
+ "camera_roll_rad": -0.02473503463699603,
61
+ "camera_pose_world_cv": [
62
+ [
63
+ -0.940678596496582,
64
+ -0.17180056869983673,
65
+ 0.29258993268013,
66
+ -11.140949249267578
67
+ ],
68
+ [
69
+ -0.336239218711853,
70
+ 0.35644376277923584,
71
+ -0.8717174530029297,
72
+ -5.020758152008057
73
+ ],
74
+ [
75
+ 0.04546970874071121,
76
+ -0.9183858633041382,
77
+ -0.39306485652923584,
78
+ 1.886805772781372
79
+ ],
80
+ [
81
+ 0.0,
82
+ 0.0,
83
+ 0.0,
84
+ 1.0
85
+ ]
86
+ ],
87
+ "T_base_world": [
88
+ [
89
+ 0.9703622460365295,
90
+ -0.24165502190589905,
91
+ 0.0,
92
+ -10.426219940185547
93
+ ],
94
+ [
95
+ 0.24165502190589905,
96
+ 0.9703622460365295,
97
+ 0.0,
98
+ -7.069668292999268
99
+ ],
100
+ [
101
+ 0.0,
102
+ 0.0,
103
+ 1.0,
104
+ 0.7581021785736084
105
+ ],
106
+ [
107
+ 0.0,
108
+ 0.0,
109
+ 0.0,
110
+ 1.0
111
+ ]
112
+ ],
113
+ "lighting": {
114
+ "aug_enabled": true,
115
+ "params": {
116
+ "ambient": [
117
+ 0.32129960602458246,
118
+ 0.31842935953625157,
119
+ 0.34040564213528945
120
+ ],
121
+ "directional_primary": {
122
+ "direction": [
123
+ 0.5316919141838249,
124
+ -0.5695727172567494,
125
+ -0.6268098803850359
126
+ ],
127
+ "color": [
128
+ 1.084541283484758,
129
+ 1.1409739235229022,
130
+ 1.2312661475839333
131
+ ],
132
+ "azimuth_rad": -0.8197821547743387,
133
+ "elevation_rad": 0.6774521941721563,
134
+ "color_temp_k": 6470.01051148865,
135
+ "intensity": 1.1635469795381599
136
+ },
137
+ "directional_fill": {
138
+ "direction": [
139
+ 0.08504117971366258,
140
+ -0.3202773640944039,
141
+ -0.9434990226818728
142
+ ],
143
+ "color": [
144
+ 0.7632327329038124,
145
+ 0.7914163629104715,
146
+ 0.836510170921126
147
+ ],
148
+ "azimuth_rad": -1.3112614722645917,
149
+ "elevation_rad": 1.2330354601548543,
150
+ "color_temp_k": 6202.229665383484,
151
+ "intensity": 0.8026898149131351
152
+ },
153
+ "point_color_scale": [
154
+ 1.058531334092647,
155
+ 1.0586352632542626,
156
+ 1.0588015499128476
157
+ ],
158
+ "shadow": true
159
+ }
160
+ },
161
+ "frames": [
162
+ {
163
+ "frame_idx": 0,
164
+ "qpos": [
165
+ 0.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0
171
+ ]
172
+ }
173
+ ]
174
+ }
ur_10e/ProcTHOR/test/bg_000191/scene_b01_002/scene_meta.json ADDED
@@ -0,0 +1,174 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "ur_10e",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 191,
7
+ "base_idx": 1,
8
+ "cam_idx": 1,
9
+ "n_dof": 6,
10
+ "num_links": 8,
11
+ "joint_names": [
12
+ "shoulder_pan_joint",
13
+ "shoulder_lift_joint",
14
+ "elbow_joint",
15
+ "wrist_1_joint",
16
+ "wrist_2_joint",
17
+ "wrist_3_joint"
18
+ ],
19
+ "link_names": [
20
+ "dummy_root_0",
21
+ "base",
22
+ "shoulder_link",
23
+ "upper_arm_link",
24
+ "forearm_link",
25
+ "wrist_1_link",
26
+ "wrist_2_link",
27
+ "wrist_3_link"
28
+ ],
29
+ "ee_link_name": "wrist_3_link",
30
+ "image_width": 640,
31
+ "image_height": 480,
32
+ "fovy_rad": 1.141573563609982,
33
+ "K": [
34
+ [
35
+ 391.2330976167597,
36
+ 0.0,
37
+ 304.0416889871137
38
+ ],
39
+ [
40
+ 0.0,
41
+ 373.78570120404606,
42
+ 223.64978218798836
43
+ ],
44
+ [
45
+ 0.0,
46
+ 0.0,
47
+ 1.0
48
+ ]
49
+ ],
50
+ "camera_eye": [
51
+ -10.80005204629705,
52
+ -9.850780550130834,
53
+ 1.1444719217105856
54
+ ],
55
+ "camera_target": [
56
+ -10.352215707017226,
57
+ -7.897360314490649,
58
+ 0.8714653169867752
59
+ ],
60
+ "camera_roll_rad": 0.04995658423429983,
61
+ "camera_pose_world_cv": [
62
+ [
63
+ 0.9668434858322144,
64
+ -0.12723639607429504,
65
+ 0.22141504287719727,
66
+ -10.80005168914795
67
+ ],
68
+ [
69
+ -0.23546871542930603,
70
+ -0.10861879587173462,
71
+ 0.9657931327819824,
72
+ -9.850780487060547
73
+ ],
74
+ [
75
+ -0.09883421659469604,
76
+ -0.9859070777893066,
77
+ -0.1349775791168213,
78
+ 1.1444718837738037
79
+ ],
80
+ [
81
+ 0.0,
82
+ 0.0,
83
+ 0.0,
84
+ 1.0
85
+ ]
86
+ ],
87
+ "T_base_world": [
88
+ [
89
+ -0.9078261852264404,
90
+ 0.4193468987941742,
91
+ 0.0,
92
+ -10.379410743713379
93
+ ],
94
+ [
95
+ -0.4193468987941742,
96
+ -0.9078261852264404,
97
+ -0.0,
98
+ -7.938066005706787
99
+ ],
100
+ [
101
+ -0.0,
102
+ 0.0,
103
+ 1.0,
104
+ 0.7581021785736084
105
+ ],
106
+ [
107
+ 0.0,
108
+ 0.0,
109
+ 0.0,
110
+ 1.0
111
+ ]
112
+ ],
113
+ "lighting": {
114
+ "aug_enabled": true,
115
+ "params": {
116
+ "ambient": [
117
+ 0.27406819308729163,
118
+ 0.2768523295685541,
119
+ 0.29450977157620317
120
+ ],
121
+ "directional_primary": {
122
+ "direction": [
123
+ 0.5316919141838249,
124
+ -0.5695727172567494,
125
+ -0.6268098803850359
126
+ ],
127
+ "color": [
128
+ 1.0130527037353927,
129
+ 0.9761770166342714,
130
+ 0.9129615530323493
131
+ ],
132
+ "azimuth_rad": -0.8197821547743387,
133
+ "elevation_rad": 0.6774521941721563,
134
+ "color_temp_k": 4960.348357890724,
135
+ "intensity": 0.9761770166342714
136
+ },
137
+ "directional_fill": {
138
+ "direction": [
139
+ 0.08504117971366258,
140
+ -0.3202773640944039,
141
+ -0.9434990226818728
142
+ ],
143
+ "color": [
144
+ 0.5905158770624126,
145
+ 0.6150616490536363,
146
+ 0.6543348842395943
147
+ ],
148
+ "azimuth_rad": -1.3112614722645917,
149
+ "elevation_rad": 1.2330354601548543,
150
+ "color_temp_k": 6285.615594895137,
151
+ "intensity": 0.6248799578501257
152
+ },
153
+ "point_color_scale": [
154
+ 0.9982913967689009,
155
+ 0.9717295655408407,
156
+ 0.9261949977213091
157
+ ],
158
+ "shadow": true
159
+ }
160
+ },
161
+ "frames": [
162
+ {
163
+ "frame_idx": 0,
164
+ "qpos": [
165
+ 0.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0
171
+ ]
172
+ }
173
+ ]
174
+ }
ur_10e/ProcTHOR/test/bg_000191/scene_b01_006/scene_meta.json ADDED
@@ -0,0 +1,174 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "ur_10e",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 191,
7
+ "base_idx": 1,
8
+ "cam_idx": 5,
9
+ "n_dof": 6,
10
+ "num_links": 8,
11
+ "joint_names": [
12
+ "shoulder_pan_joint",
13
+ "shoulder_lift_joint",
14
+ "elbow_joint",
15
+ "wrist_1_joint",
16
+ "wrist_2_joint",
17
+ "wrist_3_joint"
18
+ ],
19
+ "link_names": [
20
+ "dummy_root_0",
21
+ "base",
22
+ "shoulder_link",
23
+ "upper_arm_link",
24
+ "forearm_link",
25
+ "wrist_1_link",
26
+ "wrist_2_link",
27
+ "wrist_3_link"
28
+ ],
29
+ "ee_link_name": "wrist_3_link",
30
+ "image_width": 640,
31
+ "image_height": 480,
32
+ "fovy_rad": 0.8244934042496185,
33
+ "K": [
34
+ [
35
+ 561.3313360311332,
36
+ 0.0,
37
+ 300.61004544573456
38
+ ],
39
+ [
40
+ 0.0,
41
+ 548.8161268771078,
42
+ 251.28855052189934
43
+ ],
44
+ [
45
+ 0.0,
46
+ 0.0,
47
+ 1.0
48
+ ]
49
+ ],
50
+ "camera_eye": [
51
+ -12.112328548379415,
52
+ -7.501132079882098,
53
+ 1.206838307329097
54
+ ],
55
+ "camera_target": [
56
+ -10.333823572950063,
57
+ -7.927823673705292,
58
+ 1.0068774545641765
59
+ ],
60
+ "camera_roll_rad": -0.009814546430312057,
61
+ "camera_pose_world_cv": [
62
+ [
63
+ -0.23117637634277344,
64
+ -0.11024162173271179,
65
+ 0.9666459560394287,
66
+ -12.11232852935791
67
+ ],
68
+ [
69
+ -0.972716212272644,
70
+ 0.0062639713287353516,
71
+ -0.23191362619400024,
72
+ -7.501132011413574
73
+ ],
74
+ [
75
+ 0.019511550664901733,
76
+ -0.9938850998878479,
77
+ -0.10868185758590698,
78
+ 1.2068382501602173
79
+ ],
80
+ [
81
+ 0.0,
82
+ 0.0,
83
+ 0.0,
84
+ 1.0
85
+ ]
86
+ ],
87
+ "T_base_world": [
88
+ [
89
+ -0.9078261852264404,
90
+ 0.4193468987941742,
91
+ 0.0,
92
+ -10.379410743713379
93
+ ],
94
+ [
95
+ -0.4193468987941742,
96
+ -0.9078261852264404,
97
+ -0.0,
98
+ -7.938066005706787
99
+ ],
100
+ [
101
+ -0.0,
102
+ 0.0,
103
+ 1.0,
104
+ 0.7581021785736084
105
+ ],
106
+ [
107
+ 0.0,
108
+ 0.0,
109
+ 0.0,
110
+ 1.0
111
+ ]
112
+ ],
113
+ "lighting": {
114
+ "aug_enabled": true,
115
+ "params": {
116
+ "ambient": [
117
+ 0.26894825470169453,
118
+ 0.25838112557590864,
119
+ 0.25396634928899015
120
+ ],
121
+ "directional_primary": {
122
+ "direction": [
123
+ 0.5316919141838249,
124
+ -0.5695727172567494,
125
+ -0.6268098803850359
126
+ ],
127
+ "color": [
128
+ 0.9236936576417126,
129
+ 0.9653794119078856,
130
+ 1.0320766187337622
131
+ ],
132
+ "azimuth_rad": -0.8197821547743387,
133
+ "elevation_rad": 0.6774521941721563,
134
+ "color_temp_k": 6348.950595843735,
135
+ "intensity": 0.9820537136143547
136
+ },
137
+ "directional_fill": {
138
+ "direction": [
139
+ 0.08504117971366258,
140
+ -0.3202773640944039,
141
+ -0.9434990226818728
142
+ ],
143
+ "color": [
144
+ 0.8543545178030779,
145
+ 0.880252398507078,
146
+ 0.9216890076334783
147
+ ],
148
+ "azimuth_rad": -1.3112614722645917,
149
+ "elevation_rad": 1.2330354601548543,
150
+ "color_temp_k": 6081.575226170518,
151
+ "intensity": 0.890611550788678
152
+ },
153
+ "point_color_scale": [
154
+ 1.048705614520887,
155
+ 1.0599002471456787,
156
+ 1.0778116593453455
157
+ ],
158
+ "shadow": true
159
+ }
160
+ },
161
+ "frames": [
162
+ {
163
+ "frame_idx": 0,
164
+ "qpos": [
165
+ 0.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0
171
+ ]
172
+ }
173
+ ]
174
+ }
ur_10e/ProcTHOR/test/bg_000191/scene_b01_007/scene_meta.json ADDED
@@ -0,0 +1,174 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "ur_10e",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 191,
7
+ "base_idx": 1,
8
+ "cam_idx": 6,
9
+ "n_dof": 6,
10
+ "num_links": 8,
11
+ "joint_names": [
12
+ "shoulder_pan_joint",
13
+ "shoulder_lift_joint",
14
+ "elbow_joint",
15
+ "wrist_1_joint",
16
+ "wrist_2_joint",
17
+ "wrist_3_joint"
18
+ ],
19
+ "link_names": [
20
+ "dummy_root_0",
21
+ "base",
22
+ "shoulder_link",
23
+ "upper_arm_link",
24
+ "forearm_link",
25
+ "wrist_1_link",
26
+ "wrist_2_link",
27
+ "wrist_3_link"
28
+ ],
29
+ "ee_link_name": "wrist_3_link",
30
+ "image_width": 640,
31
+ "image_height": 480,
32
+ "fovy_rad": 1.097191657543339,
33
+ "K": [
34
+ [
35
+ 406.38684064501325,
36
+ 0.0,
37
+ 342.5653529444066
38
+ ],
39
+ [
40
+ 0.0,
41
+ 392.6862978971574,
42
+ 232.15946726896632
43
+ ],
44
+ [
45
+ 0.0,
46
+ 0.0,
47
+ 1.0
48
+ ]
49
+ ],
50
+ "camera_eye": [
51
+ -11.0729534661581,
52
+ -10.151584563551129,
53
+ 1.046002777809543
54
+ ],
55
+ "camera_target": [
56
+ -10.378035724518455,
57
+ -7.965642459491232,
58
+ 0.9434559680611603
59
+ ],
60
+ "camera_roll_rad": -0.011941746722414263,
61
+ "camera_pose_world_cv": [
62
+ [
63
+ 0.9530538320541382,
64
+ 0.00923164188861847,
65
+ 0.30266016721725464,
66
+ -11.072953224182129
67
+ ],
68
+ [
69
+ -0.30185961723327637,
70
+ -0.049786388874053955,
71
+ 0.9520516395568848,
72
+ -10.15158462524414
73
+ ],
74
+ [
75
+ 0.02385738492012024,
76
+ -0.9987173080444336,
77
+ -0.044662415981292725,
78
+ 1.046002745628357
79
+ ],
80
+ [
81
+ 0.0,
82
+ 0.0,
83
+ 0.0,
84
+ 1.0
85
+ ]
86
+ ],
87
+ "T_base_world": [
88
+ [
89
+ -0.9078261852264404,
90
+ 0.4193468987941742,
91
+ 0.0,
92
+ -10.379410743713379
93
+ ],
94
+ [
95
+ -0.4193468987941742,
96
+ -0.9078261852264404,
97
+ -0.0,
98
+ -7.938066005706787
99
+ ],
100
+ [
101
+ -0.0,
102
+ 0.0,
103
+ 1.0,
104
+ 0.7581021785736084
105
+ ],
106
+ [
107
+ 0.0,
108
+ 0.0,
109
+ 0.0,
110
+ 1.0
111
+ ]
112
+ ],
113
+ "lighting": {
114
+ "aug_enabled": true,
115
+ "params": {
116
+ "ambient": [
117
+ 0.3538671143559758,
118
+ 0.3662413899862959,
119
+ 0.32966868703285807
120
+ ],
121
+ "directional_primary": {
122
+ "direction": [
123
+ 0.5316919141838249,
124
+ -0.5695727172567494,
125
+ -0.6268098803850359
126
+ ],
127
+ "color": [
128
+ 1.0162820632470715,
129
+ 0.9780607412223187,
130
+ 0.9125384748941713
131
+ ],
132
+ "azimuth_rad": -0.8197821547743387,
133
+ "elevation_rad": 0.6774521941721563,
134
+ "color_temp_k": 4941.733153111211,
135
+ "intensity": 0.9780607412223187
136
+ },
137
+ "directional_fill": {
138
+ "direction": [
139
+ 0.08504117971366258,
140
+ -0.3202773640944039,
141
+ -0.9434990226818728
142
+ ],
143
+ "color": [
144
+ 0.8720350944975956,
145
+ 0.8630265065785595,
146
+ 0.8475832130030687
147
+ ],
148
+ "azimuth_rad": -1.3112614722645917,
149
+ "elevation_rad": 1.2330354601548543,
150
+ "color_temp_k": 5350.880462942798,
151
+ "intensity": 0.8630265065785595
152
+ },
153
+ "point_color_scale": [
154
+ 1.0159811490603483,
155
+ 0.9968606102277657,
156
+ 0.9640825436576241
157
+ ],
158
+ "shadow": false
159
+ }
160
+ },
161
+ "frames": [
162
+ {
163
+ "frame_idx": 0,
164
+ "qpos": [
165
+ 0.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0
171
+ ]
172
+ }
173
+ ]
174
+ }
ur_10e/ProcTHOR/test/bg_000191/scene_b01_008/scene_meta.json ADDED
@@ -0,0 +1,174 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "ur_10e",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 191,
7
+ "base_idx": 1,
8
+ "cam_idx": 7,
9
+ "n_dof": 6,
10
+ "num_links": 8,
11
+ "joint_names": [
12
+ "shoulder_pan_joint",
13
+ "shoulder_lift_joint",
14
+ "elbow_joint",
15
+ "wrist_1_joint",
16
+ "wrist_2_joint",
17
+ "wrist_3_joint"
18
+ ],
19
+ "link_names": [
20
+ "dummy_root_0",
21
+ "base",
22
+ "shoulder_link",
23
+ "upper_arm_link",
24
+ "forearm_link",
25
+ "wrist_1_link",
26
+ "wrist_2_link",
27
+ "wrist_3_link"
28
+ ],
29
+ "ee_link_name": "wrist_3_link",
30
+ "image_width": 640,
31
+ "image_height": 480,
32
+ "fovy_rad": 0.7904681573598304,
33
+ "K": [
34
+ [
35
+ 595.6507401666678,
36
+ 0.0,
37
+ 298.3685169046436
38
+ ],
39
+ [
40
+ 0.0,
41
+ 575.2821064973425,
42
+ 222.2039004600483
43
+ ],
44
+ [
45
+ 0.0,
46
+ 0.0,
47
+ 1.0
48
+ ]
49
+ ],
50
+ "camera_eye": [
51
+ -12.352775861626982,
52
+ -8.55325974437531,
53
+ 1.546971767534818
54
+ ],
55
+ "camera_target": [
56
+ -10.4230693675661,
57
+ -7.925257265237126,
58
+ 0.9048620501143956
59
+ ],
60
+ "camera_roll_rad": -0.04264638694148415,
61
+ "camera_pose_world_cv": [
62
+ [
63
+ 0.33277690410614014,
64
+ -0.2594594359397888,
65
+ 0.906609296798706,
66
+ -12.352775573730469
67
+ ],
68
+ [
69
+ -0.9395013451576233,
70
+ -0.17402541637420654,
71
+ 0.2950464189052582,
72
+ -8.55325984954834
73
+ ],
74
+ [
75
+ 0.08122047781944275,
76
+ -0.9499452114105225,
77
+ -0.30167412757873535,
78
+ 1.5469717979431152
79
+ ],
80
+ [
81
+ 0.0,
82
+ 0.0,
83
+ 0.0,
84
+ 1.0
85
+ ]
86
+ ],
87
+ "T_base_world": [
88
+ [
89
+ -0.9078261852264404,
90
+ 0.4193468987941742,
91
+ 0.0,
92
+ -10.379410743713379
93
+ ],
94
+ [
95
+ -0.4193468987941742,
96
+ -0.9078261852264404,
97
+ -0.0,
98
+ -7.938066005706787
99
+ ],
100
+ [
101
+ -0.0,
102
+ 0.0,
103
+ 1.0,
104
+ 0.7581021785736084
105
+ ],
106
+ [
107
+ 0.0,
108
+ 0.0,
109
+ 0.0,
110
+ 1.0
111
+ ]
112
+ ],
113
+ "lighting": {
114
+ "aug_enabled": true,
115
+ "params": {
116
+ "ambient": [
117
+ 0.2960941824776227,
118
+ 0.3149385400819885,
119
+ 0.3212460609180713
120
+ ],
121
+ "directional_primary": {
122
+ "direction": [
123
+ 0.5316919141838249,
124
+ -0.5695727172567494,
125
+ -0.6268098803850359
126
+ ],
127
+ "color": [
128
+ 0.8916646861786856,
129
+ 0.881195314814986,
130
+ 0.863247821048644
131
+ ],
132
+ "azimuth_rad": -0.8197821547743387,
133
+ "elevation_rad": 0.6774521941721563,
134
+ "color_temp_k": 5330.273214645664,
135
+ "intensity": 0.881195314814986
136
+ },
137
+ "directional_fill": {
138
+ "direction": [
139
+ 0.08504117971366258,
140
+ -0.3202773640944039,
141
+ -0.9434990226818728
142
+ ],
143
+ "color": [
144
+ 0.7371775563403091,
145
+ 0.7195972561061305,
146
+ 0.6894595985618244
147
+ ],
148
+ "azimuth_rad": -1.3112614722645917,
149
+ "elevation_rad": 1.2330354601548543,
150
+ "color_temp_k": 5150.989294259467,
151
+ "intensity": 0.7195972561061305
152
+ },
153
+ "point_color_scale": [
154
+ 0.9427018526082528,
155
+ 0.9260783711914131,
156
+ 0.897580974476831
157
+ ],
158
+ "shadow": true
159
+ }
160
+ },
161
+ "frames": [
162
+ {
163
+ "frame_idx": 0,
164
+ "qpos": [
165
+ 0.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0
171
+ ]
172
+ }
173
+ ]
174
+ }
ur_10e/ProcTHOR/test/bg_000191/scene_b01_009/scene_meta.json ADDED
@@ -0,0 +1,174 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "ur_10e",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 191,
7
+ "base_idx": 1,
8
+ "cam_idx": 8,
9
+ "n_dof": 6,
10
+ "num_links": 8,
11
+ "joint_names": [
12
+ "shoulder_pan_joint",
13
+ "shoulder_lift_joint",
14
+ "elbow_joint",
15
+ "wrist_1_joint",
16
+ "wrist_2_joint",
17
+ "wrist_3_joint"
18
+ ],
19
+ "link_names": [
20
+ "dummy_root_0",
21
+ "base",
22
+ "shoulder_link",
23
+ "upper_arm_link",
24
+ "forearm_link",
25
+ "wrist_1_link",
26
+ "wrist_2_link",
27
+ "wrist_3_link"
28
+ ],
29
+ "ee_link_name": "wrist_3_link",
30
+ "image_width": 640,
31
+ "image_height": 480,
32
+ "fovy_rad": 0.8113495032070877,
33
+ "K": [
34
+ [
35
+ 562.7058147663703,
36
+ 0.0,
37
+ 346.7695549179285
38
+ ],
39
+ [
40
+ 0.0,
41
+ 558.7912217338471,
42
+ 257.94221945460123
43
+ ],
44
+ [
45
+ 0.0,
46
+ 0.0,
47
+ 1.0
48
+ ]
49
+ ],
50
+ "camera_eye": [
51
+ -11.782356886248305,
52
+ -8.194843598281395,
53
+ 0.7130318203432933
54
+ ],
55
+ "camera_target": [
56
+ -10.375541503659921,
57
+ -7.985206219275786,
58
+ 0.9067868588055409
59
+ ],
60
+ "camera_roll_rad": 0.02170015815623058,
61
+ "camera_pose_world_cv": [
62
+ [
63
+ 0.15304136276245117,
64
+ 0.12698081135749817,
65
+ 0.9800276756286621,
66
+ -11.782357215881348
67
+ ],
68
+ [
69
+ -0.9872843027114868,
70
+ 0.06278800964355469,
71
+ 0.14603927731513977,
72
+ -8.194843292236328
73
+ ],
74
+ [
75
+ -0.04298970103263855,
76
+ -0.9899159669876099,
77
+ 0.13497543334960938,
78
+ 0.7130318284034729
79
+ ],
80
+ [
81
+ 0.0,
82
+ 0.0,
83
+ 0.0,
84
+ 1.0
85
+ ]
86
+ ],
87
+ "T_base_world": [
88
+ [
89
+ -0.9078261852264404,
90
+ 0.4193468987941742,
91
+ 0.0,
92
+ -10.379410743713379
93
+ ],
94
+ [
95
+ -0.4193468987941742,
96
+ -0.9078261852264404,
97
+ -0.0,
98
+ -7.938066005706787
99
+ ],
100
+ [
101
+ -0.0,
102
+ 0.0,
103
+ 1.0,
104
+ 0.7581021785736084
105
+ ],
106
+ [
107
+ 0.0,
108
+ 0.0,
109
+ 0.0,
110
+ 1.0
111
+ ]
112
+ ],
113
+ "lighting": {
114
+ "aug_enabled": true,
115
+ "params": {
116
+ "ambient": [
117
+ 0.3688727042408055,
118
+ 0.3597659941460705,
119
+ 0.3858489286111307
120
+ ],
121
+ "directional_primary": {
122
+ "direction": [
123
+ 0.5316919141838249,
124
+ -0.5695727172567494,
125
+ -0.6268098803850359
126
+ ],
127
+ "color": [
128
+ 1.0824743713947356,
129
+ 1.1327832616202926,
130
+ 1.2132774859811841
131
+ ],
132
+ "azimuth_rad": -0.8197821547743387,
133
+ "elevation_rad": 0.6774521941721563,
134
+ "color_temp_k": 6372.731246840267,
135
+ "intensity": 1.1529068177105155
136
+ },
137
+ "directional_fill": {
138
+ "direction": [
139
+ 0.08504117971366258,
140
+ -0.3202773640944039,
141
+ -0.9434990226818728
142
+ ],
143
+ "color": [
144
+ 0.8786405166272087,
145
+ 0.848228473024418,
146
+ 0.7960935411339194
147
+ ],
148
+ "azimuth_rad": -1.3112614722645917,
149
+ "elevation_rad": 1.2330354601548543,
150
+ "color_temp_k": 4987.805727382547,
151
+ "intensity": 0.848228473024418
152
+ },
153
+ "point_color_scale": [
154
+ 1.0562499892668613,
155
+ 1.069465886679545,
156
+ 1.0906113225398393
157
+ ],
158
+ "shadow": true
159
+ }
160
+ },
161
+ "frames": [
162
+ {
163
+ "frame_idx": 0,
164
+ "qpos": [
165
+ 0.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0
171
+ ]
172
+ }
173
+ ]
174
+ }
ur_10e/ProcTHOR/test/bg_000191/scene_b01_010/scene_meta.json ADDED
@@ -0,0 +1,174 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "ur_10e",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 191,
7
+ "base_idx": 1,
8
+ "cam_idx": 9,
9
+ "n_dof": 6,
10
+ "num_links": 8,
11
+ "joint_names": [
12
+ "shoulder_pan_joint",
13
+ "shoulder_lift_joint",
14
+ "elbow_joint",
15
+ "wrist_1_joint",
16
+ "wrist_2_joint",
17
+ "wrist_3_joint"
18
+ ],
19
+ "link_names": [
20
+ "dummy_root_0",
21
+ "base",
22
+ "shoulder_link",
23
+ "upper_arm_link",
24
+ "forearm_link",
25
+ "wrist_1_link",
26
+ "wrist_2_link",
27
+ "wrist_3_link"
28
+ ],
29
+ "ee_link_name": "wrist_3_link",
30
+ "image_width": 640,
31
+ "image_height": 480,
32
+ "fovy_rad": 1.2671031404448994,
33
+ "K": [
34
+ [
35
+ 313.6534108625349,
36
+ 0.0,
37
+ 310.55615183771636
38
+ ],
39
+ [
40
+ 0.0,
41
+ 326.722427610897,
42
+ 246.22688235442604
43
+ ],
44
+ [
45
+ 0.0,
46
+ 0.0,
47
+ 1.0
48
+ ]
49
+ ],
50
+ "camera_eye": [
51
+ -11.31642340256017,
52
+ -9.48001181731389,
53
+ 1.3835188716305176
54
+ ],
55
+ "camera_target": [
56
+ -10.399254094898085,
57
+ -7.973896006888869,
58
+ 0.8969639373243193
59
+ ],
60
+ "camera_roll_rad": -0.003811059982333345,
61
+ "camera_pose_world_cv": [
62
+ [
63
+ 0.8551265597343445,
64
+ -0.13182561099529266,
65
+ 0.5013786554336548,
66
+ -11.316423416137695
67
+ ],
68
+ [
69
+ -0.5183672308921814,
70
+ -0.2311299443244934,
71
+ 0.8233312964439392,
72
+ -9.480011940002441
73
+ ],
74
+ [
75
+ 0.00734749436378479,
76
+ -0.9639506936073303,
77
+ -0.2659794092178345,
78
+ 1.3835188150405884
79
+ ],
80
+ [
81
+ 0.0,
82
+ 0.0,
83
+ 0.0,
84
+ 1.0
85
+ ]
86
+ ],
87
+ "T_base_world": [
88
+ [
89
+ -0.9078261852264404,
90
+ 0.4193468987941742,
91
+ 0.0,
92
+ -10.379410743713379
93
+ ],
94
+ [
95
+ -0.4193468987941742,
96
+ -0.9078261852264404,
97
+ -0.0,
98
+ -7.938066005706787
99
+ ],
100
+ [
101
+ -0.0,
102
+ 0.0,
103
+ 1.0,
104
+ 0.7581021785736084
105
+ ],
106
+ [
107
+ 0.0,
108
+ 0.0,
109
+ 0.0,
110
+ 1.0
111
+ ]
112
+ ],
113
+ "lighting": {
114
+ "aug_enabled": true,
115
+ "params": {
116
+ "ambient": [
117
+ 0.2514304466406777,
118
+ 0.26057595374974013,
119
+ 0.24038509716267814
120
+ ],
121
+ "directional_primary": {
122
+ "direction": [
123
+ 0.5316919141838249,
124
+ -0.5695727172567494,
125
+ -0.6268098803850359
126
+ ],
127
+ "color": [
128
+ 1.2401754321510485,
129
+ 1.1794881037167557,
130
+ 1.0754526835436826
131
+ ],
132
+ "azimuth_rad": -0.8197821547743387,
133
+ "elevation_rad": 0.6774521941721563,
134
+ "color_temp_k": 4764.967716042516,
135
+ "intensity": 1.1794881037167557
136
+ },
137
+ "directional_fill": {
138
+ "direction": [
139
+ 0.08504117971366258,
140
+ -0.3202773640944039,
141
+ -0.9434990226818728
142
+ ],
143
+ "color": [
144
+ 0.5649361168083752,
145
+ 0.5530300052605832,
146
+ 0.5326195283215113
147
+ ],
148
+ "azimuth_rad": -1.3112614722645917,
149
+ "elevation_rad": 1.2330354601548543,
150
+ "color_temp_k": 5192.444702443485,
151
+ "intensity": 0.5530300052605832
152
+ },
153
+ "point_color_scale": [
154
+ 1.0521162553796684,
155
+ 1.0877347391672263,
156
+ 1.1447243132273195
157
+ ],
158
+ "shadow": false
159
+ }
160
+ },
161
+ "frames": [
162
+ {
163
+ "frame_idx": 0,
164
+ "qpos": [
165
+ 0.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0
171
+ ]
172
+ }
173
+ ]
174
+ }
ur_10e/ProcTHOR/test/bg_000191/scene_b01_011/scene_meta.json ADDED
@@ -0,0 +1,174 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "ur_10e",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 191,
7
+ "base_idx": 1,
8
+ "cam_idx": 10,
9
+ "n_dof": 6,
10
+ "num_links": 8,
11
+ "joint_names": [
12
+ "shoulder_pan_joint",
13
+ "shoulder_lift_joint",
14
+ "elbow_joint",
15
+ "wrist_1_joint",
16
+ "wrist_2_joint",
17
+ "wrist_3_joint"
18
+ ],
19
+ "link_names": [
20
+ "dummy_root_0",
21
+ "base",
22
+ "shoulder_link",
23
+ "upper_arm_link",
24
+ "forearm_link",
25
+ "wrist_1_link",
26
+ "wrist_2_link",
27
+ "wrist_3_link"
28
+ ],
29
+ "ee_link_name": "wrist_3_link",
30
+ "image_width": 640,
31
+ "image_height": 480,
32
+ "fovy_rad": 0.9620376329780763,
33
+ "K": [
34
+ [
35
+ 476.26633404629285,
36
+ 0.0,
37
+ 295.7035735770481
38
+ ],
39
+ [
40
+ 0.0,
41
+ 459.852497310131,
42
+ 216.19975818610698
43
+ ],
44
+ [
45
+ 0.0,
46
+ 0.0,
47
+ 1.0
48
+ ]
49
+ ],
50
+ "camera_eye": [
51
+ -8.49936615886746,
52
+ -6.154202126764723,
53
+ 1.9498724921476145
54
+ ],
55
+ "camera_target": [
56
+ -10.426712735427348,
57
+ -7.9364730342892,
58
+ 0.9903800312634912
59
+ ],
60
+ "camera_roll_rad": 0.031195134497808058,
61
+ "camera_pose_world_cv": [
62
+ [
63
+ -0.661898136138916,
64
+ 0.29388734698295593,
65
+ -0.6895803213119507,
66
+ -8.49936580657959
67
+ ],
68
+ [
69
+ 0.747302770614624,
70
+ 0.18684351444244385,
71
+ -0.6376739144325256,
72
+ -6.154201984405518
73
+ ],
74
+ [
75
+ -0.05856066942214966,
76
+ -0.9374005198478699,
77
+ -0.3432942032814026,
78
+ 1.9498724937438965
79
+ ],
80
+ [
81
+ 0.0,
82
+ 0.0,
83
+ 0.0,
84
+ 1.0
85
+ ]
86
+ ],
87
+ "T_base_world": [
88
+ [
89
+ -0.9078261852264404,
90
+ 0.4193468987941742,
91
+ 0.0,
92
+ -10.379410743713379
93
+ ],
94
+ [
95
+ -0.4193468987941742,
96
+ -0.9078261852264404,
97
+ -0.0,
98
+ -7.938066005706787
99
+ ],
100
+ [
101
+ -0.0,
102
+ 0.0,
103
+ 1.0,
104
+ 0.7581021785736084
105
+ ],
106
+ [
107
+ 0.0,
108
+ 0.0,
109
+ 0.0,
110
+ 1.0
111
+ ]
112
+ ],
113
+ "lighting": {
114
+ "aug_enabled": true,
115
+ "params": {
116
+ "ambient": [
117
+ 0.28284988538477157,
118
+ 0.26515343127748675,
119
+ 0.2699921538899615
120
+ ],
121
+ "directional_primary": {
122
+ "direction": [
123
+ 0.5316919141838249,
124
+ -0.5695727172567494,
125
+ -0.6268098803850359
126
+ ],
127
+ "color": [
128
+ 0.9437488790778555,
129
+ 0.9533316245590476,
130
+ 0.9686640173289549
131
+ ],
132
+ "azimuth_rad": -0.8197821547743387,
133
+ "elevation_rad": 0.6774521941721563,
134
+ "color_temp_k": 5700.231898510527,
135
+ "intensity": 0.9571647227515244
136
+ },
137
+ "directional_fill": {
138
+ "direction": [
139
+ 0.08504117971366258,
140
+ -0.3202773640944039,
141
+ -0.9434990226818728
142
+ ],
143
+ "color": [
144
+ 0.703824511772199,
145
+ 0.7182891016399777,
146
+ 0.7414324454284241
147
+ ],
148
+ "azimuth_rad": -1.3112614722645917,
149
+ "elevation_rad": 1.2330354601548543,
150
+ "color_temp_k": 5899.532952099702,
151
+ "intensity": 0.7240749375870893
152
+ },
153
+ "point_color_scale": [
154
+ 1.1212015885848439,
155
+ 1.1187586990757334,
156
+ 1.114570888488687
157
+ ],
158
+ "shadow": true
159
+ }
160
+ },
161
+ "frames": [
162
+ {
163
+ "frame_idx": 0,
164
+ "qpos": [
165
+ 0.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0
171
+ ]
172
+ }
173
+ ]
174
+ }
ur_10e/ProcTHOR/test/bg_000191/scene_b01_013/scene_meta.json ADDED
@@ -0,0 +1,174 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "ur_10e",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 191,
7
+ "base_idx": 1,
8
+ "cam_idx": 12,
9
+ "n_dof": 6,
10
+ "num_links": 8,
11
+ "joint_names": [
12
+ "shoulder_pan_joint",
13
+ "shoulder_lift_joint",
14
+ "elbow_joint",
15
+ "wrist_1_joint",
16
+ "wrist_2_joint",
17
+ "wrist_3_joint"
18
+ ],
19
+ "link_names": [
20
+ "dummy_root_0",
21
+ "base",
22
+ "shoulder_link",
23
+ "upper_arm_link",
24
+ "forearm_link",
25
+ "wrist_1_link",
26
+ "wrist_2_link",
27
+ "wrist_3_link"
28
+ ],
29
+ "ee_link_name": "wrist_3_link",
30
+ "image_width": 640,
31
+ "image_height": 480,
32
+ "fovy_rad": 0.8633041330518096,
33
+ "K": [
34
+ [
35
+ 524.0565977859017,
36
+ 0.0,
37
+ 331.4557928716312
38
+ ],
39
+ [
40
+ 0.0,
41
+ 521.0344964109019,
42
+ 220.74524939586422
43
+ ],
44
+ [
45
+ 0.0,
46
+ 0.0,
47
+ 1.0
48
+ ]
49
+ ],
50
+ "camera_eye": [
51
+ -9.823226923707368,
52
+ -10.31146300032087,
53
+ 1.5244539483272042
54
+ ],
55
+ "camera_target": [
56
+ -10.41894548347255,
57
+ -7.959316108425623,
58
+ 0.8903938242451975
59
+ ],
60
+ "camera_roll_rad": 0.034271430375427125,
61
+ "camera_pose_world_cv": [
62
+ [
63
+ 0.9713680148124695,
64
+ -0.004466317594051361,
65
+ -0.23753774166107178,
66
+ -9.823226928710938
67
+ ],
68
+ [
69
+ 0.22815170884132385,
70
+ -0.26132744550704956,
71
+ 0.9378991723060608,
72
+ -10.311463356018066
73
+ ],
74
+ [
75
+ -0.0662640929222107,
76
+ -0.965239942073822,
77
+ -0.25282615423202515,
78
+ 1.5244539976119995
79
+ ],
80
+ [
81
+ 0.0,
82
+ 0.0,
83
+ 0.0,
84
+ 1.0
85
+ ]
86
+ ],
87
+ "T_base_world": [
88
+ [
89
+ -0.9078261852264404,
90
+ 0.4193468987941742,
91
+ 0.0,
92
+ -10.379410743713379
93
+ ],
94
+ [
95
+ -0.4193468987941742,
96
+ -0.9078261852264404,
97
+ -0.0,
98
+ -7.938066005706787
99
+ ],
100
+ [
101
+ -0.0,
102
+ 0.0,
103
+ 1.0,
104
+ 0.7581021785736084
105
+ ],
106
+ [
107
+ 0.0,
108
+ 0.0,
109
+ 0.0,
110
+ 1.0
111
+ ]
112
+ ],
113
+ "lighting": {
114
+ "aug_enabled": true,
115
+ "params": {
116
+ "ambient": [
117
+ 0.34785797753026504,
118
+ 0.32851160726131695,
119
+ 0.322712907664668
120
+ ],
121
+ "directional_primary": {
122
+ "direction": [
123
+ 0.5316919141838249,
124
+ -0.5695727172567494,
125
+ -0.6268098803850359
126
+ ],
127
+ "color": [
128
+ 0.9533488822268121,
129
+ 0.9822576516920352,
130
+ 1.028511682836392
131
+ ],
132
+ "azimuth_rad": -0.8197821547743387,
133
+ "elevation_rad": 0.6774521941721563,
134
+ "color_temp_k": 6081.770053686593,
135
+ "intensity": 0.9938211594781243
136
+ },
137
+ "directional_fill": {
138
+ "direction": [
139
+ 0.08504117971366258,
140
+ -0.3202773640944039,
141
+ -0.9434990226818728
142
+ ],
143
+ "color": [
144
+ 0.8943452301067982,
145
+ 0.9135184506697093,
146
+ 0.9441956035703671
147
+ ],
148
+ "azimuth_rad": -1.3112614722645917,
149
+ "elevation_rad": 1.2330354601548543,
150
+ "color_temp_k": 5916.271727322657,
151
+ "intensity": 0.9211877388948737
152
+ },
153
+ "point_color_scale": [
154
+ 1.0690538313120805,
155
+ 1.0200333366092926,
156
+ 0.935998202833085
157
+ ],
158
+ "shadow": true
159
+ }
160
+ },
161
+ "frames": [
162
+ {
163
+ "frame_idx": 0,
164
+ "qpos": [
165
+ 0.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0
171
+ ]
172
+ }
173
+ ]
174
+ }
ur_10e/ProcTHOR/test/bg_000191/scene_b01_014/scene_meta.json ADDED
@@ -0,0 +1,174 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "ur_10e",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 191,
7
+ "base_idx": 1,
8
+ "cam_idx": 13,
9
+ "n_dof": 6,
10
+ "num_links": 8,
11
+ "joint_names": [
12
+ "shoulder_pan_joint",
13
+ "shoulder_lift_joint",
14
+ "elbow_joint",
15
+ "wrist_1_joint",
16
+ "wrist_2_joint",
17
+ "wrist_3_joint"
18
+ ],
19
+ "link_names": [
20
+ "dummy_root_0",
21
+ "base",
22
+ "shoulder_link",
23
+ "upper_arm_link",
24
+ "forearm_link",
25
+ "wrist_1_link",
26
+ "wrist_2_link",
27
+ "wrist_3_link"
28
+ ],
29
+ "ee_link_name": "wrist_3_link",
30
+ "image_width": 640,
31
+ "image_height": 480,
32
+ "fovy_rad": 0.8157819837471165,
33
+ "K": [
34
+ [
35
+ 562.5337445825298,
36
+ 0.0,
37
+ 312.76319446334116
38
+ ],
39
+ [
40
+ 0.0,
41
+ 555.3934521734567,
42
+ 250.37131110673786
43
+ ],
44
+ [
45
+ 0.0,
46
+ 0.0,
47
+ 1.0
48
+ ]
49
+ ],
50
+ "camera_eye": [
51
+ -11.516168203278944,
52
+ -7.700533528597007,
53
+ 1.0753685913907471
54
+ ],
55
+ "camera_target": [
56
+ -10.341475276407786,
57
+ -7.965164081900724,
58
+ 0.9453299811948145
59
+ ],
60
+ "camera_roll_rad": 0.023405066471705913,
61
+ "camera_pose_world_cv": [
62
+ [
63
+ -0.22442972660064697,
64
+ -0.0943460762500763,
65
+ 0.9699126482009888,
66
+ -11.516168594360352
67
+ ],
68
+ [
69
+ -0.973379373550415,
70
+ 0.06921982765197754,
71
+ -0.2184985876083374,
72
+ -7.700533390045166
73
+ ],
74
+ [
75
+ -0.04652252793312073,
76
+ -0.9931303262710571,
77
+ -0.1073693037033081,
78
+ 1.0753686428070068
79
+ ],
80
+ [
81
+ 0.0,
82
+ 0.0,
83
+ 0.0,
84
+ 1.0
85
+ ]
86
+ ],
87
+ "T_base_world": [
88
+ [
89
+ -0.9078261852264404,
90
+ 0.4193468987941742,
91
+ 0.0,
92
+ -10.379410743713379
93
+ ],
94
+ [
95
+ -0.4193468987941742,
96
+ -0.9078261852264404,
97
+ -0.0,
98
+ -7.938066005706787
99
+ ],
100
+ [
101
+ -0.0,
102
+ 0.0,
103
+ 1.0,
104
+ 0.7581021785736084
105
+ ],
106
+ [
107
+ 0.0,
108
+ 0.0,
109
+ 0.0,
110
+ 1.0
111
+ ]
112
+ ],
113
+ "lighting": {
114
+ "aug_enabled": true,
115
+ "params": {
116
+ "ambient": [
117
+ 0.2788709442064163,
118
+ 0.30105698999298497,
119
+ 0.3096887066323837
120
+ ],
121
+ "directional_primary": {
122
+ "direction": [
123
+ 0.5316919141838249,
124
+ -0.5695727172567494,
125
+ -0.6268098803850359
126
+ ],
127
+ "color": [
128
+ 1.1187160708257995,
129
+ 1.1226268454285002,
130
+ 1.1288840847928214
131
+ ],
132
+ "azimuth_rad": -0.8197821547743387,
133
+ "elevation_rad": 0.6774521941721563,
134
+ "color_temp_k": 5569.574904309986,
135
+ "intensity": 1.1241911552695805
136
+ },
137
+ "directional_fill": {
138
+ "direction": [
139
+ 0.08504117971366258,
140
+ -0.3202773640944039,
141
+ -0.9434990226818728
142
+ ],
143
+ "color": [
144
+ 0.7920692612686746,
145
+ 0.8010437099990758,
146
+ 0.8154028279677177
147
+ ],
148
+ "azimuth_rad": -1.3112614722645917,
149
+ "elevation_rad": 1.2330354601548543,
150
+ "color_temp_k": 5723.069232081694,
151
+ "intensity": 0.8046334894912364
152
+ },
153
+ "point_color_scale": [
154
+ 0.9884126396497637,
155
+ 1.0086107999508327,
156
+ 1.040927856432543
157
+ ],
158
+ "shadow": true
159
+ }
160
+ },
161
+ "frames": [
162
+ {
163
+ "frame_idx": 0,
164
+ "qpos": [
165
+ 0.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0
171
+ ]
172
+ }
173
+ ]
174
+ }
ur_10e/ProcTHOR/test/bg_000191/scene_b02_002/scene_meta.json ADDED
@@ -0,0 +1,174 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "ur_10e",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 191,
7
+ "base_idx": 2,
8
+ "cam_idx": 1,
9
+ "n_dof": 6,
10
+ "num_links": 8,
11
+ "joint_names": [
12
+ "shoulder_pan_joint",
13
+ "shoulder_lift_joint",
14
+ "elbow_joint",
15
+ "wrist_1_joint",
16
+ "wrist_2_joint",
17
+ "wrist_3_joint"
18
+ ],
19
+ "link_names": [
20
+ "dummy_root_0",
21
+ "base",
22
+ "shoulder_link",
23
+ "upper_arm_link",
24
+ "forearm_link",
25
+ "wrist_1_link",
26
+ "wrist_2_link",
27
+ "wrist_3_link"
28
+ ],
29
+ "ee_link_name": "wrist_3_link",
30
+ "image_width": 640,
31
+ "image_height": 480,
32
+ "fovy_rad": 0.9566274092708105,
33
+ "K": [
34
+ [
35
+ 462.2242083712047,
36
+ 0.0,
37
+ 330.6900224478739
38
+ ],
39
+ [
40
+ 0.0,
41
+ 462.9010100977861,
42
+ 233.53921510906014
43
+ ],
44
+ [
45
+ 0.0,
46
+ 0.0,
47
+ 1.0
48
+ ]
49
+ ],
50
+ "camera_eye": [
51
+ -11.132775662998137,
52
+ -5.63812648612988,
53
+ 0.7728126794058339
54
+ ],
55
+ "camera_target": [
56
+ -10.76354349817202,
57
+ -7.04055724954229,
58
+ 0.9691390080407007
59
+ ],
60
+ "camera_roll_rad": 0.044564554650505586,
61
+ "camera_pose_world_cv": [
62
+ [
63
+ -0.9601666927337646,
64
+ 0.12009809911251068,
65
+ 0.2523024082183838,
66
+ -11.13277530670166
67
+ ],
68
+ [
69
+ -0.2651408314704895,
70
+ -0.10655444860458374,
71
+ -0.9583039879798889,
72
+ -5.638126373291016
73
+ ],
74
+ [
75
+ -0.08820653706789017,
76
+ -0.9870272278785706,
77
+ 0.13415300846099854,
78
+ 0.7728126645088196
79
+ ],
80
+ [
81
+ 0.0,
82
+ 0.0,
83
+ 0.0,
84
+ 1.0
85
+ ]
86
+ ],
87
+ "T_base_world": [
88
+ [
89
+ -0.955456018447876,
90
+ 0.295133501291275,
91
+ 0.0,
92
+ -10.732095718383789
93
+ ],
94
+ [
95
+ -0.295133501291275,
96
+ -0.955456018447876,
97
+ -0.0,
98
+ -7.053027629852295
99
+ ],
100
+ [
101
+ -0.0,
102
+ 0.0,
103
+ 1.0,
104
+ 0.7581021785736084
105
+ ],
106
+ [
107
+ 0.0,
108
+ 0.0,
109
+ 0.0,
110
+ 1.0
111
+ ]
112
+ ],
113
+ "lighting": {
114
+ "aug_enabled": true,
115
+ "params": {
116
+ "ambient": [
117
+ 0.26282967183120376,
118
+ 0.27284381252877554,
119
+ 0.2776049766686362
120
+ ],
121
+ "directional_primary": {
122
+ "direction": [
123
+ 0.5316919141838249,
124
+ -0.5695727172567494,
125
+ -0.6268098803850359
126
+ ],
127
+ "color": [
128
+ 0.89451897762806,
129
+ 0.9027230535324741,
130
+ 0.9158495749795366
131
+ ],
132
+ "azimuth_rad": -0.8197821547743387,
133
+ "elevation_rad": 0.6774521941721563,
134
+ "color_temp_k": 5681.104492068427,
135
+ "intensity": 0.9060046838942397
136
+ },
137
+ "directional_fill": {
138
+ "direction": [
139
+ 0.08504117971366258,
140
+ -0.3202773640944039,
141
+ -0.9434990226818728
142
+ ],
143
+ "color": [
144
+ 0.7527584320923315,
145
+ 0.7714633465432773,
146
+ 0.8013912096647907
147
+ ],
148
+ "azimuth_rad": -1.3112614722645917,
149
+ "elevation_rad": 1.2330354601548543,
150
+ "color_temp_k": 5980.262584677417,
151
+ "intensity": 0.7789453123236556
152
+ },
153
+ "point_color_scale": [
154
+ 0.8167531237720478,
155
+ 0.8182260432023687,
156
+ 0.8205827142908819
157
+ ],
158
+ "shadow": true
159
+ }
160
+ },
161
+ "frames": [
162
+ {
163
+ "frame_idx": 0,
164
+ "qpos": [
165
+ 0.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0
171
+ ]
172
+ }
173
+ ]
174
+ }
ur_10e/ProcTHOR/test/bg_000191/scene_b02_005/scene_meta.json ADDED
@@ -0,0 +1,174 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "ur_10e",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 191,
7
+ "base_idx": 2,
8
+ "cam_idx": 4,
9
+ "n_dof": 6,
10
+ "num_links": 8,
11
+ "joint_names": [
12
+ "shoulder_pan_joint",
13
+ "shoulder_lift_joint",
14
+ "elbow_joint",
15
+ "wrist_1_joint",
16
+ "wrist_2_joint",
17
+ "wrist_3_joint"
18
+ ],
19
+ "link_names": [
20
+ "dummy_root_0",
21
+ "base",
22
+ "shoulder_link",
23
+ "upper_arm_link",
24
+ "forearm_link",
25
+ "wrist_1_link",
26
+ "wrist_2_link",
27
+ "wrist_3_link"
28
+ ],
29
+ "ee_link_name": "wrist_3_link",
30
+ "image_width": 640,
31
+ "image_height": 480,
32
+ "fovy_rad": 1.2364981741700394,
33
+ "K": [
34
+ [
35
+ 322.3870500285377,
36
+ 0.0,
37
+ 308.3678952081181
38
+ ],
39
+ [
40
+ 0.0,
41
+ 337.4250762873068,
42
+ 237.96862718269207
43
+ ],
44
+ [
45
+ 0.0,
46
+ 0.0,
47
+ 1.0
48
+ ]
49
+ ],
50
+ "camera_eye": [
51
+ -9.744626944970607,
52
+ -8.446199786667465,
53
+ 1.7895795805745145
54
+ ],
55
+ "camera_target": [
56
+ -10.745879691592403,
57
+ -7.013429517032653,
58
+ 0.9897725572094143
59
+ ],
60
+ "camera_roll_rad": 0.04033219664777121,
61
+ "camera_pose_world_cv": [
62
+ [
63
+ 0.8362239599227905,
64
+ 0.1715139001607895,
65
+ -0.5208767056465149,
66
+ -9.744626998901367
67
+ ],
68
+ [
69
+ 0.5434711575508118,
70
+ -0.38610076904296875,
71
+ 0.7453624606132507,
72
+ -8.446199417114258
73
+ ],
74
+ [
75
+ -0.07327087223529816,
76
+ -0.9063714146614075,
77
+ -0.416079580783844,
78
+ 1.7895796298980713
79
+ ],
80
+ [
81
+ 0.0,
82
+ 0.0,
83
+ 0.0,
84
+ 1.0
85
+ ]
86
+ ],
87
+ "T_base_world": [
88
+ [
89
+ -0.955456018447876,
90
+ 0.295133501291275,
91
+ 0.0,
92
+ -10.732095718383789
93
+ ],
94
+ [
95
+ -0.295133501291275,
96
+ -0.955456018447876,
97
+ -0.0,
98
+ -7.053027629852295
99
+ ],
100
+ [
101
+ -0.0,
102
+ 0.0,
103
+ 1.0,
104
+ 0.7581021785736084
105
+ ],
106
+ [
107
+ 0.0,
108
+ 0.0,
109
+ 0.0,
110
+ 1.0
111
+ ]
112
+ ],
113
+ "lighting": {
114
+ "aug_enabled": true,
115
+ "params": {
116
+ "ambient": [
117
+ 0.3006459128952524,
118
+ 0.3359579442091701,
119
+ 0.30381890798267314
120
+ ],
121
+ "directional_primary": {
122
+ "direction": [
123
+ 0.5316919141838249,
124
+ -0.5695727172567494,
125
+ -0.6268098803850359
126
+ ],
127
+ "color": [
128
+ 1.014189792480871,
129
+ 1.0592988101959753,
130
+ 1.131473238540142
131
+ ],
132
+ "azimuth_rad": -0.8197821547743387,
133
+ "elevation_rad": 0.6774521941721563,
134
+ "color_temp_k": 6337.412822357964,
135
+ "intensity": 1.077342417282017
136
+ },
137
+ "directional_fill": {
138
+ "direction": [
139
+ 0.08504117971366258,
140
+ -0.3202773640944039,
141
+ -0.9434990226818728
142
+ ],
143
+ "color": [
144
+ 0.8923913294307211,
145
+ 0.9090906553243765,
146
+ 0.9358095767542253
147
+ ],
148
+ "azimuth_rad": -1.3112614722645917,
149
+ "elevation_rad": 1.2330354601548543,
150
+ "color_temp_k": 5864.705523453282,
151
+ "intensity": 0.9157703856818387
152
+ },
153
+ "point_color_scale": [
154
+ 0.8720030921753944,
155
+ 0.9009891234820261,
156
+ 0.9473667735726367
157
+ ],
158
+ "shadow": true
159
+ }
160
+ },
161
+ "frames": [
162
+ {
163
+ "frame_idx": 0,
164
+ "qpos": [
165
+ 0.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0
171
+ ]
172
+ }
173
+ ]
174
+ }
ur_10e/ProcTHOR/test/bg_000191/scene_b02_007/scene_meta.json ADDED
@@ -0,0 +1,174 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "ur_10e",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 191,
7
+ "base_idx": 2,
8
+ "cam_idx": 6,
9
+ "n_dof": 6,
10
+ "num_links": 8,
11
+ "joint_names": [
12
+ "shoulder_pan_joint",
13
+ "shoulder_lift_joint",
14
+ "elbow_joint",
15
+ "wrist_1_joint",
16
+ "wrist_2_joint",
17
+ "wrist_3_joint"
18
+ ],
19
+ "link_names": [
20
+ "dummy_root_0",
21
+ "base",
22
+ "shoulder_link",
23
+ "upper_arm_link",
24
+ "forearm_link",
25
+ "wrist_1_link",
26
+ "wrist_2_link",
27
+ "wrist_3_link"
28
+ ],
29
+ "ee_link_name": "wrist_3_link",
30
+ "image_width": 640,
31
+ "image_height": 480,
32
+ "fovy_rad": 1.139285386415624,
33
+ "K": [
34
+ [
35
+ 381.36774081204027,
36
+ 0.0,
37
+ 311.5083143235396
38
+ ],
39
+ [
40
+ 0.0,
41
+ 374.7279918861045,
42
+ 231.49029945651307
43
+ ],
44
+ [
45
+ 0.0,
46
+ 0.0,
47
+ 1.0
48
+ ]
49
+ ],
50
+ "camera_eye": [
51
+ -9.75704459902329,
52
+ -6.14700761932164,
53
+ 1.333046247883492
54
+ ],
55
+ "camera_target": [
56
+ -10.718171172061597,
57
+ -7.0717233208505705,
58
+ 0.9246288465667434
59
+ ],
60
+ "camera_roll_rad": 0.02111759530103796,
61
+ "camera_pose_world_cv": [
62
+ [
63
+ -0.6837983131408691,
64
+ 0.24008415639400482,
65
+ -0.6890426874160767,
66
+ -9.757044792175293
67
+ ],
68
+ [
69
+ 0.7285535335540771,
70
+ 0.17239737510681152,
71
+ -0.6629397869110107,
72
+ -6.147007465362549
73
+ ],
74
+ [
75
+ -0.040372222661972046,
76
+ -0.9553214311599731,
77
+ -0.2927989959716797,
78
+ 1.3330461978912354
79
+ ],
80
+ [
81
+ 0.0,
82
+ 0.0,
83
+ 0.0,
84
+ 1.0
85
+ ]
86
+ ],
87
+ "T_base_world": [
88
+ [
89
+ -0.955456018447876,
90
+ 0.295133501291275,
91
+ 0.0,
92
+ -10.732095718383789
93
+ ],
94
+ [
95
+ -0.295133501291275,
96
+ -0.955456018447876,
97
+ -0.0,
98
+ -7.053027629852295
99
+ ],
100
+ [
101
+ -0.0,
102
+ 0.0,
103
+ 1.0,
104
+ 0.7581021785736084
105
+ ],
106
+ [
107
+ 0.0,
108
+ 0.0,
109
+ 0.0,
110
+ 1.0
111
+ ]
112
+ ],
113
+ "lighting": {
114
+ "aug_enabled": true,
115
+ "params": {
116
+ "ambient": [
117
+ 0.2437287271179686,
118
+ 0.2572634783861363,
119
+ 0.23190926237144827
120
+ ],
121
+ "directional_primary": {
122
+ "direction": [
123
+ 0.5316919141838249,
124
+ -0.5695727172567494,
125
+ -0.6268098803850359
126
+ ],
127
+ "color": [
128
+ 1.1396685371056434,
129
+ 1.0680572385981133,
130
+ 0.9452950125852044
131
+ ],
132
+ "azimuth_rad": -0.8197821547743387,
133
+ "elevation_rad": 0.6774521941721563,
134
+ "color_temp_k": 4542.168796636457,
135
+ "intensity": 1.0680572385981133
136
+ },
137
+ "directional_fill": {
138
+ "direction": [
139
+ 0.08504117971366258,
140
+ -0.3202773640944039,
141
+ -0.9434990226818728
142
+ ],
143
+ "color": [
144
+ 0.7168987717421875,
145
+ 0.737112130784351,
146
+ 0.7694535052518128
147
+ ],
148
+ "azimuth_rad": -1.3112614722645917,
149
+ "elevation_rad": 1.2330354601548543,
150
+ "color_temp_k": 6042.496713596767,
151
+ "intensity": 0.7451974744012164
152
+ },
153
+ "point_color_scale": [
154
+ 0.8621808226368364,
155
+ 0.8692454600423437,
156
+ 0.8805488798911555
157
+ ],
158
+ "shadow": true
159
+ }
160
+ },
161
+ "frames": [
162
+ {
163
+ "frame_idx": 0,
164
+ "qpos": [
165
+ 0.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0
171
+ ]
172
+ }
173
+ ]
174
+ }
ur_10e/ProcTHOR/test/bg_000191/scene_b02_010/scene_meta.json ADDED
@@ -0,0 +1,174 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "ur_10e",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 191,
7
+ "base_idx": 2,
8
+ "cam_idx": 9,
9
+ "n_dof": 6,
10
+ "num_links": 8,
11
+ "joint_names": [
12
+ "shoulder_pan_joint",
13
+ "shoulder_lift_joint",
14
+ "elbow_joint",
15
+ "wrist_1_joint",
16
+ "wrist_2_joint",
17
+ "wrist_3_joint"
18
+ ],
19
+ "link_names": [
20
+ "dummy_root_0",
21
+ "base",
22
+ "shoulder_link",
23
+ "upper_arm_link",
24
+ "forearm_link",
25
+ "wrist_1_link",
26
+ "wrist_2_link",
27
+ "wrist_3_link"
28
+ ],
29
+ "ee_link_name": "wrist_3_link",
30
+ "image_width": 640,
31
+ "image_height": 480,
32
+ "fovy_rad": 1.2418303351323194,
33
+ "K": [
34
+ [
35
+ 330.0188058093009,
36
+ 0.0,
37
+ 324.479008552603
38
+ ],
39
+ [
40
+ 0.0,
41
+ 335.5275400444569,
42
+ 247.91292946486297
43
+ ],
44
+ [
45
+ 0.0,
46
+ 0.0,
47
+ 1.0
48
+ ]
49
+ ],
50
+ "camera_eye": [
51
+ -9.177537950188203,
52
+ -7.2412681475868235,
53
+ 1.3473400724718423
54
+ ],
55
+ "camera_target": [
56
+ -10.762801869861088,
57
+ -7.06735838502378,
58
+ 0.8615943773176007
59
+ ],
60
+ "camera_roll_rad": 0.02338318540981371,
61
+ "camera_pose_world_cv": [
62
+ [
63
+ 0.12247049808502197,
64
+ 0.28421759605407715,
65
+ -0.9509056210517883,
66
+ -9.17753791809082
67
+ ],
68
+ [
69
+ 0.9914641380310059,
70
+ -0.07820945978164673,
71
+ 0.10431802272796631,
72
+ -7.241268157958984
73
+ ],
74
+ [
75
+ -0.04472088813781738,
76
+ -0.9555646181106567,
77
+ -0.29136979579925537,
78
+ 1.3473401069641113
79
+ ],
80
+ [
81
+ 0.0,
82
+ 0.0,
83
+ 0.0,
84
+ 1.0
85
+ ]
86
+ ],
87
+ "T_base_world": [
88
+ [
89
+ -0.955456018447876,
90
+ 0.295133501291275,
91
+ 0.0,
92
+ -10.732095718383789
93
+ ],
94
+ [
95
+ -0.295133501291275,
96
+ -0.955456018447876,
97
+ -0.0,
98
+ -7.053027629852295
99
+ ],
100
+ [
101
+ -0.0,
102
+ 0.0,
103
+ 1.0,
104
+ 0.7581021785736084
105
+ ],
106
+ [
107
+ 0.0,
108
+ 0.0,
109
+ 0.0,
110
+ 1.0
111
+ ]
112
+ ],
113
+ "lighting": {
114
+ "aug_enabled": true,
115
+ "params": {
116
+ "ambient": [
117
+ 0.22625022787306637,
118
+ 0.2224122187901899,
119
+ 0.24079224119309559
120
+ ],
121
+ "directional_primary": {
122
+ "direction": [
123
+ 0.5316919141838249,
124
+ -0.5695727172567494,
125
+ -0.6268098803850359
126
+ ],
127
+ "color": [
128
+ 0.9775034263723829,
129
+ 0.9206480426010574,
130
+ 0.8231816704216421
131
+ ],
132
+ "azimuth_rad": -0.8197821547743387,
133
+ "elevation_rad": 0.6774521941721563,
134
+ "color_temp_k": 4617.773860826258,
135
+ "intensity": 0.9206480426010574
136
+ },
137
+ "directional_fill": {
138
+ "direction": [
139
+ 0.08504117971366258,
140
+ -0.3202773640944039,
141
+ -0.9434990226818728
142
+ ],
143
+ "color": [
144
+ 0.6625221730106673,
145
+ 0.6770376869675873,
146
+ 0.7002625092986591
147
+ ],
148
+ "azimuth_rad": -1.3112614722645917,
149
+ "elevation_rad": 1.2330354601548543,
150
+ "color_temp_k": 5925.148825823306,
151
+ "intensity": 0.6828438925503553
152
+ },
153
+ "point_color_scale": [
154
+ 0.9506479927221577,
155
+ 0.949353476777256,
156
+ 0.947134306585996
157
+ ],
158
+ "shadow": false
159
+ }
160
+ },
161
+ "frames": [
162
+ {
163
+ "frame_idx": 0,
164
+ "qpos": [
165
+ 0.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0
171
+ ]
172
+ }
173
+ ]
174
+ }
ur_10e/ProcTHOR/test/bg_000191/scene_b02_011/scene_meta.json ADDED
@@ -0,0 +1,174 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "ur_10e",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 191,
7
+ "base_idx": 2,
8
+ "cam_idx": 10,
9
+ "n_dof": 6,
10
+ "num_links": 8,
11
+ "joint_names": [
12
+ "shoulder_pan_joint",
13
+ "shoulder_lift_joint",
14
+ "elbow_joint",
15
+ "wrist_1_joint",
16
+ "wrist_2_joint",
17
+ "wrist_3_joint"
18
+ ],
19
+ "link_names": [
20
+ "dummy_root_0",
21
+ "base",
22
+ "shoulder_link",
23
+ "upper_arm_link",
24
+ "forearm_link",
25
+ "wrist_1_link",
26
+ "wrist_2_link",
27
+ "wrist_3_link"
28
+ ],
29
+ "ee_link_name": "wrist_3_link",
30
+ "image_width": 640,
31
+ "image_height": 480,
32
+ "fovy_rad": 1.291323206844436,
33
+ "K": [
34
+ [
35
+ 330.79075983666326,
36
+ 0.0,
37
+ 343.35035224719746
38
+ ],
39
+ [
40
+ 0.0,
41
+ 318.56380520098287,
42
+ 260.44993446317056
43
+ ],
44
+ [
45
+ 0.0,
46
+ 0.0,
47
+ 1.0
48
+ ]
49
+ ],
50
+ "camera_eye": [
51
+ -12.28893684099581,
52
+ -6.132454511434837,
53
+ 1.3851965087293159
54
+ ],
55
+ "camera_target": [
56
+ -10.758975786142836,
57
+ -7.067675282187382,
58
+ 0.9331472137228292
59
+ ],
60
+ "camera_roll_rad": -0.04586258490666165,
61
+ "camera_pose_world_cv": [
62
+ [
63
+ -0.5002528429031372,
64
+ -0.2554641664028168,
65
+ 0.827336311340332,
66
+ -12.288936614990234
67
+ ],
68
+ [
69
+ -0.8613121509552002,
70
+ 0.04880404472351074,
71
+ -0.5057267546653748,
72
+ -6.1324543952941895
73
+ ],
74
+ [
75
+ 0.0888177752494812,
76
+ -0.9655860066413879,
77
+ -0.24444866180419922,
78
+ 1.385196566581726
79
+ ],
80
+ [
81
+ 0.0,
82
+ 0.0,
83
+ 0.0,
84
+ 1.0
85
+ ]
86
+ ],
87
+ "T_base_world": [
88
+ [
89
+ -0.955456018447876,
90
+ 0.295133501291275,
91
+ 0.0,
92
+ -10.732095718383789
93
+ ],
94
+ [
95
+ -0.295133501291275,
96
+ -0.955456018447876,
97
+ -0.0,
98
+ -7.053027629852295
99
+ ],
100
+ [
101
+ -0.0,
102
+ 0.0,
103
+ 1.0,
104
+ 0.7581021785736084
105
+ ],
106
+ [
107
+ 0.0,
108
+ 0.0,
109
+ 0.0,
110
+ 1.0
111
+ ]
112
+ ],
113
+ "lighting": {
114
+ "aug_enabled": true,
115
+ "params": {
116
+ "ambient": [
117
+ 0.24633938798615632,
118
+ 0.26303112479947427,
119
+ 0.25461494346952795
120
+ ],
121
+ "directional_primary": {
122
+ "direction": [
123
+ 0.5316919141838249,
124
+ -0.5695727172567494,
125
+ -0.6268098803850359
126
+ ],
127
+ "color": [
128
+ 1.124212979155299,
129
+ 1.0960369677509452,
130
+ 1.0477352339149097
131
+ ],
132
+ "azimuth_rad": -0.8197821547743387,
133
+ "elevation_rad": 0.6774521941721563,
134
+ "color_temp_k": 5132.754678467111,
135
+ "intensity": 1.0960369677509452
136
+ },
137
+ "directional_fill": {
138
+ "direction": [
139
+ 0.08504117971366258,
140
+ -0.3202773640944039,
141
+ -0.9434990226818728
142
+ ],
143
+ "color": [
144
+ 0.855878425869619,
145
+ 0.8704912425381474,
146
+ 0.893871749207793
147
+ ],
148
+ "azimuth_rad": -1.3112614722645917,
149
+ "elevation_rad": 1.2330354601548543,
150
+ "color_temp_k": 5833.497893777378,
151
+ "intensity": 0.8763363692055588
152
+ },
153
+ "point_color_scale": [
154
+ 0.9869323009847935,
155
+ 0.9999310850218001,
156
+ 1.0207291394810105
157
+ ],
158
+ "shadow": false
159
+ }
160
+ },
161
+ "frames": [
162
+ {
163
+ "frame_idx": 0,
164
+ "qpos": [
165
+ 0.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0
171
+ ]
172
+ }
173
+ ]
174
+ }
ur_10e/ProcTHOR/test/bg_000191/scene_b02_016/scene_meta.json ADDED
@@ -0,0 +1,174 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "ur_10e",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 191,
7
+ "base_idx": 2,
8
+ "cam_idx": 15,
9
+ "n_dof": 6,
10
+ "num_links": 8,
11
+ "joint_names": [
12
+ "shoulder_pan_joint",
13
+ "shoulder_lift_joint",
14
+ "elbow_joint",
15
+ "wrist_1_joint",
16
+ "wrist_2_joint",
17
+ "wrist_3_joint"
18
+ ],
19
+ "link_names": [
20
+ "dummy_root_0",
21
+ "base",
22
+ "shoulder_link",
23
+ "upper_arm_link",
24
+ "forearm_link",
25
+ "wrist_1_link",
26
+ "wrist_2_link",
27
+ "wrist_3_link"
28
+ ],
29
+ "ee_link_name": "wrist_3_link",
30
+ "image_width": 640,
31
+ "image_height": 480,
32
+ "fovy_rad": 1.083923612059363,
33
+ "K": [
34
+ [
35
+ 399.22129528852633,
36
+ 0.0,
37
+ 347.33664893940426
38
+ ],
39
+ [
40
+ 0.0,
41
+ 398.60522695001214,
42
+ 251.01151613133374
43
+ ],
44
+ [
45
+ 0.0,
46
+ 0.0,
47
+ 1.0
48
+ ]
49
+ ],
50
+ "camera_eye": [
51
+ -9.755716048844276,
52
+ -5.038341619429529,
53
+ 1.1067793751419264
54
+ ],
55
+ "camera_target": [
56
+ -10.754753107698093,
57
+ -7.035369824002355,
58
+ 0.9575767081629727
59
+ ],
60
+ "camera_roll_rad": -0.008858197630445604,
61
+ "camera_pose_world_cv": [
62
+ [
63
+ -0.8947217464447021,
64
+ 0.013979524374008179,
65
+ -0.4464055597782135,
66
+ -9.755716323852539
67
+ ],
68
+ [
69
+ 0.4462744891643524,
70
+ 0.06754112243652344,
71
+ -0.8923438787460327,
72
+ -5.038341522216797
73
+ ],
74
+ [
75
+ 0.017676115036010742,
76
+ -0.9976186752319336,
77
+ -0.06666892766952515,
78
+ 1.1067793369293213
79
+ ],
80
+ [
81
+ 0.0,
82
+ 0.0,
83
+ 0.0,
84
+ 1.0
85
+ ]
86
+ ],
87
+ "T_base_world": [
88
+ [
89
+ -0.955456018447876,
90
+ 0.295133501291275,
91
+ 0.0,
92
+ -10.732095718383789
93
+ ],
94
+ [
95
+ -0.295133501291275,
96
+ -0.955456018447876,
97
+ -0.0,
98
+ -7.053027629852295
99
+ ],
100
+ [
101
+ -0.0,
102
+ 0.0,
103
+ 1.0,
104
+ 0.7581021785736084
105
+ ],
106
+ [
107
+ 0.0,
108
+ 0.0,
109
+ 0.0,
110
+ 1.0
111
+ ]
112
+ ],
113
+ "lighting": {
114
+ "aug_enabled": true,
115
+ "params": {
116
+ "ambient": [
117
+ 0.2628266887274722,
118
+ 0.27135220549744415,
119
+ 0.2477464233478035
120
+ ],
121
+ "directional_primary": {
122
+ "direction": [
123
+ 0.5316919141838249,
124
+ -0.5695727172567494,
125
+ -0.6268098803850359
126
+ ],
127
+ "color": [
128
+ 1.268769575521288,
129
+ 1.1974655366962823,
130
+ 1.0752300415677014
131
+ ],
132
+ "azimuth_rad": -0.8197821547743387,
133
+ "elevation_rad": 0.6774521941721563,
134
+ "color_temp_k": 4649.345768328475,
135
+ "intensity": 1.1974655366962823
136
+ },
137
+ "directional_fill": {
138
+ "direction": [
139
+ 0.08504117971366258,
140
+ -0.3202773640944039,
141
+ -0.9434990226818728
142
+ ],
143
+ "color": [
144
+ 0.5828671522384767,
145
+ 0.5893421521057712,
146
+ 0.5997021518934424
147
+ ],
148
+ "azimuth_rad": -1.3112614722645917,
149
+ "elevation_rad": 1.2330354601548543,
150
+ "color_temp_k": 5718.775068893981,
151
+ "intensity": 0.591932152052689
152
+ },
153
+ "point_color_scale": [
154
+ 1.1392023265585118,
155
+ 1.1222148631382507,
156
+ 1.093093497274946
157
+ ],
158
+ "shadow": true
159
+ }
160
+ },
161
+ "frames": [
162
+ {
163
+ "frame_idx": 0,
164
+ "qpos": [
165
+ 0.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0
171
+ ]
172
+ }
173
+ ]
174
+ }
ur_10e/ProcTHOR/test/bg_000191/scene_b03_001/scene_meta.json ADDED
@@ -0,0 +1,174 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "ur_10e",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 191,
7
+ "base_idx": 3,
8
+ "cam_idx": 0,
9
+ "n_dof": 6,
10
+ "num_links": 8,
11
+ "joint_names": [
12
+ "shoulder_pan_joint",
13
+ "shoulder_lift_joint",
14
+ "elbow_joint",
15
+ "wrist_1_joint",
16
+ "wrist_2_joint",
17
+ "wrist_3_joint"
18
+ ],
19
+ "link_names": [
20
+ "dummy_root_0",
21
+ "base",
22
+ "shoulder_link",
23
+ "upper_arm_link",
24
+ "forearm_link",
25
+ "wrist_1_link",
26
+ "wrist_2_link",
27
+ "wrist_3_link"
28
+ ],
29
+ "ee_link_name": "wrist_3_link",
30
+ "image_width": 640,
31
+ "image_height": 480,
32
+ "fovy_rad": 1.287264674863269,
33
+ "K": [
34
+ [
35
+ 333.893383383509,
36
+ 0.0,
37
+ 302.61451364292276
38
+ ],
39
+ [
40
+ 0.0,
41
+ 319.91252954543603,
42
+ 245.03799120123077
43
+ ],
44
+ [
45
+ 0.0,
46
+ 0.0,
47
+ 1.0
48
+ ]
49
+ ],
50
+ "camera_eye": [
51
+ -11.023274488856506,
52
+ -6.836299225189387,
53
+ 1.120425452637988
54
+ ],
55
+ "camera_target": [
56
+ -10.692134699913085,
57
+ -8.043990155471581,
58
+ 0.8812036843501737
59
+ ],
60
+ "camera_roll_rad": 0.043282185295908535,
61
+ "camera_pose_world_cv": [
62
+ [
63
+ -0.965083122253418,
64
+ 0.03394708037376404,
65
+ 0.25973546504974365,
66
+ -11.023274421691895
67
+ ],
68
+ [
69
+ -0.24779710173606873,
70
+ 0.20314311981201172,
71
+ -0.9472748637199402,
72
+ -6.836299419403076
73
+ ],
74
+ [
75
+ -0.08492065966129303,
76
+ -0.9785605072975159,
77
+ -0.1876378059387207,
78
+ 1.1204254627227783
79
+ ],
80
+ [
81
+ 0.0,
82
+ 0.0,
83
+ 0.0,
84
+ 1.0
85
+ ]
86
+ ],
87
+ "T_base_world": [
88
+ [
89
+ -0.24288618564605713,
90
+ -0.9700547456741333,
91
+ 0.0,
92
+ -10.70128345489502
93
+ ],
94
+ [
95
+ 0.9700547456741333,
96
+ -0.24288618564605713,
97
+ 0.0,
98
+ -8.022500991821289
99
+ ],
100
+ [
101
+ 0.0,
102
+ 0.0,
103
+ 1.0,
104
+ 0.7581021785736084
105
+ ],
106
+ [
107
+ 0.0,
108
+ 0.0,
109
+ 0.0,
110
+ 1.0
111
+ ]
112
+ ],
113
+ "lighting": {
114
+ "aug_enabled": true,
115
+ "params": {
116
+ "ambient": [
117
+ 0.34784294445746744,
118
+ 0.3742851833214672,
119
+ 0.345941221461278
120
+ ],
121
+ "directional_primary": {
122
+ "direction": [
123
+ 0.5316919141838249,
124
+ -0.5695727172567494,
125
+ -0.6268098803850359
126
+ ],
127
+ "color": [
128
+ 0.9646412803220052,
129
+ 0.9151010627511755,
130
+ 0.830174975486896
131
+ ],
132
+ "azimuth_rad": -0.8197821547743387,
133
+ "elevation_rad": 0.6774521941721563,
134
+ "color_temp_k": 4726.623787605161,
135
+ "intensity": 0.9151010627511755
136
+ },
137
+ "directional_fill": {
138
+ "direction": [
139
+ 0.08504117971366258,
140
+ -0.3202773640944039,
141
+ -0.9434990226818728
142
+ ],
143
+ "color": [
144
+ 0.6488933228594829,
145
+ 0.6509283695613978,
146
+ 0.6541844442844615
147
+ ],
148
+ "azimuth_rad": -1.3112614722645917,
149
+ "elevation_rad": 1.2330354601548543,
150
+ "color_temp_k": 5562.449419851413,
151
+ "intensity": 0.6517423882421637
152
+ },
153
+ "point_color_scale": [
154
+ 1.0021609335973407,
155
+ 1.0218387443710544,
156
+ 1.0533232416089962
157
+ ],
158
+ "shadow": true
159
+ }
160
+ },
161
+ "frames": [
162
+ {
163
+ "frame_idx": 0,
164
+ "qpos": [
165
+ 0.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0
171
+ ]
172
+ }
173
+ ]
174
+ }
ur_10e/ProcTHOR/test/bg_000191/scene_b03_003/scene_meta.json ADDED
@@ -0,0 +1,174 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "ur_10e",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 191,
7
+ "base_idx": 3,
8
+ "cam_idx": 2,
9
+ "n_dof": 6,
10
+ "num_links": 8,
11
+ "joint_names": [
12
+ "shoulder_pan_joint",
13
+ "shoulder_lift_joint",
14
+ "elbow_joint",
15
+ "wrist_1_joint",
16
+ "wrist_2_joint",
17
+ "wrist_3_joint"
18
+ ],
19
+ "link_names": [
20
+ "dummy_root_0",
21
+ "base",
22
+ "shoulder_link",
23
+ "upper_arm_link",
24
+ "forearm_link",
25
+ "wrist_1_link",
26
+ "wrist_2_link",
27
+ "wrist_3_link"
28
+ ],
29
+ "ee_link_name": "wrist_3_link",
30
+ "image_width": 640,
31
+ "image_height": 480,
32
+ "fovy_rad": 0.9564964539667605,
33
+ "K": [
34
+ [
35
+ 448.6827162827896,
36
+ 0.0,
37
+ 295.0358134958837
38
+ ],
39
+ [
40
+ 0.0,
41
+ 462.97519400909687,
42
+ 248.86989799204244
43
+ ],
44
+ [
45
+ 0.0,
46
+ 0.0,
47
+ 1.0
48
+ ]
49
+ ],
50
+ "camera_eye": [
51
+ -11.048896858124825,
52
+ -9.674485381297773,
53
+ 1.8483819198092437
54
+ ],
55
+ "camera_target": [
56
+ -10.723488346662707,
57
+ -8.010526190754257,
58
+ 0.8996316075934992
59
+ ],
60
+ "camera_roll_rad": -0.044303783911956794,
61
+ "camera_pose_world_cv": [
62
+ [
63
+ 0.9858527183532715,
64
+ -0.006507940590381622,
65
+ 0.16748765110969543,
66
+ -11.048896789550781
67
+ ],
68
+ [
69
+ -0.1487649381160736,
70
+ -0.4943475127220154,
71
+ 0.8564401268959045,
72
+ -9.674485206604004
73
+ ],
74
+ [
75
+ 0.07722344249486923,
76
+ -0.8692401051521301,
77
+ -0.4883219599723816,
78
+ 1.8483818769454956
79
+ ],
80
+ [
81
+ 0.0,
82
+ 0.0,
83
+ 0.0,
84
+ 1.0
85
+ ]
86
+ ],
87
+ "T_base_world": [
88
+ [
89
+ -0.24288618564605713,
90
+ -0.9700547456741333,
91
+ 0.0,
92
+ -10.70128345489502
93
+ ],
94
+ [
95
+ 0.9700547456741333,
96
+ -0.24288618564605713,
97
+ 0.0,
98
+ -8.022500991821289
99
+ ],
100
+ [
101
+ 0.0,
102
+ 0.0,
103
+ 1.0,
104
+ 0.7581021785736084
105
+ ],
106
+ [
107
+ 0.0,
108
+ 0.0,
109
+ 0.0,
110
+ 1.0
111
+ ]
112
+ ],
113
+ "lighting": {
114
+ "aug_enabled": true,
115
+ "params": {
116
+ "ambient": [
117
+ 0.3395988115996479,
118
+ 0.3512946840462134,
119
+ 0.3407273795059743
120
+ ],
121
+ "directional_primary": {
122
+ "direction": [
123
+ 0.5316919141838249,
124
+ -0.5695727172567494,
125
+ -0.6268098803850359
126
+ ],
127
+ "color": [
128
+ 1.1068220954798598,
129
+ 1.1586496321743442,
130
+ 1.24157369088552
131
+ ],
132
+ "azimuth_rad": -0.8197821547743387,
133
+ "elevation_rad": 0.6774521941721563,
134
+ "color_temp_k": 6378.894135372096,
135
+ "intensity": 1.1793806468521382
136
+ },
137
+ "directional_fill": {
138
+ "direction": [
139
+ 0.08504117971366258,
140
+ -0.3202773640944039,
141
+ -0.9434990226818728
142
+ ],
143
+ "color": [
144
+ 0.885075711375135,
145
+ 0.8607475270224085,
146
+ 0.8190420681320205
147
+ ],
148
+ "azimuth_rad": -1.3112614722645917,
149
+ "elevation_rad": 1.2330354601548543,
150
+ "color_temp_k": 5096.228301746622,
151
+ "intensity": 0.8607475270224085
152
+ },
153
+ "point_color_scale": [
154
+ 1.0398005418925675,
155
+ 1.035142411394252,
156
+ 1.027157044825711
157
+ ],
158
+ "shadow": true
159
+ }
160
+ },
161
+ "frames": [
162
+ {
163
+ "frame_idx": 0,
164
+ "qpos": [
165
+ 0.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0
171
+ ]
172
+ }
173
+ ]
174
+ }
ur_10e/ProcTHOR/test/bg_000191/scene_b03_004/scene_meta.json ADDED
@@ -0,0 +1,174 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "ur_10e",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 191,
7
+ "base_idx": 3,
8
+ "cam_idx": 3,
9
+ "n_dof": 6,
10
+ "num_links": 8,
11
+ "joint_names": [
12
+ "shoulder_pan_joint",
13
+ "shoulder_lift_joint",
14
+ "elbow_joint",
15
+ "wrist_1_joint",
16
+ "wrist_2_joint",
17
+ "wrist_3_joint"
18
+ ],
19
+ "link_names": [
20
+ "dummy_root_0",
21
+ "base",
22
+ "shoulder_link",
23
+ "upper_arm_link",
24
+ "forearm_link",
25
+ "wrist_1_link",
26
+ "wrist_2_link",
27
+ "wrist_3_link"
28
+ ],
29
+ "ee_link_name": "wrist_3_link",
30
+ "image_width": 640,
31
+ "image_height": 480,
32
+ "fovy_rad": 0.917496588314341,
33
+ "K": [
34
+ [
35
+ 488.49302770026105,
36
+ 0.0,
37
+ 335.81549778375904
38
+ ],
39
+ [
40
+ 0.0,
41
+ 485.93740373871145,
42
+ 232.189385705308
43
+ ],
44
+ [
45
+ 0.0,
46
+ 0.0,
47
+ 1.0
48
+ ]
49
+ ],
50
+ "camera_eye": [
51
+ -12.510353142941018,
52
+ -9.269176226157146,
53
+ 0.7783776495602449
54
+ ],
55
+ "camera_target": [
56
+ -10.746173824644746,
57
+ -8.016943024075216,
58
+ 0.9308145482912012
59
+ ],
60
+ "camera_roll_rad": -0.013811345369121736,
61
+ "camera_pose_world_cv": [
62
+ [
63
+ 0.5770155191421509,
64
+ 0.07328027486801147,
65
+ 0.8134390711784363,
66
+ -12.510353088378906
67
+ ],
68
+ [
69
+ -0.8162683844566345,
70
+ 0.018145442008972168,
71
+ 0.5773878693580627,
72
+ -9.269176483154297
73
+ ],
74
+ [
75
+ 0.027550935745239258,
76
+ -0.9971463084220886,
77
+ 0.07028663158416748,
78
+ 0.7783776521682739
79
+ ],
80
+ [
81
+ 0.0,
82
+ 0.0,
83
+ 0.0,
84
+ 1.0
85
+ ]
86
+ ],
87
+ "T_base_world": [
88
+ [
89
+ -0.24288618564605713,
90
+ -0.9700547456741333,
91
+ 0.0,
92
+ -10.70128345489502
93
+ ],
94
+ [
95
+ 0.9700547456741333,
96
+ -0.24288618564605713,
97
+ 0.0,
98
+ -8.022500991821289
99
+ ],
100
+ [
101
+ 0.0,
102
+ 0.0,
103
+ 1.0,
104
+ 0.7581021785736084
105
+ ],
106
+ [
107
+ 0.0,
108
+ 0.0,
109
+ 0.0,
110
+ 1.0
111
+ ]
112
+ ],
113
+ "lighting": {
114
+ "aug_enabled": true,
115
+ "params": {
116
+ "ambient": [
117
+ 0.2816278503537467,
118
+ 0.2894711339151558,
119
+ 0.29911805492197363
120
+ ],
121
+ "directional_primary": {
122
+ "direction": [
123
+ 0.5316919141838249,
124
+ -0.5695727172567494,
125
+ -0.6268098803850359
126
+ ],
127
+ "color": [
128
+ 0.974875113427764,
129
+ 0.9788809383032161,
130
+ 0.9852902581039394
131
+ ],
132
+ "azimuth_rad": -0.8197821547743387,
133
+ "elevation_rad": 0.6774521941721563,
134
+ "color_temp_k": 5581.7112337386025,
135
+ "intensity": 0.9804832682533969
136
+ },
137
+ "directional_fill": {
138
+ "direction": [
139
+ 0.08504117971366258,
140
+ -0.3202773640944039,
141
+ -0.9434990226818728
142
+ ],
143
+ "color": [
144
+ 0.8145563214202567,
145
+ 0.816133862126663,
146
+ 0.8186579272569129
147
+ ],
148
+ "azimuth_rad": -1.3112614722645917,
149
+ "elevation_rad": 1.2330354601548543,
150
+ "color_temp_k": 5538.629004456673,
151
+ "intensity": 0.8167648784092254
152
+ },
153
+ "point_color_scale": [
154
+ 1.1329317975174864,
155
+ 1.1079218614166746,
156
+ 1.0650476852438542
157
+ ],
158
+ "shadow": true
159
+ }
160
+ },
161
+ "frames": [
162
+ {
163
+ "frame_idx": 0,
164
+ "qpos": [
165
+ 0.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0
171
+ ]
172
+ }
173
+ ]
174
+ }
ur_10e/ProcTHOR/test/bg_000191/scene_b03_006/scene_meta.json ADDED
@@ -0,0 +1,174 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "ur_10e",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 191,
7
+ "base_idx": 3,
8
+ "cam_idx": 5,
9
+ "n_dof": 6,
10
+ "num_links": 8,
11
+ "joint_names": [
12
+ "shoulder_pan_joint",
13
+ "shoulder_lift_joint",
14
+ "elbow_joint",
15
+ "wrist_1_joint",
16
+ "wrist_2_joint",
17
+ "wrist_3_joint"
18
+ ],
19
+ "link_names": [
20
+ "dummy_root_0",
21
+ "base",
22
+ "shoulder_link",
23
+ "upper_arm_link",
24
+ "forearm_link",
25
+ "wrist_1_link",
26
+ "wrist_2_link",
27
+ "wrist_3_link"
28
+ ],
29
+ "ee_link_name": "wrist_3_link",
30
+ "image_width": 640,
31
+ "image_height": 480,
32
+ "fovy_rad": 0.8056226907998914,
33
+ "K": [
34
+ [
35
+ 572.5965545785626,
36
+ 0.0,
37
+ 316.78852865809466
38
+ ],
39
+ [
40
+ 0.0,
41
+ 563.2334495689846,
42
+ 217.18608519679117
43
+ ],
44
+ [
45
+ 0.0,
46
+ 0.0,
47
+ 1.0
48
+ ]
49
+ ],
50
+ "camera_eye": [
51
+ -9.268280155386561,
52
+ -9.33996719068631,
53
+ 1.229428392433144
54
+ ],
55
+ "camera_target": [
56
+ -10.709622482466612,
57
+ -8.040111909717247,
58
+ 0.9355051310772338
59
+ ],
60
+ "camera_roll_rad": -0.0443074988864882,
61
+ "camera_pose_world_cv": [
62
+ [
63
+ 0.6572497487068176,
64
+ 0.170024573802948,
65
+ -0.7342442274093628,
66
+ -9.268280029296875
67
+ ],
68
+ [
69
+ 0.7485762238502502,
70
+ -0.034162044525146484,
71
+ 0.6621682643890381,
72
+ -9.339966773986816
73
+ ],
74
+ [
75
+ 0.08750149607658386,
76
+ -0.9848476648330688,
77
+ -0.14972931146621704,
78
+ 1.2294284105300903
79
+ ],
80
+ [
81
+ 0.0,
82
+ 0.0,
83
+ 0.0,
84
+ 1.0
85
+ ]
86
+ ],
87
+ "T_base_world": [
88
+ [
89
+ -0.24288618564605713,
90
+ -0.9700547456741333,
91
+ 0.0,
92
+ -10.70128345489502
93
+ ],
94
+ [
95
+ 0.9700547456741333,
96
+ -0.24288618564605713,
97
+ 0.0,
98
+ -8.022500991821289
99
+ ],
100
+ [
101
+ 0.0,
102
+ 0.0,
103
+ 1.0,
104
+ 0.7581021785736084
105
+ ],
106
+ [
107
+ 0.0,
108
+ 0.0,
109
+ 0.0,
110
+ 1.0
111
+ ]
112
+ ],
113
+ "lighting": {
114
+ "aug_enabled": true,
115
+ "params": {
116
+ "ambient": [
117
+ 0.37711045433406587,
118
+ 0.3661945204581962,
119
+ 0.39230662246027714
120
+ ],
121
+ "directional_primary": {
122
+ "direction": [
123
+ 0.5316919141838249,
124
+ -0.5695727172567494,
125
+ -0.6268098803850359
126
+ ],
127
+ "color": [
128
+ 0.965530449077112,
129
+ 0.908987298750272,
130
+ 0.8120561839042603
131
+ ],
132
+ "azimuth_rad": -0.8197821547743387,
133
+ "elevation_rad": 0.6774521941721563,
134
+ "color_temp_k": 4611.363501454878,
135
+ "intensity": 0.908987298750272
136
+ },
137
+ "directional_fill": {
138
+ "direction": [
139
+ 0.08504117971366258,
140
+ -0.3202773640944039,
141
+ -0.9434990226818728
142
+ ],
143
+ "color": [
144
+ 0.8590885465761814,
145
+ 0.8807177383947962,
146
+ 0.9153244453045801
147
+ ],
148
+ "azimuth_rad": -1.3112614722645917,
149
+ "elevation_rad": 1.2330354601548543,
150
+ "color_temp_k": 5986.393875274922,
151
+ "intensity": 0.8893694151222422
152
+ },
153
+ "point_color_scale": [
154
+ 1.1453358298470753,
155
+ 1.1220393356781913,
156
+ 1.0821024885315333
157
+ ],
158
+ "shadow": true
159
+ }
160
+ },
161
+ "frames": [
162
+ {
163
+ "frame_idx": 0,
164
+ "qpos": [
165
+ 0.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0
171
+ ]
172
+ }
173
+ ]
174
+ }
ur_10e/ProcTHOR/test/bg_000191/scene_b03_011/scene_meta.json ADDED
@@ -0,0 +1,174 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "ur_10e",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 191,
7
+ "base_idx": 3,
8
+ "cam_idx": 10,
9
+ "n_dof": 6,
10
+ "num_links": 8,
11
+ "joint_names": [
12
+ "shoulder_pan_joint",
13
+ "shoulder_lift_joint",
14
+ "elbow_joint",
15
+ "wrist_1_joint",
16
+ "wrist_2_joint",
17
+ "wrist_3_joint"
18
+ ],
19
+ "link_names": [
20
+ "dummy_root_0",
21
+ "base",
22
+ "shoulder_link",
23
+ "upper_arm_link",
24
+ "forearm_link",
25
+ "wrist_1_link",
26
+ "wrist_2_link",
27
+ "wrist_3_link"
28
+ ],
29
+ "ee_link_name": "wrist_3_link",
30
+ "image_width": 640,
31
+ "image_height": 480,
32
+ "fovy_rad": 1.2929893529642371,
33
+ "K": [
34
+ [
35
+ 332.51396734304717,
36
+ 0.0,
37
+ 334.8512528995904
38
+ ],
39
+ [
40
+ 0.0,
41
+ 318.01221635615224,
42
+ 225.57369880778157
43
+ ],
44
+ [
45
+ 0.0,
46
+ 0.0,
47
+ 1.0
48
+ ]
49
+ ],
50
+ "camera_eye": [
51
+ -9.5228617026305,
52
+ -7.263503733495607,
53
+ 1.8338809306816106
54
+ ],
55
+ "camera_target": [
56
+ -10.703918113092149,
57
+ -8.034052971315456,
58
+ 0.9806361000545119
59
+ ],
60
+ "camera_roll_rad": -0.03593247461213888,
61
+ "camera_pose_world_cv": [
62
+ [
63
+ -0.5761349201202393,
64
+ 0.393205463886261,
65
+ -0.7165600061416626,
66
+ -9.52286148071289
67
+ ],
68
+ [
69
+ 0.8150427937507629,
70
+ 0.34227001667022705,
71
+ -0.4675005078315735,
72
+ -7.263503551483154
73
+ ],
74
+ [
75
+ 0.061433225870132446,
76
+ -0.8533703684806824,
77
+ -0.5176727771759033,
78
+ 1.83388090133667
79
+ ],
80
+ [
81
+ 0.0,
82
+ 0.0,
83
+ 0.0,
84
+ 1.0
85
+ ]
86
+ ],
87
+ "T_base_world": [
88
+ [
89
+ -0.24288618564605713,
90
+ -0.9700547456741333,
91
+ 0.0,
92
+ -10.70128345489502
93
+ ],
94
+ [
95
+ 0.9700547456741333,
96
+ -0.24288618564605713,
97
+ 0.0,
98
+ -8.022500991821289
99
+ ],
100
+ [
101
+ 0.0,
102
+ 0.0,
103
+ 1.0,
104
+ 0.7581021785736084
105
+ ],
106
+ [
107
+ 0.0,
108
+ 0.0,
109
+ 0.0,
110
+ 1.0
111
+ ]
112
+ ],
113
+ "lighting": {
114
+ "aug_enabled": true,
115
+ "params": {
116
+ "ambient": [
117
+ 0.24868082731378607,
118
+ 0.22589107307783632,
119
+ 0.24870311276827894
120
+ ],
121
+ "directional_primary": {
122
+ "direction": [
123
+ 0.5316919141838249,
124
+ -0.5695727172567494,
125
+ -0.6268098803850359
126
+ ],
127
+ "color": [
128
+ 1.1028446624947188,
129
+ 1.129997850609033,
130
+ 1.1734429515919358
131
+ ],
132
+ "azimuth_rad": -0.8197821547743387,
133
+ "elevation_rad": 0.6774521941721563,
134
+ "color_temp_k": 5976.012988789838,
135
+ "intensity": 1.1408591258547587
136
+ },
137
+ "directional_fill": {
138
+ "direction": [
139
+ 0.08504117971366258,
140
+ -0.3202773640944039,
141
+ -0.9434990226818728
142
+ ],
143
+ "color": [
144
+ 0.5951693243367893,
145
+ 0.5905966702655094,
146
+ 0.5827578347147441
147
+ ],
148
+ "azimuth_rad": -1.3112614722645917,
149
+ "elevation_rad": 1.2330354601548543,
150
+ "color_temp_k": 5389.3938403676675,
151
+ "intensity": 0.5905966702655094
152
+ },
153
+ "point_color_scale": [
154
+ 1.1443106849215792,
155
+ 1.129017628286768,
156
+ 1.1028009597699493
157
+ ],
158
+ "shadow": true
159
+ }
160
+ },
161
+ "frames": [
162
+ {
163
+ "frame_idx": 0,
164
+ "qpos": [
165
+ 0.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0
171
+ ]
172
+ }
173
+ ]
174
+ }
ur_10e/ProcTHOR/test/bg_000191/scene_b03_013/scene_meta.json ADDED
@@ -0,0 +1,174 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "ur_10e",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 191,
7
+ "base_idx": 3,
8
+ "cam_idx": 12,
9
+ "n_dof": 6,
10
+ "num_links": 8,
11
+ "joint_names": [
12
+ "shoulder_pan_joint",
13
+ "shoulder_lift_joint",
14
+ "elbow_joint",
15
+ "wrist_1_joint",
16
+ "wrist_2_joint",
17
+ "wrist_3_joint"
18
+ ],
19
+ "link_names": [
20
+ "dummy_root_0",
21
+ "base",
22
+ "shoulder_link",
23
+ "upper_arm_link",
24
+ "forearm_link",
25
+ "wrist_1_link",
26
+ "wrist_2_link",
27
+ "wrist_3_link"
28
+ ],
29
+ "ee_link_name": "wrist_3_link",
30
+ "image_width": 640,
31
+ "image_height": 480,
32
+ "fovy_rad": 0.8376485361211413,
33
+ "K": [
34
+ [
35
+ 529.6630985009543,
36
+ 0.0,
37
+ 342.02189917774143
38
+ ],
39
+ [
40
+ 0.0,
41
+ 539.1282661251297,
42
+ 239.1803764085814
43
+ ],
44
+ [
45
+ 0.0,
46
+ 0.0,
47
+ 1.0
48
+ ]
49
+ ],
50
+ "camera_eye": [
51
+ -11.943956961623329,
52
+ -9.447142634311902,
53
+ 1.4930730039328366
54
+ ],
55
+ "camera_target": [
56
+ -10.669241706038454,
57
+ -8.056153878800496,
58
+ 0.9282244448527016
59
+ ],
60
+ "camera_roll_rad": -0.0384213402655349,
61
+ "camera_pose_world_cv": [
62
+ [
63
+ 0.7499479055404663,
64
+ -0.13660195469856262,
65
+ 0.6472387909889221,
66
+ -11.943957328796387
67
+ ],
68
+ [
69
+ -0.6573961973190308,
70
+ -0.2626863121986389,
71
+ 0.7062764763832092,
72
+ -9.447142601013184
73
+ ],
74
+ [
75
+ 0.07354211807250977,
76
+ -0.9551628232002258,
77
+ -0.28680264949798584,
78
+ 1.4930729866027832
79
+ ],
80
+ [
81
+ 0.0,
82
+ 0.0,
83
+ 0.0,
84
+ 1.0
85
+ ]
86
+ ],
87
+ "T_base_world": [
88
+ [
89
+ -0.24288618564605713,
90
+ -0.9700547456741333,
91
+ 0.0,
92
+ -10.70128345489502
93
+ ],
94
+ [
95
+ 0.9700547456741333,
96
+ -0.24288618564605713,
97
+ 0.0,
98
+ -8.022500991821289
99
+ ],
100
+ [
101
+ 0.0,
102
+ 0.0,
103
+ 1.0,
104
+ 0.7581021785736084
105
+ ],
106
+ [
107
+ 0.0,
108
+ 0.0,
109
+ 0.0,
110
+ 1.0
111
+ ]
112
+ ],
113
+ "lighting": {
114
+ "aug_enabled": true,
115
+ "params": {
116
+ "ambient": [
117
+ 0.2418968364128987,
118
+ 0.2409104724534535,
119
+ 0.2296180977247172
120
+ ],
121
+ "directional_primary": {
122
+ "direction": [
123
+ 0.5316919141838249,
124
+ -0.5695727172567494,
125
+ -0.6268098803850359
126
+ ],
127
+ "color": [
128
+ 1.1853828774378128,
129
+ 1.1459722064175684,
130
+ 1.0784110560971494
131
+ ],
132
+ "azimuth_rad": -0.8197821547743387,
133
+ "elevation_rad": 0.6774521941721563,
134
+ "color_temp_k": 5008.705723532755,
135
+ "intensity": 1.1459722064175684
136
+ },
137
+ "directional_fill": {
138
+ "direction": [
139
+ 0.08504117971366258,
140
+ -0.3202773640944039,
141
+ -0.9434990226818728
142
+ ],
143
+ "color": [
144
+ 0.7144831240711124,
145
+ 0.7240823554085548,
146
+ 0.7394411255484631
147
+ ],
148
+ "azimuth_rad": -1.3112614722645917,
149
+ "elevation_rad": 1.2330354601548543,
150
+ "color_temp_k": 5763.74338748391,
151
+ "intensity": 0.727922047943532
152
+ },
153
+ "point_color_scale": [
154
+ 0.8515966071430549,
155
+ 0.8543116194572988,
156
+ 0.8586556391600892
157
+ ],
158
+ "shadow": true
159
+ }
160
+ },
161
+ "frames": [
162
+ {
163
+ "frame_idx": 0,
164
+ "qpos": [
165
+ 0.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0
171
+ ]
172
+ }
173
+ ]
174
+ }
ur_10e/ProcTHOR/test/bg_000191/scene_b03_014/scene_meta.json ADDED
@@ -0,0 +1,174 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "ur_10e",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 191,
7
+ "base_idx": 3,
8
+ "cam_idx": 13,
9
+ "n_dof": 6,
10
+ "num_links": 8,
11
+ "joint_names": [
12
+ "shoulder_pan_joint",
13
+ "shoulder_lift_joint",
14
+ "elbow_joint",
15
+ "wrist_1_joint",
16
+ "wrist_2_joint",
17
+ "wrist_3_joint"
18
+ ],
19
+ "link_names": [
20
+ "dummy_root_0",
21
+ "base",
22
+ "shoulder_link",
23
+ "upper_arm_link",
24
+ "forearm_link",
25
+ "wrist_1_link",
26
+ "wrist_2_link",
27
+ "wrist_3_link"
28
+ ],
29
+ "ee_link_name": "wrist_3_link",
30
+ "image_width": 640,
31
+ "image_height": 480,
32
+ "fovy_rad": 1.3028985786210123,
33
+ "K": [
34
+ [
35
+ 314.6876918102585,
36
+ 0.0,
37
+ 346.252776035585
38
+ ],
39
+ [
40
+ 0.0,
41
+ 314.75666916142706,
42
+ 241.43009525065935
43
+ ],
44
+ [
45
+ 0.0,
46
+ 0.0,
47
+ 1.0
48
+ ]
49
+ ],
50
+ "camera_eye": [
51
+ -8.949353119606778,
52
+ -6.447715946554461,
53
+ 1.7064592134625545
54
+ ],
55
+ "camera_target": [
56
+ -10.708984359539324,
57
+ -8.05097769679917,
58
+ 1.0001671233254708
59
+ ],
60
+ "camera_roll_rad": -0.034068269487195504,
61
+ "camera_pose_world_cv": [
62
+ [
63
+ -0.6862521171569824,
64
+ 0.16391509771347046,
65
+ -0.7086535692214966,
66
+ -8.949353218078613
67
+ ],
68
+ [
69
+ 0.724429190158844,
70
+ 0.241455078125,
71
+ -0.645679235458374,
72
+ -6.447715759277344
73
+ ],
74
+ [
75
+ 0.06527140736579895,
76
+ -0.9564681053161621,
77
+ -0.2844439744949341,
78
+ 1.7064591646194458
79
+ ],
80
+ [
81
+ 0.0,
82
+ 0.0,
83
+ 0.0,
84
+ 1.0
85
+ ]
86
+ ],
87
+ "T_base_world": [
88
+ [
89
+ -0.24288618564605713,
90
+ -0.9700547456741333,
91
+ 0.0,
92
+ -10.70128345489502
93
+ ],
94
+ [
95
+ 0.9700547456741333,
96
+ -0.24288618564605713,
97
+ 0.0,
98
+ -8.022500991821289
99
+ ],
100
+ [
101
+ 0.0,
102
+ 0.0,
103
+ 1.0,
104
+ 0.7581021785736084
105
+ ],
106
+ [
107
+ 0.0,
108
+ 0.0,
109
+ 0.0,
110
+ 1.0
111
+ ]
112
+ ],
113
+ "lighting": {
114
+ "aug_enabled": true,
115
+ "params": {
116
+ "ambient": [
117
+ 0.32587685080421025,
118
+ 0.34247017321277484,
119
+ 0.31696430524696445
120
+ ],
121
+ "directional_primary": {
122
+ "direction": [
123
+ 0.5316919141838249,
124
+ -0.5695727172567494,
125
+ -0.6268098803850359
126
+ ],
127
+ "color": [
128
+ 1.1041006793257504,
129
+ 1.132806718200546,
130
+ 1.1787363804002187
131
+ ],
132
+ "azimuth_rad": -0.8197821547743387,
133
+ "elevation_rad": 0.6774521941721563,
134
+ "color_temp_k": 6001.727020350356,
135
+ "intensity": 1.1442891337504641
136
+ },
137
+ "directional_fill": {
138
+ "direction": [
139
+ 0.08504117971366258,
140
+ -0.3202773640944039,
141
+ -0.9434990226818728
142
+ ],
143
+ "color": [
144
+ 0.684413196313811,
145
+ 0.6706163783078549,
146
+ 0.6469646902976444
147
+ ],
148
+ "azimuth_rad": -1.3112614722645917,
149
+ "elevation_rad": 1.2330354601548543,
150
+ "color_temp_k": 5206.095158930629,
151
+ "intensity": 0.6706163783078549
152
+ },
153
+ "point_color_scale": [
154
+ 1.0307319395204895,
155
+ 0.9828150551498303,
156
+ 0.9006718248001288
157
+ ],
158
+ "shadow": true
159
+ }
160
+ },
161
+ "frames": [
162
+ {
163
+ "frame_idx": 0,
164
+ "qpos": [
165
+ 0.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0
171
+ ]
172
+ }
173
+ ]
174
+ }
ur_10e/ProcTHOR/test/bg_000191/scene_b03_016/scene_meta.json ADDED
@@ -0,0 +1,174 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "ur_10e",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 191,
7
+ "base_idx": 3,
8
+ "cam_idx": 15,
9
+ "n_dof": 6,
10
+ "num_links": 8,
11
+ "joint_names": [
12
+ "shoulder_pan_joint",
13
+ "shoulder_lift_joint",
14
+ "elbow_joint",
15
+ "wrist_1_joint",
16
+ "wrist_2_joint",
17
+ "wrist_3_joint"
18
+ ],
19
+ "link_names": [
20
+ "dummy_root_0",
21
+ "base",
22
+ "shoulder_link",
23
+ "upper_arm_link",
24
+ "forearm_link",
25
+ "wrist_1_link",
26
+ "wrist_2_link",
27
+ "wrist_3_link"
28
+ ],
29
+ "ee_link_name": "wrist_3_link",
30
+ "image_width": 640,
31
+ "image_height": 480,
32
+ "fovy_rad": 1.196836342692074,
33
+ "K": [
34
+ [
35
+ 356.44383133800903,
36
+ 0.0,
37
+ 317.0224165582037
38
+ ],
39
+ [
40
+ 0.0,
41
+ 352.0005461253172,
42
+ 255.8250480401914
43
+ ],
44
+ [
45
+ 0.0,
46
+ 0.0,
47
+ 1.0
48
+ ]
49
+ ],
50
+ "camera_eye": [
51
+ -9.56611559771722,
52
+ -8.177863807670288,
53
+ 1.8090920085401527
54
+ ],
55
+ "camera_target": [
56
+ -10.663972462578132,
57
+ -8.017473388854977,
58
+ 0.955697658186193
59
+ ],
60
+ "camera_roll_rad": -0.02380625309703918,
61
+ "camera_pose_world_cv": [
62
+ [
63
+ 0.11568361520767212,
64
+ 0.6094691753387451,
65
+ -0.7843242883682251,
66
+ -9.566115379333496
67
+ ],
68
+ [
69
+ 0.9925694465637207,
70
+ -0.04094034433364868,
71
+ 0.11458539962768555,
72
+ -8.177864074707031
73
+ ],
74
+ [
75
+ 0.0377257764339447,
76
+ -0.7917519807815552,
77
+ -0.6096765995025635,
78
+ 1.8090920448303223
79
+ ],
80
+ [
81
+ 0.0,
82
+ 0.0,
83
+ 0.0,
84
+ 1.0
85
+ ]
86
+ ],
87
+ "T_base_world": [
88
+ [
89
+ -0.24288618564605713,
90
+ -0.9700547456741333,
91
+ 0.0,
92
+ -10.70128345489502
93
+ ],
94
+ [
95
+ 0.9700547456741333,
96
+ -0.24288618564605713,
97
+ 0.0,
98
+ -8.022500991821289
99
+ ],
100
+ [
101
+ 0.0,
102
+ 0.0,
103
+ 1.0,
104
+ 0.7581021785736084
105
+ ],
106
+ [
107
+ 0.0,
108
+ 0.0,
109
+ 0.0,
110
+ 1.0
111
+ ]
112
+ ],
113
+ "lighting": {
114
+ "aug_enabled": true,
115
+ "params": {
116
+ "ambient": [
117
+ 0.29757929952059714,
118
+ 0.30113459309241514,
119
+ 0.3101916629030648
120
+ ],
121
+ "directional_primary": {
122
+ "direction": [
123
+ 0.5316919141838249,
124
+ -0.5695727172567494,
125
+ -0.6268098803850359
126
+ ],
127
+ "color": [
128
+ 1.1837499553323005,
129
+ 1.1734385229541529,
130
+ 1.1557617817344712
131
+ ],
132
+ "azimuth_rad": -0.8197821547743387,
133
+ "elevation_rad": 0.6774521941721563,
134
+ "color_temp_k": 5374.466217062796,
135
+ "intensity": 1.1734385229541529
136
+ },
137
+ "directional_fill": {
138
+ "direction": [
139
+ 0.08504117971366258,
140
+ -0.3202773640944039,
141
+ -0.9434990226818728
142
+ ],
143
+ "color": [
144
+ 0.7946942619674893,
145
+ 0.8146330797463579,
146
+ 0.8465351881925475
147
+ ],
148
+ "azimuth_rad": -1.3112614722645917,
149
+ "elevation_rad": 1.2330354601548543,
150
+ "color_temp_k": 5984.770463441375,
151
+ "intensity": 0.8226086068579053
152
+ },
153
+ "point_color_scale": [
154
+ 0.8396696745998503,
155
+ 0.8751461057496209,
156
+ 0.931908395589254
157
+ ],
158
+ "shadow": true
159
+ }
160
+ },
161
+ "frames": [
162
+ {
163
+ "frame_idx": 0,
164
+ "qpos": [
165
+ 0.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0
171
+ ]
172
+ }
173
+ ]
174
+ }
ur_10e/ProcTHOR/test/bg_000265/scene_b07_001/scene_meta.json ADDED
@@ -0,0 +1,174 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "ur_10e",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 265,
7
+ "base_idx": 7,
8
+ "cam_idx": 0,
9
+ "n_dof": 6,
10
+ "num_links": 8,
11
+ "joint_names": [
12
+ "shoulder_pan_joint",
13
+ "shoulder_lift_joint",
14
+ "elbow_joint",
15
+ "wrist_1_joint",
16
+ "wrist_2_joint",
17
+ "wrist_3_joint"
18
+ ],
19
+ "link_names": [
20
+ "dummy_root_0",
21
+ "base",
22
+ "shoulder_link",
23
+ "upper_arm_link",
24
+ "forearm_link",
25
+ "wrist_1_link",
26
+ "wrist_2_link",
27
+ "wrist_3_link"
28
+ ],
29
+ "ee_link_name": "wrist_3_link",
30
+ "image_width": 640,
31
+ "image_height": 480,
32
+ "fovy_rad": 1.1757229774009532,
33
+ "K": [
34
+ [
35
+ 374.66708954606025,
36
+ 0.0,
37
+ 312.9622081287053
38
+ ],
39
+ [
40
+ 0.0,
41
+ 360.1100928850727,
42
+ 228.57531933316517
43
+ ],
44
+ [
45
+ 0.0,
46
+ 0.0,
47
+ 1.0
48
+ ]
49
+ ],
50
+ "camera_eye": [
51
+ -2.179270926690127,
52
+ -4.888245161014534,
53
+ 1.7092662500730507
54
+ ],
55
+ "camera_target": [
56
+ -4.1165215673434306,
57
+ -5.734772071220147,
58
+ 1.185215243432
59
+ ],
60
+ "camera_roll_rad": 0.004775290621938891,
61
+ "camera_pose_world_cv": [
62
+ [
63
+ -0.39829015731811523,
64
+ 0.22428283095359802,
65
+ -0.8894168734550476,
66
+ -2.1792709827423096
67
+ ],
68
+ [
69
+ 0.917212724685669,
70
+ 0.08758330345153809,
71
+ -0.38865166902542114,
72
+ -4.888245105743408
73
+ ],
74
+ [
75
+ -0.009269893169403076,
76
+ -0.970580518245697,
77
+ -0.24059849977493286,
78
+ 1.7092663049697876
79
+ ],
80
+ [
81
+ 0.0,
82
+ 0.0,
83
+ 0.0,
84
+ 1.0
85
+ ]
86
+ ],
87
+ "T_base_world": [
88
+ [
89
+ 0.42156022787094116,
90
+ 0.906800389289856,
91
+ 0.0,
92
+ -4.140113353729248
93
+ ],
94
+ [
95
+ -0.906800389289856,
96
+ 0.42156022787094116,
97
+ -0.0,
98
+ -5.726112365722656
99
+ ],
100
+ [
101
+ -0.0,
102
+ 0.0,
103
+ 1.0,
104
+ 0.9372063279151917
105
+ ],
106
+ [
107
+ 0.0,
108
+ 0.0,
109
+ 0.0,
110
+ 1.0
111
+ ]
112
+ ],
113
+ "lighting": {
114
+ "aug_enabled": true,
115
+ "params": {
116
+ "ambient": [
117
+ 0.32893809648040695,
118
+ 0.32388674356026426,
119
+ 0.3246085995662513
120
+ ],
121
+ "directional_primary": {
122
+ "direction": [
123
+ -0.5052225802955939,
124
+ 0.1832131817447093,
125
+ -0.8433167094244263
126
+ ],
127
+ "color": [
128
+ 1.1858940063205088,
129
+ 1.135577424957389,
130
+ 1.0493204283348976
131
+ ],
132
+ "azimuth_rad": 2.793703216795276,
133
+ "elevation_rad": 1.0034252403453847,
134
+ "color_temp_k": 4867.010747669275,
135
+ "intensity": 1.135577424957389
136
+ },
137
+ "directional_fill": {
138
+ "direction": [
139
+ -0.0901164175432228,
140
+ 0.369944987427846,
141
+ -0.924672772155743
142
+ ],
143
+ "color": [
144
+ 0.8025132008421025,
145
+ 0.8248756115976351,
146
+ 0.8606554688064874
147
+ ],
148
+ "azimuth_rad": 1.8097368830434402,
149
+ "elevation_rad": 1.1801752967371775,
150
+ "color_temp_k": 6036.384239052854,
151
+ "intensity": 0.8338205758998483
152
+ },
153
+ "point_color_scale": [
154
+ 0.8949710073501017,
155
+ 0.9255737028686619,
156
+ 0.9745380156983585
157
+ ],
158
+ "shadow": true
159
+ }
160
+ },
161
+ "frames": [
162
+ {
163
+ "frame_idx": 0,
164
+ "qpos": [
165
+ 0.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0
171
+ ]
172
+ }
173
+ ]
174
+ }
ur_10e/ProcTHOR/test/bg_000265/scene_b07_002/scene_meta.json ADDED
@@ -0,0 +1,174 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "ur_10e",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 265,
7
+ "base_idx": 7,
8
+ "cam_idx": 1,
9
+ "n_dof": 6,
10
+ "num_links": 8,
11
+ "joint_names": [
12
+ "shoulder_pan_joint",
13
+ "shoulder_lift_joint",
14
+ "elbow_joint",
15
+ "wrist_1_joint",
16
+ "wrist_2_joint",
17
+ "wrist_3_joint"
18
+ ],
19
+ "link_names": [
20
+ "dummy_root_0",
21
+ "base",
22
+ "shoulder_link",
23
+ "upper_arm_link",
24
+ "forearm_link",
25
+ "wrist_1_link",
26
+ "wrist_2_link",
27
+ "wrist_3_link"
28
+ ],
29
+ "ee_link_name": "wrist_3_link",
30
+ "image_width": 640,
31
+ "image_height": 480,
32
+ "fovy_rad": 0.9519193804253069,
33
+ "K": [
34
+ [
35
+ 455.5434450061061,
36
+ 0.0,
37
+ 333.2465447639989
38
+ ],
39
+ [
40
+ 0.0,
41
+ 465.5798578245054,
42
+ 252.39961563858353
43
+ ],
44
+ [
45
+ 0.0,
46
+ 0.0,
47
+ 1.0
48
+ ]
49
+ ],
50
+ "camera_eye": [
51
+ -2.6349479405699654,
52
+ -4.674126865974518,
53
+ 1.273187125841433
54
+ ],
55
+ "camera_target": [
56
+ -4.151029653926461,
57
+ -5.751543018828696,
58
+ 1.177162119160053
59
+ ],
60
+ "camera_roll_rad": 0.031079733224384135,
61
+ "camera_pose_world_cv": [
62
+ [
63
+ -0.5755491256713867,
64
+ 0.07793107628822327,
65
+ -0.8140454888343811,
66
+ -2.6349480152130127
67
+ ],
68
+ [
69
+ 0.8154107332229614,
70
+ -0.020825624465942383,
71
+ -0.5785080790519714,
72
+ -4.674127101898193
73
+ ],
74
+ [
75
+ -0.062036752700805664,
76
+ -0.9967412352561951,
77
+ -0.0515596866607666,
78
+ 1.2731871604919434
79
+ ],
80
+ [
81
+ 0.0,
82
+ 0.0,
83
+ 0.0,
84
+ 1.0
85
+ ]
86
+ ],
87
+ "T_base_world": [
88
+ [
89
+ 0.42156022787094116,
90
+ 0.906800389289856,
91
+ 0.0,
92
+ -4.140113353729248
93
+ ],
94
+ [
95
+ -0.906800389289856,
96
+ 0.42156022787094116,
97
+ -0.0,
98
+ -5.726112365722656
99
+ ],
100
+ [
101
+ -0.0,
102
+ 0.0,
103
+ 1.0,
104
+ 0.9372063279151917
105
+ ],
106
+ [
107
+ 0.0,
108
+ 0.0,
109
+ 0.0,
110
+ 1.0
111
+ ]
112
+ ],
113
+ "lighting": {
114
+ "aug_enabled": true,
115
+ "params": {
116
+ "ambient": [
117
+ 0.22782408117141786,
118
+ 0.2230008816603532,
119
+ 0.23440802702010047
120
+ ],
121
+ "directional_primary": {
122
+ "direction": [
123
+ -0.5052225802955939,
124
+ 0.1832131817447093,
125
+ -0.8433167094244263
126
+ ],
127
+ "color": [
128
+ 1.0571387446952625,
129
+ 1.1059160950111295,
130
+ 1.1839598555165165
131
+ ],
132
+ "azimuth_rad": 2.793703216795276,
133
+ "elevation_rad": 1.0034252403453847,
134
+ "color_temp_k": 6366.823859618916,
135
+ "intensity": 1.1254270351374762
136
+ },
137
+ "directional_fill": {
138
+ "direction": [
139
+ -0.0901164175432228,
140
+ 0.369944987427846,
141
+ -0.924672772155743
142
+ ],
143
+ "color": [
144
+ 0.6116745359346831,
145
+ 0.6360867699153194,
146
+ 0.6751463442843374
147
+ ],
148
+ "azimuth_rad": 1.8097368830434402,
149
+ "elevation_rad": 1.1801752967371775,
150
+ "color_temp_k": 6255.970305876591,
151
+ "intensity": 0.645851663507574
152
+ },
153
+ "point_color_scale": [
154
+ 1.1463172849956182,
155
+ 1.1632031934699814,
156
+ 1.190220647028962
157
+ ],
158
+ "shadow": true
159
+ }
160
+ },
161
+ "frames": [
162
+ {
163
+ "frame_idx": 0,
164
+ "qpos": [
165
+ 0.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0
171
+ ]
172
+ }
173
+ ]
174
+ }
ur_10e/ProcTHOR/test/bg_000265/scene_b07_003/scene_meta.json ADDED
@@ -0,0 +1,174 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "ur_10e",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 265,
7
+ "base_idx": 7,
8
+ "cam_idx": 2,
9
+ "n_dof": 6,
10
+ "num_links": 8,
11
+ "joint_names": [
12
+ "shoulder_pan_joint",
13
+ "shoulder_lift_joint",
14
+ "elbow_joint",
15
+ "wrist_1_joint",
16
+ "wrist_2_joint",
17
+ "wrist_3_joint"
18
+ ],
19
+ "link_names": [
20
+ "dummy_root_0",
21
+ "base",
22
+ "shoulder_link",
23
+ "upper_arm_link",
24
+ "forearm_link",
25
+ "wrist_1_link",
26
+ "wrist_2_link",
27
+ "wrist_3_link"
28
+ ],
29
+ "ee_link_name": "wrist_3_link",
30
+ "image_width": 640,
31
+ "image_height": 480,
32
+ "fovy_rad": 0.8614197332504546,
33
+ "K": [
34
+ [
35
+ 524.2940814851524,
36
+ 0.0,
37
+ 299.5829720843365
38
+ ],
39
+ [
40
+ 0.0,
41
+ 522.3290458970921,
42
+ 244.4187319985246
43
+ ],
44
+ [
45
+ 0.0,
46
+ 0.0,
47
+ 1.0
48
+ ]
49
+ ],
50
+ "camera_eye": [
51
+ -2.952998873523368,
52
+ -4.78733749027184,
53
+ 0.9083425437434917
54
+ ],
55
+ "camera_target": [
56
+ -4.12198619350921,
57
+ -5.755723888326185,
58
+ 1.0508361568991313
59
+ ],
60
+ "camera_roll_rad": -0.026712071287019593,
61
+ "camera_pose_world_cv": [
62
+ [
63
+ -0.6331852674484253,
64
+ -0.10593390464782715,
65
+ -0.766716718673706,
66
+ -2.9529988765716553
67
+ ],
68
+ [
69
+ 0.7721722722053528,
70
+ -0.01841413974761963,
71
+ -0.63514643907547,
72
+ -4.787337303161621
73
+ ],
74
+ [
75
+ 0.05316507816314697,
76
+ -0.9942026734352112,
77
+ 0.09345889091491699,
78
+ 0.9083425402641296
79
+ ],
80
+ [
81
+ 0.0,
82
+ 0.0,
83
+ 0.0,
84
+ 1.0
85
+ ]
86
+ ],
87
+ "T_base_world": [
88
+ [
89
+ 0.42156022787094116,
90
+ 0.906800389289856,
91
+ 0.0,
92
+ -4.140113353729248
93
+ ],
94
+ [
95
+ -0.906800389289856,
96
+ 0.42156022787094116,
97
+ -0.0,
98
+ -5.726112365722656
99
+ ],
100
+ [
101
+ -0.0,
102
+ 0.0,
103
+ 1.0,
104
+ 0.9372063279151917
105
+ ],
106
+ [
107
+ 0.0,
108
+ 0.0,
109
+ 0.0,
110
+ 1.0
111
+ ]
112
+ ],
113
+ "lighting": {
114
+ "aug_enabled": true,
115
+ "params": {
116
+ "ambient": [
117
+ 0.24496928552483305,
118
+ 0.23592018640381132,
119
+ 0.23850499595582111
120
+ ],
121
+ "directional_primary": {
122
+ "direction": [
123
+ -0.5052225802955939,
124
+ 0.1832131817447093,
125
+ -0.8433167094244263
126
+ ],
127
+ "color": [
128
+ 1.0967710291347526,
129
+ 1.134562171867803,
130
+ 1.195028000240684
131
+ ],
132
+ "azimuth_rad": 2.793703216795276,
133
+ "elevation_rad": 1.0034252403453847,
134
+ "color_temp_k": 6157.420983239512,
135
+ "intensity": 1.1496786289610232
136
+ },
137
+ "directional_fill": {
138
+ "direction": [
139
+ -0.0901164175432228,
140
+ 0.369944987427846,
141
+ -0.924672772155743
142
+ ],
143
+ "color": [
144
+ 0.7406164231248545,
145
+ 0.7351450419952665,
146
+ 0.7257655314874014
147
+ ],
148
+ "azimuth_rad": 1.8097368830434402,
149
+ "elevation_rad": 1.1801752967371775,
150
+ "color_temp_k": 5393.677324744787,
151
+ "intensity": 0.7351450419952665
152
+ },
153
+ "point_color_scale": [
154
+ 0.9543525202306062,
155
+ 0.9148981785790604,
156
+ 0.8472621643192676
157
+ ],
158
+ "shadow": true
159
+ }
160
+ },
161
+ "frames": [
162
+ {
163
+ "frame_idx": 0,
164
+ "qpos": [
165
+ 0.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0
171
+ ]
172
+ }
173
+ ]
174
+ }
ur_10e/ProcTHOR/test/bg_000265/scene_b07_004/scene_meta.json ADDED
@@ -0,0 +1,174 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "ur_10e",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 265,
7
+ "base_idx": 7,
8
+ "cam_idx": 3,
9
+ "n_dof": 6,
10
+ "num_links": 8,
11
+ "joint_names": [
12
+ "shoulder_pan_joint",
13
+ "shoulder_lift_joint",
14
+ "elbow_joint",
15
+ "wrist_1_joint",
16
+ "wrist_2_joint",
17
+ "wrist_3_joint"
18
+ ],
19
+ "link_names": [
20
+ "dummy_root_0",
21
+ "base",
22
+ "shoulder_link",
23
+ "upper_arm_link",
24
+ "forearm_link",
25
+ "wrist_1_link",
26
+ "wrist_2_link",
27
+ "wrist_3_link"
28
+ ],
29
+ "ee_link_name": "wrist_3_link",
30
+ "image_width": 640,
31
+ "image_height": 480,
32
+ "fovy_rad": 0.9635259339159751,
33
+ "K": [
34
+ [
35
+ 453.0850215509359,
36
+ 0.0,
37
+ 324.4538421919178
38
+ ],
39
+ [
40
+ 0.0,
41
+ 459.0194169075443,
42
+ 242.46812576270057
43
+ ],
44
+ [
45
+ 0.0,
46
+ 0.0,
47
+ 1.0
48
+ ]
49
+ ],
50
+ "camera_eye": [
51
+ -4.329511109518994,
52
+ -4.0283056266361505,
53
+ 1.780410451491781
54
+ ],
55
+ "camera_target": [
56
+ -4.12104695640637,
57
+ -5.747225917625762,
58
+ 1.0591084937938748
59
+ ],
60
+ "camera_roll_rad": 0.00037245932297914897,
61
+ "camera_pose_world_cv": [
62
+ [
63
+ -0.9927606582641602,
64
+ -0.04555697739124298,
65
+ 0.11113668978214264,
66
+ -4.3295111656188965
67
+ ],
68
+ [
69
+ -0.1201096624135971,
70
+ 0.38183414936065674,
71
+ -0.9163932800292969,
72
+ -4.028305530548096
73
+ ],
74
+ [
75
+ -0.0006876625120639801,
76
+ -0.9231075048446655,
77
+ -0.384541392326355,
78
+ 1.7804104089736938
79
+ ],
80
+ [
81
+ 0.0,
82
+ 0.0,
83
+ 0.0,
84
+ 1.0
85
+ ]
86
+ ],
87
+ "T_base_world": [
88
+ [
89
+ 0.42156022787094116,
90
+ 0.906800389289856,
91
+ 0.0,
92
+ -4.140113353729248
93
+ ],
94
+ [
95
+ -0.906800389289856,
96
+ 0.42156022787094116,
97
+ -0.0,
98
+ -5.726112365722656
99
+ ],
100
+ [
101
+ -0.0,
102
+ 0.0,
103
+ 1.0,
104
+ 0.9372063279151917
105
+ ],
106
+ [
107
+ 0.0,
108
+ 0.0,
109
+ 0.0,
110
+ 1.0
111
+ ]
112
+ ],
113
+ "lighting": {
114
+ "aug_enabled": true,
115
+ "params": {
116
+ "ambient": [
117
+ 0.38553852011401607,
118
+ 0.35618078454062935,
119
+ 0.3810310210176126
120
+ ],
121
+ "directional_primary": {
122
+ "direction": [
123
+ -0.5052225802955939,
124
+ 0.1832131817447093,
125
+ -0.8433167094244263
126
+ ],
127
+ "color": [
128
+ 0.9795071623597634,
129
+ 1.0181748112476583,
130
+ 1.0800430494682902
131
+ ],
132
+ "azimuth_rad": 2.793703216795276,
133
+ "elevation_rad": 1.0034252403453847,
134
+ "color_temp_k": 6248.182711636135,
135
+ "intensity": 1.0336418708028163
136
+ },
137
+ "directional_fill": {
138
+ "direction": [
139
+ -0.0901164175432228,
140
+ 0.369944987427846,
141
+ -0.924672772155743
142
+ ],
143
+ "color": [
144
+ 0.6022317030647464,
145
+ 0.6103170551282383,
146
+ 0.6232536184298256
147
+ ],
148
+ "azimuth_rad": 1.8097368830434402,
149
+ "elevation_rad": 1.1801752967371775,
150
+ "color_temp_k": 5763.55916561861,
151
+ "intensity": 0.6135511959536352
152
+ },
153
+ "point_color_scale": [
154
+ 0.8182040557230644,
155
+ 0.8466958485346178,
156
+ 0.8922827170331034
157
+ ],
158
+ "shadow": true
159
+ }
160
+ },
161
+ "frames": [
162
+ {
163
+ "frame_idx": 0,
164
+ "qpos": [
165
+ 0.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0
171
+ ]
172
+ }
173
+ ]
174
+ }
ur_10e/ProcTHOR/test/bg_000265/scene_b07_005/scene_meta.json ADDED
@@ -0,0 +1,174 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "ur_10e",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 265,
7
+ "base_idx": 7,
8
+ "cam_idx": 4,
9
+ "n_dof": 6,
10
+ "num_links": 8,
11
+ "joint_names": [
12
+ "shoulder_pan_joint",
13
+ "shoulder_lift_joint",
14
+ "elbow_joint",
15
+ "wrist_1_joint",
16
+ "wrist_2_joint",
17
+ "wrist_3_joint"
18
+ ],
19
+ "link_names": [
20
+ "dummy_root_0",
21
+ "base",
22
+ "shoulder_link",
23
+ "upper_arm_link",
24
+ "forearm_link",
25
+ "wrist_1_link",
26
+ "wrist_2_link",
27
+ "wrist_3_link"
28
+ ],
29
+ "ee_link_name": "wrist_3_link",
30
+ "image_width": 640,
31
+ "image_height": 480,
32
+ "fovy_rad": 0.9728272291923459,
33
+ "K": [
34
+ [
35
+ 449.8285427501602,
36
+ 0.0,
37
+ 339.68754575792593
38
+ ],
39
+ [
40
+ 0.0,
41
+ 453.8662025181756,
42
+ 238.43022514126142
43
+ ],
44
+ [
45
+ 0.0,
46
+ 0.0,
47
+ 1.0
48
+ ]
49
+ ],
50
+ "camera_eye": [
51
+ -4.265026315905288,
52
+ -3.7000467768232754,
53
+ 1.7730398828616236
54
+ ],
55
+ "camera_target": [
56
+ -4.1424931792350135,
57
+ -5.732020100887544,
58
+ 1.1198916224235866
59
+ ],
60
+ "camera_roll_rad": -0.002614141197679519,
61
+ "camera_pose_world_cv": [
62
+ [
63
+ -0.9980771541595459,
64
+ -0.023608265444636345,
65
+ 0.057314999401569366,
66
+ -4.265026092529297
67
+ ],
68
+ [
69
+ -0.061786532402038574,
70
+ 0.3046393394470215,
71
+ -0.950461745262146,
72
+ -3.7000467777252197
73
+ ],
74
+ [
75
+ 0.0049783531576395035,
76
+ -0.9521752595901489,
77
+ -0.305512011051178,
78
+ 1.7730399370193481
79
+ ],
80
+ [
81
+ 0.0,
82
+ 0.0,
83
+ 0.0,
84
+ 1.0
85
+ ]
86
+ ],
87
+ "T_base_world": [
88
+ [
89
+ 0.42156022787094116,
90
+ 0.906800389289856,
91
+ 0.0,
92
+ -4.140113353729248
93
+ ],
94
+ [
95
+ -0.906800389289856,
96
+ 0.42156022787094116,
97
+ -0.0,
98
+ -5.726112365722656
99
+ ],
100
+ [
101
+ -0.0,
102
+ 0.0,
103
+ 1.0,
104
+ 0.9372063279151917
105
+ ],
106
+ [
107
+ 0.0,
108
+ 0.0,
109
+ 0.0,
110
+ 1.0
111
+ ]
112
+ ],
113
+ "lighting": {
114
+ "aug_enabled": true,
115
+ "params": {
116
+ "ambient": [
117
+ 0.29615474964213695,
118
+ 0.2976566509921382,
119
+ 0.3146155323063054
120
+ ],
121
+ "directional_primary": {
122
+ "direction": [
123
+ -0.5052225802955939,
124
+ 0.1832131817447093,
125
+ -0.8433167094244263
126
+ ],
127
+ "color": [
128
+ 0.9738202183144288,
129
+ 0.9277660799664964,
130
+ 0.8488161285128981
131
+ ],
132
+ "azimuth_rad": 2.793703216795276,
133
+ "elevation_rad": 1.0034252403453847,
134
+ "color_temp_k": 4790.859758381037,
135
+ "intensity": 0.9277660799664964
136
+ },
137
+ "directional_fill": {
138
+ "direction": [
139
+ -0.0901164175432228,
140
+ 0.369944987427846,
141
+ -0.924672772155743
142
+ ],
143
+ "color": [
144
+ 0.6820387999513151,
145
+ 0.654717462924188,
146
+ 0.6078808851633987
147
+ ],
148
+ "azimuth_rad": 1.8097368830434402,
149
+ "elevation_rad": 1.1801752967371775,
150
+ "color_temp_k": 4903.857638178747,
151
+ "intensity": 0.654717462924188
152
+ },
153
+ "point_color_scale": [
154
+ 1.1795996139662253,
155
+ 1.169414986262108,
156
+ 1.151955624483621
157
+ ],
158
+ "shadow": false
159
+ }
160
+ },
161
+ "frames": [
162
+ {
163
+ "frame_idx": 0,
164
+ "qpos": [
165
+ 0.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0
171
+ ]
172
+ }
173
+ ]
174
+ }
ur_10e/ProcTHOR/test/bg_000265/scene_b07_006/scene_meta.json ADDED
@@ -0,0 +1,174 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "ur_10e",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 265,
7
+ "base_idx": 7,
8
+ "cam_idx": 5,
9
+ "n_dof": 6,
10
+ "num_links": 8,
11
+ "joint_names": [
12
+ "shoulder_pan_joint",
13
+ "shoulder_lift_joint",
14
+ "elbow_joint",
15
+ "wrist_1_joint",
16
+ "wrist_2_joint",
17
+ "wrist_3_joint"
18
+ ],
19
+ "link_names": [
20
+ "dummy_root_0",
21
+ "base",
22
+ "shoulder_link",
23
+ "upper_arm_link",
24
+ "forearm_link",
25
+ "wrist_1_link",
26
+ "wrist_2_link",
27
+ "wrist_3_link"
28
+ ],
29
+ "ee_link_name": "wrist_3_link",
30
+ "image_width": 640,
31
+ "image_height": 480,
32
+ "fovy_rad": 0.8226122560213722,
33
+ "K": [
34
+ [
35
+ 530.6151790236352,
36
+ 0.0,
37
+ 297.27171477689484
38
+ ],
39
+ [
40
+ 0.0,
41
+ 550.2253131652893,
42
+ 256.7462537568285
43
+ ],
44
+ [
45
+ 0.0,
46
+ 0.0,
47
+ 1.0
48
+ ]
49
+ ],
50
+ "camera_eye": [
51
+ -3.3755565261586744,
52
+ -3.4838335902450672,
53
+ 1.174011600939477
54
+ ],
55
+ "camera_target": [
56
+ -4.119427178021113,
57
+ -5.771381419101614,
58
+ 1.1832600521753278
59
+ ],
60
+ "camera_roll_rad": 0.051716991565809736,
61
+ "camera_pose_world_cv": [
62
+ [
63
+ -0.9460234642028809,
64
+ 0.09700605273246765,
65
+ -0.3092409074306488,
66
+ -3.375556468963623
67
+ ],
68
+ [
69
+ 0.3072129189968109,
70
+ -0.03556591272354126,
71
+ -0.9509760737419128,
72
+ -3.4838335514068604
73
+ ],
74
+ [
75
+ -0.10324890166521072,
76
+ -0.994648277759552,
77
+ 0.0038449764251708984,
78
+ 1.1740115880966187
79
+ ],
80
+ [
81
+ 0.0,
82
+ 0.0,
83
+ 0.0,
84
+ 1.0
85
+ ]
86
+ ],
87
+ "T_base_world": [
88
+ [
89
+ 0.42156022787094116,
90
+ 0.906800389289856,
91
+ 0.0,
92
+ -4.140113353729248
93
+ ],
94
+ [
95
+ -0.906800389289856,
96
+ 0.42156022787094116,
97
+ -0.0,
98
+ -5.726112365722656
99
+ ],
100
+ [
101
+ -0.0,
102
+ 0.0,
103
+ 1.0,
104
+ 0.9372063279151917
105
+ ],
106
+ [
107
+ 0.0,
108
+ 0.0,
109
+ 0.0,
110
+ 1.0
111
+ ]
112
+ ],
113
+ "lighting": {
114
+ "aug_enabled": true,
115
+ "params": {
116
+ "ambient": [
117
+ 0.3689432676237561,
118
+ 0.37430235886461194,
119
+ 0.3459692882168749
120
+ ],
121
+ "directional_primary": {
122
+ "direction": [
123
+ -0.5052225802955939,
124
+ 0.1832131817447093,
125
+ -0.8433167094244263
126
+ ],
127
+ "color": [
128
+ 0.9952212225799558,
129
+ 0.9955075053900544,
130
+ 0.995965557886212
131
+ ],
132
+ "azimuth_rad": 2.793703216795276,
133
+ "elevation_rad": 1.0034252403453847,
134
+ "color_temp_k": 5505.750833243439,
135
+ "intensity": 0.9956220185140938
136
+ },
137
+ "directional_fill": {
138
+ "direction": [
139
+ -0.0901164175432228,
140
+ 0.369944987427846,
141
+ -0.924672772155743
142
+ ],
143
+ "color": [
144
+ 0.7128402433868339,
145
+ 0.7286655747548791,
146
+ 0.7539861049437514
147
+ ],
148
+ "azimuth_rad": 1.8097368830434402,
149
+ "elevation_rad": 1.1801752967371775,
150
+ "color_temp_k": 5930.623776732908,
151
+ "intensity": 0.7349957073020972
152
+ },
153
+ "point_color_scale": [
154
+ 1.02988158353406,
155
+ 0.985322685435469,
156
+ 0.9089360029807417
157
+ ],
158
+ "shadow": false
159
+ }
160
+ },
161
+ "frames": [
162
+ {
163
+ "frame_idx": 0,
164
+ "qpos": [
165
+ 0.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0
171
+ ]
172
+ }
173
+ ]
174
+ }
ur_10e/ProcTHOR/test/bg_000265/scene_b07_007/scene_meta.json ADDED
@@ -0,0 +1,174 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "ur_10e",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 265,
7
+ "base_idx": 7,
8
+ "cam_idx": 6,
9
+ "n_dof": 6,
10
+ "num_links": 8,
11
+ "joint_names": [
12
+ "shoulder_pan_joint",
13
+ "shoulder_lift_joint",
14
+ "elbow_joint",
15
+ "wrist_1_joint",
16
+ "wrist_2_joint",
17
+ "wrist_3_joint"
18
+ ],
19
+ "link_names": [
20
+ "dummy_root_0",
21
+ "base",
22
+ "shoulder_link",
23
+ "upper_arm_link",
24
+ "forearm_link",
25
+ "wrist_1_link",
26
+ "wrist_2_link",
27
+ "wrist_3_link"
28
+ ],
29
+ "ee_link_name": "wrist_3_link",
30
+ "image_width": 640,
31
+ "image_height": 480,
32
+ "fovy_rad": 1.1798347945978904,
33
+ "K": [
34
+ [
35
+ 368.0307447668883,
36
+ 0.0,
37
+ 335.9491818835133
38
+ ],
39
+ [
40
+ 0.0,
41
+ 358.51073650248776,
42
+ 233.20539018317015
43
+ ],
44
+ [
45
+ 0.0,
46
+ 0.0,
47
+ 1.0
48
+ ]
49
+ ],
50
+ "camera_eye": [
51
+ -3.065289941239585,
52
+ -4.054574869837651,
53
+ 0.8396206703390485
54
+ ],
55
+ "camera_target": [
56
+ -4.154390998409238,
57
+ -5.737271472374961,
58
+ 1.0909117560620478
59
+ ],
60
+ "camera_roll_rad": -0.0011953811769975023,
61
+ "camera_pose_world_cv": [
62
+ [
63
+ -0.8393385410308838,
64
+ -0.06959815323352814,
65
+ -0.5391353964805603,
66
+ -3.0652899742126465
67
+ ],
68
+ [
69
+ 0.5436039566993713,
70
+ -0.10313141345977783,
71
+ -0.8329817652702332,
72
+ -4.054574966430664
73
+ ],
74
+ [
75
+ 0.0023722052574157715,
76
+ -0.9922297596931458,
77
+ 0.12439596652984619,
78
+ 0.8396206498146057
79
+ ],
80
+ [
81
+ 0.0,
82
+ 0.0,
83
+ 0.0,
84
+ 1.0
85
+ ]
86
+ ],
87
+ "T_base_world": [
88
+ [
89
+ 0.42156022787094116,
90
+ 0.906800389289856,
91
+ 0.0,
92
+ -4.140113353729248
93
+ ],
94
+ [
95
+ -0.906800389289856,
96
+ 0.42156022787094116,
97
+ -0.0,
98
+ -5.726112365722656
99
+ ],
100
+ [
101
+ -0.0,
102
+ 0.0,
103
+ 1.0,
104
+ 0.9372063279151917
105
+ ],
106
+ [
107
+ 0.0,
108
+ 0.0,
109
+ 0.0,
110
+ 1.0
111
+ ]
112
+ ],
113
+ "lighting": {
114
+ "aug_enabled": true,
115
+ "params": {
116
+ "ambient": [
117
+ 0.38349147874836964,
118
+ 0.370580350608896,
119
+ 0.3570833418263444
120
+ ],
121
+ "directional_primary": {
122
+ "direction": [
123
+ -0.5052225802955939,
124
+ 0.1832131817447093,
125
+ -0.8433167094244263
126
+ ],
127
+ "color": [
128
+ 1.0724222726039527,
129
+ 1.0057423333663689,
130
+ 0.8914338661019394
131
+ ],
132
+ "azimuth_rad": 2.793703216795276,
133
+ "elevation_rad": 1.0034252403453847,
134
+ "color_temp_k": 4552.868186080507,
135
+ "intensity": 1.0057423333663689
136
+ },
137
+ "directional_fill": {
138
+ "direction": [
139
+ -0.0901164175432228,
140
+ 0.369944987427846,
141
+ -0.924672772155743
142
+ ],
143
+ "color": [
144
+ 0.9444363822428896,
145
+ 0.9317170590012998,
146
+ 0.90991250487286
147
+ ],
148
+ "azimuth_rad": 1.8097368830434402,
149
+ "elevation_rad": 1.1801752967371775,
150
+ "color_temp_k": 5304.978758324157,
151
+ "intensity": 0.9317170590012998
152
+ },
153
+ "point_color_scale": [
154
+ 0.8663825871812569,
155
+ 0.8717013036090118,
156
+ 0.8802112498934195
157
+ ],
158
+ "shadow": true
159
+ }
160
+ },
161
+ "frames": [
162
+ {
163
+ "frame_idx": 0,
164
+ "qpos": [
165
+ 0.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0
171
+ ]
172
+ }
173
+ ]
174
+ }
ur_10e/ProcTHOR/test/bg_000265/scene_b07_008/scene_meta.json ADDED
@@ -0,0 +1,174 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "ur_10e",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 265,
7
+ "base_idx": 7,
8
+ "cam_idx": 7,
9
+ "n_dof": 6,
10
+ "num_links": 8,
11
+ "joint_names": [
12
+ "shoulder_pan_joint",
13
+ "shoulder_lift_joint",
14
+ "elbow_joint",
15
+ "wrist_1_joint",
16
+ "wrist_2_joint",
17
+ "wrist_3_joint"
18
+ ],
19
+ "link_names": [
20
+ "dummy_root_0",
21
+ "base",
22
+ "shoulder_link",
23
+ "upper_arm_link",
24
+ "forearm_link",
25
+ "wrist_1_link",
26
+ "wrist_2_link",
27
+ "wrist_3_link"
28
+ ],
29
+ "ee_link_name": "wrist_3_link",
30
+ "image_width": 640,
31
+ "image_height": 480,
32
+ "fovy_rad": 1.2509658703207895,
33
+ "K": [
34
+ [
35
+ 345.72948084868773,
36
+ 0.0,
37
+ 323.3729620103254
38
+ ],
39
+ [
40
+ 0.0,
41
+ 332.3091661162938,
42
+ 228.04247357110472
43
+ ],
44
+ [
45
+ 0.0,
46
+ 0.0,
47
+ 1.0
48
+ ]
49
+ ],
50
+ "camera_eye": [
51
+ -2.383869567716004,
52
+ -5.9195161311094715,
53
+ 1.3211435015051234
54
+ ],
55
+ "camera_target": [
56
+ -4.179396083950968,
57
+ -5.6919750153616535,
58
+ 1.173207181146955
59
+ ],
60
+ "camera_roll_rad": 0.03202850357103511,
61
+ "camera_pose_world_cv": [
62
+ [
63
+ 0.1306368112564087,
64
+ 0.07260626554489136,
65
+ -0.9887681007385254,
66
+ -2.3838696479797363
67
+ ],
68
+ [
69
+ 0.9893752932548523,
70
+ -0.0737263560295105,
71
+ 0.1253032088279724,
72
+ -5.919516086578369
73
+ ],
74
+ [
75
+ -0.06380045413970947,
76
+ -0.9946319460868835,
77
+ -0.0814661979675293,
78
+ 1.3211435079574585
79
+ ],
80
+ [
81
+ 0.0,
82
+ 0.0,
83
+ 0.0,
84
+ 1.0
85
+ ]
86
+ ],
87
+ "T_base_world": [
88
+ [
89
+ 0.42156022787094116,
90
+ 0.906800389289856,
91
+ 0.0,
92
+ -4.140113353729248
93
+ ],
94
+ [
95
+ -0.906800389289856,
96
+ 0.42156022787094116,
97
+ -0.0,
98
+ -5.726112365722656
99
+ ],
100
+ [
101
+ -0.0,
102
+ 0.0,
103
+ 1.0,
104
+ 0.9372063279151917
105
+ ],
106
+ [
107
+ 0.0,
108
+ 0.0,
109
+ 0.0,
110
+ 1.0
111
+ ]
112
+ ],
113
+ "lighting": {
114
+ "aug_enabled": true,
115
+ "params": {
116
+ "ambient": [
117
+ 0.23709259141556338,
118
+ 0.2352204208919518,
119
+ 0.24167977367972615
120
+ ],
121
+ "directional_primary": {
122
+ "direction": [
123
+ -0.5052225802955939,
124
+ 0.1832131817447093,
125
+ -0.8433167094244263
126
+ ],
127
+ "color": [
128
+ 1.10070587545054,
129
+ 1.0329014282359656,
130
+ 0.9166652330109809
131
+ ],
132
+ "azimuth_rad": 2.793703216795276,
133
+ "elevation_rad": 1.0034252403453847,
134
+ "color_temp_k": 4562.219362149122,
135
+ "intensity": 1.0329014282359656
136
+ },
137
+ "directional_fill": {
138
+ "direction": [
139
+ -0.0901164175432228,
140
+ 0.369944987427846,
141
+ -0.924672772155743
142
+ ],
143
+ "color": [
144
+ 0.9406362377437054,
145
+ 0.9252672561724813,
146
+ 0.8989204306218114
147
+ ],
148
+ "azimuth_rad": 1.8097368830434402,
149
+ "elevation_rad": 1.1801752967371775,
150
+ "color_temp_k": 5262.709770475237,
151
+ "intensity": 0.9252672561724813
152
+ },
153
+ "point_color_scale": [
154
+ 1.0642830941664767,
155
+ 1.0644856258767676,
156
+ 1.0648096766132327
157
+ ],
158
+ "shadow": true
159
+ }
160
+ },
161
+ "frames": [
162
+ {
163
+ "frame_idx": 0,
164
+ "qpos": [
165
+ 0.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0
171
+ ]
172
+ }
173
+ ]
174
+ }
ur_10e/ProcTHOR/test/bg_000265/scene_b07_009/scene_meta.json ADDED
@@ -0,0 +1,174 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "ur_10e",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 265,
7
+ "base_idx": 7,
8
+ "cam_idx": 8,
9
+ "n_dof": 6,
10
+ "num_links": 8,
11
+ "joint_names": [
12
+ "shoulder_pan_joint",
13
+ "shoulder_lift_joint",
14
+ "elbow_joint",
15
+ "wrist_1_joint",
16
+ "wrist_2_joint",
17
+ "wrist_3_joint"
18
+ ],
19
+ "link_names": [
20
+ "dummy_root_0",
21
+ "base",
22
+ "shoulder_link",
23
+ "upper_arm_link",
24
+ "forearm_link",
25
+ "wrist_1_link",
26
+ "wrist_2_link",
27
+ "wrist_3_link"
28
+ ],
29
+ "ee_link_name": "wrist_3_link",
30
+ "image_width": 640,
31
+ "image_height": 480,
32
+ "fovy_rad": 0.8410466593793535,
33
+ "K": [
34
+ [
35
+ 552.2243212157073,
36
+ 0.0,
37
+ 303.97547994954317
38
+ ],
39
+ [
40
+ 0.0,
41
+ 536.6721630457439,
42
+ 252.29343337093061
43
+ ],
44
+ [
45
+ 0.0,
46
+ 0.0,
47
+ 1.0
48
+ ]
49
+ ],
50
+ "camera_eye": [
51
+ -3.126027681674671,
52
+ -4.346590821003032,
53
+ 0.8520092085154403
54
+ ],
55
+ "camera_target": [
56
+ -4.118739045790117,
57
+ -5.770141957329984,
58
+ 1.0589974072222668
59
+ ],
60
+ "camera_roll_rad": 0.0353899981116116,
61
+ "camera_pose_world_cv": [
62
+ [
63
+ -0.8229892253875732,
64
+ -0.009562194347381592,
65
+ -0.5679765939712524,
66
+ -3.1260275840759277
67
+ ],
68
+ [
69
+ 0.5636999011039734,
70
+ -0.1373496651649475,
71
+ -0.8144800066947937,
72
+ -4.346590995788574
73
+ ],
74
+ [
75
+ -0.07022321224212646,
76
+ -0.9904765486717224,
77
+ 0.11842763423919678,
78
+ 0.8520092368125916
79
+ ],
80
+ [
81
+ 0.0,
82
+ 0.0,
83
+ 0.0,
84
+ 1.0
85
+ ]
86
+ ],
87
+ "T_base_world": [
88
+ [
89
+ 0.42156022787094116,
90
+ 0.906800389289856,
91
+ 0.0,
92
+ -4.140113353729248
93
+ ],
94
+ [
95
+ -0.906800389289856,
96
+ 0.42156022787094116,
97
+ -0.0,
98
+ -5.726112365722656
99
+ ],
100
+ [
101
+ -0.0,
102
+ 0.0,
103
+ 1.0,
104
+ 0.9372063279151917
105
+ ],
106
+ [
107
+ 0.0,
108
+ 0.0,
109
+ 0.0,
110
+ 1.0
111
+ ]
112
+ ],
113
+ "lighting": {
114
+ "aug_enabled": true,
115
+ "params": {
116
+ "ambient": [
117
+ 0.3300936801858645,
118
+ 0.3380260918096152,
119
+ 0.3056684760433584
120
+ ],
121
+ "directional_primary": {
122
+ "direction": [
123
+ -0.5052225802955939,
124
+ 0.1832131817447093,
125
+ -0.8433167094244263
126
+ ],
127
+ "color": [
128
+ 0.8315804439806277,
129
+ 0.8545949964557371,
130
+ 0.8914182804159123
131
+ ],
132
+ "azimuth_rad": 2.793703216795276,
133
+ "elevation_rad": 1.0034252403453847,
134
+ "color_temp_k": 6032.867114971308,
135
+ "intensity": 0.863800817445781
136
+ },
137
+ "directional_fill": {
138
+ "direction": [
139
+ -0.0901164175432228,
140
+ 0.369944987427846,
141
+ -0.924672772155743
142
+ ],
143
+ "color": [
144
+ 0.566405228287496,
145
+ 0.5536823321384751,
146
+ 0.5318716530258679
147
+ ],
148
+ "azimuth_rad": 1.8097368830434402,
149
+ "elevation_rad": 1.1801752967371775,
150
+ "color_temp_k": 5171.73296180549,
151
+ "intensity": 0.5536823321384751
152
+ },
153
+ "point_color_scale": [
154
+ 0.839591581928199,
155
+ 0.8381199972394775,
156
+ 0.8355972806302404
157
+ ],
158
+ "shadow": true
159
+ }
160
+ },
161
+ "frames": [
162
+ {
163
+ "frame_idx": 0,
164
+ "qpos": [
165
+ 0.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0
171
+ ]
172
+ }
173
+ ]
174
+ }
ur_10e/ProcTHOR/test/bg_000265/scene_b07_010/scene_meta.json ADDED
@@ -0,0 +1,174 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "ur_10e",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 265,
7
+ "base_idx": 7,
8
+ "cam_idx": 9,
9
+ "n_dof": 6,
10
+ "num_links": 8,
11
+ "joint_names": [
12
+ "shoulder_pan_joint",
13
+ "shoulder_lift_joint",
14
+ "elbow_joint",
15
+ "wrist_1_joint",
16
+ "wrist_2_joint",
17
+ "wrist_3_joint"
18
+ ],
19
+ "link_names": [
20
+ "dummy_root_0",
21
+ "base",
22
+ "shoulder_link",
23
+ "upper_arm_link",
24
+ "forearm_link",
25
+ "wrist_1_link",
26
+ "wrist_2_link",
27
+ "wrist_3_link"
28
+ ],
29
+ "ee_link_name": "wrist_3_link",
30
+ "image_width": 640,
31
+ "image_height": 480,
32
+ "fovy_rad": 1.1929699205745967,
33
+ "K": [
34
+ [
35
+ 350.1717233174096,
36
+ 0.0,
37
+ 351.39726774396036
38
+ ],
39
+ [
40
+ 0.0,
41
+ 353.46673132524313,
42
+ 221.0606448284261
43
+ ],
44
+ [
45
+ 0.0,
46
+ 0.0,
47
+ 1.0
48
+ ]
49
+ ],
50
+ "camera_eye": [
51
+ -1.5608375924830002,
52
+ -5.925005734708356,
53
+ 1.2849721711979276
54
+ ],
55
+ "camera_target": [
56
+ -4.1639407952299825,
57
+ -5.756107220662875,
58
+ 1.1711799717752949
59
+ ],
60
+ "camera_roll_rad": 0.0165352809830131,
61
+ "camera_pose_world_cv": [
62
+ [
63
+ 0.06614995002746582,
64
+ 0.04132482409477234,
65
+ -0.9969536066055298,
66
+ -1.5608376264572144
67
+ ],
68
+ [
69
+ 0.997262716293335,
70
+ -0.035815298557281494,
71
+ 0.0646858811378479,
72
+ -5.925005912780762
73
+ ],
74
+ [
75
+ -0.03303304314613342,
76
+ -0.9985036253929138,
77
+ -0.04358088970184326,
78
+ 1.2849721908569336
79
+ ],
80
+ [
81
+ 0.0,
82
+ 0.0,
83
+ 0.0,
84
+ 1.0
85
+ ]
86
+ ],
87
+ "T_base_world": [
88
+ [
89
+ 0.42156022787094116,
90
+ 0.906800389289856,
91
+ 0.0,
92
+ -4.140113353729248
93
+ ],
94
+ [
95
+ -0.906800389289856,
96
+ 0.42156022787094116,
97
+ -0.0,
98
+ -5.726112365722656
99
+ ],
100
+ [
101
+ -0.0,
102
+ 0.0,
103
+ 1.0,
104
+ 0.9372063279151917
105
+ ],
106
+ [
107
+ 0.0,
108
+ 0.0,
109
+ 0.0,
110
+ 1.0
111
+ ]
112
+ ],
113
+ "lighting": {
114
+ "aug_enabled": true,
115
+ "params": {
116
+ "ambient": [
117
+ 0.3223997982761389,
118
+ 0.30174058082170835,
119
+ 0.3161217342163925
120
+ ],
121
+ "directional_primary": {
122
+ "direction": [
123
+ -0.5052225802955939,
124
+ 0.1832131817447093,
125
+ -0.8433167094244263
126
+ ],
127
+ "color": [
128
+ 0.9754413768091005,
129
+ 0.956089060011868,
130
+ 0.9229136597880409
131
+ ],
132
+ "azimuth_rad": 2.793703216795276,
133
+ "elevation_rad": 1.0034252403453847,
134
+ "color_temp_k": 5210.841092012432,
135
+ "intensity": 0.956089060011868
136
+ },
137
+ "directional_fill": {
138
+ "direction": [
139
+ -0.0901164175432228,
140
+ 0.369944987427846,
141
+ -0.924672772155743
142
+ ],
143
+ "color": [
144
+ 0.838848127709177,
145
+ 0.8701155321599324,
146
+ 0.9201433792811411
147
+ ],
148
+ "azimuth_rad": 1.8097368830434402,
149
+ "elevation_rad": 1.1801752967371775,
150
+ "color_temp_k": 6208.511388853695,
151
+ "intensity": 0.8826224939402345
152
+ },
153
+ "point_color_scale": [
154
+ 1.1896483218625957,
155
+ 1.189976843703789,
156
+ 1.190502478649698
157
+ ],
158
+ "shadow": true
159
+ }
160
+ },
161
+ "frames": [
162
+ {
163
+ "frame_idx": 0,
164
+ "qpos": [
165
+ 0.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0
171
+ ]
172
+ }
173
+ ]
174
+ }
ur_10e/ProcTHOR/test/bg_000265/scene_b07_011/scene_meta.json ADDED
@@ -0,0 +1,174 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "ur_10e",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 265,
7
+ "base_idx": 7,
8
+ "cam_idx": 10,
9
+ "n_dof": 6,
10
+ "num_links": 8,
11
+ "joint_names": [
12
+ "shoulder_pan_joint",
13
+ "shoulder_lift_joint",
14
+ "elbow_joint",
15
+ "wrist_1_joint",
16
+ "wrist_2_joint",
17
+ "wrist_3_joint"
18
+ ],
19
+ "link_names": [
20
+ "dummy_root_0",
21
+ "base",
22
+ "shoulder_link",
23
+ "upper_arm_link",
24
+ "forearm_link",
25
+ "wrist_1_link",
26
+ "wrist_2_link",
27
+ "wrist_3_link"
28
+ ],
29
+ "ee_link_name": "wrist_3_link",
30
+ "image_width": 640,
31
+ "image_height": 480,
32
+ "fovy_rad": 1.23491692191264,
33
+ "K": [
34
+ [
35
+ 334.6783702118504,
36
+ 0.0,
37
+ 300.80627377850954
38
+ ],
39
+ [
40
+ 0.0,
41
+ 337.990527203182,
42
+ 241.11736014450327
43
+ ],
44
+ [
45
+ 0.0,
46
+ 0.0,
47
+ 1.0
48
+ ]
49
+ ],
50
+ "camera_eye": [
51
+ -4.370294190067525,
52
+ -3.7815903017418266,
53
+ 1.782684718370232
54
+ ],
55
+ "camera_target": [
56
+ -4.180576841847316,
57
+ -5.678217876146274,
58
+ 1.0783993053594996
59
+ ],
60
+ "camera_roll_rad": -0.04118818270656968,
61
+ "camera_pose_world_cv": [
62
+ [
63
+ -0.9888218641281128,
64
+ -0.11625442653894424,
65
+ 0.09336274862289429,
66
+ -4.370294094085693
67
+ ],
68
+ [
69
+ -0.12757141888141632,
70
+ 0.3355093002319336,
71
+ -0.9333591461181641,
72
+ -3.781590223312378
73
+ ],
74
+ [
75
+ 0.0771830677986145,
76
+ -0.9348361492156982,
77
+ -0.34658944606781006,
78
+ 1.7826846837997437
79
+ ],
80
+ [
81
+ 0.0,
82
+ 0.0,
83
+ 0.0,
84
+ 1.0
85
+ ]
86
+ ],
87
+ "T_base_world": [
88
+ [
89
+ 0.42156022787094116,
90
+ 0.906800389289856,
91
+ 0.0,
92
+ -4.140113353729248
93
+ ],
94
+ [
95
+ -0.906800389289856,
96
+ 0.42156022787094116,
97
+ -0.0,
98
+ -5.726112365722656
99
+ ],
100
+ [
101
+ -0.0,
102
+ 0.0,
103
+ 1.0,
104
+ 0.9372063279151917
105
+ ],
106
+ [
107
+ 0.0,
108
+ 0.0,
109
+ 0.0,
110
+ 1.0
111
+ ]
112
+ ],
113
+ "lighting": {
114
+ "aug_enabled": true,
115
+ "params": {
116
+ "ambient": [
117
+ 0.21723624870803618,
118
+ 0.2156243173186839,
119
+ 0.21857314458969695
120
+ ],
121
+ "directional_primary": {
122
+ "direction": [
123
+ -0.5052225802955939,
124
+ 0.1832131817447093,
125
+ -0.8433167094244263
126
+ ],
127
+ "color": [
128
+ 0.8960072934166452,
129
+ 0.8766462813211381,
130
+ 0.8434559748716973
131
+ ],
132
+ "azimuth_rad": 2.793703216795276,
133
+ "elevation_rad": 1.0034252403453847,
134
+ "color_temp_k": 5184.495453899779,
135
+ "intensity": 0.8766462813211381
136
+ },
137
+ "directional_fill": {
138
+ "direction": [
139
+ -0.0901164175432228,
140
+ 0.369944987427846,
141
+ -0.924672772155743
142
+ ],
143
+ "color": [
144
+ 0.6306570937971195,
145
+ 0.6053377637742039,
146
+ 0.5619331980206344
147
+ ],
148
+ "azimuth_rad": 1.8097368830434402,
149
+ "elevation_rad": 1.1801752967371775,
150
+ "color_temp_k": 4902.474558405382,
151
+ "intensity": 0.6053377637742039
152
+ },
153
+ "point_color_scale": [
154
+ 1.2001612432216187,
155
+ 1.1733148757290546,
156
+ 1.127292531456088
157
+ ],
158
+ "shadow": true
159
+ }
160
+ },
161
+ "frames": [
162
+ {
163
+ "frame_idx": 0,
164
+ "qpos": [
165
+ 0.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0
171
+ ]
172
+ }
173
+ ]
174
+ }
ur_10e/ProcTHOR/test/bg_000265/scene_b07_012/scene_meta.json ADDED
@@ -0,0 +1,174 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "ur_10e",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 265,
7
+ "base_idx": 7,
8
+ "cam_idx": 11,
9
+ "n_dof": 6,
10
+ "num_links": 8,
11
+ "joint_names": [
12
+ "shoulder_pan_joint",
13
+ "shoulder_lift_joint",
14
+ "elbow_joint",
15
+ "wrist_1_joint",
16
+ "wrist_2_joint",
17
+ "wrist_3_joint"
18
+ ],
19
+ "link_names": [
20
+ "dummy_root_0",
21
+ "base",
22
+ "shoulder_link",
23
+ "upper_arm_link",
24
+ "forearm_link",
25
+ "wrist_1_link",
26
+ "wrist_2_link",
27
+ "wrist_3_link"
28
+ ],
29
+ "ee_link_name": "wrist_3_link",
30
+ "image_width": 640,
31
+ "image_height": 480,
32
+ "fovy_rad": 1.2753513449730243,
33
+ "K": [
34
+ [
35
+ 339.9921221831655,
36
+ 0.0,
37
+ 296.33588900952736
38
+ ],
39
+ [
40
+ 0.0,
41
+ 323.9140700344423,
42
+ 229.49565354321786
43
+ ],
44
+ [
45
+ 0.0,
46
+ 0.0,
47
+ 1.0
48
+ ]
49
+ ],
50
+ "camera_eye": [
51
+ -4.65741293772638,
52
+ -4.2851056923840956,
53
+ 1.5638410754370962
54
+ ],
55
+ "camera_target": [
56
+ -4.119926450307666,
57
+ -5.678598208711384,
58
+ 1.179406323440275
59
+ ],
60
+ "camera_roll_rad": -0.002835491064887702,
61
+ "camera_pose_world_cv": [
62
+ [
63
+ -0.9324789047241211,
64
+ -0.09499458968639374,
65
+ 0.34851038455963135,
66
+ -4.657413005828857
67
+ ],
68
+ [
69
+ -0.361183226108551,
70
+ 0.23052549362182617,
71
+ -0.9035512208938599,
72
+ -4.2851057052612305
73
+ ],
74
+ [
75
+ 0.005491971969604492,
76
+ -0.9684183597564697,
77
+ -0.24927043914794922,
78
+ 1.5638411045074463
79
+ ],
80
+ [
81
+ 0.0,
82
+ 0.0,
83
+ 0.0,
84
+ 1.0
85
+ ]
86
+ ],
87
+ "T_base_world": [
88
+ [
89
+ 0.42156022787094116,
90
+ 0.906800389289856,
91
+ 0.0,
92
+ -4.140113353729248
93
+ ],
94
+ [
95
+ -0.906800389289856,
96
+ 0.42156022787094116,
97
+ -0.0,
98
+ -5.726112365722656
99
+ ],
100
+ [
101
+ -0.0,
102
+ 0.0,
103
+ 1.0,
104
+ 0.9372063279151917
105
+ ],
106
+ [
107
+ 0.0,
108
+ 0.0,
109
+ 0.0,
110
+ 1.0
111
+ ]
112
+ ],
113
+ "lighting": {
114
+ "aug_enabled": true,
115
+ "params": {
116
+ "ambient": [
117
+ 0.31556572357190404,
118
+ 0.3128622105661467,
119
+ 0.31267403048605447
120
+ ],
121
+ "directional_primary": {
122
+ "direction": [
123
+ -0.5052225802955939,
124
+ 0.1832131817447093,
125
+ -0.8433167094244263
126
+ ],
127
+ "color": [
128
+ 0.8821546447535661,
129
+ 0.9174955739952437,
130
+ 0.9740410607819283
131
+ ],
132
+ "azimuth_rad": 2.793703216795276,
133
+ "elevation_rad": 1.0034252403453847,
134
+ "color_temp_k": 6258.688651781478,
135
+ "intensity": 0.9316319456919149
136
+ },
137
+ "directional_fill": {
138
+ "direction": [
139
+ -0.0901164175432228,
140
+ 0.369944987427846,
141
+ -0.924672772155743
142
+ ],
143
+ "color": [
144
+ 0.7389543631078901,
145
+ 0.7246476363392403,
146
+ 0.7001218190215551
147
+ ],
148
+ "azimuth_rad": 1.8097368830434402,
149
+ "elevation_rad": 1.1801752967371775,
150
+ "color_temp_k": 5217.956975595474,
151
+ "intensity": 0.7246476363392403
152
+ },
153
+ "point_color_scale": [
154
+ 0.9768488328547976,
155
+ 1.0014935542830872,
156
+ 1.0409251085683506
157
+ ],
158
+ "shadow": true
159
+ }
160
+ },
161
+ "frames": [
162
+ {
163
+ "frame_idx": 0,
164
+ "qpos": [
165
+ 0.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0
171
+ ]
172
+ }
173
+ ]
174
+ }
ur_10e/ProcTHOR/test/bg_000265/scene_b07_013/scene_meta.json ADDED
@@ -0,0 +1,174 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "ur_10e",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 265,
7
+ "base_idx": 7,
8
+ "cam_idx": 12,
9
+ "n_dof": 6,
10
+ "num_links": 8,
11
+ "joint_names": [
12
+ "shoulder_pan_joint",
13
+ "shoulder_lift_joint",
14
+ "elbow_joint",
15
+ "wrist_1_joint",
16
+ "wrist_2_joint",
17
+ "wrist_3_joint"
18
+ ],
19
+ "link_names": [
20
+ "dummy_root_0",
21
+ "base",
22
+ "shoulder_link",
23
+ "upper_arm_link",
24
+ "forearm_link",
25
+ "wrist_1_link",
26
+ "wrist_2_link",
27
+ "wrist_3_link"
28
+ ],
29
+ "ee_link_name": "wrist_3_link",
30
+ "image_width": 640,
31
+ "image_height": 480,
32
+ "fovy_rad": 0.8577084773741757,
33
+ "K": [
34
+ [
35
+ 532.1814365825768,
36
+ 0.0,
37
+ 347.7913524122816
38
+ ],
39
+ [
40
+ 0.0,
41
+ 524.8942030923936,
42
+ 260.17769923567243
43
+ ],
44
+ [
45
+ 0.0,
46
+ 0.0,
47
+ 1.0
48
+ ]
49
+ ],
50
+ "camera_eye": [
51
+ -4.437126348815826,
52
+ -3.613718186520996,
53
+ 1.5615370163754863
54
+ ],
55
+ "camera_target": [
56
+ -4.18481222369452,
57
+ -5.68296155364031,
58
+ 1.1499168566702818
59
+ ],
60
+ "camera_roll_rad": 0.04625672008142172,
61
+ "camera_pose_world_cv": [
62
+ [
63
+ -0.990568995475769,
64
+ 0.06835490465164185,
65
+ 0.11874600499868393,
66
+ -4.437126159667969
67
+ ],
68
+ [
69
+ -0.10275670886039734,
70
+ 0.20265495777130127,
71
+ -0.9738439321517944,
72
+ -3.613718271255493
73
+ ],
74
+ [
75
+ -0.09063147753477097,
76
+ -0.9768615961074829,
77
+ -0.19371986389160156,
78
+ 1.5615370273590088
79
+ ],
80
+ [
81
+ 0.0,
82
+ 0.0,
83
+ 0.0,
84
+ 1.0
85
+ ]
86
+ ],
87
+ "T_base_world": [
88
+ [
89
+ 0.42156022787094116,
90
+ 0.906800389289856,
91
+ 0.0,
92
+ -4.140113353729248
93
+ ],
94
+ [
95
+ -0.906800389289856,
96
+ 0.42156022787094116,
97
+ -0.0,
98
+ -5.726112365722656
99
+ ],
100
+ [
101
+ -0.0,
102
+ 0.0,
103
+ 1.0,
104
+ 0.9372063279151917
105
+ ],
106
+ [
107
+ 0.0,
108
+ 0.0,
109
+ 0.0,
110
+ 1.0
111
+ ]
112
+ ],
113
+ "lighting": {
114
+ "aug_enabled": true,
115
+ "params": {
116
+ "ambient": [
117
+ 0.23311370402084644,
118
+ 0.21533060218254527,
119
+ 0.22626765130377124
120
+ ],
121
+ "directional_primary": {
122
+ "direction": [
123
+ -0.5052225802955939,
124
+ 0.1832131817447093,
125
+ -0.8433167094244263
126
+ ],
127
+ "color": [
128
+ 1.0813331959988195,
129
+ 1.0597362804575734,
130
+ 1.0227129966725803
131
+ ],
132
+ "azimuth_rad": 2.793703216795276,
133
+ "elevation_rad": 1.0034252403453847,
134
+ "color_temp_k": 5208.8640159212755,
135
+ "intensity": 1.0597362804575734
136
+ },
137
+ "directional_fill": {
138
+ "direction": [
139
+ -0.0901164175432228,
140
+ 0.369944987427846,
141
+ -0.924672772155743
142
+ ],
143
+ "color": [
144
+ 0.6387750429481328,
145
+ 0.6097456696328145,
146
+ 0.5599810296636973
147
+ ],
148
+ "azimuth_rad": 1.8097368830434402,
149
+ "elevation_rad": 1.1801752967371775,
150
+ "color_temp_k": 4819.8716223344245,
151
+ "intensity": 0.6097456696328145
152
+ },
153
+ "point_color_scale": [
154
+ 1.1351945816506543,
155
+ 1.1779725322225763,
156
+ 1.2464172531376512
157
+ ],
158
+ "shadow": true
159
+ }
160
+ },
161
+ "frames": [
162
+ {
163
+ "frame_idx": 0,
164
+ "qpos": [
165
+ 0.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0
171
+ ]
172
+ }
173
+ ]
174
+ }
ur_10e/ProcTHOR/test/bg_000265/scene_b07_014/scene_meta.json ADDED
@@ -0,0 +1,174 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "ur_10e",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 265,
7
+ "base_idx": 7,
8
+ "cam_idx": 13,
9
+ "n_dof": 6,
10
+ "num_links": 8,
11
+ "joint_names": [
12
+ "shoulder_pan_joint",
13
+ "shoulder_lift_joint",
14
+ "elbow_joint",
15
+ "wrist_1_joint",
16
+ "wrist_2_joint",
17
+ "wrist_3_joint"
18
+ ],
19
+ "link_names": [
20
+ "dummy_root_0",
21
+ "base",
22
+ "shoulder_link",
23
+ "upper_arm_link",
24
+ "forearm_link",
25
+ "wrist_1_link",
26
+ "wrist_2_link",
27
+ "wrist_3_link"
28
+ ],
29
+ "ee_link_name": "wrist_3_link",
30
+ "image_width": 640,
31
+ "image_height": 480,
32
+ "fovy_rad": 0.8349485722904338,
33
+ "K": [
34
+ [
35
+ 537.5869570819533,
36
+ 0.0,
37
+ 302.88977794119637
38
+ ],
39
+ [
40
+ 0.0,
41
+ 541.0931582127932,
42
+ 219.06428793273145
43
+ ],
44
+ [
45
+ 0.0,
46
+ 0.0,
47
+ 1.0
48
+ ]
49
+ ],
50
+ "camera_eye": [
51
+ -1.9270432737671541,
52
+ -5.118441115004933,
53
+ 1.696567409586398
54
+ ],
55
+ "camera_target": [
56
+ -4.121789904011353,
57
+ -5.704009876189912,
58
+ 1.1857713843910676
59
+ ],
60
+ "camera_roll_rad": 0.020834580046408327,
61
+ "camera_pose_world_cv": [
62
+ [
63
+ -0.2487332820892334,
64
+ 0.22253084182739258,
65
+ -0.9426621198654175,
66
+ -1.9270433187484741
67
+ ],
68
+ [
69
+ 0.9677189588546753,
70
+ 0.01625800132751465,
71
+ -0.2515068054199219,
72
+ -5.118441104888916
73
+ ],
74
+ [
75
+ -0.04064226150512695,
76
+ -0.974790096282959,
77
+ -0.21939122676849365,
78
+ 1.696567416191101
79
+ ],
80
+ [
81
+ 0.0,
82
+ 0.0,
83
+ 0.0,
84
+ 1.0
85
+ ]
86
+ ],
87
+ "T_base_world": [
88
+ [
89
+ 0.42156022787094116,
90
+ 0.906800389289856,
91
+ 0.0,
92
+ -4.140113353729248
93
+ ],
94
+ [
95
+ -0.906800389289856,
96
+ 0.42156022787094116,
97
+ -0.0,
98
+ -5.726112365722656
99
+ ],
100
+ [
101
+ -0.0,
102
+ 0.0,
103
+ 1.0,
104
+ 0.9372063279151917
105
+ ],
106
+ [
107
+ 0.0,
108
+ 0.0,
109
+ 0.0,
110
+ 1.0
111
+ ]
112
+ ],
113
+ "lighting": {
114
+ "aug_enabled": true,
115
+ "params": {
116
+ "ambient": [
117
+ 0.3324232251550939,
118
+ 0.3155370480322508,
119
+ 0.3359517891249885
120
+ ],
121
+ "directional_primary": {
122
+ "direction": [
123
+ -0.5052225802955939,
124
+ 0.1832131817447093,
125
+ -0.8433167094244263
126
+ ],
127
+ "color": [
128
+ 1.1557457390809565,
129
+ 1.1759669510297783,
130
+ 1.2083208901478937
131
+ ],
132
+ "azimuth_rad": 2.793703216795276,
133
+ "elevation_rad": 1.0034252403453847,
134
+ "color_temp_k": 5841.558534123881,
135
+ "intensity": 1.1840554358093072
136
+ },
137
+ "directional_fill": {
138
+ "direction": [
139
+ -0.0901164175432228,
140
+ 0.369944987427846,
141
+ -0.924672772155743
142
+ ],
143
+ "color": [
144
+ 0.7598546154299065,
145
+ 0.773777232720173,
146
+ 0.7960534203845993
147
+ ],
148
+ "azimuth_rad": 1.8097368830434402,
149
+ "elevation_rad": 1.1801752967371775,
150
+ "color_temp_k": 5857.289632453602,
151
+ "intensity": 0.7793462796362796
152
+ },
153
+ "point_color_scale": [
154
+ 0.8048633226592675,
155
+ 0.819756485959586,
156
+ 0.8435855472400954
157
+ ],
158
+ "shadow": true
159
+ }
160
+ },
161
+ "frames": [
162
+ {
163
+ "frame_idx": 0,
164
+ "qpos": [
165
+ 0.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0
171
+ ]
172
+ }
173
+ ]
174
+ }
ur_10e/ProcTHOR/test/bg_000265/scene_b07_015/scene_meta.json ADDED
@@ -0,0 +1,174 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "ur_10e",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 265,
7
+ "base_idx": 7,
8
+ "cam_idx": 14,
9
+ "n_dof": 6,
10
+ "num_links": 8,
11
+ "joint_names": [
12
+ "shoulder_pan_joint",
13
+ "shoulder_lift_joint",
14
+ "elbow_joint",
15
+ "wrist_1_joint",
16
+ "wrist_2_joint",
17
+ "wrist_3_joint"
18
+ ],
19
+ "link_names": [
20
+ "dummy_root_0",
21
+ "base",
22
+ "shoulder_link",
23
+ "upper_arm_link",
24
+ "forearm_link",
25
+ "wrist_1_link",
26
+ "wrist_2_link",
27
+ "wrist_3_link"
28
+ ],
29
+ "ee_link_name": "wrist_3_link",
30
+ "image_width": 640,
31
+ "image_height": 480,
32
+ "fovy_rad": 1.0703916896779009,
33
+ "K": [
34
+ [
35
+ 408.6530481378614,
36
+ 0.0,
37
+ 323.39804182177306
38
+ ],
39
+ [
40
+ 0.0,
41
+ 404.7777532756856,
42
+ 236.896867399315
43
+ ],
44
+ [
45
+ 0.0,
46
+ 0.0,
47
+ 1.0
48
+ ]
49
+ ],
50
+ "camera_eye": [
51
+ -3.192642983532102,
52
+ -4.059220873289783,
53
+ 1.7029566669927831
54
+ ],
55
+ "camera_target": [
56
+ -4.176642530706361,
57
+ -5.764240644045962,
58
+ 1.1505668893262082
59
+ ],
60
+ "camera_roll_rad": 0.009446845847825527,
61
+ "camera_pose_world_cv": [
62
+ [
63
+ -0.8634064197540283,
64
+ 0.1513819843530655,
65
+ -0.48126208782196045,
66
+ -3.1926429271698
67
+ ],
68
+ [
69
+ 0.5041813254356384,
70
+ 0.2245098352432251,
71
+ -0.8339044451713562,
72
+ -4.059220790863037
73
+ ],
74
+ [
75
+ -0.01819007098674774,
76
+ -0.9626416563987732,
77
+ -0.2701670527458191,
78
+ 1.7029566764831543
79
+ ],
80
+ [
81
+ 0.0,
82
+ 0.0,
83
+ 0.0,
84
+ 1.0
85
+ ]
86
+ ],
87
+ "T_base_world": [
88
+ [
89
+ 0.42156022787094116,
90
+ 0.906800389289856,
91
+ 0.0,
92
+ -4.140113353729248
93
+ ],
94
+ [
95
+ -0.906800389289856,
96
+ 0.42156022787094116,
97
+ -0.0,
98
+ -5.726112365722656
99
+ ],
100
+ [
101
+ -0.0,
102
+ 0.0,
103
+ 1.0,
104
+ 0.9372063279151917
105
+ ],
106
+ [
107
+ 0.0,
108
+ 0.0,
109
+ 0.0,
110
+ 1.0
111
+ ]
112
+ ],
113
+ "lighting": {
114
+ "aug_enabled": true,
115
+ "params": {
116
+ "ambient": [
117
+ 0.3154387339278297,
118
+ 0.321105863824085,
119
+ 0.34207032759294287
120
+ ],
121
+ "directional_primary": {
122
+ "direction": [
123
+ -0.5052225802955939,
124
+ 0.1832131817447093,
125
+ -0.8433167094244263
126
+ ],
127
+ "color": [
128
+ 0.9230386968253952,
129
+ 0.9505875734052768,
130
+ 0.9946657759330874
131
+ ],
132
+ "azimuth_rad": 2.793703216795276,
133
+ "elevation_rad": 1.0034252403453847,
134
+ "color_temp_k": 6072.975717239278,
135
+ "intensity": 0.9616071240372294
136
+ },
137
+ "directional_fill": {
138
+ "direction": [
139
+ -0.0901164175432228,
140
+ 0.369944987427846,
141
+ -0.924672772155743
142
+ ],
143
+ "color": [
144
+ 0.7268836058278986,
145
+ 0.7538104598018063,
146
+ 0.7968934261600588
147
+ ],
148
+ "azimuth_rad": 1.8097368830434402,
149
+ "elevation_rad": 1.1801752967371775,
150
+ "color_temp_k": 6204.355637436725,
151
+ "intensity": 0.7645812013913694
152
+ },
153
+ "point_color_scale": [
154
+ 1.161512241871893,
155
+ 1.1742286455656465,
156
+ 1.1945748914756524
157
+ ],
158
+ "shadow": true
159
+ }
160
+ },
161
+ "frames": [
162
+ {
163
+ "frame_idx": 0,
164
+ "qpos": [
165
+ 0.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0
171
+ ]
172
+ }
173
+ ]
174
+ }
ur_10e/ProcTHOR/test/bg_000265/scene_b07_016/scene_meta.json ADDED
@@ -0,0 +1,174 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "ur_10e",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 265,
7
+ "base_idx": 7,
8
+ "cam_idx": 15,
9
+ "n_dof": 6,
10
+ "num_links": 8,
11
+ "joint_names": [
12
+ "shoulder_pan_joint",
13
+ "shoulder_lift_joint",
14
+ "elbow_joint",
15
+ "wrist_1_joint",
16
+ "wrist_2_joint",
17
+ "wrist_3_joint"
18
+ ],
19
+ "link_names": [
20
+ "dummy_root_0",
21
+ "base",
22
+ "shoulder_link",
23
+ "upper_arm_link",
24
+ "forearm_link",
25
+ "wrist_1_link",
26
+ "wrist_2_link",
27
+ "wrist_3_link"
28
+ ],
29
+ "ee_link_name": "wrist_3_link",
30
+ "image_width": 640,
31
+ "image_height": 480,
32
+ "fovy_rad": 1.2909263975774565,
33
+ "K": [
34
+ [
35
+ 312.23676763729856,
36
+ 0.0,
37
+ 308.0695559171361
38
+ ],
39
+ [
40
+ 0.0,
41
+ 318.6953514459934,
42
+ 220.63540774412368
43
+ ],
44
+ [
45
+ 0.0,
46
+ 0.0,
47
+ 1.0
48
+ ]
49
+ ],
50
+ "camera_eye": [
51
+ -2.4174736202677147,
52
+ -5.614598551287981,
53
+ 1.8368549233898852
54
+ ],
55
+ "camera_target": [
56
+ -4.176649948879013,
57
+ -5.765427227332756,
58
+ 1.0994208596027306
59
+ ],
60
+ "camera_roll_rad": -0.02424961886358466,
61
+ "camera_pose_world_cv": [
62
+ [
63
+ -0.10394001007080078,
64
+ 0.3793949484825134,
65
+ -0.9193779230117798,
66
+ -2.417473554611206
67
+ ],
68
+ [
69
+ 0.9935769438743591,
70
+ 0.08118665218353271,
71
+ -0.0788256824016571,
72
+ -5.614598751068115
73
+ ],
74
+ [
75
+ 0.04473516345024109,
76
+ -0.9216659069061279,
77
+ -0.38539665937423706,
78
+ 1.8368549346923828
79
+ ],
80
+ [
81
+ 0.0,
82
+ 0.0,
83
+ 0.0,
84
+ 1.0
85
+ ]
86
+ ],
87
+ "T_base_world": [
88
+ [
89
+ 0.42156022787094116,
90
+ 0.906800389289856,
91
+ 0.0,
92
+ -4.140113353729248
93
+ ],
94
+ [
95
+ -0.906800389289856,
96
+ 0.42156022787094116,
97
+ -0.0,
98
+ -5.726112365722656
99
+ ],
100
+ [
101
+ -0.0,
102
+ 0.0,
103
+ 1.0,
104
+ 0.9372063279151917
105
+ ],
106
+ [
107
+ 0.0,
108
+ 0.0,
109
+ 0.0,
110
+ 1.0
111
+ ]
112
+ ],
113
+ "lighting": {
114
+ "aug_enabled": true,
115
+ "params": {
116
+ "ambient": [
117
+ 0.33064308970177786,
118
+ 0.31879349698050297,
119
+ 0.31721817223852716
120
+ ],
121
+ "directional_primary": {
122
+ "direction": [
123
+ -0.5052225802955939,
124
+ 0.1832131817447093,
125
+ -0.8433167094244263
126
+ ],
127
+ "color": [
128
+ 1.019977785076545,
129
+ 0.9760261254003076,
130
+ 0.9006804230981867
131
+ ],
132
+ "azimuth_rad": 2.793703216795276,
133
+ "elevation_rad": 1.0034252403453847,
134
+ "color_temp_k": 4856.696674220524,
135
+ "intensity": 0.9760261254003076
136
+ },
137
+ "directional_fill": {
138
+ "direction": [
139
+ -0.0901164175432228,
140
+ 0.369944987427846,
141
+ -0.924672772155743
142
+ ],
143
+ "color": [
144
+ 0.6766478918055405,
145
+ 0.6685007062502,
146
+ 0.6545341024410447
147
+ ],
148
+ "azimuth_rad": 1.8097368830434402,
149
+ "elevation_rad": 1.1801752967371775,
150
+ "color_temp_k": 5325.896421667006,
151
+ "intensity": 0.6685007062502
152
+ },
153
+ "point_color_scale": [
154
+ 0.8785170105444706,
155
+ 0.8376213894601008,
156
+ 0.767514610458324
157
+ ],
158
+ "shadow": true
159
+ }
160
+ },
161
+ "frames": [
162
+ {
163
+ "frame_idx": 0,
164
+ "qpos": [
165
+ 0.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0
171
+ ]
172
+ }
173
+ ]
174
+ }
ur_10e/ProcTHOR/test/bg_000355/scene_b01_001/scene_meta.json ADDED
@@ -0,0 +1,174 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "ur_10e",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 355,
7
+ "base_idx": 1,
8
+ "cam_idx": 0,
9
+ "n_dof": 6,
10
+ "num_links": 8,
11
+ "joint_names": [
12
+ "shoulder_pan_joint",
13
+ "shoulder_lift_joint",
14
+ "elbow_joint",
15
+ "wrist_1_joint",
16
+ "wrist_2_joint",
17
+ "wrist_3_joint"
18
+ ],
19
+ "link_names": [
20
+ "dummy_root_0",
21
+ "base",
22
+ "shoulder_link",
23
+ "upper_arm_link",
24
+ "forearm_link",
25
+ "wrist_1_link",
26
+ "wrist_2_link",
27
+ "wrist_3_link"
28
+ ],
29
+ "ee_link_name": "wrist_3_link",
30
+ "image_width": 640,
31
+ "image_height": 480,
32
+ "fovy_rad": 1.1208919199843401,
33
+ "K": [
34
+ [
35
+ 385.3394969071137,
36
+ 0.0,
37
+ 320.26480112663376
38
+ ],
39
+ [
40
+ 0.0,
41
+ 382.4268730344457,
42
+ 261.0279877826677
43
+ ],
44
+ [
45
+ 0.0,
46
+ 0.0,
47
+ 1.0
48
+ ]
49
+ ],
50
+ "camera_eye": [
51
+ -6.504723090659219,
52
+ -6.444685931397361,
53
+ 1.690465121229213
54
+ ],
55
+ "camera_target": [
56
+ -8.12998720574602,
57
+ -4.594463143740588,
58
+ 0.9946302729497414
59
+ ],
60
+ "camera_roll_rad": -0.017388698190104475,
61
+ "camera_pose_world_cv": [
62
+ [
63
+ 0.7446100115776062,
64
+ 0.20546086132526398,
65
+ -0.63509202003479,
66
+ -6.504723072052002
67
+ ],
68
+ [
69
+ 0.6666606664657593,
70
+ -0.18121349811553955,
71
+ 0.7229975461959839,
72
+ -6.444685935974121
73
+ ],
74
+ [
75
+ 0.033460378646850586,
76
+ -0.9617420434951782,
77
+ -0.27190595865249634,
78
+ 1.6904650926589966
79
+ ],
80
+ [
81
+ 0.0,
82
+ 0.0,
83
+ 0.0,
84
+ 1.0
85
+ ]
86
+ ],
87
+ "T_base_world": [
88
+ [
89
+ 0.8183131814002991,
90
+ -0.5747725963592529,
91
+ 0.0,
92
+ -8.080366134643555
93
+ ],
94
+ [
95
+ 0.5747725963592529,
96
+ 0.8183131814002991,
97
+ 0.0,
98
+ -4.596898078918457
99
+ ],
100
+ [
101
+ 0.0,
102
+ 0.0,
103
+ 1.0,
104
+ 0.7489278316497803
105
+ ],
106
+ [
107
+ 0.0,
108
+ 0.0,
109
+ 0.0,
110
+ 1.0
111
+ ]
112
+ ],
113
+ "lighting": {
114
+ "aug_enabled": true,
115
+ "params": {
116
+ "ambient": [
117
+ 0.29917704871840695,
118
+ 0.3059304137771744,
119
+ 0.28343603581538174
120
+ ],
121
+ "directional_primary": {
122
+ "direction": [
123
+ 0.012674741256357721,
124
+ 0.6531046852234366,
125
+ -0.7571615541436847
126
+ ],
127
+ "color": [
128
+ 0.9869207212238658,
129
+ 1.0343181012197544,
130
+ 1.1101539092131767
131
+ ],
132
+ "azimuth_rad": 1.5513918566054352,
133
+ "elevation_rad": 0.8589568413578756,
134
+ "color_temp_k": 6399.998340438047,
135
+ "intensity": 1.05327705321811
136
+ },
137
+ "directional_fill": {
138
+ "direction": [
139
+ -0.09315004480919944,
140
+ 0.007701049928317601,
141
+ -0.9956222983551772
142
+ ],
143
+ "color": [
144
+ 0.5894058052773167,
145
+ 0.5713629287697356,
146
+ 0.5404322833281681
147
+ ],
148
+ "azimuth_rad": 3.059106636737881,
149
+ "elevation_rad": 1.4771918565280444,
150
+ "color_temp_k": 5048.87626462793,
151
+ "intensity": 0.5713629287697356
152
+ },
153
+ "point_color_scale": [
154
+ 1.160465691251434,
155
+ 1.149985184840012,
156
+ 1.1320186024204317
157
+ ],
158
+ "shadow": true
159
+ }
160
+ },
161
+ "frames": [
162
+ {
163
+ "frame_idx": 0,
164
+ "qpos": [
165
+ 0.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0
171
+ ]
172
+ }
173
+ ]
174
+ }
ur_10e/ProcTHOR/test/bg_000355/scene_b01_002/scene_meta.json ADDED
@@ -0,0 +1,174 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "ur_10e",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 355,
7
+ "base_idx": 1,
8
+ "cam_idx": 1,
9
+ "n_dof": 6,
10
+ "num_links": 8,
11
+ "joint_names": [
12
+ "shoulder_pan_joint",
13
+ "shoulder_lift_joint",
14
+ "elbow_joint",
15
+ "wrist_1_joint",
16
+ "wrist_2_joint",
17
+ "wrist_3_joint"
18
+ ],
19
+ "link_names": [
20
+ "dummy_root_0",
21
+ "base",
22
+ "shoulder_link",
23
+ "upper_arm_link",
24
+ "forearm_link",
25
+ "wrist_1_link",
26
+ "wrist_2_link",
27
+ "wrist_3_link"
28
+ ],
29
+ "ee_link_name": "wrist_3_link",
30
+ "image_width": 640,
31
+ "image_height": 480,
32
+ "fovy_rad": 1.1043255440032353,
33
+ "K": [
34
+ [
35
+ 374.5150629826628,
36
+ 0.0,
37
+ 298.8202208157432
38
+ ],
39
+ [
40
+ 0.0,
41
+ 389.55668471490833,
42
+ 225.03850237445886
43
+ ],
44
+ [
45
+ 0.0,
46
+ 0.0,
47
+ 1.0
48
+ ]
49
+ ],
50
+ "camera_eye": [
51
+ -7.175632107987065,
52
+ -5.663679867577024,
53
+ 1.422135262839246
54
+ ],
55
+ "camera_target": [
56
+ -8.103545988639723,
57
+ -4.5479763874882275,
58
+ 0.9150574367091556
59
+ ],
60
+ "camera_roll_rad": 0.041607105864448185,
61
+ "camera_pose_world_cv": [
62
+ [
63
+ 0.783716082572937,
64
+ 0.1462983340024948,
65
+ -0.6036438345909119,
66
+ -7.175631999969482
67
+ ],
68
+ [
69
+ 0.616142988204956,
70
+ -0.30589258670806885,
71
+ 0.7258082032203674,
72
+ -5.663680076599121
73
+ ],
74
+ [
75
+ -0.07846564054489136,
76
+ -0.9407585263252258,
77
+ -0.32987362146377563,
78
+ 1.4221352338790894
79
+ ],
80
+ [
81
+ 0.0,
82
+ 0.0,
83
+ 0.0,
84
+ 1.0
85
+ ]
86
+ ],
87
+ "T_base_world": [
88
+ [
89
+ 0.8183131814002991,
90
+ -0.5747725963592529,
91
+ 0.0,
92
+ -8.080366134643555
93
+ ],
94
+ [
95
+ 0.5747725963592529,
96
+ 0.8183131814002991,
97
+ 0.0,
98
+ -4.596898078918457
99
+ ],
100
+ [
101
+ 0.0,
102
+ 0.0,
103
+ 1.0,
104
+ 0.7489278316497803
105
+ ],
106
+ [
107
+ 0.0,
108
+ 0.0,
109
+ 0.0,
110
+ 1.0
111
+ ]
112
+ ],
113
+ "lighting": {
114
+ "aug_enabled": true,
115
+ "params": {
116
+ "ambient": [
117
+ 0.29356661429788405,
118
+ 0.2768473386702942,
119
+ 0.27597266910600265
120
+ ],
121
+ "directional_primary": {
122
+ "direction": [
123
+ 0.012674741256357721,
124
+ 0.6531046852234366,
125
+ -0.7571615541436847
126
+ ],
127
+ "color": [
128
+ 1.1519010673842305,
129
+ 1.1234806220108637,
130
+ 1.0747598585136635
131
+ ],
132
+ "azimuth_rad": 1.5513918566054352,
133
+ "elevation_rad": 0.8589568413578756,
134
+ "color_temp_k": 5138.617387320863,
135
+ "intensity": 1.1234806220108637
136
+ },
137
+ "directional_fill": {
138
+ "direction": [
139
+ -0.09315004480919944,
140
+ 0.007701049928317601,
141
+ -0.9956222983551772
142
+ ],
143
+ "color": [
144
+ 0.8879483175970293,
145
+ 0.886299019726049,
146
+ 0.8834716519472257
147
+ ],
148
+ "azimuth_rad": 3.059106636737881,
149
+ "elevation_rad": 1.4771918565280444,
150
+ "color_temp_k": 5473.41597177424,
151
+ "intensity": 0.886299019726049
152
+ },
153
+ "point_color_scale": [
154
+ 0.8219079298073378,
155
+ 0.8056115053765347,
156
+ 0.7776747777808726
157
+ ],
158
+ "shadow": true
159
+ }
160
+ },
161
+ "frames": [
162
+ {
163
+ "frame_idx": 0,
164
+ "qpos": [
165
+ 0.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0
171
+ ]
172
+ }
173
+ ]
174
+ }
ur_10e/ProcTHOR/test/bg_000355/scene_b01_003/scene_meta.json ADDED
@@ -0,0 +1,174 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "ur_10e",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 355,
7
+ "base_idx": 1,
8
+ "cam_idx": 2,
9
+ "n_dof": 6,
10
+ "num_links": 8,
11
+ "joint_names": [
12
+ "shoulder_pan_joint",
13
+ "shoulder_lift_joint",
14
+ "elbow_joint",
15
+ "wrist_1_joint",
16
+ "wrist_2_joint",
17
+ "wrist_3_joint"
18
+ ],
19
+ "link_names": [
20
+ "dummy_root_0",
21
+ "base",
22
+ "shoulder_link",
23
+ "upper_arm_link",
24
+ "forearm_link",
25
+ "wrist_1_link",
26
+ "wrist_2_link",
27
+ "wrist_3_link"
28
+ ],
29
+ "ee_link_name": "wrist_3_link",
30
+ "image_width": 640,
31
+ "image_height": 480,
32
+ "fovy_rad": 0.8687073170833507,
33
+ "K": [
34
+ [
35
+ 506.33197911200574,
36
+ 0.0,
37
+ 289.0445155613849
38
+ ],
39
+ [
40
+ 0.0,
41
+ 517.3517883352899,
42
+ 237.1538144617025
43
+ ],
44
+ [
45
+ 0.0,
46
+ 0.0,
47
+ 1.0
48
+ ]
49
+ ],
50
+ "camera_eye": [
51
+ -7.8044042360528625,
52
+ -2.582305216438767,
53
+ 1.925102780519784
54
+ ],
55
+ "camera_target": [
56
+ -8.101093626948611,
57
+ -4.607155614230015,
58
+ 0.8770037747622548
59
+ ],
60
+ "camera_roll_rad": -0.048884369397010644,
61
+ "camera_pose_world_cv": [
62
+ [
63
+ -0.9911611080169678,
64
+ -0.03081107884645462,
65
+ -0.1290372610092163,
66
+ -7.804404258728027
67
+ ],
68
+ [
69
+ 0.10025735944509506,
70
+ 0.4630255699157715,
71
+ -0.8806565999984741,
72
+ -2.5823051929473877
73
+ ],
74
+ [
75
+ 0.08688151091337204,
76
+ -0.8858094215393066,
77
+ -0.45584362745285034,
78
+ 1.9251028299331665
79
+ ],
80
+ [
81
+ 0.0,
82
+ 0.0,
83
+ 0.0,
84
+ 1.0
85
+ ]
86
+ ],
87
+ "T_base_world": [
88
+ [
89
+ 0.8183131814002991,
90
+ -0.5747725963592529,
91
+ 0.0,
92
+ -8.080366134643555
93
+ ],
94
+ [
95
+ 0.5747725963592529,
96
+ 0.8183131814002991,
97
+ 0.0,
98
+ -4.596898078918457
99
+ ],
100
+ [
101
+ 0.0,
102
+ 0.0,
103
+ 1.0,
104
+ 0.7489278316497803
105
+ ],
106
+ [
107
+ 0.0,
108
+ 0.0,
109
+ 0.0,
110
+ 1.0
111
+ ]
112
+ ],
113
+ "lighting": {
114
+ "aug_enabled": true,
115
+ "params": {
116
+ "ambient": [
117
+ 0.27479782341290043,
118
+ 0.2694257578870749,
119
+ 0.2818000685811337
120
+ ],
121
+ "directional_primary": {
122
+ "direction": [
123
+ 0.012674741256357721,
124
+ 0.6531046852234366,
125
+ -0.7571615541436847
126
+ ],
127
+ "color": [
128
+ 0.9218154359818513,
129
+ 0.9656570482760831,
130
+ 1.0358036279468543
131
+ ],
132
+ "azimuth_rad": 1.5513918566054352,
133
+ "elevation_rad": 0.8589568413578756,
134
+ "color_temp_k": 6391.820454051493,
135
+ "intensity": 0.9831936931937759
136
+ },
137
+ "directional_fill": {
138
+ "direction": [
139
+ -0.09315004480919944,
140
+ 0.007701049928317601,
141
+ -0.9956222983551772
142
+ ],
143
+ "color": [
144
+ 0.7225994174422351,
145
+ 0.7376292649657296,
146
+ 0.761677021003321
147
+ ],
148
+ "azimuth_rad": 3.059106636737881,
149
+ "elevation_rad": 1.4771918565280444,
150
+ "color_temp_k": 5904.223096922351,
151
+ "intensity": 0.7436412039751275
152
+ },
153
+ "point_color_scale": [
154
+ 1.1660381329113974,
155
+ 1.123078014107813,
156
+ 1.0494320961588113
157
+ ],
158
+ "shadow": true
159
+ }
160
+ },
161
+ "frames": [
162
+ {
163
+ "frame_idx": 0,
164
+ "qpos": [
165
+ 0.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0
171
+ ]
172
+ }
173
+ ]
174
+ }
ur_10e/ProcTHOR/test/bg_000355/scene_b01_004/scene_meta.json ADDED
@@ -0,0 +1,174 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "ur_10e",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 355,
7
+ "base_idx": 1,
8
+ "cam_idx": 3,
9
+ "n_dof": 6,
10
+ "num_links": 8,
11
+ "joint_names": [
12
+ "shoulder_pan_joint",
13
+ "shoulder_lift_joint",
14
+ "elbow_joint",
15
+ "wrist_1_joint",
16
+ "wrist_2_joint",
17
+ "wrist_3_joint"
18
+ ],
19
+ "link_names": [
20
+ "dummy_root_0",
21
+ "base",
22
+ "shoulder_link",
23
+ "upper_arm_link",
24
+ "forearm_link",
25
+ "wrist_1_link",
26
+ "wrist_2_link",
27
+ "wrist_3_link"
28
+ ],
29
+ "ee_link_name": "wrist_3_link",
30
+ "image_width": 640,
31
+ "image_height": 480,
32
+ "fovy_rad": 0.9859470443981087,
33
+ "K": [
34
+ [
35
+ 433.9182845670224,
36
+ 0.0,
37
+ 332.64783630422744
38
+ ],
39
+ [
40
+ 0.0,
41
+ 446.7495701623175,
42
+ 261.3676493552555
43
+ ],
44
+ [
45
+ 0.0,
46
+ 0.0,
47
+ 1.0
48
+ ]
49
+ ],
50
+ "camera_eye": [
51
+ -9.825006404021288,
52
+ -5.575259937374957,
53
+ 1.7461108371887675
54
+ ],
55
+ "camera_target": [
56
+ -8.07392613354668,
57
+ -4.6290258032164315,
58
+ 0.8586276432173258
59
+ ],
60
+ "camera_roll_rad": -0.010017501988878956,
61
+ "camera_pose_world_cv": [
62
+ [
63
+ 0.4824841022491455,
64
+ -0.34867799282073975,
65
+ 0.8035127520561218,
66
+ -9.825006484985352
67
+ ],
68
+ [
69
+ -0.875713586807251,
70
+ -0.21118712425231934,
71
+ 0.43419548869132996,
72
+ -5.575260162353516
73
+ ],
74
+ [
75
+ 0.018297135829925537,
76
+ -0.9131394624710083,
77
+ -0.4072364568710327,
78
+ 1.7461107969284058
79
+ ],
80
+ [
81
+ 0.0,
82
+ 0.0,
83
+ 0.0,
84
+ 1.0
85
+ ]
86
+ ],
87
+ "T_base_world": [
88
+ [
89
+ 0.8183131814002991,
90
+ -0.5747725963592529,
91
+ 0.0,
92
+ -8.080366134643555
93
+ ],
94
+ [
95
+ 0.5747725963592529,
96
+ 0.8183131814002991,
97
+ 0.0,
98
+ -4.596898078918457
99
+ ],
100
+ [
101
+ 0.0,
102
+ 0.0,
103
+ 1.0,
104
+ 0.7489278316497803
105
+ ],
106
+ [
107
+ 0.0,
108
+ 0.0,
109
+ 0.0,
110
+ 1.0
111
+ ]
112
+ ],
113
+ "lighting": {
114
+ "aug_enabled": true,
115
+ "params": {
116
+ "ambient": [
117
+ 0.2802817417932481,
118
+ 0.26724103836326984,
119
+ 0.29015262812369513
120
+ ],
121
+ "directional_primary": {
122
+ "direction": [
123
+ 0.012674741256357721,
124
+ 0.6531046852234366,
125
+ -0.7571615541436847
126
+ ],
127
+ "color": [
128
+ 0.9448399738104349,
129
+ 0.9742406749609551,
130
+ 1.021281796801787
131
+ ],
132
+ "azimuth_rad": 1.5513918566054352,
133
+ "elevation_rad": 0.8589568413578756,
134
+ "color_temp_k": 6096.3625286338965,
135
+ "intensity": 0.9860009554211632
136
+ },
137
+ "directional_fill": {
138
+ "direction": [
139
+ -0.09315004480919944,
140
+ 0.007701049928317601,
141
+ -0.9956222983551772
142
+ ],
143
+ "color": [
144
+ 0.754417833851496,
145
+ 0.7364138682576779,
146
+ 0.7055499272397042
147
+ ],
148
+ "azimuth_rad": 3.059106636737881,
149
+ "elevation_rad": 1.4771918565280444,
150
+ "color_temp_k": 5150.740542011197,
151
+ "intensity": 0.7364138682576779
152
+ },
153
+ "point_color_scale": [
154
+ 1.0094477321199034,
155
+ 1.007776981948563,
156
+ 1.0049128387976936
157
+ ],
158
+ "shadow": true
159
+ }
160
+ },
161
+ "frames": [
162
+ {
163
+ "frame_idx": 0,
164
+ "qpos": [
165
+ 0.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0
171
+ ]
172
+ }
173
+ ]
174
+ }