Hugging Face's logo

Datasets:
SHEC3R
/
HEC3R-Sim-FixedView-ZeroPose

Dataset card Files
xet
 Community
zhx0506 commited on
Commit
9aaa1be
·
verified ·
1 Parent(s): 9f8bfaa

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. so100/ProcTHOR/train/bg_000036/scene_b00_001/scene_meta.json +175 -0
  2. so100/ProcTHOR/train/bg_000036/scene_b00_002/scene_meta.json +175 -0
  3. so100/ProcTHOR/train/bg_000036/scene_b00_003/scene_meta.json +175 -0
  4. so100/ProcTHOR/train/bg_000036/scene_b00_004/scene_meta.json +175 -0
  5. so100/ProcTHOR/train/bg_000036/scene_b00_005/scene_meta.json +175 -0
  6. so100/ProcTHOR/train/bg_000036/scene_b00_006/scene_meta.json +175 -0
  7. so100/ProcTHOR/train/bg_000036/scene_b00_007/scene_meta.json +175 -0
  8. so100/ProcTHOR/train/bg_000036/scene_b00_008/scene_meta.json +175 -0
  9. so100/ProcTHOR/train/bg_000036/scene_b00_009/scene_meta.json +175 -0
  10. so100/ProcTHOR/train/bg_000036/scene_b00_010/scene_meta.json +175 -0
  11. so100/ProcTHOR/train/bg_000036/scene_b00_011/scene_meta.json +175 -0
  12. so100/ProcTHOR/train/bg_000036/scene_b00_012/scene_meta.json +175 -0
  13. so100/ProcTHOR/train/bg_000036/scene_b00_013/scene_meta.json +175 -0
  14. so100/ProcTHOR/train/bg_000036/scene_b00_014/scene_meta.json +175 -0
  15. so100/ProcTHOR/train/bg_000036/scene_b00_015/scene_meta.json +175 -0
  16. so100/ProcTHOR/train/bg_000036/scene_b00_016/scene_meta.json +175 -0
  17. so100/ProcTHOR/train/bg_000036/scene_b03_001/scene_meta.json +175 -0
  18. so100/ProcTHOR/train/bg_000036/scene_b03_002/scene_meta.json +175 -0
  19. so100/ProcTHOR/train/bg_000036/scene_b03_003/scene_meta.json +175 -0
  20. so100/ProcTHOR/train/bg_000036/scene_b03_004/scene_meta.json +175 -0
  21. so100/ProcTHOR/train/bg_000036/scene_b03_005/scene_meta.json +175 -0
  22. so100/ProcTHOR/train/bg_000036/scene_b03_006/scene_meta.json +175 -0
  23. so100/ProcTHOR/train/bg_000036/scene_b03_007/scene_meta.json +175 -0
  24. so100/ProcTHOR/train/bg_000036/scene_b03_008/scene_meta.json +175 -0
  25. so100/ProcTHOR/train/bg_000036/scene_b03_009/scene_meta.json +175 -0
  26. so100/ProcTHOR/train/bg_000036/scene_b03_010/scene_meta.json +175 -0
  27. so100/ProcTHOR/train/bg_000036/scene_b03_011/scene_meta.json +175 -0
  28. so100/ProcTHOR/train/bg_000036/scene_b03_012/scene_meta.json +175 -0
  29. so100/ProcTHOR/train/bg_000036/scene_b03_013/scene_meta.json +175 -0
  30. so100/ProcTHOR/train/bg_000036/scene_b03_014/scene_meta.json +175 -0
  31. so100/ProcTHOR/train/bg_000036/scene_b03_015/scene_meta.json +175 -0
  32. so100/ProcTHOR/train/bg_000036/scene_b03_016/scene_meta.json +175 -0
  33. so100/ProcTHOR/train/bg_000041/scene_b00_001/scene_meta.json +175 -0
  34. so100/ProcTHOR/train/bg_000041/scene_b00_002/scene_meta.json +175 -0
  35. so100/ProcTHOR/train/bg_000041/scene_b00_003/scene_meta.json +175 -0
  36. so100/ProcTHOR/train/bg_000041/scene_b00_004/scene_meta.json +175 -0
  37. so100/ProcTHOR/train/bg_000041/scene_b00_005/scene_meta.json +175 -0
  38. so100/ProcTHOR/train/bg_000041/scene_b00_006/scene_meta.json +175 -0
  39. so100/ProcTHOR/train/bg_000041/scene_b00_007/scene_meta.json +175 -0
  40. so100/ProcTHOR/train/bg_000041/scene_b00_008/scene_meta.json +175 -0
  41. so100/ProcTHOR/train/bg_000041/scene_b00_009/scene_meta.json +175 -0
  42. so100/ProcTHOR/train/bg_000041/scene_b00_010/scene_meta.json +175 -0
  43. so100/ProcTHOR/train/bg_000041/scene_b00_011/scene_meta.json +175 -0
  44. so100/ProcTHOR/train/bg_000041/scene_b00_012/scene_meta.json +175 -0
  45. so100/ProcTHOR/train/bg_000041/scene_b00_013/scene_meta.json +175 -0
  46. so100/ProcTHOR/train/bg_000041/scene_b00_014/scene_meta.json +175 -0
  47. so100/ProcTHOR/train/bg_000041/scene_b00_015/scene_meta.json +175 -0
  48. so100/ProcTHOR/train/bg_000041/scene_b00_016/scene_meta.json +175 -0
  49. so100/ProcTHOR/train/bg_000041/scene_b02_001/scene_meta.json +175 -0
  50. so100/ProcTHOR/train/bg_000041/scene_b02_002/scene_meta.json +175 -0
so100/ProcTHOR/train/bg_000036/scene_b00_001/scene_meta.json ADDED
@@ -0,0 +1,175 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "so100",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 36,
7
+ "base_idx": 0,
8
+ "cam_idx": 0,
9
+ "n_dof": 6,
10
+ "num_links": 9,
11
+ "joint_names": [
12
+ "shoulder_pan",
13
+ "shoulder_lift",
14
+ "elbow_flex",
15
+ "wrist_flex",
16
+ "wrist_roll",
17
+ "gripper"
18
+ ],
19
+ "link_names": [
20
+ "Base",
21
+ "Rotation_Pitch",
22
+ "Upper_Arm",
23
+ "Lower_Arm",
24
+ "Wrist_Pitch_Roll",
25
+ "Fixed_Jaw",
26
+ "Moving_Jaw",
27
+ "Fixed_Jaw_tip",
28
+ "Moving_Jaw_tip"
29
+ ],
30
+ "ee_link_name": "Moving_Jaw",
31
+ "image_width": 640,
32
+ "image_height": 480,
33
+ "fovy_rad": 0.8968276134887341,
34
+ "K": [
35
+ [
36
+ 489.0635817576598,
37
+ 0.0,
38
+ 314.1860095887957
39
+ ],
40
+ [
41
+ 0.0,
42
+ 498.8565348472084,
43
+ 230.19984863455537
44
+ ],
45
+ [
46
+ 0.0,
47
+ 0.0,
48
+ 1.0
49
+ ]
50
+ ],
51
+ "camera_eye": [
52
+ -0.1194427817359981,
53
+ -3.7384867270603115,
54
+ 1.2698776936546765
55
+ ],
56
+ "camera_target": [
57
+ -0.6311733650471317,
58
+ -4.080068889968404,
59
+ 1.1223443481666338
60
+ ],
61
+ "camera_roll_rad": 0.021401596567555373,
62
+ "camera_pose_world_cv": [
63
+ [
64
+ -0.5463752746582031,
65
+ 0.2175208032131195,
66
+ -0.8088011741638184,
67
+ -0.11944278329610825
68
+ ],
69
+ [
70
+ 0.8365064859390259,
71
+ 0.09374892711639404,
72
+ -0.5398780703544617,
73
+ -3.7384867668151855
74
+ ],
75
+ [
76
+ -0.04161059856414795,
77
+ -0.9715432524681091,
78
+ -0.23317939043045044,
79
+ 1.2698776721954346
80
+ ],
81
+ [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 1.0
86
+ ]
87
+ ],
88
+ "T_base_world": [
89
+ [
90
+ -0.9609733819961548,
91
+ 0.2766406536102295,
92
+ 8.853035637912399e-08,
93
+ -0.6345210671424866
94
+ ],
95
+ [
96
+ -0.2766406536102295,
97
+ -0.9609733819961548,
98
+ 1.2489254963554686e-08,
99
+ -4.075323104858398
100
+ ],
101
+ [
102
+ 8.853035637912399e-08,
103
+ -1.2489254963554686e-08,
104
+ 1.0,
105
+ 0.9372063875198364
106
+ ],
107
+ [
108
+ 0.0,
109
+ 0.0,
110
+ 0.0,
111
+ 1.0
112
+ ]
113
+ ],
114
+ "lighting": {
115
+ "aug_enabled": true,
116
+ "params": {
117
+ "ambient": [
118
+ 0.3257397778042938,
119
+ 0.33356333147199496,
120
+ 0.3020596709313509
121
+ ],
122
+ "directional_primary": {
123
+ "direction": [
124
+ -0.7926883697687412,
125
+ -0.1359718495454704,
126
+ -0.5942699744767181
127
+ ],
128
+ "color": [
129
+ 0.9880458304360069,
130
+ 1.0091126699204767,
131
+ 1.0428196130956287
132
+ ],
133
+ "azimuth_rad": -2.9717133809120306,
134
+ "elevation_rad": 0.6363576526590167,
135
+ "color_temp_k": 5914.074174742786,
136
+ "intensity": 1.0175394057142648
137
+ },
138
+ "directional_fill": {
139
+ "direction": [
140
+ 0.18751495656524783,
141
+ -0.2294004200604565,
142
+ -0.9550987312002981
143
+ ],
144
+ "color": [
145
+ 0.6522585054431319,
146
+ 0.6451169483235374,
147
+ 0.6328742789756612
148
+ ],
149
+ "azimuth_rad": -0.8855273336096494,
150
+ "elevation_rad": 1.2699928331358499,
151
+ "color_temp_k": 5341.854651577889,
152
+ "intensity": 0.6451169483235374
153
+ },
154
+ "point_color_scale": [
155
+ 1.035508069862877,
156
+ 1.0043229168851506,
157
+ 0.9508626546376198
158
+ ],
159
+ "shadow": false
160
+ }
161
+ },
162
+ "frames": [
163
+ {
164
+ "frame_idx": 0,
165
+ "qpos": [
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0,
171
+ -1.100000023841858
172
+ ]
173
+ }
174
+ ]
175
+ }
so100/ProcTHOR/train/bg_000036/scene_b00_002/scene_meta.json ADDED
@@ -0,0 +1,175 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "so100",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 36,
7
+ "base_idx": 0,
8
+ "cam_idx": 1,
9
+ "n_dof": 6,
10
+ "num_links": 9,
11
+ "joint_names": [
12
+ "shoulder_pan",
13
+ "shoulder_lift",
14
+ "elbow_flex",
15
+ "wrist_flex",
16
+ "wrist_roll",
17
+ "gripper"
18
+ ],
19
+ "link_names": [
20
+ "Base",
21
+ "Rotation_Pitch",
22
+ "Upper_Arm",
23
+ "Lower_Arm",
24
+ "Wrist_Pitch_Roll",
25
+ "Fixed_Jaw",
26
+ "Moving_Jaw",
27
+ "Fixed_Jaw_tip",
28
+ "Moving_Jaw_tip"
29
+ ],
30
+ "ee_link_name": "Moving_Jaw",
31
+ "image_width": 640,
32
+ "image_height": 480,
33
+ "fovy_rad": 1.238005256366953,
34
+ "K": [
35
+ [
36
+ 351.4780096954227,
37
+ 0.0,
38
+ 307.25974014574723
39
+ ],
40
+ [
41
+ 0.0,
42
+ 336.8873171420973,
43
+ 219.4885934363411
44
+ ],
45
+ [
46
+ 0.0,
47
+ 0.0,
48
+ 1.0
49
+ ]
50
+ ],
51
+ "camera_eye": [
52
+ -0.43793136821234924,
53
+ -3.6666618227138015,
54
+ 1.2687958317609205
55
+ ],
56
+ "camera_target": [
57
+ -0.5892493447319403,
58
+ -4.096189803373799,
59
+ 1.1746735024024313
60
+ ],
61
+ "camera_roll_rad": 0.007299391858779314,
62
+ "camera_pose_world_cv": [
63
+ [
64
+ -0.942101001739502,
65
+ 0.08101421594619751,
66
+ -0.3253958821296692,
67
+ -0.4379313588142395
68
+ ],
69
+ [
70
+ 0.33502450585365295,
71
+ 0.18603086471557617,
72
+ -0.9236618280410767,
73
+ -3.6666617393493652
74
+ ],
75
+ [
76
+ -0.014296069741249084,
77
+ -0.9791983366012573,
78
+ -0.2024015188217163,
79
+ 1.2687958478927612
80
+ ],
81
+ [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 1.0
86
+ ]
87
+ ],
88
+ "T_base_world": [
89
+ [
90
+ -0.9609733819961548,
91
+ 0.2766406536102295,
92
+ 8.853035637912399e-08,
93
+ -0.6345210671424866
94
+ ],
95
+ [
96
+ -0.2766406536102295,
97
+ -0.9609733819961548,
98
+ 1.2489254963554686e-08,
99
+ -4.075323104858398
100
+ ],
101
+ [
102
+ 8.853035637912399e-08,
103
+ -1.2489254963554686e-08,
104
+ 1.0,
105
+ 0.9372063875198364
106
+ ],
107
+ [
108
+ 0.0,
109
+ 0.0,
110
+ 0.0,
111
+ 1.0
112
+ ]
113
+ ],
114
+ "lighting": {
115
+ "aug_enabled": true,
116
+ "params": {
117
+ "ambient": [
118
+ 0.30374932061769516,
119
+ 0.29017640067975187,
120
+ 0.2876927104861769
121
+ ],
122
+ "directional_primary": {
123
+ "direction": [
124
+ -0.7926883697687412,
125
+ -0.1359718495454704,
126
+ -0.5942699744767181
127
+ ],
128
+ "color": [
129
+ 1.1273122517828793,
130
+ 1.1294499874032589,
131
+ 1.1328703643958664
132
+ ],
133
+ "azimuth_rad": -2.9717133809120306,
134
+ "elevation_rad": 0.6363576526590167,
135
+ "color_temp_k": 5537.825816323083,
136
+ "intensity": 1.1303050816514109
137
+ },
138
+ "directional_fill": {
139
+ "direction": [
140
+ 0.18751495656524783,
141
+ -0.2294004200604565,
142
+ -0.9550987312002981
143
+ ],
144
+ "color": [
145
+ 0.8787417858807698,
146
+ 0.8820647625176004,
147
+ 0.887381525136529
148
+ ],
149
+ "azimuth_rad": -0.8855273336096494,
150
+ "elevation_rad": 1.2699928331358499,
151
+ "color_temp_k": 5575.232043979867,
152
+ "intensity": 0.8833939531723325
153
+ },
154
+ "point_color_scale": [
155
+ 0.845848293835187,
156
+ 0.8182856302489603,
157
+ 0.771035349815429
158
+ ],
159
+ "shadow": true
160
+ }
161
+ },
162
+ "frames": [
163
+ {
164
+ "frame_idx": 0,
165
+ "qpos": [
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0,
171
+ -1.100000023841858
172
+ ]
173
+ }
174
+ ]
175
+ }
so100/ProcTHOR/train/bg_000036/scene_b00_003/scene_meta.json ADDED
@@ -0,0 +1,175 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "so100",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 36,
7
+ "base_idx": 0,
8
+ "cam_idx": 2,
9
+ "n_dof": 6,
10
+ "num_links": 9,
11
+ "joint_names": [
12
+ "shoulder_pan",
13
+ "shoulder_lift",
14
+ "elbow_flex",
15
+ "wrist_flex",
16
+ "wrist_roll",
17
+ "gripper"
18
+ ],
19
+ "link_names": [
20
+ "Base",
21
+ "Rotation_Pitch",
22
+ "Upper_Arm",
23
+ "Lower_Arm",
24
+ "Wrist_Pitch_Roll",
25
+ "Fixed_Jaw",
26
+ "Moving_Jaw",
27
+ "Fixed_Jaw_tip",
28
+ "Moving_Jaw_tip"
29
+ ],
30
+ "ee_link_name": "Moving_Jaw",
31
+ "image_width": 640,
32
+ "image_height": 480,
33
+ "fovy_rad": 1.2812337158527394,
34
+ "K": [
35
+ [
36
+ 309.71088919268203,
37
+ 0.0,
38
+ 308.71372026828305
39
+ ],
40
+ [
41
+ 0.0,
42
+ 321.9302624118812,
43
+ 256.3956866159599
44
+ ],
45
+ [
46
+ 0.0,
47
+ 0.0,
48
+ 1.0
49
+ ]
50
+ ],
51
+ "camera_eye": [
52
+ -1.2625967064282566,
53
+ -4.8521010436876075,
54
+ 1.1359386978152652
55
+ ],
56
+ "camera_target": [
57
+ -0.6042615591287761,
58
+ -4.067303918088841,
59
+ 1.080347018814802
60
+ ],
61
+ "camera_roll_rad": -0.017525221976240117,
62
+ "camera_pose_world_cv": [
63
+ [
64
+ 0.7668843269348145,
65
+ -0.007957518100738525,
66
+ 0.6417360305786133,
67
+ -1.2625967264175415
68
+ ],
69
+ [
70
+ -0.6408307552337646,
71
+ -0.06401276588439941,
72
+ 0.765008807182312,
73
+ -4.852100849151611
74
+ ],
75
+ [
76
+ 0.03499177098274231,
77
+ -0.9979174137115479,
78
+ -0.05418980121612549,
79
+ 1.1359386444091797
80
+ ],
81
+ [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 1.0
86
+ ]
87
+ ],
88
+ "T_base_world": [
89
+ [
90
+ -0.9609733819961548,
91
+ 0.2766406536102295,
92
+ 8.853035637912399e-08,
93
+ -0.6345210671424866
94
+ ],
95
+ [
96
+ -0.2766406536102295,
97
+ -0.9609733819961548,
98
+ 1.2489254963554686e-08,
99
+ -4.075323104858398
100
+ ],
101
+ [
102
+ 8.853035637912399e-08,
103
+ -1.2489254963554686e-08,
104
+ 1.0,
105
+ 0.9372063875198364
106
+ ],
107
+ [
108
+ 0.0,
109
+ 0.0,
110
+ 0.0,
111
+ 1.0
112
+ ]
113
+ ],
114
+ "lighting": {
115
+ "aug_enabled": true,
116
+ "params": {
117
+ "ambient": [
118
+ 0.3629047679403229,
119
+ 0.3931131635826863,
120
+ 0.3902099368671518
121
+ ],
122
+ "directional_primary": {
123
+ "direction": [
124
+ -0.7926883697687412,
125
+ -0.1359718495454704,
126
+ -0.5942699744767181
127
+ ],
128
+ "color": [
129
+ 1.0806110024952242,
130
+ 1.111703377887888,
131
+ 1.16145117851615
132
+ ],
133
+ "azimuth_rad": -2.9717133809120306,
134
+ "elevation_rad": 0.6363576526590167,
135
+ "color_temp_k": 6053.176051369637,
136
+ "intensity": 1.1241403280449536
137
+ },
138
+ "directional_fill": {
139
+ "direction": [
140
+ 0.18751495656524783,
141
+ -0.2294004200604565,
142
+ -0.9550987312002981
143
+ ],
144
+ "color": [
145
+ 0.8733780535685567,
146
+ 0.8417646805375032,
147
+ 0.7875703267699828
148
+ ],
149
+ "azimuth_rad": -0.8855273336096494,
150
+ "elevation_rad": 1.2699928331358499,
151
+ "color_temp_k": 4963.484718269531,
152
+ "intensity": 0.8417646805375032
153
+ },
154
+ "point_color_scale": [
155
+ 1.0603537646576902,
156
+ 1.0567118946570326,
157
+ 1.0504686889416197
158
+ ],
159
+ "shadow": true
160
+ }
161
+ },
162
+ "frames": [
163
+ {
164
+ "frame_idx": 0,
165
+ "qpos": [
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0,
171
+ -1.100000023841858
172
+ ]
173
+ }
174
+ ]
175
+ }
so100/ProcTHOR/train/bg_000036/scene_b00_004/scene_meta.json ADDED
@@ -0,0 +1,175 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "so100",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 36,
7
+ "base_idx": 0,
8
+ "cam_idx": 3,
9
+ "n_dof": 6,
10
+ "num_links": 9,
11
+ "joint_names": [
12
+ "shoulder_pan",
13
+ "shoulder_lift",
14
+ "elbow_flex",
15
+ "wrist_flex",
16
+ "wrist_roll",
17
+ "gripper"
18
+ ],
19
+ "link_names": [
20
+ "Base",
21
+ "Rotation_Pitch",
22
+ "Upper_Arm",
23
+ "Lower_Arm",
24
+ "Wrist_Pitch_Roll",
25
+ "Fixed_Jaw",
26
+ "Moving_Jaw",
27
+ "Fixed_Jaw_tip",
28
+ "Moving_Jaw_tip"
29
+ ],
30
+ "ee_link_name": "Moving_Jaw",
31
+ "image_width": 640,
32
+ "image_height": 480,
33
+ "fovy_rad": 0.9584409493333256,
34
+ "K": [
35
+ [
36
+ 475.26212293398265,
37
+ 0.0,
38
+ 331.33272984783076
39
+ ],
40
+ [
41
+ 0.0,
42
+ 461.87559391804393,
43
+ 262.81751496200945
44
+ ],
45
+ [
46
+ 0.0,
47
+ 0.0,
48
+ 1.0
49
+ ]
50
+ ],
51
+ "camera_eye": [
52
+ -0.7649128379584166,
53
+ -4.968085234515945,
54
+ 1.1571942678661327
55
+ ],
56
+ "camera_target": [
57
+ -0.607470967036381,
58
+ -4.0884984436192875,
59
+ 1.1124128367832822
60
+ ],
61
+ "camera_roll_rad": -0.015887706209143267,
62
+ "camera_pose_world_cv": [
63
+ [
64
+ 0.984138548374176,
65
+ 0.022458478808403015,
66
+ 0.17597410082817078,
67
+ -0.7649128437042236
68
+ ],
69
+ [
70
+ -0.174540713429451,
71
+ -0.05484229326248169,
72
+ 0.9831215143203735,
73
+ -4.968085289001465
74
+ ],
75
+ [
76
+ 0.03173025697469711,
77
+ -0.9982424974441528,
78
+ -0.050052523612976074,
79
+ 1.1571942567825317
80
+ ],
81
+ [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 1.0
86
+ ]
87
+ ],
88
+ "T_base_world": [
89
+ [
90
+ -0.9609733819961548,
91
+ 0.2766406536102295,
92
+ 8.853035637912399e-08,
93
+ -0.6345210671424866
94
+ ],
95
+ [
96
+ -0.2766406536102295,
97
+ -0.9609733819961548,
98
+ 1.2489254963554686e-08,
99
+ -4.075323104858398
100
+ ],
101
+ [
102
+ 8.853035637912399e-08,
103
+ -1.2489254963554686e-08,
104
+ 1.0,
105
+ 0.9372063875198364
106
+ ],
107
+ [
108
+ 0.0,
109
+ 0.0,
110
+ 0.0,
111
+ 1.0
112
+ ]
113
+ ],
114
+ "lighting": {
115
+ "aug_enabled": true,
116
+ "params": {
117
+ "ambient": [
118
+ 0.22242826365824006,
119
+ 0.23768264823764243,
120
+ 0.22172944632880665
121
+ ],
122
+ "directional_primary": {
123
+ "direction": [
124
+ -0.7926883697687412,
125
+ -0.1359718495454704,
126
+ -0.5942699744767181
127
+ ],
128
+ "color": [
129
+ 0.9123096997067756,
130
+ 0.9377025502379432,
131
+ 0.9783311110878116
132
+ ],
133
+ "azimuth_rad": -2.9717133809120306,
134
+ "elevation_rad": 0.6363576526590167,
135
+ "color_temp_k": 6035.793446793825,
136
+ "intensity": 0.9478596904504103
137
+ },
138
+ "directional_fill": {
139
+ "direction": [
140
+ 0.18751495656524783,
141
+ -0.2294004200604565,
142
+ -0.9550987312002981
143
+ ],
144
+ "color": [
145
+ 0.7828858526769256,
146
+ 0.7783447969675693,
147
+ 0.7705601300372442
148
+ ],
149
+ "azimuth_rad": -0.8855273336096494,
150
+ "elevation_rad": 1.2699928331358499,
151
+ "color_temp_k": 5416.653615888335,
152
+ "intensity": 0.7783447969675693
153
+ },
154
+ "point_color_scale": [
155
+ 1.2096042645800813,
156
+ 1.1981276744994847,
157
+ 1.178453520075605
158
+ ],
159
+ "shadow": true
160
+ }
161
+ },
162
+ "frames": [
163
+ {
164
+ "frame_idx": 0,
165
+ "qpos": [
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0,
171
+ -1.100000023841858
172
+ ]
173
+ }
174
+ ]
175
+ }
so100/ProcTHOR/train/bg_000036/scene_b00_005/scene_meta.json ADDED
@@ -0,0 +1,175 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "so100",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 36,
7
+ "base_idx": 0,
8
+ "cam_idx": 4,
9
+ "n_dof": 6,
10
+ "num_links": 9,
11
+ "joint_names": [
12
+ "shoulder_pan",
13
+ "shoulder_lift",
14
+ "elbow_flex",
15
+ "wrist_flex",
16
+ "wrist_roll",
17
+ "gripper"
18
+ ],
19
+ "link_names": [
20
+ "Base",
21
+ "Rotation_Pitch",
22
+ "Upper_Arm",
23
+ "Lower_Arm",
24
+ "Wrist_Pitch_Roll",
25
+ "Fixed_Jaw",
26
+ "Moving_Jaw",
27
+ "Fixed_Jaw_tip",
28
+ "Moving_Jaw_tip"
29
+ ],
30
+ "ee_link_name": "Moving_Jaw",
31
+ "image_width": 640,
32
+ "image_height": 480,
33
+ "fovy_rad": 0.895532934382194,
34
+ "K": [
35
+ [
36
+ 477.36884386626235,
37
+ 0.0,
38
+ 335.1744716591383
39
+ ],
40
+ [
41
+ 0.0,
42
+ 499.68424152001757,
43
+ 217.11582648613796
44
+ ],
45
+ [
46
+ 0.0,
47
+ 0.0,
48
+ 1.0
49
+ ]
50
+ ],
51
+ "camera_eye": [
52
+ -0.6833827704689971,
53
+ -4.73429037151836,
54
+ 1.1458957300448402
55
+ ],
56
+ "camera_target": [
57
+ -0.6312911761425273,
58
+ -4.095367823091241,
59
+ 1.068235648477255
60
+ ],
61
+ "camera_roll_rad": 0.04316563188241114,
62
+ "camera_pose_world_cv": [
63
+ [
64
+ 0.9921383261680603,
65
+ -0.095675528049469,
66
+ 0.08067084103822708,
67
+ -0.6833827495574951
68
+ ],
69
+ [
70
+ -0.09129366278648376,
71
+ -0.11241620779037476,
72
+ 0.9894585609436035,
73
+ -4.734290599822998
74
+ ],
75
+ [
76
+ -0.08559823781251907,
77
+ -0.9890444278717041,
78
+ -0.12026697397232056,
79
+ 1.1458957195281982
80
+ ],
81
+ [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 1.0
86
+ ]
87
+ ],
88
+ "T_base_world": [
89
+ [
90
+ -0.9609733819961548,
91
+ 0.2766406536102295,
92
+ 8.853035637912399e-08,
93
+ -0.6345210671424866
94
+ ],
95
+ [
96
+ -0.2766406536102295,
97
+ -0.9609733819961548,
98
+ 1.2489254963554686e-08,
99
+ -4.075323104858398
100
+ ],
101
+ [
102
+ 8.853035637912399e-08,
103
+ -1.2489254963554686e-08,
104
+ 1.0,
105
+ 0.9372063875198364
106
+ ],
107
+ [
108
+ 0.0,
109
+ 0.0,
110
+ 0.0,
111
+ 1.0
112
+ ]
113
+ ],
114
+ "lighting": {
115
+ "aug_enabled": true,
116
+ "params": {
117
+ "ambient": [
118
+ 0.3228513607945969,
119
+ 0.30593643422588507,
120
+ 0.3110122464844583
121
+ ],
122
+ "directional_primary": {
123
+ "direction": [
124
+ -0.7926883697687412,
125
+ -0.1359718495454704,
126
+ -0.5942699744767181
127
+ ],
128
+ "color": [
129
+ 0.893662256787657,
130
+ 0.9047498641268846,
131
+ 0.9224900358696487
132
+ ],
133
+ "azimuth_rad": -2.9717133809120306,
134
+ "elevation_rad": 0.6363576526590167,
135
+ "color_temp_k": 5743.902142525656,
136
+ "intensity": 0.9091849070625756
137
+ },
138
+ "directional_fill": {
139
+ "direction": [
140
+ 0.18751495656524783,
141
+ -0.2294004200604565,
142
+ -0.9550987312002981
143
+ ],
144
+ "color": [
145
+ 0.8405315390895045,
146
+ 0.8675883620696005,
147
+ 0.9108792788377543
148
+ ],
149
+ "azimuth_rad": -0.8855273336096494,
150
+ "elevation_rad": 1.2699928331358499,
151
+ "color_temp_k": 6116.040103529091,
152
+ "intensity": 0.878411091261639
153
+ },
154
+ "point_color_scale": [
155
+ 0.9901285275201747,
156
+ 0.9831194632879415,
157
+ 0.9711039246041131
158
+ ],
159
+ "shadow": false
160
+ }
161
+ },
162
+ "frames": [
163
+ {
164
+ "frame_idx": 0,
165
+ "qpos": [
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0,
171
+ -1.100000023841858
172
+ ]
173
+ }
174
+ ]
175
+ }
so100/ProcTHOR/train/bg_000036/scene_b00_006/scene_meta.json ADDED
@@ -0,0 +1,175 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "so100",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 36,
7
+ "base_idx": 0,
8
+ "cam_idx": 5,
9
+ "n_dof": 6,
10
+ "num_links": 9,
11
+ "joint_names": [
12
+ "shoulder_pan",
13
+ "shoulder_lift",
14
+ "elbow_flex",
15
+ "wrist_flex",
16
+ "wrist_roll",
17
+ "gripper"
18
+ ],
19
+ "link_names": [
20
+ "Base",
21
+ "Rotation_Pitch",
22
+ "Upper_Arm",
23
+ "Lower_Arm",
24
+ "Wrist_Pitch_Roll",
25
+ "Fixed_Jaw",
26
+ "Moving_Jaw",
27
+ "Fixed_Jaw_tip",
28
+ "Moving_Jaw_tip"
29
+ ],
30
+ "ee_link_name": "Moving_Jaw",
31
+ "image_width": 640,
32
+ "image_height": 480,
33
+ "fovy_rad": 0.8245284498639164,
34
+ "K": [
35
+ [
36
+ 565.0048621553473,
37
+ 0.0,
38
+ 323.38490483350404
39
+ ],
40
+ [
41
+ 0.0,
42
+ 548.7899313927786,
43
+ 233.72610966305277
44
+ ],
45
+ [
46
+ 0.0,
47
+ 0.0,
48
+ 1.0
49
+ ]
50
+ ],
51
+ "camera_eye": [
52
+ -0.6516589757515505,
53
+ -4.583917333141911,
54
+ 1.1403799772271328
55
+ ],
56
+ "camera_target": [
57
+ -0.642101905423,
58
+ -4.0405122362571415,
59
+ 1.160469099577976
60
+ ],
61
+ "camera_roll_rad": 0.017606147589866353,
62
+ "camera_pose_world_cv": [
63
+ [
64
+ 0.9992484450340271,
65
+ -0.03455045819282532,
66
+ 0.0175727941095829,
67
+ -0.6516589522361755
68
+ ],
69
+ [
70
+ -0.01627369597554207,
71
+ 0.037528395652770996,
72
+ 0.9991631507873535,
73
+ -4.583917140960693
74
+ ],
75
+ [
76
+ -0.03518101945519447,
77
+ -0.9986982345581055,
78
+ 0.03693795204162598,
79
+ 1.1403800249099731
80
+ ],
81
+ [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 1.0
86
+ ]
87
+ ],
88
+ "T_base_world": [
89
+ [
90
+ -0.9609733819961548,
91
+ 0.2766406536102295,
92
+ 8.853035637912399e-08,
93
+ -0.6345210671424866
94
+ ],
95
+ [
96
+ -0.2766406536102295,
97
+ -0.9609733819961548,
98
+ 1.2489254963554686e-08,
99
+ -4.075323104858398
100
+ ],
101
+ [
102
+ 8.853035637912399e-08,
103
+ -1.2489254963554686e-08,
104
+ 1.0,
105
+ 0.9372063875198364
106
+ ],
107
+ [
108
+ 0.0,
109
+ 0.0,
110
+ 0.0,
111
+ 1.0
112
+ ]
113
+ ],
114
+ "lighting": {
115
+ "aug_enabled": true,
116
+ "params": {
117
+ "ambient": [
118
+ 0.29338424930865425,
119
+ 0.2892484596738768,
120
+ 0.29754182944815233
121
+ ],
122
+ "directional_primary": {
123
+ "direction": [
124
+ -0.7926883697687412,
125
+ -0.1359718495454704,
126
+ -0.5942699744767181
127
+ ],
128
+ "color": [
129
+ 1.1255466182885472,
130
+ 1.0667698879308758,
131
+ 0.9660097787462963
132
+ ],
133
+ "azimuth_rad": -2.9717133809120306,
134
+ "elevation_rad": 0.6363576526590167,
135
+ "color_temp_k": 4712.887815790531,
136
+ "intensity": 1.0667698879308758
137
+ },
138
+ "directional_fill": {
139
+ "direction": [
140
+ 0.18751495656524783,
141
+ -0.2294004200604565,
142
+ -0.9550987312002981
143
+ ],
144
+ "color": [
145
+ 0.7288450575340163,
146
+ 0.7480774091301986,
147
+ 0.7788491716840905
148
+ ],
149
+ "azimuth_rad": -0.8855273336096494,
150
+ "elevation_rad": 1.2699928331358499,
151
+ "color_temp_k": 6008.946973166362,
152
+ "intensity": 0.7557703497686716
153
+ },
154
+ "point_color_scale": [
155
+ 1.0217503872134648,
156
+ 0.9983747124037514,
157
+ 0.9583021270156712
158
+ ],
159
+ "shadow": true
160
+ }
161
+ },
162
+ "frames": [
163
+ {
164
+ "frame_idx": 0,
165
+ "qpos": [
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0,
171
+ -1.100000023841858
172
+ ]
173
+ }
174
+ ]
175
+ }
so100/ProcTHOR/train/bg_000036/scene_b00_007/scene_meta.json ADDED
@@ -0,0 +1,175 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "so100",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 36,
7
+ "base_idx": 0,
8
+ "cam_idx": 6,
9
+ "n_dof": 6,
10
+ "num_links": 9,
11
+ "joint_names": [
12
+ "shoulder_pan",
13
+ "shoulder_lift",
14
+ "elbow_flex",
15
+ "wrist_flex",
16
+ "wrist_roll",
17
+ "gripper"
18
+ ],
19
+ "link_names": [
20
+ "Base",
21
+ "Rotation_Pitch",
22
+ "Upper_Arm",
23
+ "Lower_Arm",
24
+ "Wrist_Pitch_Roll",
25
+ "Fixed_Jaw",
26
+ "Moving_Jaw",
27
+ "Fixed_Jaw_tip",
28
+ "Moving_Jaw_tip"
29
+ ],
30
+ "ee_link_name": "Moving_Jaw",
31
+ "image_width": 640,
32
+ "image_height": 480,
33
+ "fovy_rad": 0.9722322972410339,
34
+ "K": [
35
+ [
36
+ 453.97524391052923,
37
+ 0.0,
38
+ 333.86515227062455
39
+ ],
40
+ [
41
+ 0.0,
42
+ 454.19309643551753,
43
+ 256.7116092701127
44
+ ],
45
+ [
46
+ 0.0,
47
+ 0.0,
48
+ 1.0
49
+ ]
50
+ ],
51
+ "camera_eye": [
52
+ -1.193826598314776,
53
+ -4.882413649314515,
54
+ 1.0900771076868725
55
+ ],
56
+ "camera_target": [
57
+ -0.5962970944403304,
58
+ -4.098143045154881,
59
+ 1.160204288464776
60
+ ],
61
+ "camera_roll_rad": -0.04584530867061705,
62
+ "camera_pose_world_cv": [
63
+ [
64
+ 0.7881584167480469,
65
+ 0.11564739048480988,
66
+ 0.6045097708702087,
67
+ -1.1938265562057495
68
+ ],
69
+ [
70
+ -0.6086583137512207,
71
+ 0.0007061958312988281,
72
+ 0.7934322953224182,
73
+ -4.882413864135742
74
+ ],
75
+ [
76
+ 0.09133148193359375,
77
+ -0.9932902455329895,
78
+ 0.07094645500183105,
79
+ 1.0900771617889404
80
+ ],
81
+ [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 1.0
86
+ ]
87
+ ],
88
+ "T_base_world": [
89
+ [
90
+ -0.9609733819961548,
91
+ 0.2766406536102295,
92
+ 8.853035637912399e-08,
93
+ -0.6345210671424866
94
+ ],
95
+ [
96
+ -0.2766406536102295,
97
+ -0.9609733819961548,
98
+ 1.2489254963554686e-08,
99
+ -4.075323104858398
100
+ ],
101
+ [
102
+ 8.853035637912399e-08,
103
+ -1.2489254963554686e-08,
104
+ 1.0,
105
+ 0.9372063875198364
106
+ ],
107
+ [
108
+ 0.0,
109
+ 0.0,
110
+ 0.0,
111
+ 1.0
112
+ ]
113
+ ],
114
+ "lighting": {
115
+ "aug_enabled": true,
116
+ "params": {
117
+ "ambient": [
118
+ 0.27878752133622936,
119
+ 0.2725035416329516,
120
+ 0.27243386362954664
121
+ ],
122
+ "directional_primary": {
123
+ "direction": [
124
+ -0.7926883697687412,
125
+ -0.1359718495454704,
126
+ -0.5942699744767181
127
+ ],
128
+ "color": [
129
+ 1.078160550425395,
130
+ 1.0922781489191007,
131
+ 1.1148663065090294
132
+ ],
133
+ "azimuth_rad": -2.9717133809120306,
134
+ "elevation_rad": 0.6363576526590167,
135
+ "color_temp_k": 5757.168678593695,
136
+ "intensity": 1.0979251883165828
137
+ },
138
+ "directional_fill": {
139
+ "direction": [
140
+ 0.18751495656524783,
141
+ -0.2294004200604565,
142
+ -0.9550987312002981
143
+ ],
144
+ "color": [
145
+ 0.8273931803230671,
146
+ 0.8363439452606014,
147
+ 0.8506651691606564
148
+ ],
149
+ "azimuth_rad": -0.8855273336096494,
150
+ "elevation_rad": 1.2699928331358499,
151
+ "color_temp_k": 5713.13267057992,
152
+ "intensity": 0.8399242512356151
153
+ },
154
+ "point_color_scale": [
155
+ 1.0349675178305384,
156
+ 0.9946155675519811,
157
+ 0.9254407956458831
158
+ ],
159
+ "shadow": true
160
+ }
161
+ },
162
+ "frames": [
163
+ {
164
+ "frame_idx": 0,
165
+ "qpos": [
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0,
171
+ -1.100000023841858
172
+ ]
173
+ }
174
+ ]
175
+ }
so100/ProcTHOR/train/bg_000036/scene_b00_008/scene_meta.json ADDED
@@ -0,0 +1,175 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "so100",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 36,
7
+ "base_idx": 0,
8
+ "cam_idx": 7,
9
+ "n_dof": 6,
10
+ "num_links": 9,
11
+ "joint_names": [
12
+ "shoulder_pan",
13
+ "shoulder_lift",
14
+ "elbow_flex",
15
+ "wrist_flex",
16
+ "wrist_roll",
17
+ "gripper"
18
+ ],
19
+ "link_names": [
20
+ "Base",
21
+ "Rotation_Pitch",
22
+ "Upper_Arm",
23
+ "Lower_Arm",
24
+ "Wrist_Pitch_Roll",
25
+ "Fixed_Jaw",
26
+ "Moving_Jaw",
27
+ "Fixed_Jaw_tip",
28
+ "Moving_Jaw_tip"
29
+ ],
30
+ "ee_link_name": "Moving_Jaw",
31
+ "image_width": 640,
32
+ "image_height": 480,
33
+ "fovy_rad": 0.8520817673443466,
34
+ "K": [
35
+ [
36
+ 550.3449521277163,
37
+ 0.0,
38
+ 337.6706310194092
39
+ ],
40
+ [
41
+ 0.0,
42
+ 528.8232543494687,
43
+ 261.27634086937763
44
+ ],
45
+ [
46
+ 0.0,
47
+ 0.0,
48
+ 1.0
49
+ ]
50
+ ],
51
+ "camera_eye": [
52
+ -1.2725198315653095,
53
+ -4.472822578039847,
54
+ 1.156399971745897
55
+ ],
56
+ "camera_target": [
57
+ -0.5999820148072124,
58
+ -4.120303941570387,
59
+ 1.1526120001465705
60
+ ],
61
+ "camera_roll_rad": 0.020119152420086037,
62
+ "camera_pose_world_cv": [
63
+ [
64
+ 0.46369826793670654,
65
+ -0.023090451955795288,
66
+ 0.8856922388076782,
67
+ -1.272519826889038
68
+ ],
69
+ [
70
+ -0.8850795030593872,
71
+ 0.033315420150756836,
72
+ 0.4642459750175476,
73
+ -4.472822666168213
74
+ ],
75
+ [
76
+ -0.040226876735687256,
77
+ -0.9991781115531921,
78
+ -0.004988610744476318,
79
+ 1.1563999652862549
80
+ ],
81
+ [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 1.0
86
+ ]
87
+ ],
88
+ "T_base_world": [
89
+ [
90
+ -0.9609733819961548,
91
+ 0.2766406536102295,
92
+ 8.853035637912399e-08,
93
+ -0.6345210671424866
94
+ ],
95
+ [
96
+ -0.2766406536102295,
97
+ -0.9609733819961548,
98
+ 1.2489254963554686e-08,
99
+ -4.075323104858398
100
+ ],
101
+ [
102
+ 8.853035637912399e-08,
103
+ -1.2489254963554686e-08,
104
+ 1.0,
105
+ 0.9372063875198364
106
+ ],
107
+ [
108
+ 0.0,
109
+ 0.0,
110
+ 0.0,
111
+ 1.0
112
+ ]
113
+ ],
114
+ "lighting": {
115
+ "aug_enabled": true,
116
+ "params": {
117
+ "ambient": [
118
+ 0.24036962016673655,
119
+ 0.24287897202618072,
120
+ 0.2418423903940934
121
+ ],
122
+ "directional_primary": {
123
+ "direction": [
124
+ -0.7926883697687412,
125
+ -0.1359718495454704,
126
+ -0.5942699744767181
127
+ ],
128
+ "color": [
129
+ 1.0403444037000946,
130
+ 1.0321535670981634,
131
+ 1.0181121329234242
132
+ ],
133
+ "azimuth_rad": -2.9717133809120306,
134
+ "elevation_rad": 0.6363576526590167,
135
+ "color_temp_k": 5386.633195692834,
136
+ "intensity": 1.0321535670981634
137
+ },
138
+ "directional_fill": {
139
+ "direction": [
140
+ 0.18751495656524783,
141
+ -0.2294004200604565,
142
+ -0.9550987312002981
143
+ ],
144
+ "color": [
145
+ 0.5514111715211225,
146
+ 0.5715298672936238,
147
+ 0.6037197805296258
148
+ ],
149
+ "azimuth_rad": -0.8855273336096494,
150
+ "elevation_rad": 1.2699928331358499,
151
+ "color_temp_k": 6194.254043059,
152
+ "intensity": 0.5795773456026243
153
+ },
154
+ "point_color_scale": [
155
+ 1.0810714417208622,
156
+ 1.112596058999148,
157
+ 1.1630354466444053
158
+ ],
159
+ "shadow": true
160
+ }
161
+ },
162
+ "frames": [
163
+ {
164
+ "frame_idx": 0,
165
+ "qpos": [
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0,
171
+ -1.100000023841858
172
+ ]
173
+ }
174
+ ]
175
+ }
so100/ProcTHOR/train/bg_000036/scene_b00_009/scene_meta.json ADDED
@@ -0,0 +1,175 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "so100",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 36,
7
+ "base_idx": 0,
8
+ "cam_idx": 8,
9
+ "n_dof": 6,
10
+ "num_links": 9,
11
+ "joint_names": [
12
+ "shoulder_pan",
13
+ "shoulder_lift",
14
+ "elbow_flex",
15
+ "wrist_flex",
16
+ "wrist_roll",
17
+ "gripper"
18
+ ],
19
+ "link_names": [
20
+ "Base",
21
+ "Rotation_Pitch",
22
+ "Upper_Arm",
23
+ "Lower_Arm",
24
+ "Wrist_Pitch_Roll",
25
+ "Fixed_Jaw",
26
+ "Moving_Jaw",
27
+ "Fixed_Jaw_tip",
28
+ "Moving_Jaw_tip"
29
+ ],
30
+ "ee_link_name": "Moving_Jaw",
31
+ "image_width": 640,
32
+ "image_height": 480,
33
+ "fovy_rad": 0.9984006962318233,
34
+ "K": [
35
+ [
36
+ 442.2586758836934,
37
+ 0.0,
38
+ 300.991054502701
39
+ ],
40
+ [
41
+ 0.0,
42
+ 440.15324545529614,
43
+ 251.86090356754406
44
+ ],
45
+ [
46
+ 0.0,
47
+ 0.0,
48
+ 1.0
49
+ ]
50
+ ],
51
+ "camera_eye": [
52
+ -0.18725896874932707,
53
+ -4.435069602845983,
54
+ 1.3346504364382745
55
+ ],
56
+ "camera_target": [
57
+ -0.6015970774474815,
58
+ -4.048922408340222,
59
+ 1.083677694210303
60
+ ],
61
+ "camera_roll_rad": -0.04810290687637066,
62
+ "camera_pose_world_cv": [
63
+ [
64
+ 0.6501601338386536,
65
+ 0.3604915142059326,
66
+ -0.6688331365585327,
67
+ -0.18725897371768951
68
+ ],
69
+ [
70
+ 0.7547047138214111,
71
+ -0.20465826988220215,
72
+ 0.6233264803886414,
73
+ -4.435069561004639
74
+ ],
75
+ [
76
+ 0.0878216028213501,
77
+ -0.9100335240364075,
78
+ -0.4051252007484436,
79
+ 1.3346503973007202
80
+ ],
81
+ [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 1.0
86
+ ]
87
+ ],
88
+ "T_base_world": [
89
+ [
90
+ -0.9609733819961548,
91
+ 0.2766406536102295,
92
+ 8.853035637912399e-08,
93
+ -0.6345210671424866
94
+ ],
95
+ [
96
+ -0.2766406536102295,
97
+ -0.9609733819961548,
98
+ 1.2489254963554686e-08,
99
+ -4.075323104858398
100
+ ],
101
+ [
102
+ 8.853035637912399e-08,
103
+ -1.2489254963554686e-08,
104
+ 1.0,
105
+ 0.9372063875198364
106
+ ],
107
+ [
108
+ 0.0,
109
+ 0.0,
110
+ 0.0,
111
+ 1.0
112
+ ]
113
+ ],
114
+ "lighting": {
115
+ "aug_enabled": true,
116
+ "params": {
117
+ "ambient": [
118
+ 0.38705565400404773,
119
+ 0.3759148956640918,
120
+ 0.38220377100941383
121
+ ],
122
+ "directional_primary": {
123
+ "direction": [
124
+ -0.7926883697687412,
125
+ -0.1359718495454704,
126
+ -0.5942699744767181
127
+ ],
128
+ "color": [
129
+ 0.8300180128221735,
130
+ 0.8618769934381375,
131
+ 0.9128513624236798
132
+ ],
133
+ "azimuth_rad": -2.9717133809120306,
134
+ "elevation_rad": 0.6363576526590167,
135
+ "color_temp_k": 6228.5211699203155,
136
+ "intensity": 0.874620585684523
137
+ },
138
+ "directional_fill": {
139
+ "direction": [
140
+ 0.18751495656524783,
141
+ -0.2294004200604565,
142
+ -0.9550987312002981
143
+ ],
144
+ "color": [
145
+ 0.7204331225702674,
146
+ 0.7436102604604553,
147
+ 0.7806936810847561
148
+ ],
149
+ "azimuth_rad": -0.8855273336096494,
150
+ "elevation_rad": 1.2699928331358499,
151
+ "color_temp_k": 6115.691837912771,
152
+ "intensity": 0.7528811156165305
153
+ },
154
+ "point_color_scale": [
155
+ 0.9220666331490694,
156
+ 0.9413208489896404,
157
+ 0.9721275943345539
158
+ ],
159
+ "shadow": true
160
+ }
161
+ },
162
+ "frames": [
163
+ {
164
+ "frame_idx": 0,
165
+ "qpos": [
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0,
171
+ -1.100000023841858
172
+ ]
173
+ }
174
+ ]
175
+ }
so100/ProcTHOR/train/bg_000036/scene_b00_010/scene_meta.json ADDED
@@ -0,0 +1,175 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "so100",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 36,
7
+ "base_idx": 0,
8
+ "cam_idx": 9,
9
+ "n_dof": 6,
10
+ "num_links": 9,
11
+ "joint_names": [
12
+ "shoulder_pan",
13
+ "shoulder_lift",
14
+ "elbow_flex",
15
+ "wrist_flex",
16
+ "wrist_roll",
17
+ "gripper"
18
+ ],
19
+ "link_names": [
20
+ "Base",
21
+ "Rotation_Pitch",
22
+ "Upper_Arm",
23
+ "Lower_Arm",
24
+ "Wrist_Pitch_Roll",
25
+ "Fixed_Jaw",
26
+ "Moving_Jaw",
27
+ "Fixed_Jaw_tip",
28
+ "Moving_Jaw_tip"
29
+ ],
30
+ "ee_link_name": "Moving_Jaw",
31
+ "image_width": 640,
32
+ "image_height": 480,
33
+ "fovy_rad": 0.8335634198732258,
34
+ "K": [
35
+ [
36
+ 527.4464127497631,
37
+ 0.0,
38
+ 290.0985043094147
39
+ ],
40
+ [
41
+ 0.0,
42
+ 542.1058484019753,
43
+ 241.65556334517524
44
+ ],
45
+ [
46
+ 0.0,
47
+ 0.0,
48
+ 1.0
49
+ ]
50
+ ],
51
+ "camera_eye": [
52
+ -0.9415599140841586,
53
+ -3.748950851610908,
54
+ 1.2512696102307712
55
+ ],
56
+ "camera_target": [
57
+ -0.6217673785429735,
58
+ -4.043285873588031,
59
+ 1.0873696653824498
60
+ ],
61
+ "camera_roll_rad": 0.021480030002284115,
62
+ "camera_pose_world_cv": [
63
+ [
64
+ -0.6877385377883911,
65
+ -0.23029851913452148,
66
+ 0.6884610652923584,
67
+ -0.941559910774231
68
+ ],
69
+ [
70
+ -0.7248457074165344,
71
+ 0.2703338861465454,
72
+ -0.6336549520492554,
73
+ -3.748950958251953
74
+ ],
75
+ [
76
+ -0.04018449783325195,
77
+ -0.934816837310791,
78
+ -0.35284972190856934,
79
+ 1.2512695789337158
80
+ ],
81
+ [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 1.0
86
+ ]
87
+ ],
88
+ "T_base_world": [
89
+ [
90
+ -0.9609733819961548,
91
+ 0.2766406536102295,
92
+ 8.853035637912399e-08,
93
+ -0.6345210671424866
94
+ ],
95
+ [
96
+ -0.2766406536102295,
97
+ -0.9609733819961548,
98
+ 1.2489254963554686e-08,
99
+ -4.075323104858398
100
+ ],
101
+ [
102
+ 8.853035637912399e-08,
103
+ -1.2489254963554686e-08,
104
+ 1.0,
105
+ 0.9372063875198364
106
+ ],
107
+ [
108
+ 0.0,
109
+ 0.0,
110
+ 0.0,
111
+ 1.0
112
+ ]
113
+ ],
114
+ "lighting": {
115
+ "aug_enabled": true,
116
+ "params": {
117
+ "ambient": [
118
+ 0.348323053644442,
119
+ 0.3533539775733565,
120
+ 0.35322118860553253
121
+ ],
122
+ "directional_primary": {
123
+ "direction": [
124
+ -0.7926883697687412,
125
+ -0.1359718495454704,
126
+ -0.5942699744767181
127
+ ],
128
+ "color": [
129
+ 0.9389794676427976,
130
+ 0.9796471244086102,
131
+ 1.0447153752339104
132
+ ],
133
+ "azimuth_rad": -2.9717133809120306,
134
+ "elevation_rad": 0.6363576526590167,
135
+ "color_temp_k": 6316.689977750449,
136
+ "intensity": 0.9959141871149353
137
+ },
138
+ "directional_fill": {
139
+ "direction": [
140
+ 0.18751495656524783,
141
+ -0.2294004200604565,
142
+ -0.9550987312002981
143
+ ],
144
+ "color": [
145
+ 0.7561940815286319,
146
+ 0.7828371640693584,
147
+ 0.8254660961345212
148
+ ],
149
+ "azimuth_rad": -0.8855273336096494,
150
+ "elevation_rad": 1.2699928331358499,
151
+ "color_temp_k": 6171.538013086962,
152
+ "intensity": 0.7934943970856492
153
+ },
154
+ "point_color_scale": [
155
+ 0.8631976823259423,
156
+ 0.8261546781674628,
157
+ 0.762652385324355
158
+ ],
159
+ "shadow": true
160
+ }
161
+ },
162
+ "frames": [
163
+ {
164
+ "frame_idx": 0,
165
+ "qpos": [
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0,
171
+ -1.100000023841858
172
+ ]
173
+ }
174
+ ]
175
+ }
so100/ProcTHOR/train/bg_000036/scene_b00_011/scene_meta.json ADDED
@@ -0,0 +1,175 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "so100",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 36,
7
+ "base_idx": 0,
8
+ "cam_idx": 10,
9
+ "n_dof": 6,
10
+ "num_links": 9,
11
+ "joint_names": [
12
+ "shoulder_pan",
13
+ "shoulder_lift",
14
+ "elbow_flex",
15
+ "wrist_flex",
16
+ "wrist_roll",
17
+ "gripper"
18
+ ],
19
+ "link_names": [
20
+ "Base",
21
+ "Rotation_Pitch",
22
+ "Upper_Arm",
23
+ "Lower_Arm",
24
+ "Wrist_Pitch_Roll",
25
+ "Fixed_Jaw",
26
+ "Moving_Jaw",
27
+ "Fixed_Jaw_tip",
28
+ "Moving_Jaw_tip"
29
+ ],
30
+ "ee_link_name": "Moving_Jaw",
31
+ "image_width": 640,
32
+ "image_height": 480,
33
+ "fovy_rad": 1.079946327078711,
34
+ "K": [
35
+ [
36
+ 389.3829529663816,
37
+ 0.0,
38
+ 305.26330983646113
39
+ ],
40
+ [
41
+ 0.0,
42
+ 400.40497992556715,
43
+ 219.1909963973679
44
+ ],
45
+ [
46
+ 0.0,
47
+ 0.0,
48
+ 1.0
49
+ ]
50
+ ],
51
+ "camera_eye": [
52
+ -0.9620705666213728,
53
+ -4.805914883428364,
54
+ 1.1947185404868363
55
+ ],
56
+ "camera_target": [
57
+ -0.6472741582371102,
58
+ -4.110649664288435,
59
+ 1.1267779585132955
60
+ ],
61
+ "camera_roll_rad": 0.04020056647389035,
62
+ "camera_pose_world_cv": [
63
+ [
64
+ 0.9050940871238708,
65
+ -0.10961894690990448,
66
+ 0.41083866357803345,
67
+ -0.9620705842971802
68
+ ],
69
+ [
70
+ -0.4176182746887207,
71
+ -0.04738724231719971,
72
+ 0.907386064529419,
73
+ -4.805914878845215
74
+ ],
75
+ [
76
+ -0.07999818027019501,
77
+ -0.992843508720398,
78
+ -0.08866876363754272,
79
+ 1.194718599319458
80
+ ],
81
+ [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 1.0
86
+ ]
87
+ ],
88
+ "T_base_world": [
89
+ [
90
+ -0.9609733819961548,
91
+ 0.2766406536102295,
92
+ 8.853035637912399e-08,
93
+ -0.6345210671424866
94
+ ],
95
+ [
96
+ -0.2766406536102295,
97
+ -0.9609733819961548,
98
+ 1.2489254963554686e-08,
99
+ -4.075323104858398
100
+ ],
101
+ [
102
+ 8.853035637912399e-08,
103
+ -1.2489254963554686e-08,
104
+ 1.0,
105
+ 0.9372063875198364
106
+ ],
107
+ [
108
+ 0.0,
109
+ 0.0,
110
+ 0.0,
111
+ 1.0
112
+ ]
113
+ ],
114
+ "lighting": {
115
+ "aug_enabled": true,
116
+ "params": {
117
+ "ambient": [
118
+ 0.25760223664968074,
119
+ 0.24723426043226085,
120
+ 0.23741010448429978
121
+ ],
122
+ "directional_primary": {
123
+ "direction": [
124
+ -0.7926883697687412,
125
+ -0.1359718495454704,
126
+ -0.5942699744767181
127
+ ],
128
+ "color": [
129
+ 0.9212529458670398,
130
+ 0.911843681657151,
131
+ 0.895713514440199
132
+ ],
133
+ "azimuth_rad": -2.9717133809120306,
134
+ "elevation_rad": 0.6363576526590167,
135
+ "color_temp_k": 5352.586509239192,
136
+ "intensity": 0.911843681657151
137
+ },
138
+ "directional_fill": {
139
+ "direction": [
140
+ 0.18751495656524783,
141
+ -0.2294004200604565,
142
+ -0.9550987312002981
143
+ ],
144
+ "color": [
145
+ 0.6632877598770387,
146
+ 0.6738023682336891,
147
+ 0.6906257416043301
148
+ ],
149
+ "azimuth_rad": -0.8855273336096494,
150
+ "elevation_rad": 1.2699928331358499,
151
+ "color_temp_k": 5810.161681735517,
152
+ "intensity": 0.6780082115763494
153
+ },
154
+ "point_color_scale": [
155
+ 1.099501597018485,
156
+ 1.0922309378391404,
157
+ 1.0797669506745495
158
+ ],
159
+ "shadow": true
160
+ }
161
+ },
162
+ "frames": [
163
+ {
164
+ "frame_idx": 0,
165
+ "qpos": [
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0,
171
+ -1.100000023841858
172
+ ]
173
+ }
174
+ ]
175
+ }
so100/ProcTHOR/train/bg_000036/scene_b00_012/scene_meta.json ADDED
@@ -0,0 +1,175 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "so100",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 36,
7
+ "base_idx": 0,
8
+ "cam_idx": 11,
9
+ "n_dof": 6,
10
+ "num_links": 9,
11
+ "joint_names": [
12
+ "shoulder_pan",
13
+ "shoulder_lift",
14
+ "elbow_flex",
15
+ "wrist_flex",
16
+ "wrist_roll",
17
+ "gripper"
18
+ ],
19
+ "link_names": [
20
+ "Base",
21
+ "Rotation_Pitch",
22
+ "Upper_Arm",
23
+ "Lower_Arm",
24
+ "Wrist_Pitch_Roll",
25
+ "Fixed_Jaw",
26
+ "Moving_Jaw",
27
+ "Fixed_Jaw_tip",
28
+ "Moving_Jaw_tip"
29
+ ],
30
+ "ee_link_name": "Moving_Jaw",
31
+ "image_width": 640,
32
+ "image_height": 480,
33
+ "fovy_rad": 1.030068356891409,
34
+ "K": [
35
+ [
36
+ 423.433773375749,
37
+ 0.0,
38
+ 346.0571817280029
39
+ ],
40
+ [
41
+ 0.0,
42
+ 424.03821873356463,
43
+ 250.90371361793126
44
+ ],
45
+ [
46
+ 0.0,
47
+ 0.0,
48
+ 1.0
49
+ ]
50
+ ],
51
+ "camera_eye": [
52
+ -0.7762215096573091,
53
+ -3.6246894923789696,
54
+ 1.13914319239095
55
+ ],
56
+ "camera_target": [
57
+ -0.6343140287337039,
58
+ -4.072251875011501,
59
+ 1.13866786532635
60
+ ],
61
+ "camera_roll_rad": 0.05045538726302952,
62
+ "camera_pose_world_cv": [
63
+ [
64
+ -0.9484138488769531,
65
+ 0.09572374820709229,
66
+ 0.3022388219833374,
67
+ -0.776221513748169
68
+ ],
69
+ [
70
+ -0.3006041944026947,
71
+ 0.031407833099365234,
72
+ -0.9532317519187927,
73
+ -3.6246895790100098
74
+ ],
75
+ [
76
+ -0.10073956847190857,
77
+ -0.994912326335907,
78
+ -0.001012563705444336,
79
+ 1.1391432285308838
80
+ ],
81
+ [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 1.0
86
+ ]
87
+ ],
88
+ "T_base_world": [
89
+ [
90
+ -0.9609733819961548,
91
+ 0.2766406536102295,
92
+ 8.853035637912399e-08,
93
+ -0.6345210671424866
94
+ ],
95
+ [
96
+ -0.2766406536102295,
97
+ -0.9609733819961548,
98
+ 1.2489254963554686e-08,
99
+ -4.075323104858398
100
+ ],
101
+ [
102
+ 8.853035637912399e-08,
103
+ -1.2489254963554686e-08,
104
+ 1.0,
105
+ 0.9372063875198364
106
+ ],
107
+ [
108
+ 0.0,
109
+ 0.0,
110
+ 0.0,
111
+ 1.0
112
+ ]
113
+ ],
114
+ "lighting": {
115
+ "aug_enabled": true,
116
+ "params": {
117
+ "ambient": [
118
+ 0.2745613180985044,
119
+ 0.26207002236732496,
120
+ 0.2679652954967886
121
+ ],
122
+ "directional_primary": {
123
+ "direction": [
124
+ -0.7926883697687412,
125
+ -0.1359718495454704,
126
+ -0.5942699744767181
127
+ ],
128
+ "color": [
129
+ 0.8966194443267014,
130
+ 0.8946209896369542,
131
+ 0.8911950673116735
132
+ ],
133
+ "azimuth_rad": -2.9717133809120306,
134
+ "elevation_rad": 0.6363576526590167,
135
+ "color_temp_k": 5468.087767846518,
136
+ "intensity": 0.8946209896369542
137
+ },
138
+ "directional_fill": {
139
+ "direction": [
140
+ 0.18751495656524783,
141
+ -0.2294004200604565,
142
+ -0.9550987312002981
143
+ ],
144
+ "color": [
145
+ 0.7792595036350676,
146
+ 0.7830911160654961,
147
+ 0.7892216959541819
148
+ ],
149
+ "azimuth_rad": -0.8855273336096494,
150
+ "elevation_rad": 1.2699928331358499,
151
+ "color_temp_k": 5597.667509466225,
152
+ "intensity": 0.7846237610376675
153
+ },
154
+ "point_color_scale": [
155
+ 1.0961266015190048,
156
+ 1.0802236734940915,
157
+ 1.0529615111656687
158
+ ],
159
+ "shadow": true
160
+ }
161
+ },
162
+ "frames": [
163
+ {
164
+ "frame_idx": 0,
165
+ "qpos": [
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0,
171
+ -1.100000023841858
172
+ ]
173
+ }
174
+ ]
175
+ }
so100/ProcTHOR/train/bg_000036/scene_b00_013/scene_meta.json ADDED
@@ -0,0 +1,175 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "so100",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 36,
7
+ "base_idx": 0,
8
+ "cam_idx": 12,
9
+ "n_dof": 6,
10
+ "num_links": 9,
11
+ "joint_names": [
12
+ "shoulder_pan",
13
+ "shoulder_lift",
14
+ "elbow_flex",
15
+ "wrist_flex",
16
+ "wrist_roll",
17
+ "gripper"
18
+ ],
19
+ "link_names": [
20
+ "Base",
21
+ "Rotation_Pitch",
22
+ "Upper_Arm",
23
+ "Lower_Arm",
24
+ "Wrist_Pitch_Roll",
25
+ "Fixed_Jaw",
26
+ "Moving_Jaw",
27
+ "Fixed_Jaw_tip",
28
+ "Moving_Jaw_tip"
29
+ ],
30
+ "ee_link_name": "Moving_Jaw",
31
+ "image_width": 640,
32
+ "image_height": 480,
33
+ "fovy_rad": 1.201560665524986,
34
+ "K": [
35
+ [
36
+ 352.6407099639333,
37
+ 0.0,
38
+ 312.54458227258556
39
+ ],
40
+ [
41
+ 0.0,
42
+ 350.22028282731753,
43
+ 241.9604552986182
44
+ ],
45
+ [
46
+ 0.0,
47
+ 0.0,
48
+ 1.0
49
+ ]
50
+ ],
51
+ "camera_eye": [
52
+ -0.07635202785404505,
53
+ -4.034878866454489,
54
+ 1.1046964724625747
55
+ ],
56
+ "camera_target": [
57
+ -0.5941794052864412,
58
+ -4.122215320220713,
59
+ 1.0711723962523292
60
+ ],
61
+ "camera_roll_rad": -0.004317489134906448,
62
+ "camera_pose_world_cv": [
63
+ [
64
+ -0.1668471097946167,
65
+ 0.061383068561553955,
66
+ -0.984070360660553,
67
+ -0.07635203003883362
68
+ ],
69
+ [
70
+ 0.9859452843666077,
71
+ 0.019109725952148438,
72
+ -0.16597288846969604,
73
+ -4.034878730773926
74
+ ],
75
+ [
76
+ 0.0086173415184021,
77
+ -0.9979314208030701,
78
+ -0.0637086033821106,
79
+ 1.10469651222229
80
+ ],
81
+ [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 1.0
86
+ ]
87
+ ],
88
+ "T_base_world": [
89
+ [
90
+ -0.9609733819961548,
91
+ 0.2766406536102295,
92
+ 8.853035637912399e-08,
93
+ -0.6345210671424866
94
+ ],
95
+ [
96
+ -0.2766406536102295,
97
+ -0.9609733819961548,
98
+ 1.2489254963554686e-08,
99
+ -4.075323104858398
100
+ ],
101
+ [
102
+ 8.853035637912399e-08,
103
+ -1.2489254963554686e-08,
104
+ 1.0,
105
+ 0.9372063875198364
106
+ ],
107
+ [
108
+ 0.0,
109
+ 0.0,
110
+ 0.0,
111
+ 1.0
112
+ ]
113
+ ],
114
+ "lighting": {
115
+ "aug_enabled": true,
116
+ "params": {
117
+ "ambient": [
118
+ 0.29600010023186857,
119
+ 0.3205926628460141,
120
+ 0.30806294954814806
121
+ ],
122
+ "directional_primary": {
123
+ "direction": [
124
+ -0.7926883697687412,
125
+ -0.1359718495454704,
126
+ -0.5942699744767181
127
+ ],
128
+ "color": [
129
+ 0.9570526480796182,
130
+ 0.962746649550413,
131
+ 0.9718570519036849
132
+ ],
133
+ "azimuth_rad": -2.9717133809120306,
134
+ "elevation_rad": 0.6363576526590167,
135
+ "color_temp_k": 5618.0074276885025,
136
+ "intensity": 0.9650242501387309
137
+ },
138
+ "directional_fill": {
139
+ "direction": [
140
+ 0.18751495656524783,
141
+ -0.2294004200604565,
142
+ -0.9550987312002981
143
+ ],
144
+ "color": [
145
+ 0.9059676687941978,
146
+ 0.9233352715281125,
147
+ 0.951123435902376
148
+ ],
149
+ "azimuth_rad": -0.8855273336096494,
150
+ "elevation_rad": 1.2699928331358499,
151
+ "color_temp_k": 5873.3834879644255,
152
+ "intensity": 0.9302823126216784
153
+ },
154
+ "point_color_scale": [
155
+ 1.0667211171166315,
156
+ 1.0479649204246622,
157
+ 1.0158114403812863
158
+ ],
159
+ "shadow": false
160
+ }
161
+ },
162
+ "frames": [
163
+ {
164
+ "frame_idx": 0,
165
+ "qpos": [
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0,
171
+ -1.100000023841858
172
+ ]
173
+ }
174
+ ]
175
+ }
so100/ProcTHOR/train/bg_000036/scene_b00_014/scene_meta.json ADDED
@@ -0,0 +1,175 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "so100",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 36,
7
+ "base_idx": 0,
8
+ "cam_idx": 13,
9
+ "n_dof": 6,
10
+ "num_links": 9,
11
+ "joint_names": [
12
+ "shoulder_pan",
13
+ "shoulder_lift",
14
+ "elbow_flex",
15
+ "wrist_flex",
16
+ "wrist_roll",
17
+ "gripper"
18
+ ],
19
+ "link_names": [
20
+ "Base",
21
+ "Rotation_Pitch",
22
+ "Upper_Arm",
23
+ "Lower_Arm",
24
+ "Wrist_Pitch_Roll",
25
+ "Fixed_Jaw",
26
+ "Moving_Jaw",
27
+ "Fixed_Jaw_tip",
28
+ "Moving_Jaw_tip"
29
+ ],
30
+ "ee_link_name": "Moving_Jaw",
31
+ "image_width": 640,
32
+ "image_height": 480,
33
+ "fovy_rad": 1.308972335234943,
34
+ "K": [
35
+ [
36
+ 307.724495698966,
37
+ 0.0,
38
+ 292.79078671707595
39
+ ],
40
+ [
41
+ 0.0,
42
+ 312.78205649348615,
43
+ 236.2544847396148
44
+ ],
45
+ [
46
+ 0.0,
47
+ 0.0,
48
+ 1.0
49
+ ]
50
+ ],
51
+ "camera_eye": [
52
+ -0.5209043814085312,
53
+ -4.5574401522874295,
54
+ 1.1724862586288183
55
+ ],
56
+ "camera_target": [
57
+ -0.5859332408482406,
58
+ -4.079188877781279,
59
+ 1.1324507999348308
60
+ ],
61
+ "camera_roll_rad": -0.0477743421039617,
62
+ "camera_pose_world_cv": [
63
+ [
64
+ 0.9852997660636902,
65
+ 0.10562033951282501,
66
+ -0.13427124917507172,
67
+ -0.5209043622016907
68
+ ],
69
+ [
70
+ 0.1419324427843094,
71
+ -0.06868374347686768,
72
+ 0.9874906539916992,
73
+ -4.557440280914307
74
+ ],
75
+ [
76
+ 0.09507682919502258,
77
+ -0.9920316934585571,
78
+ -0.08266502618789673,
79
+ 1.1724863052368164
80
+ ],
81
+ [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 1.0
86
+ ]
87
+ ],
88
+ "T_base_world": [
89
+ [
90
+ -0.9609733819961548,
91
+ 0.2766406536102295,
92
+ 8.853035637912399e-08,
93
+ -0.6345210671424866
94
+ ],
95
+ [
96
+ -0.2766406536102295,
97
+ -0.9609733819961548,
98
+ 1.2489254963554686e-08,
99
+ -4.075323104858398
100
+ ],
101
+ [
102
+ 8.853035637912399e-08,
103
+ -1.2489254963554686e-08,
104
+ 1.0,
105
+ 0.9372063875198364
106
+ ],
107
+ [
108
+ 0.0,
109
+ 0.0,
110
+ 0.0,
111
+ 1.0
112
+ ]
113
+ ],
114
+ "lighting": {
115
+ "aug_enabled": true,
116
+ "params": {
117
+ "ambient": [
118
+ 0.3631602756119172,
119
+ 0.35023571398611414,
120
+ 0.3589762025700911
121
+ ],
122
+ "directional_primary": {
123
+ "direction": [
124
+ -0.7926883697687412,
125
+ -0.1359718495454704,
126
+ -0.5942699744767181
127
+ ],
128
+ "color": [
129
+ 0.9653020784550413,
130
+ 0.9272488837204993,
131
+ 0.8620148356041414
132
+ ],
133
+ "azimuth_rad": -2.9717133809120306,
134
+ "elevation_rad": 0.6363576526590167,
135
+ "color_temp_k": 4913.731224506733,
136
+ "intensity": 0.9272488837204993
137
+ },
138
+ "directional_fill": {
139
+ "direction": [
140
+ 0.18751495656524783,
141
+ -0.2294004200604565,
142
+ -0.9550987312002981
143
+ ],
144
+ "color": [
145
+ 0.6348326100523584,
146
+ 0.6549038986145008,
147
+ 0.6870179603139289
148
+ ],
149
+ "azimuth_rad": -0.8855273336096494,
150
+ "elevation_rad": 1.2699928331358499,
151
+ "color_temp_k": 6105.530462444725,
152
+ "intensity": 0.6629324140393579
153
+ },
154
+ "point_color_scale": [
155
+ 1.0357276888379687,
156
+ 1.0297303513336409,
157
+ 1.0194492013262215
158
+ ],
159
+ "shadow": true
160
+ }
161
+ },
162
+ "frames": [
163
+ {
164
+ "frame_idx": 0,
165
+ "qpos": [
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0,
171
+ -1.100000023841858
172
+ ]
173
+ }
174
+ ]
175
+ }
so100/ProcTHOR/train/bg_000036/scene_b00_015/scene_meta.json ADDED
@@ -0,0 +1,175 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "so100",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 36,
7
+ "base_idx": 0,
8
+ "cam_idx": 14,
9
+ "n_dof": 6,
10
+ "num_links": 9,
11
+ "joint_names": [
12
+ "shoulder_pan",
13
+ "shoulder_lift",
14
+ "elbow_flex",
15
+ "wrist_flex",
16
+ "wrist_roll",
17
+ "gripper"
18
+ ],
19
+ "link_names": [
20
+ "Base",
21
+ "Rotation_Pitch",
22
+ "Upper_Arm",
23
+ "Lower_Arm",
24
+ "Wrist_Pitch_Roll",
25
+ "Fixed_Jaw",
26
+ "Moving_Jaw",
27
+ "Fixed_Jaw_tip",
28
+ "Moving_Jaw_tip"
29
+ ],
30
+ "ee_link_name": "Moving_Jaw",
31
+ "image_width": 640,
32
+ "image_height": 480,
33
+ "fovy_rad": 1.2939489175583805,
34
+ "K": [
35
+ [
36
+ 304.47968208185927,
37
+ 0.0,
38
+ 317.6074053151998
39
+ ],
40
+ [
41
+ 0.0,
42
+ 317.69509838049805,
43
+ 243.35052207037018
44
+ ],
45
+ [
46
+ 0.0,
47
+ 0.0,
48
+ 1.0
49
+ ]
50
+ ],
51
+ "camera_eye": [
52
+ -0.02253967647928179,
53
+ -4.0359067832773095,
54
+ 1.3370539653414406
55
+ ],
56
+ "camera_target": [
57
+ -0.6512353163602594,
58
+ -4.124492094857619,
59
+ 1.1049106706901703
60
+ ],
61
+ "camera_roll_rad": 0.0515863973651942,
62
+ "camera_pose_world_cv": [
63
+ [
64
+ -0.10376262664794922,
65
+ 0.35260236263275146,
66
+ -0.9300028085708618,
67
+ -0.02253967709839344
68
+ ],
69
+ [
70
+ 0.9898875951766968,
71
+ -0.05432415008544922,
72
+ -0.1310405731201172,
73
+ -4.035906791687012
74
+ ],
75
+ [
76
+ -0.0967269241809845,
77
+ -0.9341951608657837,
78
+ -0.3433997631072998,
79
+ 1.3370540142059326
80
+ ],
81
+ [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 1.0
86
+ ]
87
+ ],
88
+ "T_base_world": [
89
+ [
90
+ -0.9609733819961548,
91
+ 0.2766406536102295,
92
+ 8.853035637912399e-08,
93
+ -0.6345210671424866
94
+ ],
95
+ [
96
+ -0.2766406536102295,
97
+ -0.9609733819961548,
98
+ 1.2489254963554686e-08,
99
+ -4.075323104858398
100
+ ],
101
+ [
102
+ 8.853035637912399e-08,
103
+ -1.2489254963554686e-08,
104
+ 1.0,
105
+ 0.9372063875198364
106
+ ],
107
+ [
108
+ 0.0,
109
+ 0.0,
110
+ 0.0,
111
+ 1.0
112
+ ]
113
+ ],
114
+ "lighting": {
115
+ "aug_enabled": true,
116
+ "params": {
117
+ "ambient": [
118
+ 0.3113802498675525,
119
+ 0.30959024410129476,
120
+ 0.29856495279021283
121
+ ],
122
+ "directional_primary": {
123
+ "direction": [
124
+ -0.7926883697687412,
125
+ -0.1359718495454704,
126
+ -0.5942699744767181
127
+ ],
128
+ "color": [
129
+ 0.9877060675501398,
130
+ 0.9935737816640393,
131
+ 1.0029621242462787
132
+ ],
133
+ "azimuth_rad": -2.9717133809120306,
134
+ "elevation_rad": 0.6363576526590167,
135
+ "color_temp_k": 5617.834946660987,
136
+ "intensity": 0.9959208673095992
137
+ },
138
+ "directional_fill": {
139
+ "direction": [
140
+ 0.18751495656524783,
141
+ -0.2294004200604565,
142
+ -0.9550987312002981
143
+ ],
144
+ "color": [
145
+ 0.6606440030586876,
146
+ 0.6414910618603934,
147
+ 0.6086574483776035
148
+ ],
149
+ "azimuth_rad": -0.8855273336096494,
150
+ "elevation_rad": 1.2699928331358499,
151
+ "color_temp_k": 5073.472707637722,
152
+ "intensity": 0.6414910618603934
153
+ },
154
+ "point_color_scale": [
155
+ 1.1148922046879617,
156
+ 1.0992972167523716,
157
+ 1.0725629517199313
158
+ ],
159
+ "shadow": true
160
+ }
161
+ },
162
+ "frames": [
163
+ {
164
+ "frame_idx": 0,
165
+ "qpos": [
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0,
171
+ -1.100000023841858
172
+ ]
173
+ }
174
+ ]
175
+ }
so100/ProcTHOR/train/bg_000036/scene_b00_016/scene_meta.json ADDED
@@ -0,0 +1,175 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "so100",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 36,
7
+ "base_idx": 0,
8
+ "cam_idx": 15,
9
+ "n_dof": 6,
10
+ "num_links": 9,
11
+ "joint_names": [
12
+ "shoulder_pan",
13
+ "shoulder_lift",
14
+ "elbow_flex",
15
+ "wrist_flex",
16
+ "wrist_roll",
17
+ "gripper"
18
+ ],
19
+ "link_names": [
20
+ "Base",
21
+ "Rotation_Pitch",
22
+ "Upper_Arm",
23
+ "Lower_Arm",
24
+ "Wrist_Pitch_Roll",
25
+ "Fixed_Jaw",
26
+ "Moving_Jaw",
27
+ "Fixed_Jaw_tip",
28
+ "Moving_Jaw_tip"
29
+ ],
30
+ "ee_link_name": "Moving_Jaw",
31
+ "image_width": 640,
32
+ "image_height": 480,
33
+ "fovy_rad": 0.7978111572607264,
34
+ "K": [
35
+ [
36
+ 556.3714460887386,
37
+ 0.0,
38
+ 334.17353082461926
39
+ ],
40
+ [
41
+ 0.0,
42
+ 569.3899369301367,
43
+ 218.60736413550495
44
+ ],
45
+ [
46
+ 0.0,
47
+ 0.0,
48
+ 1.0
49
+ ]
50
+ ],
51
+ "camera_eye": [
52
+ -0.8131975134678697,
53
+ -4.549218662274538,
54
+ 1.2496756286510105
55
+ ],
56
+ "camera_target": [
57
+ -0.5896062217904218,
58
+ -4.109673973897998,
59
+ 1.1591147857239306
60
+ ],
61
+ "camera_roll_rad": -0.013107209986176864,
62
+ "camera_pose_world_cv": [
63
+ [
64
+ 0.8931483626365662,
65
+ -0.058501601219177246,
66
+ 0.44594117999076843,
67
+ -0.8131974935531616
68
+ ],
69
+ [
70
+ -0.44902265071868896,
71
+ -0.17281574010849,
72
+ 0.876649022102356,
73
+ -4.549218654632568
74
+ ],
75
+ [
76
+ 0.025780320167541504,
77
+ -0.98321533203125,
78
+ -0.18061864376068115,
79
+ 1.2496756315231323
80
+ ],
81
+ [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 1.0
86
+ ]
87
+ ],
88
+ "T_base_world": [
89
+ [
90
+ -0.9609733819961548,
91
+ 0.2766406536102295,
92
+ 8.853035637912399e-08,
93
+ -0.6345210671424866
94
+ ],
95
+ [
96
+ -0.2766406536102295,
97
+ -0.9609733819961548,
98
+ 1.2489254963554686e-08,
99
+ -4.075323104858398
100
+ ],
101
+ [
102
+ 8.853035637912399e-08,
103
+ -1.2489254963554686e-08,
104
+ 1.0,
105
+ 0.9372063875198364
106
+ ],
107
+ [
108
+ 0.0,
109
+ 0.0,
110
+ 0.0,
111
+ 1.0
112
+ ]
113
+ ],
114
+ "lighting": {
115
+ "aug_enabled": true,
116
+ "params": {
117
+ "ambient": [
118
+ 0.2894082379017756,
119
+ 0.29310392734604784,
120
+ 0.2956293385482709
121
+ ],
122
+ "directional_primary": {
123
+ "direction": [
124
+ -0.7926883697687412,
125
+ -0.1359718495454704,
126
+ -0.5942699744767181
127
+ ],
128
+ "color": [
129
+ 0.8872310147369992,
130
+ 0.9044708545210655,
131
+ 0.9320545981755718
132
+ ],
133
+ "azimuth_rad": -2.9717133809120306,
134
+ "elevation_rad": 0.6363576526590167,
135
+ "color_temp_k": 5878.329339295841,
136
+ "intensity": 0.911366790434692
137
+ },
138
+ "directional_fill": {
139
+ "direction": [
140
+ 0.18751495656524783,
141
+ -0.2294004200604565,
142
+ -0.9550987312002981
143
+ ],
144
+ "color": [
145
+ 0.8496877423838147,
146
+ 0.8533660537610864,
147
+ 0.859251351964721
148
+ ],
149
+ "azimuth_rad": -0.8855273336096494,
150
+ "elevation_rad": 1.2699928331358499,
151
+ "color_temp_k": 5586.058739839736,
152
+ "intensity": 0.8548373783119951
153
+ },
154
+ "point_color_scale": [
155
+ 0.8049783337328793,
156
+ 0.8169858303379884,
157
+ 0.8361978249061633
158
+ ],
159
+ "shadow": true
160
+ }
161
+ },
162
+ "frames": [
163
+ {
164
+ "frame_idx": 0,
165
+ "qpos": [
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0,
171
+ -1.100000023841858
172
+ ]
173
+ }
174
+ ]
175
+ }
so100/ProcTHOR/train/bg_000036/scene_b03_001/scene_meta.json ADDED
@@ -0,0 +1,175 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "so100",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 36,
7
+ "base_idx": 3,
8
+ "cam_idx": 0,
9
+ "n_dof": 6,
10
+ "num_links": 9,
11
+ "joint_names": [
12
+ "shoulder_pan",
13
+ "shoulder_lift",
14
+ "elbow_flex",
15
+ "wrist_flex",
16
+ "wrist_roll",
17
+ "gripper"
18
+ ],
19
+ "link_names": [
20
+ "Base",
21
+ "Rotation_Pitch",
22
+ "Upper_Arm",
23
+ "Lower_Arm",
24
+ "Wrist_Pitch_Roll",
25
+ "Fixed_Jaw",
26
+ "Moving_Jaw",
27
+ "Fixed_Jaw_tip",
28
+ "Moving_Jaw_tip"
29
+ ],
30
+ "ee_link_name": "Moving_Jaw",
31
+ "image_width": 640,
32
+ "image_height": 480,
33
+ "fovy_rad": 0.8598864273778236,
34
+ "K": [
35
+ [
36
+ 535.602282308036,
37
+ 0.0,
38
+ 303.63127564525263
39
+ ],
40
+ [
41
+ 0.0,
42
+ 523.3863240054451,
43
+ 251.21732770752288
44
+ ],
45
+ [
46
+ 0.0,
47
+ 0.0,
48
+ 1.0
49
+ ]
50
+ ],
51
+ "camera_eye": [
52
+ -0.9938872126084115,
53
+ -4.608532690209428,
54
+ 1.2703576014260154
55
+ ],
56
+ "camera_target": [
57
+ -0.48049133319014203,
58
+ -4.364023797915387,
59
+ 1.078153208608462
60
+ ],
61
+ "camera_roll_rad": 0.04042386674357171,
62
+ "camera_pose_world_cv": [
63
+ [
64
+ 0.40523213148117065,
65
+ -0.3228748142719269,
66
+ 0.8553004264831543,
67
+ -0.993887186050415
68
+ ],
69
+ [
70
+ -0.9110069274902344,
71
+ -0.06432068347930908,
72
+ 0.4073443114757538,
73
+ -4.608532905578613
74
+ ],
75
+ [
76
+ -0.07650762796401978,
77
+ -0.9442535638809204,
78
+ -0.3202059268951416,
79
+ 1.270357608795166
80
+ ],
81
+ [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 1.0
86
+ ]
87
+ ],
88
+ "T_base_world": [
89
+ [
90
+ -0.967521071434021,
91
+ -0.2527899742126465,
92
+ 1.182373736696718e-07,
93
+ -0.5198671817779541
94
+ ],
95
+ [
96
+ 0.2527899742126465,
97
+ -0.967521071434021,
98
+ -1.5191309543638454e-08,
99
+ -4.361587047576904
100
+ ],
101
+ [
102
+ 1.182373736696718e-07,
103
+ 1.5191309543638454e-08,
104
+ 1.0,
105
+ 0.9372063875198364
106
+ ],
107
+ [
108
+ 0.0,
109
+ 0.0,
110
+ 0.0,
111
+ 1.0
112
+ ]
113
+ ],
114
+ "lighting": {
115
+ "aug_enabled": true,
116
+ "params": {
117
+ "ambient": [
118
+ 0.35001529797025566,
119
+ 0.3453771567021489,
120
+ 0.36148918937803726
121
+ ],
122
+ "directional_primary": {
123
+ "direction": [
124
+ -0.7926883697687412,
125
+ -0.1359718495454704,
126
+ -0.5942699744767181
127
+ ],
128
+ "color": [
129
+ 0.9085748610858668,
130
+ 0.8769672922709445,
131
+ 0.8227828885882206
132
+ ],
133
+ "azimuth_rad": -2.9717133809120306,
134
+ "elevation_rad": 0.6363576526590167,
135
+ "color_temp_k": 4985.115692072439,
136
+ "intensity": 0.8769672922709445
137
+ },
138
+ "directional_fill": {
139
+ "direction": [
140
+ 0.18751495656524783,
141
+ -0.2294004200604565,
142
+ -0.9550987312002981
143
+ ],
144
+ "color": [
145
+ 0.6124098995585259,
146
+ 0.6095511855726026,
147
+ 0.6046505330253057
148
+ ],
149
+ "azimuth_rad": -0.8855273336096494,
150
+ "elevation_rad": 1.2699928331358499,
151
+ "color_temp_k": 5433.0019000961975,
152
+ "intensity": 0.6095511855726026
153
+ },
154
+ "point_color_scale": [
155
+ 0.8665747628300926,
156
+ 0.8780479466479691,
157
+ 0.8964050407565715
158
+ ],
159
+ "shadow": true
160
+ }
161
+ },
162
+ "frames": [
163
+ {
164
+ "frame_idx": 0,
165
+ "qpos": [
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0,
171
+ -1.100000023841858
172
+ ]
173
+ }
174
+ ]
175
+ }
so100/ProcTHOR/train/bg_000036/scene_b03_002/scene_meta.json ADDED
@@ -0,0 +1,175 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "so100",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 36,
7
+ "base_idx": 3,
8
+ "cam_idx": 1,
9
+ "n_dof": 6,
10
+ "num_links": 9,
11
+ "joint_names": [
12
+ "shoulder_pan",
13
+ "shoulder_lift",
14
+ "elbow_flex",
15
+ "wrist_flex",
16
+ "wrist_roll",
17
+ "gripper"
18
+ ],
19
+ "link_names": [
20
+ "Base",
21
+ "Rotation_Pitch",
22
+ "Upper_Arm",
23
+ "Lower_Arm",
24
+ "Wrist_Pitch_Roll",
25
+ "Fixed_Jaw",
26
+ "Moving_Jaw",
27
+ "Fixed_Jaw_tip",
28
+ "Moving_Jaw_tip"
29
+ ],
30
+ "ee_link_name": "Moving_Jaw",
31
+ "image_width": 640,
32
+ "image_height": 480,
33
+ "fovy_rad": 1.2496784538676458,
34
+ "K": [
35
+ [
36
+ 334.9151314613632,
37
+ 0.0,
38
+ 340.5889027523692
39
+ ],
40
+ [
41
+ 0.0,
42
+ 332.7602427840134,
43
+ 255.13824237532887
44
+ ],
45
+ [
46
+ 0.0,
47
+ 0.0,
48
+ 1.0
49
+ ]
50
+ ],
51
+ "camera_eye": [
52
+ -1.0481483827405835,
53
+ -4.43978826622263,
54
+ 1.0979968634150026
55
+ ],
56
+ "camera_target": [
57
+ -0.5651136009754726,
58
+ -4.383326606232742,
59
+ 1.0464643137977752
60
+ ],
61
+ "camera_roll_rad": 0.02212812017359883,
62
+ "camera_pose_world_cv": [
63
+ [
64
+ 0.11135530471801758,
65
+ -0.10969477891921997,
66
+ 0.9877078533172607,
67
+ -1.0481483936309814
68
+ ],
69
+ [
70
+ -0.9928062558174133,
71
+ 0.031720757484436035,
72
+ 0.11545291543006897,
73
+ -4.439788341522217
74
+ ],
75
+ [
76
+ -0.04399546980857849,
77
+ -0.9934589862823486,
78
+ -0.10537350177764893,
79
+ 1.0979968309402466
80
+ ],
81
+ [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 1.0
86
+ ]
87
+ ],
88
+ "T_base_world": [
89
+ [
90
+ -0.967521071434021,
91
+ -0.2527899742126465,
92
+ 1.182373736696718e-07,
93
+ -0.5198671817779541
94
+ ],
95
+ [
96
+ 0.2527899742126465,
97
+ -0.967521071434021,
98
+ -1.5191309543638454e-08,
99
+ -4.361587047576904
100
+ ],
101
+ [
102
+ 1.182373736696718e-07,
103
+ 1.5191309543638454e-08,
104
+ 1.0,
105
+ 0.9372063875198364
106
+ ],
107
+ [
108
+ 0.0,
109
+ 0.0,
110
+ 0.0,
111
+ 1.0
112
+ ]
113
+ ],
114
+ "lighting": {
115
+ "aug_enabled": true,
116
+ "params": {
117
+ "ambient": [
118
+ 0.2616697092504677,
119
+ 0.2516362004243763,
120
+ 0.24469001859597408
121
+ ],
122
+ "directional_primary": {
123
+ "direction": [
124
+ -0.7926883697687412,
125
+ -0.1359718495454704,
126
+ -0.5942699744767181
127
+ ],
128
+ "color": [
129
+ 1.161790263282742,
130
+ 1.1293527377967916,
131
+ 1.0737455512494478
132
+ ],
133
+ "azimuth_rad": -2.9717133809120306,
134
+ "elevation_rad": 0.6363576526590167,
135
+ "color_temp_k": 5089.6824741117825,
136
+ "intensity": 1.1293527377967916
137
+ },
138
+ "directional_fill": {
139
+ "direction": [
140
+ 0.18751495656524783,
141
+ -0.2294004200604565,
142
+ -0.9550987312002981
143
+ ],
144
+ "color": [
145
+ 0.8794741636469462,
146
+ 0.8679506720758293,
147
+ 0.8481961150967716
148
+ ],
149
+ "azimuth_rad": -0.8855273336096494,
150
+ "elevation_rad": 1.2699928331358499,
151
+ "color_temp_k": 5310.333336380629,
152
+ "intensity": 0.8679506720758293
153
+ },
154
+ "point_color_scale": [
155
+ 1.2149436520194936,
156
+ 1.1583184276650422,
157
+ 1.061246614485983
158
+ ],
159
+ "shadow": true
160
+ }
161
+ },
162
+ "frames": [
163
+ {
164
+ "frame_idx": 0,
165
+ "qpos": [
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0,
171
+ -1.100000023841858
172
+ ]
173
+ }
174
+ ]
175
+ }
so100/ProcTHOR/train/bg_000036/scene_b03_003/scene_meta.json ADDED
@@ -0,0 +1,175 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "so100",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 36,
7
+ "base_idx": 3,
8
+ "cam_idx": 2,
9
+ "n_dof": 6,
10
+ "num_links": 9,
11
+ "joint_names": [
12
+ "shoulder_pan",
13
+ "shoulder_lift",
14
+ "elbow_flex",
15
+ "wrist_flex",
16
+ "wrist_roll",
17
+ "gripper"
18
+ ],
19
+ "link_names": [
20
+ "Base",
21
+ "Rotation_Pitch",
22
+ "Upper_Arm",
23
+ "Lower_Arm",
24
+ "Wrist_Pitch_Roll",
25
+ "Fixed_Jaw",
26
+ "Moving_Jaw",
27
+ "Fixed_Jaw_tip",
28
+ "Moving_Jaw_tip"
29
+ ],
30
+ "ee_link_name": "Moving_Jaw",
31
+ "image_width": 640,
32
+ "image_height": 480,
33
+ "fovy_rad": 1.0700884362818985,
34
+ "K": [
35
+ [
36
+ 421.03733579474954,
37
+ 0.0,
38
+ 298.6523601396734
39
+ ],
40
+ [
41
+ 0.0,
42
+ 404.9176931411088,
43
+ 235.0933625825006
44
+ ],
45
+ [
46
+ 0.0,
47
+ 0.0,
48
+ 1.0
49
+ ]
50
+ ],
51
+ "camera_eye": [
52
+ -0.6760320179432706,
53
+ -5.06303764840456,
54
+ 1.2790490170161888
55
+ ],
56
+ "camera_target": [
57
+ -0.5485751707029349,
58
+ -4.401650445775947,
59
+ 1.13240288708368
60
+ ],
61
+ "camera_roll_rad": -0.0031774152597962846,
62
+ "camera_pose_world_cv": [
63
+ [
64
+ 0.9821688532829285,
65
+ -0.03401506692171097,
66
+ 0.18489813804626465,
67
+ -0.6760320067405701
68
+ ],
69
+ [
70
+ -0.18789833784103394,
71
+ -0.21009010076522827,
72
+ 0.9594564437866211,
73
+ -5.063037872314453
74
+ ],
75
+ [
76
+ 0.006209321320056915,
77
+ -0.9770902395248413,
78
+ -0.21273529529571533,
79
+ 1.279049038887024
80
+ ],
81
+ [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 1.0
86
+ ]
87
+ ],
88
+ "T_base_world": [
89
+ [
90
+ -0.967521071434021,
91
+ -0.2527899742126465,
92
+ 1.182373736696718e-07,
93
+ -0.5198671817779541
94
+ ],
95
+ [
96
+ 0.2527899742126465,
97
+ -0.967521071434021,
98
+ -1.5191309543638454e-08,
99
+ -4.361587047576904
100
+ ],
101
+ [
102
+ 1.182373736696718e-07,
103
+ 1.5191309543638454e-08,
104
+ 1.0,
105
+ 0.9372063875198364
106
+ ],
107
+ [
108
+ 0.0,
109
+ 0.0,
110
+ 0.0,
111
+ 1.0
112
+ ]
113
+ ],
114
+ "lighting": {
115
+ "aug_enabled": true,
116
+ "params": {
117
+ "ambient": [
118
+ 0.28725124896107274,
119
+ 0.26922440323349994,
120
+ 0.2648938022617041
121
+ ],
122
+ "directional_primary": {
123
+ "direction": [
124
+ -0.7926883697687412,
125
+ -0.1359718495454704,
126
+ -0.5942699744767181
127
+ ],
128
+ "color": [
129
+ 1.0360810855040612,
130
+ 1.0441900574801923,
131
+ 1.0571644126420017
132
+ ],
133
+ "azimuth_rad": -2.9717133809120306,
134
+ "elevation_rad": 0.6363576526590167,
135
+ "color_temp_k": 5654.835048597163,
136
+ "intensity": 1.0474336462706446
137
+ },
138
+ "directional_fill": {
139
+ "direction": [
140
+ 0.18751495656524783,
141
+ -0.2294004200604565,
142
+ -0.9550987312002981
143
+ ],
144
+ "color": [
145
+ 0.7818602774094864,
146
+ 0.7848243839000272,
147
+ 0.7895669542848927
148
+ ],
149
+ "azimuth_rad": -0.8855273336096494,
150
+ "elevation_rad": 1.2699928331358499,
151
+ "color_temp_k": 5575.421594906464,
152
+ "intensity": 0.7860100264962436
153
+ },
154
+ "point_color_scale": [
155
+ 0.8899570996271821,
156
+ 0.9115538096430712,
157
+ 0.9461085456684939
158
+ ],
159
+ "shadow": true
160
+ }
161
+ },
162
+ "frames": [
163
+ {
164
+ "frame_idx": 0,
165
+ "qpos": [
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0,
171
+ -1.100000023841858
172
+ ]
173
+ }
174
+ ]
175
+ }
so100/ProcTHOR/train/bg_000036/scene_b03_004/scene_meta.json ADDED
@@ -0,0 +1,175 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "so100",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 36,
7
+ "base_idx": 3,
8
+ "cam_idx": 3,
9
+ "n_dof": 6,
10
+ "num_links": 9,
11
+ "joint_names": [
12
+ "shoulder_pan",
13
+ "shoulder_lift",
14
+ "elbow_flex",
15
+ "wrist_flex",
16
+ "wrist_roll",
17
+ "gripper"
18
+ ],
19
+ "link_names": [
20
+ "Base",
21
+ "Rotation_Pitch",
22
+ "Upper_Arm",
23
+ "Lower_Arm",
24
+ "Wrist_Pitch_Roll",
25
+ "Fixed_Jaw",
26
+ "Moving_Jaw",
27
+ "Fixed_Jaw_tip",
28
+ "Moving_Jaw_tip"
29
+ ],
30
+ "ee_link_name": "Moving_Jaw",
31
+ "image_width": 640,
32
+ "image_height": 480,
33
+ "fovy_rad": 0.9859248534479189,
34
+ "K": [
35
+ [
36
+ 458.2032987177197,
37
+ 0.0,
38
+ 321.69765844342976
39
+ ],
40
+ [
41
+ 0.0,
42
+ 446.7614603734877,
43
+ 240.53805190450737
44
+ ],
45
+ [
46
+ 0.0,
47
+ 0.0,
48
+ 1.0
49
+ ]
50
+ ],
51
+ "camera_eye": [
52
+ -0.897276733934421,
53
+ -4.5002402655716,
54
+ 1.246517262427334
55
+ ],
56
+ "camera_target": [
57
+ -0.5320174163777064,
58
+ -4.341040886135213,
59
+ 1.1547373122826516
60
+ ],
61
+ "camera_roll_rad": -0.036790862740473065,
62
+ "camera_pose_world_cv": [
63
+ [
64
+ 0.4135969877243042,
65
+ -0.17584151029586792,
66
+ 0.8933181762695312,
67
+ -0.897276759147644
68
+ ],
69
+ [
70
+ -0.9076372981071472,
71
+ -0.15683549642562866,
72
+ 0.3893550634384155,
73
+ -4.500240325927734
74
+ ],
75
+ [
76
+ 0.07163932919502258,
77
+ -0.9718449115753174,
78
+ -0.22446691989898682,
79
+ 1.246517300605774
80
+ ],
81
+ [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 1.0
86
+ ]
87
+ ],
88
+ "T_base_world": [
89
+ [
90
+ -0.967521071434021,
91
+ -0.2527899742126465,
92
+ 1.182373736696718e-07,
93
+ -0.5198671817779541
94
+ ],
95
+ [
96
+ 0.2527899742126465,
97
+ -0.967521071434021,
98
+ -1.5191309543638454e-08,
99
+ -4.361587047576904
100
+ ],
101
+ [
102
+ 1.182373736696718e-07,
103
+ 1.5191309543638454e-08,
104
+ 1.0,
105
+ 0.9372063875198364
106
+ ],
107
+ [
108
+ 0.0,
109
+ 0.0,
110
+ 0.0,
111
+ 1.0
112
+ ]
113
+ ],
114
+ "lighting": {
115
+ "aug_enabled": true,
116
+ "params": {
117
+ "ambient": [
118
+ 0.24338055291070307,
119
+ 0.267152348902702,
120
+ 0.2479469528206013
121
+ ],
122
+ "directional_primary": {
123
+ "direction": [
124
+ -0.7926883697687412,
125
+ -0.1359718495454704,
126
+ -0.5942699744767181
127
+ ],
128
+ "color": [
129
+ 0.9212545979120957,
130
+ 0.935839820474944,
131
+ 0.9591761765755011
132
+ ],
133
+ "azimuth_rad": -2.9717133809120306,
134
+ "elevation_rad": 0.6363576526590167,
135
+ "color_temp_k": 5809.772255888267,
136
+ "intensity": 0.9416739095000832
137
+ },
138
+ "directional_fill": {
139
+ "direction": [
140
+ 0.18751495656524783,
141
+ -0.2294004200604565,
142
+ -0.9550987312002981
143
+ ],
144
+ "color": [
145
+ 0.5837202615444305,
146
+ 0.5701267471624585,
147
+ 0.5468235796505064
148
+ ],
149
+ "azimuth_rad": -0.8855273336096494,
150
+ "elevation_rad": 1.2699928331358499,
151
+ "color_temp_k": 5159.38615655886,
152
+ "intensity": 0.5701267471624585
153
+ },
154
+ "point_color_scale": [
155
+ 0.8934920206658228,
156
+ 0.9061433888908476,
157
+ 0.9263855780508871
158
+ ],
159
+ "shadow": true
160
+ }
161
+ },
162
+ "frames": [
163
+ {
164
+ "frame_idx": 0,
165
+ "qpos": [
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0,
171
+ -1.100000023841858
172
+ ]
173
+ }
174
+ ]
175
+ }
so100/ProcTHOR/train/bg_000036/scene_b03_005/scene_meta.json ADDED
@@ -0,0 +1,175 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "so100",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 36,
7
+ "base_idx": 3,
8
+ "cam_idx": 4,
9
+ "n_dof": 6,
10
+ "num_links": 9,
11
+ "joint_names": [
12
+ "shoulder_pan",
13
+ "shoulder_lift",
14
+ "elbow_flex",
15
+ "wrist_flex",
16
+ "wrist_roll",
17
+ "gripper"
18
+ ],
19
+ "link_names": [
20
+ "Base",
21
+ "Rotation_Pitch",
22
+ "Upper_Arm",
23
+ "Lower_Arm",
24
+ "Wrist_Pitch_Roll",
25
+ "Fixed_Jaw",
26
+ "Moving_Jaw",
27
+ "Fixed_Jaw_tip",
28
+ "Moving_Jaw_tip"
29
+ ],
30
+ "ee_link_name": "Moving_Jaw",
31
+ "image_width": 640,
32
+ "image_height": 480,
33
+ "fovy_rad": 1.268435200994823,
34
+ "K": [
35
+ [
36
+ 327.86597134261734,
37
+ 0.0,
38
+ 306.83509175673225
39
+ ],
40
+ [
41
+ 0.0,
42
+ 326.26675553126324,
43
+ 262.25417735003526
44
+ ],
45
+ [
46
+ 0.0,
47
+ 0.0,
48
+ 1.0
49
+ ]
50
+ ],
51
+ "camera_eye": [
52
+ -1.2969148895602636,
53
+ -4.0771636012120425,
54
+ 1.1851185393827304
55
+ ],
56
+ "camera_target": [
57
+ -0.4829406354447921,
58
+ -4.37535391596054,
59
+ 1.1073538011180986
60
+ ],
61
+ "camera_roll_rad": 0.050067947542769664,
62
+ "camera_pose_world_cv": [
63
+ [
64
+ -0.35064697265625,
65
+ -0.04908794164657593,
66
+ 0.9352204203605652,
67
+ -1.2969149351119995
68
+ ],
69
+ [
70
+ -0.9311997294425964,
71
+ 0.12444853782653809,
72
+ -0.3426072597503662,
73
+ -4.0771636962890625
74
+ ],
75
+ [
76
+ -0.09956878423690796,
77
+ -0.9910111427307129,
78
+ -0.08934807777404785,
79
+ 1.185118556022644
80
+ ],
81
+ [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 1.0
86
+ ]
87
+ ],
88
+ "T_base_world": [
89
+ [
90
+ -0.967521071434021,
91
+ -0.2527899742126465,
92
+ 1.182373736696718e-07,
93
+ -0.5198671817779541
94
+ ],
95
+ [
96
+ 0.2527899742126465,
97
+ -0.967521071434021,
98
+ -1.5191309543638454e-08,
99
+ -4.361587047576904
100
+ ],
101
+ [
102
+ 1.182373736696718e-07,
103
+ 1.5191309543638454e-08,
104
+ 1.0,
105
+ 0.9372063875198364
106
+ ],
107
+ [
108
+ 0.0,
109
+ 0.0,
110
+ 0.0,
111
+ 1.0
112
+ ]
113
+ ],
114
+ "lighting": {
115
+ "aug_enabled": true,
116
+ "params": {
117
+ "ambient": [
118
+ 0.31422530676229765,
119
+ 0.30062922046958496,
120
+ 0.3110729023081609
121
+ ],
122
+ "directional_primary": {
123
+ "direction": [
124
+ -0.7926883697687412,
125
+ -0.1359718495454704,
126
+ -0.5942699744767181
127
+ ],
128
+ "color": [
129
+ 1.0936170352541186,
130
+ 1.0750715964208726,
131
+ 1.0432794155638796
132
+ ],
133
+ "azimuth_rad": -2.9717133809120306,
134
+ "elevation_rad": 0.6363576526590167,
135
+ "color_temp_k": 5253.56539847489,
136
+ "intensity": 1.0750715964208726
137
+ },
138
+ "directional_fill": {
139
+ "direction": [
140
+ 0.18751495656524783,
141
+ -0.2294004200604565,
142
+ -0.9550987312002981
143
+ ],
144
+ "color": [
145
+ 0.8492916623440361,
146
+ 0.8187268091802926,
147
+ 0.7663299180424467
148
+ ],
149
+ "azimuth_rad": -0.8855273336096494,
150
+ "elevation_rad": 1.2699928331358499,
151
+ "color_temp_k": 4966.6832030097885,
152
+ "intensity": 0.8187268091802926
153
+ },
154
+ "point_color_scale": [
155
+ 0.944183369945731,
156
+ 0.9221342670107244,
157
+ 0.8843358048364275
158
+ ],
159
+ "shadow": true
160
+ }
161
+ },
162
+ "frames": [
163
+ {
164
+ "frame_idx": 0,
165
+ "qpos": [
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0,
171
+ -1.100000023841858
172
+ ]
173
+ }
174
+ ]
175
+ }
so100/ProcTHOR/train/bg_000036/scene_b03_006/scene_meta.json ADDED
@@ -0,0 +1,175 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "so100",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 36,
7
+ "base_idx": 3,
8
+ "cam_idx": 5,
9
+ "n_dof": 6,
10
+ "num_links": 9,
11
+ "joint_names": [
12
+ "shoulder_pan",
13
+ "shoulder_lift",
14
+ "elbow_flex",
15
+ "wrist_flex",
16
+ "wrist_roll",
17
+ "gripper"
18
+ ],
19
+ "link_names": [
20
+ "Base",
21
+ "Rotation_Pitch",
22
+ "Upper_Arm",
23
+ "Lower_Arm",
24
+ "Wrist_Pitch_Roll",
25
+ "Fixed_Jaw",
26
+ "Moving_Jaw",
27
+ "Fixed_Jaw_tip",
28
+ "Moving_Jaw_tip"
29
+ ],
30
+ "ee_link_name": "Moving_Jaw",
31
+ "image_width": 640,
32
+ "image_height": 480,
33
+ "fovy_rad": 1.2425747800250102,
34
+ "K": [
35
+ [
36
+ 347.55652794765416,
37
+ 0.0,
38
+ 337.0454960376339
39
+ ],
40
+ [
41
+ 0.0,
42
+ 335.26374254334985,
43
+ 220.32949506999768
44
+ ],
45
+ [
46
+ 0.0,
47
+ 0.0,
48
+ 1.0
49
+ ]
50
+ ],
51
+ "camera_eye": [
52
+ -0.2195451391866015,
53
+ -3.882788757254971,
54
+ 1.2853518759543512
55
+ ],
56
+ "camera_target": [
57
+ -0.5470573734149985,
58
+ -4.378574895426332,
59
+ 1.088716885764666
60
+ ],
61
+ "camera_roll_rad": 0.05233500528516184,
62
+ "camera_pose_world_cv": [
63
+ [
64
+ -0.8117234706878662,
65
+ 0.2593940496444702,
66
+ -0.5232776999473572,
67
+ -0.2195451408624649
68
+ ],
69
+ [
70
+ 0.5755574703216553,
71
+ 0.20311617851257324,
72
+ -0.792134702205658,
73
+ -3.88278865814209
74
+ ],
75
+ [
76
+ -0.09918884932994843,
77
+ -0.9441707730293274,
78
+ -0.3141704201698303,
79
+ 1.2853518724441528
80
+ ],
81
+ [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 1.0
86
+ ]
87
+ ],
88
+ "T_base_world": [
89
+ [
90
+ -0.967521071434021,
91
+ -0.2527899742126465,
92
+ 1.182373736696718e-07,
93
+ -0.5198671817779541
94
+ ],
95
+ [
96
+ 0.2527899742126465,
97
+ -0.967521071434021,
98
+ -1.5191309543638454e-08,
99
+ -4.361587047576904
100
+ ],
101
+ [
102
+ 1.182373736696718e-07,
103
+ 1.5191309543638454e-08,
104
+ 1.0,
105
+ 0.9372063875198364
106
+ ],
107
+ [
108
+ 0.0,
109
+ 0.0,
110
+ 0.0,
111
+ 1.0
112
+ ]
113
+ ],
114
+ "lighting": {
115
+ "aug_enabled": true,
116
+ "params": {
117
+ "ambient": [
118
+ 0.35602468369647366,
119
+ 0.3385580226629226,
120
+ 0.32140073249948575
121
+ ],
122
+ "directional_primary": {
123
+ "direction": [
124
+ -0.7926883697687412,
125
+ -0.1359718495454704,
126
+ -0.5942699744767181
127
+ ],
128
+ "color": [
129
+ 1.2131662162674866,
130
+ 1.164691156211391,
131
+ 1.0815910532580848
132
+ ],
133
+ "azimuth_rad": -2.9717133809120306,
134
+ "elevation_rad": 0.6363576526590167,
135
+ "color_temp_k": 4905.42103865814,
136
+ "intensity": 1.164691156211391
137
+ },
138
+ "directional_fill": {
139
+ "direction": [
140
+ 0.18751495656524783,
141
+ -0.2294004200604565,
142
+ -0.9550987312002981
143
+ ],
144
+ "color": [
145
+ 0.6412758839874075,
146
+ 0.6501478393216007,
147
+ 0.6643429678563096
148
+ ],
149
+ "azimuth_rad": -0.8855273336096494,
150
+ "elevation_rad": 1.2699928331358499,
151
+ "color_temp_k": 5771.43953457927,
152
+ "intensity": 0.6536966214552778
153
+ },
154
+ "point_color_scale": [
155
+ 1.1798997629206516,
156
+ 1.1851357922953152,
157
+ 1.1935134392947766
158
+ ],
159
+ "shadow": true
160
+ }
161
+ },
162
+ "frames": [
163
+ {
164
+ "frame_idx": 0,
165
+ "qpos": [
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0,
171
+ -1.100000023841858
172
+ ]
173
+ }
174
+ ]
175
+ }
so100/ProcTHOR/train/bg_000036/scene_b03_007/scene_meta.json ADDED
@@ -0,0 +1,175 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "so100",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 36,
7
+ "base_idx": 3,
8
+ "cam_idx": 6,
9
+ "n_dof": 6,
10
+ "num_links": 9,
11
+ "joint_names": [
12
+ "shoulder_pan",
13
+ "shoulder_lift",
14
+ "elbow_flex",
15
+ "wrist_flex",
16
+ "wrist_roll",
17
+ "gripper"
18
+ ],
19
+ "link_names": [
20
+ "Base",
21
+ "Rotation_Pitch",
22
+ "Upper_Arm",
23
+ "Lower_Arm",
24
+ "Wrist_Pitch_Roll",
25
+ "Fixed_Jaw",
26
+ "Moving_Jaw",
27
+ "Fixed_Jaw_tip",
28
+ "Moving_Jaw_tip"
29
+ ],
30
+ "ee_link_name": "Moving_Jaw",
31
+ "image_width": 640,
32
+ "image_height": 480,
33
+ "fovy_rad": 1.1792247973687346,
34
+ "K": [
35
+ [
36
+ 350.2189413030352,
37
+ 0.0,
38
+ 351.1823649533707
39
+ ],
40
+ [
41
+ 0.0,
42
+ 358.7473833954464,
43
+ 262.1275319715874
44
+ ],
45
+ [
46
+ 0.0,
47
+ 0.0,
48
+ 1.0
49
+ ]
50
+ ],
51
+ "camera_eye": [
52
+ -0.25156243393450983,
53
+ -4.790233767181901,
54
+ 1.269445722070024
55
+ ],
56
+ "camera_target": [
57
+ -0.5261948728811416,
58
+ -4.3328571344570195,
59
+ 1.1385433181154088
60
+ ],
61
+ "camera_roll_rad": 0.00832944541230271,
62
+ "camera_pose_world_cv": [
63
+ [
64
+ 0.859246551990509,
65
+ 0.10837341845035553,
66
+ -0.4999505579471588,
67
+ -0.2515624463558197
68
+ ],
69
+ [
70
+ 0.5113058090209961,
71
+ -0.21284610033035278,
72
+ 0.8326242566108704,
73
+ -4.790233612060547
74
+ ],
75
+ [
76
+ -0.016178220510482788,
77
+ -0.971057116985321,
78
+ -0.23829925060272217,
79
+ 1.269445776939392
80
+ ],
81
+ [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 1.0
86
+ ]
87
+ ],
88
+ "T_base_world": [
89
+ [
90
+ -0.967521071434021,
91
+ -0.2527899742126465,
92
+ 1.182373736696718e-07,
93
+ -0.5198671817779541
94
+ ],
95
+ [
96
+ 0.2527899742126465,
97
+ -0.967521071434021,
98
+ -1.5191309543638454e-08,
99
+ -4.361587047576904
100
+ ],
101
+ [
102
+ 1.182373736696718e-07,
103
+ 1.5191309543638454e-08,
104
+ 1.0,
105
+ 0.9372063875198364
106
+ ],
107
+ [
108
+ 0.0,
109
+ 0.0,
110
+ 0.0,
111
+ 1.0
112
+ ]
113
+ ],
114
+ "lighting": {
115
+ "aug_enabled": true,
116
+ "params": {
117
+ "ambient": [
118
+ 0.29903027744780913,
119
+ 0.2980288568716637,
120
+ 0.3156977325405806
121
+ ],
122
+ "directional_primary": {
123
+ "direction": [
124
+ -0.7926883697687412,
125
+ -0.1359718495454704,
126
+ -0.5942699744767181
127
+ ],
128
+ "color": [
129
+ 0.9130579551880054,
130
+ 0.9486849868336614,
131
+ 1.005688237466711
132
+ ],
133
+ "azimuth_rad": -2.9717133809120306,
134
+ "elevation_rad": 0.6363576526590167,
135
+ "color_temp_k": 6239.966915020796,
136
+ "intensity": 0.9629357994919239
137
+ },
138
+ "directional_fill": {
139
+ "direction": [
140
+ 0.18751495656524783,
141
+ -0.2294004200604565,
142
+ -0.9550987312002981
143
+ ],
144
+ "color": [
145
+ 0.5788651609558927,
146
+ 0.5879865726303704,
147
+ 0.6025808313095348
148
+ ],
149
+ "azimuth_rad": -0.8855273336096494,
150
+ "elevation_rad": 1.2699928331358499,
151
+ "color_temp_k": 5808.345840177847,
152
+ "intensity": 0.5916351373001615
153
+ },
154
+ "point_color_scale": [
155
+ 1.060250739009196,
156
+ 1.0799188818961416,
157
+ 1.1113879105152547
158
+ ],
159
+ "shadow": true
160
+ }
161
+ },
162
+ "frames": [
163
+ {
164
+ "frame_idx": 0,
165
+ "qpos": [
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0,
171
+ -1.100000023841858
172
+ ]
173
+ }
174
+ ]
175
+ }
so100/ProcTHOR/train/bg_000036/scene_b03_008/scene_meta.json ADDED
@@ -0,0 +1,175 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "so100",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 36,
7
+ "base_idx": 3,
8
+ "cam_idx": 7,
9
+ "n_dof": 6,
10
+ "num_links": 9,
11
+ "joint_names": [
12
+ "shoulder_pan",
13
+ "shoulder_lift",
14
+ "elbow_flex",
15
+ "wrist_flex",
16
+ "wrist_roll",
17
+ "gripper"
18
+ ],
19
+ "link_names": [
20
+ "Base",
21
+ "Rotation_Pitch",
22
+ "Upper_Arm",
23
+ "Lower_Arm",
24
+ "Wrist_Pitch_Roll",
25
+ "Fixed_Jaw",
26
+ "Moving_Jaw",
27
+ "Fixed_Jaw_tip",
28
+ "Moving_Jaw_tip"
29
+ ],
30
+ "ee_link_name": "Moving_Jaw",
31
+ "image_width": 640,
32
+ "image_height": 480,
33
+ "fovy_rad": 1.3014491793257006,
34
+ "K": [
35
+ [
36
+ 306.8687408928332,
37
+ 0.0,
38
+ 297.13367012461674
39
+ ],
40
+ [
41
+ 0.0,
42
+ 315.2302025139514,
43
+ 238.63463284470728
44
+ ],
45
+ [
46
+ 0.0,
47
+ 0.0,
48
+ 1.0
49
+ ]
50
+ ],
51
+ "camera_eye": [
52
+ -1.0121659255096884,
53
+ -3.768406001762652,
54
+ 1.3364550503167627
55
+ ],
56
+ "camera_target": [
57
+ -0.5435665213598784,
58
+ -4.407227545053071,
59
+ 1.13285581189595
60
+ ],
61
+ "camera_roll_rad": 0.031206722875048457,
62
+ "camera_pose_world_cv": [
63
+ [
64
+ -0.813939094543457,
65
+ -0.09663595259189606,
66
+ 0.5728569030761719,
67
+ -1.012165904045105
68
+ ],
69
+ [
70
+ -0.5778011679649353,
71
+ 0.23719394207000732,
72
+ -0.7809514403343201,
73
+ -3.7684059143066406
74
+ ],
75
+ [
76
+ -0.06041008234024048,
77
+ -0.9666441082954407,
78
+ -0.2488974928855896,
79
+ 1.3364551067352295
80
+ ],
81
+ [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 1.0
86
+ ]
87
+ ],
88
+ "T_base_world": [
89
+ [
90
+ -0.967521071434021,
91
+ -0.2527899742126465,
92
+ 1.182373736696718e-07,
93
+ -0.5198671817779541
94
+ ],
95
+ [
96
+ 0.2527899742126465,
97
+ -0.967521071434021,
98
+ -1.5191309543638454e-08,
99
+ -4.361587047576904
100
+ ],
101
+ [
102
+ 1.182373736696718e-07,
103
+ 1.5191309543638454e-08,
104
+ 1.0,
105
+ 0.9372063875198364
106
+ ],
107
+ [
108
+ 0.0,
109
+ 0.0,
110
+ 0.0,
111
+ 1.0
112
+ ]
113
+ ],
114
+ "lighting": {
115
+ "aug_enabled": true,
116
+ "params": {
117
+ "ambient": [
118
+ 0.3185306700795879,
119
+ 0.3248338261132457,
120
+ 0.3056475700357984
121
+ ],
122
+ "directional_primary": {
123
+ "direction": [
124
+ -0.7926883697687412,
125
+ -0.1359718495454704,
126
+ -0.5942699744767181
127
+ ],
128
+ "color": [
129
+ 1.0426036060664488,
130
+ 1.0985067110677167,
131
+ 1.187951679069746
132
+ ],
133
+ "azimuth_rad": -2.9717133809120306,
134
+ "elevation_rad": 0.6363576526590167,
135
+ "color_temp_k": 6497.496714010618,
136
+ "intensity": 1.120867953068224
137
+ },
138
+ "directional_fill": {
139
+ "direction": [
140
+ 0.18751495656524783,
141
+ -0.2294004200604565,
142
+ -0.9550987312002981
143
+ ],
144
+ "color": [
145
+ 0.9292277175165755,
146
+ 0.9439027296564486,
147
+ 0.9673827490802457
148
+ ],
149
+ "azimuth_rad": -0.8855273336096494,
150
+ "elevation_rad": 1.2699928331358499,
151
+ "color_temp_k": 5809.021550242904,
152
+ "intensity": 0.9497727345123979
153
+ },
154
+ "point_color_scale": [
155
+ 1.1273407149649444,
156
+ 1.106845911990841,
157
+ 1.071711964035235
158
+ ],
159
+ "shadow": true
160
+ }
161
+ },
162
+ "frames": [
163
+ {
164
+ "frame_idx": 0,
165
+ "qpos": [
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0,
171
+ -1.100000023841858
172
+ ]
173
+ }
174
+ ]
175
+ }
so100/ProcTHOR/train/bg_000036/scene_b03_009/scene_meta.json ADDED
@@ -0,0 +1,175 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "so100",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 36,
7
+ "base_idx": 3,
8
+ "cam_idx": 8,
9
+ "n_dof": 6,
10
+ "num_links": 9,
11
+ "joint_names": [
12
+ "shoulder_pan",
13
+ "shoulder_lift",
14
+ "elbow_flex",
15
+ "wrist_flex",
16
+ "wrist_roll",
17
+ "gripper"
18
+ ],
19
+ "link_names": [
20
+ "Base",
21
+ "Rotation_Pitch",
22
+ "Upper_Arm",
23
+ "Lower_Arm",
24
+ "Wrist_Pitch_Roll",
25
+ "Fixed_Jaw",
26
+ "Moving_Jaw",
27
+ "Fixed_Jaw_tip",
28
+ "Moving_Jaw_tip"
29
+ ],
30
+ "ee_link_name": "Moving_Jaw",
31
+ "image_width": 640,
32
+ "image_height": 480,
33
+ "fovy_rad": 0.9291959041696346,
34
+ "K": [
35
+ [
36
+ 500.0731049545488,
37
+ 0.0,
38
+ 323.22064474211965
39
+ ],
40
+ [
41
+ 0.0,
42
+ 478.8617514098671,
43
+ 258.64902763132164
44
+ ],
45
+ [
46
+ 0.0,
47
+ 0.0,
48
+ 1.0
49
+ ]
50
+ ],
51
+ "camera_eye": [
52
+ -0.7064154453499477,
53
+ -3.858296945508143,
54
+ 1.2900991994227495
55
+ ],
56
+ "camera_target": [
57
+ -0.5519781937352556,
58
+ -4.3439675550532675,
59
+ 1.1677806191248572
60
+ ],
61
+ "camera_roll_rad": -0.021799730372519453,
62
+ "camera_pose_world_cv": [
63
+ [
64
+ -0.9489911794662476,
65
+ -0.1121927797794342,
66
+ 0.2946673035621643,
67
+ -0.7064154744148254
68
+ ],
69
+ [
70
+ -0.3124416768550873,
71
+ 0.2089911699295044,
72
+ -0.9266623258590698,
73
+ -3.8582968711853027
74
+ ],
75
+ [
76
+ 0.04238197207450867,
77
+ -0.9714605808258057,
78
+ -0.23338431119918823,
79
+ 1.2900991439819336
80
+ ],
81
+ [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 1.0
86
+ ]
87
+ ],
88
+ "T_base_world": [
89
+ [
90
+ -0.967521071434021,
91
+ -0.2527899742126465,
92
+ 1.182373736696718e-07,
93
+ -0.5198671817779541
94
+ ],
95
+ [
96
+ 0.2527899742126465,
97
+ -0.967521071434021,
98
+ -1.5191309543638454e-08,
99
+ -4.361587047576904
100
+ ],
101
+ [
102
+ 1.182373736696718e-07,
103
+ 1.5191309543638454e-08,
104
+ 1.0,
105
+ 0.9372063875198364
106
+ ],
107
+ [
108
+ 0.0,
109
+ 0.0,
110
+ 0.0,
111
+ 1.0
112
+ ]
113
+ ],
114
+ "lighting": {
115
+ "aug_enabled": true,
116
+ "params": {
117
+ "ambient": [
118
+ 0.22808320500573037,
119
+ 0.2353573448647211,
120
+ 0.23163339706249605
121
+ ],
122
+ "directional_primary": {
123
+ "direction": [
124
+ -0.7926883697687412,
125
+ -0.1359718495454704,
126
+ -0.5942699744767181
127
+ ],
128
+ "color": [
129
+ 0.868115578689172,
130
+ 0.8581693704196024,
131
+ 0.8411187276717688
132
+ ],
133
+ "azimuth_rad": -2.9717133809120306,
134
+ "elevation_rad": 0.6363576526590167,
135
+ "color_temp_k": 5334.428150825512,
136
+ "intensity": 0.8581693704196024
137
+ },
138
+ "directional_fill": {
139
+ "direction": [
140
+ 0.18751495656524783,
141
+ -0.2294004200604565,
142
+ -0.9550987312002981
143
+ ],
144
+ "color": [
145
+ 0.9259500054972293,
146
+ 0.923513423487131,
147
+ 0.9193364257555338
148
+ ],
149
+ "azimuth_rad": -0.8855273336096494,
150
+ "elevation_rad": 1.2699928331358499,
151
+ "color_temp_k": 5462.308815936273,
152
+ "intensity": 0.923513423487131
153
+ },
154
+ "point_color_scale": [
155
+ 0.8646096634050816,
156
+ 0.8308634534782147,
157
+ 0.7730128078893
158
+ ],
159
+ "shadow": true
160
+ }
161
+ },
162
+ "frames": [
163
+ {
164
+ "frame_idx": 0,
165
+ "qpos": [
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0,
171
+ -1.100000023841858
172
+ ]
173
+ }
174
+ ]
175
+ }
so100/ProcTHOR/train/bg_000036/scene_b03_010/scene_meta.json ADDED
@@ -0,0 +1,175 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "so100",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 36,
7
+ "base_idx": 3,
8
+ "cam_idx": 9,
9
+ "n_dof": 6,
10
+ "num_links": 9,
11
+ "joint_names": [
12
+ "shoulder_pan",
13
+ "shoulder_lift",
14
+ "elbow_flex",
15
+ "wrist_flex",
16
+ "wrist_roll",
17
+ "gripper"
18
+ ],
19
+ "link_names": [
20
+ "Base",
21
+ "Rotation_Pitch",
22
+ "Upper_Arm",
23
+ "Lower_Arm",
24
+ "Wrist_Pitch_Roll",
25
+ "Fixed_Jaw",
26
+ "Moving_Jaw",
27
+ "Fixed_Jaw_tip",
28
+ "Moving_Jaw_tip"
29
+ ],
30
+ "ee_link_name": "Moving_Jaw",
31
+ "image_width": 640,
32
+ "image_height": 480,
33
+ "fovy_rad": 1.2481716850819808,
34
+ "K": [
35
+ [
36
+ 317.55484411738536,
37
+ 0.0,
38
+ 293.8189947496031
39
+ ],
40
+ [
41
+ 0.0,
42
+ 333.289198444062,
43
+ 216.06462793598155
44
+ ],
45
+ [
46
+ 0.0,
47
+ 0.0,
48
+ 1.0
49
+ ]
50
+ ],
51
+ "camera_eye": [
52
+ -0.26367478723260196,
53
+ -3.770477281522374,
54
+ 1.2075573863768094
55
+ ],
56
+ "camera_target": [
57
+ -0.5129923776063235,
58
+ -4.409889139085747,
59
+ 1.0655956540505551
60
+ ],
61
+ "camera_roll_rad": 0.02273681433248481,
62
+ "camera_pose_world_cv": [
63
+ [
64
+ -0.9273725748062134,
65
+ 0.11586292088031769,
66
+ -0.3557470738887787,
67
+ -0.263674795627594
68
+ ],
69
+ [
70
+ 0.37148159742355347,
71
+ 0.17201507091522217,
72
+ -0.9123663306236267,
73
+ -3.770477294921875
74
+ ],
75
+ [
76
+ -0.04451555013656616,
77
+ -0.9782570004463196,
78
+ -0.20256298780441284,
79
+ 1.2075574398040771
80
+ ],
81
+ [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 1.0
86
+ ]
87
+ ],
88
+ "T_base_world": [
89
+ [
90
+ -0.967521071434021,
91
+ -0.2527899742126465,
92
+ 1.182373736696718e-07,
93
+ -0.5198671817779541
94
+ ],
95
+ [
96
+ 0.2527899742126465,
97
+ -0.967521071434021,
98
+ -1.5191309543638454e-08,
99
+ -4.361587047576904
100
+ ],
101
+ [
102
+ 1.182373736696718e-07,
103
+ 1.5191309543638454e-08,
104
+ 1.0,
105
+ 0.9372063875198364
106
+ ],
107
+ [
108
+ 0.0,
109
+ 0.0,
110
+ 0.0,
111
+ 1.0
112
+ ]
113
+ ],
114
+ "lighting": {
115
+ "aug_enabled": true,
116
+ "params": {
117
+ "ambient": [
118
+ 0.23396083994974098,
119
+ 0.25601217077532296,
120
+ 0.24284777113769
121
+ ],
122
+ "directional_primary": {
123
+ "direction": [
124
+ -0.7926883697687412,
125
+ -0.1359718495454704,
126
+ -0.5942699744767181
127
+ ],
128
+ "color": [
129
+ 1.0422602807744712,
130
+ 1.0726744755132318,
131
+ 1.121337187095249
132
+ ],
133
+ "azimuth_rad": -2.9717133809120306,
134
+ "elevation_rad": 0.6363576526590167,
135
+ "color_temp_k": 6060.712924262522,
136
+ "intensity": 1.0848401534087362
137
+ },
138
+ "directional_fill": {
139
+ "direction": [
140
+ 0.18751495656524783,
141
+ -0.2294004200604565,
142
+ -0.9550987312002981
143
+ ],
144
+ "color": [
145
+ 0.7852113860728201,
146
+ 0.7620499411747476,
147
+ 0.7223446070637662
148
+ ],
149
+ "azimuth_rad": -0.8855273336096494,
150
+ "elevation_rad": 1.2699928331358499,
151
+ "color_temp_k": 5065.805642937115,
152
+ "intensity": 0.7620499411747476
153
+ },
154
+ "point_color_scale": [
155
+ 1.0993758964434486,
156
+ 1.0656547775178602,
157
+ 1.0078471450739943
158
+ ],
159
+ "shadow": true
160
+ }
161
+ },
162
+ "frames": [
163
+ {
164
+ "frame_idx": 0,
165
+ "qpos": [
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0,
171
+ -1.100000023841858
172
+ ]
173
+ }
174
+ ]
175
+ }
so100/ProcTHOR/train/bg_000036/scene_b03_011/scene_meta.json ADDED
@@ -0,0 +1,175 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "so100",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 36,
7
+ "base_idx": 3,
8
+ "cam_idx": 10,
9
+ "n_dof": 6,
10
+ "num_links": 9,
11
+ "joint_names": [
12
+ "shoulder_pan",
13
+ "shoulder_lift",
14
+ "elbow_flex",
15
+ "wrist_flex",
16
+ "wrist_roll",
17
+ "gripper"
18
+ ],
19
+ "link_names": [
20
+ "Base",
21
+ "Rotation_Pitch",
22
+ "Upper_Arm",
23
+ "Lower_Arm",
24
+ "Wrist_Pitch_Roll",
25
+ "Fixed_Jaw",
26
+ "Moving_Jaw",
27
+ "Fixed_Jaw_tip",
28
+ "Moving_Jaw_tip"
29
+ ],
30
+ "ee_link_name": "Moving_Jaw",
31
+ "image_width": 640,
32
+ "image_height": 480,
33
+ "fovy_rad": 1.016109741327616,
34
+ "K": [
35
+ [
36
+ 452.52479734710244,
37
+ 0.0,
38
+ 340.27471165871157
39
+ ],
40
+ [
41
+ 0.0,
42
+ 431.0284738287051,
43
+ 225.0140331484468
44
+ ],
45
+ [
46
+ 0.0,
47
+ 0.0,
48
+ 1.0
49
+ ]
50
+ ],
51
+ "camera_eye": [
52
+ -0.05799470251039823,
53
+ -4.347753422676449,
54
+ 1.2920680556117015
55
+ ],
56
+ "camera_target": [
57
+ -0.5657290268770763,
58
+ -4.363317026103461,
59
+ 1.1423522106485238
60
+ ],
61
+ "camera_roll_rad": -0.020556222194773446,
62
+ "camera_pose_world_cv": [
63
+ [
64
+ -0.04222679138183594,
65
+ 0.28107786178588867,
66
+ -0.958755612373352,
67
+ -0.05799470096826553
68
+ ],
69
+ [
70
+ 0.9983299970626831,
71
+ 0.04973602294921875,
72
+ -0.02938854694366455,
73
+ -4.347753524780273
74
+ ],
75
+ [
76
+ 0.03942418098449707,
77
+ -0.9583953619003296,
78
+ -0.2827085256576538,
79
+ 1.2920680046081543
80
+ ],
81
+ [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 1.0
86
+ ]
87
+ ],
88
+ "T_base_world": [
89
+ [
90
+ -0.967521071434021,
91
+ -0.2527899742126465,
92
+ 1.182373736696718e-07,
93
+ -0.5198671817779541
94
+ ],
95
+ [
96
+ 0.2527899742126465,
97
+ -0.967521071434021,
98
+ -1.5191309543638454e-08,
99
+ -4.361587047576904
100
+ ],
101
+ [
102
+ 1.182373736696718e-07,
103
+ 1.5191309543638454e-08,
104
+ 1.0,
105
+ 0.9372063875198364
106
+ ],
107
+ [
108
+ 0.0,
109
+ 0.0,
110
+ 0.0,
111
+ 1.0
112
+ ]
113
+ ],
114
+ "lighting": {
115
+ "aug_enabled": true,
116
+ "params": {
117
+ "ambient": [
118
+ 0.3866298515459979,
119
+ 0.3682396896419978,
120
+ 0.38596649994211224
121
+ ],
122
+ "directional_primary": {
123
+ "direction": [
124
+ -0.7926883697687412,
125
+ -0.1359718495454704,
126
+ -0.5942699744767181
127
+ ],
128
+ "color": [
129
+ 0.9220217730559374,
130
+ 0.8702373164748698,
131
+ 0.7814639623358969
132
+ ],
133
+ "azimuth_rad": -2.9717133809120306,
134
+ "elevation_rad": 0.6363576526590167,
135
+ "color_temp_k": 4649.912400729059,
136
+ "intensity": 0.8702373164748698
137
+ },
138
+ "directional_fill": {
139
+ "direction": [
140
+ 0.18751495656524783,
141
+ -0.2294004200604565,
142
+ -0.9550987312002981
143
+ ],
144
+ "color": [
145
+ 0.575885122003873,
146
+ 0.598760182441328,
147
+ 0.6353602791412564
148
+ ],
149
+ "azimuth_rad": -0.8855273336096494,
150
+ "elevation_rad": 1.2699928331358499,
151
+ "color_temp_k": 6252.580239268561,
152
+ "intensity": 0.6079102066163101
153
+ },
154
+ "point_color_scale": [
155
+ 0.932603057250443,
156
+ 0.9393312358917884,
157
+ 0.9500963217179413
158
+ ],
159
+ "shadow": false
160
+ }
161
+ },
162
+ "frames": [
163
+ {
164
+ "frame_idx": 0,
165
+ "qpos": [
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0,
171
+ -1.100000023841858
172
+ ]
173
+ }
174
+ ]
175
+ }
so100/ProcTHOR/train/bg_000036/scene_b03_012/scene_meta.json ADDED
@@ -0,0 +1,175 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "so100",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 36,
7
+ "base_idx": 3,
8
+ "cam_idx": 11,
9
+ "n_dof": 6,
10
+ "num_links": 9,
11
+ "joint_names": [
12
+ "shoulder_pan",
13
+ "shoulder_lift",
14
+ "elbow_flex",
15
+ "wrist_flex",
16
+ "wrist_roll",
17
+ "gripper"
18
+ ],
19
+ "link_names": [
20
+ "Base",
21
+ "Rotation_Pitch",
22
+ "Upper_Arm",
23
+ "Lower_Arm",
24
+ "Wrist_Pitch_Roll",
25
+ "Fixed_Jaw",
26
+ "Moving_Jaw",
27
+ "Fixed_Jaw_tip",
28
+ "Moving_Jaw_tip"
29
+ ],
30
+ "ee_link_name": "Moving_Jaw",
31
+ "image_width": 640,
32
+ "image_height": 480,
33
+ "fovy_rad": 1.1938938076682812,
34
+ "K": [
35
+ [
36
+ 337.59146884934125,
37
+ 0.0,
38
+ 324.4174532842939
39
+ ],
40
+ [
41
+ 0.0,
42
+ 353.11562605282666,
43
+ 253.16978876722277
44
+ ],
45
+ [
46
+ 0.0,
47
+ 0.0,
48
+ 1.0
49
+ ]
50
+ ],
51
+ "camera_eye": [
52
+ -0.5001767431660773,
53
+ -4.86004964570381,
54
+ 1.1952248602848932
55
+ ],
56
+ "camera_target": [
57
+ -0.4960515743853643,
58
+ -4.400690276318783,
59
+ 1.1328726025009694
60
+ ],
61
+ "camera_roll_rad": -0.026427430911638374,
62
+ "camera_pose_world_cv": [
63
+ [
64
+ 0.9986270666122437,
65
+ 0.05162202566862106,
66
+ 0.008898342028260231,
67
+ -0.500176727771759
68
+ ],
69
+ [
70
+ -0.00186208076775074,
71
+ -0.13477975130081177,
72
+ 0.9908739328384399,
73
+ -4.860049724578857
74
+ ],
75
+ [
76
+ 0.052350230515003204,
77
+ -0.989530086517334,
78
+ -0.13449859619140625,
79
+ 1.1952248811721802
80
+ ],
81
+ [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 1.0
86
+ ]
87
+ ],
88
+ "T_base_world": [
89
+ [
90
+ -0.967521071434021,
91
+ -0.2527899742126465,
92
+ 1.182373736696718e-07,
93
+ -0.5198671817779541
94
+ ],
95
+ [
96
+ 0.2527899742126465,
97
+ -0.967521071434021,
98
+ -1.5191309543638454e-08,
99
+ -4.361587047576904
100
+ ],
101
+ [
102
+ 1.182373736696718e-07,
103
+ 1.5191309543638454e-08,
104
+ 1.0,
105
+ 0.9372063875198364
106
+ ],
107
+ [
108
+ 0.0,
109
+ 0.0,
110
+ 0.0,
111
+ 1.0
112
+ ]
113
+ ],
114
+ "lighting": {
115
+ "aug_enabled": true,
116
+ "params": {
117
+ "ambient": [
118
+ 0.3618479979708626,
119
+ 0.3542325498064084,
120
+ 0.36102252266284185
121
+ ],
122
+ "directional_primary": {
123
+ "direction": [
124
+ -0.7926883697687412,
125
+ -0.1359718495454704,
126
+ -0.5942699744767181
127
+ ],
128
+ "color": [
129
+ 1.1698396366830977,
130
+ 1.113135431319817,
131
+ 1.0159282221256218
132
+ ],
133
+ "azimuth_rad": -2.9717133809120306,
134
+ "elevation_rad": 0.6363576526590167,
135
+ "color_temp_k": 4772.2717705088,
136
+ "intensity": 1.113135431319817
137
+ },
138
+ "directional_fill": {
139
+ "direction": [
140
+ 0.18751495656524783,
141
+ -0.2294004200604565,
142
+ -0.9550987312002981
143
+ ],
144
+ "color": [
145
+ 0.7042167724813881,
146
+ 0.7185424518070554,
147
+ 0.7414635387281233
148
+ ],
149
+ "azimuth_rad": -0.8855273336096494,
150
+ "elevation_rad": 1.2699928331358499,
151
+ "color_temp_k": 5895.58798392134,
152
+ "intensity": 0.7242727235373224
153
+ },
154
+ "point_color_scale": [
155
+ 1.141858183573284,
156
+ 1.1224762933034893,
157
+ 1.0892501956981269
158
+ ],
159
+ "shadow": true
160
+ }
161
+ },
162
+ "frames": [
163
+ {
164
+ "frame_idx": 0,
165
+ "qpos": [
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0,
171
+ -1.100000023841858
172
+ ]
173
+ }
174
+ ]
175
+ }
so100/ProcTHOR/train/bg_000036/scene_b03_013/scene_meta.json ADDED
@@ -0,0 +1,175 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "so100",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 36,
7
+ "base_idx": 3,
8
+ "cam_idx": 12,
9
+ "n_dof": 6,
10
+ "num_links": 9,
11
+ "joint_names": [
12
+ "shoulder_pan",
13
+ "shoulder_lift",
14
+ "elbow_flex",
15
+ "wrist_flex",
16
+ "wrist_roll",
17
+ "gripper"
18
+ ],
19
+ "link_names": [
20
+ "Base",
21
+ "Rotation_Pitch",
22
+ "Upper_Arm",
23
+ "Lower_Arm",
24
+ "Wrist_Pitch_Roll",
25
+ "Fixed_Jaw",
26
+ "Moving_Jaw",
27
+ "Fixed_Jaw_tip",
28
+ "Moving_Jaw_tip"
29
+ ],
30
+ "ee_link_name": "Moving_Jaw",
31
+ "image_width": 640,
32
+ "image_height": 480,
33
+ "fovy_rad": 0.9949168527979723,
34
+ "K": [
35
+ [
36
+ 440.23491708608026,
37
+ 0.0,
38
+ 330.6323270564729
39
+ ],
40
+ [
41
+ 0.0,
42
+ 441.98328396538324,
43
+ 233.59476083292822
44
+ ],
45
+ [
46
+ 0.0,
47
+ 0.0,
48
+ 1.0
49
+ ]
50
+ ],
51
+ "camera_eye": [
52
+ -0.12168954118312775,
53
+ -4.4801188319083405,
54
+ 1.2055808192606612
55
+ ],
56
+ "camera_target": [
57
+ -0.5304134529339717,
58
+ -4.3125629953039155,
59
+ 1.0834555637118268
60
+ ],
61
+ "camera_roll_rad": -0.005275718767466117,
62
+ "camera_pose_world_cv": [
63
+ [
64
+ 0.37668997049331665,
65
+ 0.25054556131362915,
66
+ -0.8918136358261108,
67
+ -0.12168954312801361
68
+ ],
69
+ [
70
+ 0.9262835383415222,
71
+ -0.09130740165710449,
72
+ 0.36559775471687317,
73
+ -4.480118751525879
74
+ ],
75
+ [
76
+ 0.01016971468925476,
77
+ -0.9637893438339233,
78
+ -0.26647084951400757,
79
+ 1.2055808305740356
80
+ ],
81
+ [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 1.0
86
+ ]
87
+ ],
88
+ "T_base_world": [
89
+ [
90
+ -0.967521071434021,
91
+ -0.2527899742126465,
92
+ 1.182373736696718e-07,
93
+ -0.5198671817779541
94
+ ],
95
+ [
96
+ 0.2527899742126465,
97
+ -0.967521071434021,
98
+ -1.5191309543638454e-08,
99
+ -4.361587047576904
100
+ ],
101
+ [
102
+ 1.182373736696718e-07,
103
+ 1.5191309543638454e-08,
104
+ 1.0,
105
+ 0.9372063875198364
106
+ ],
107
+ [
108
+ 0.0,
109
+ 0.0,
110
+ 0.0,
111
+ 1.0
112
+ ]
113
+ ],
114
+ "lighting": {
115
+ "aug_enabled": true,
116
+ "params": {
117
+ "ambient": [
118
+ 0.24758352608287051,
119
+ 0.2247648714259778,
120
+ 0.23336993820775961
121
+ ],
122
+ "directional_primary": {
123
+ "direction": [
124
+ -0.7926883697687412,
125
+ -0.1359718495454704,
126
+ -0.5942699744767181
127
+ ],
128
+ "color": [
129
+ 1.0621483667387979,
130
+ 1.082054250028467,
131
+ 1.1139036632919377
132
+ ],
133
+ "azimuth_rad": -2.9717133809120306,
134
+ "elevation_rad": 0.6363576526590167,
135
+ "color_temp_k": 5865.240001456767,
136
+ "intensity": 1.0900166033443346
137
+ },
138
+ "directional_fill": {
139
+ "direction": [
140
+ 0.18751495656524783,
141
+ -0.2294004200604565,
142
+ -0.9550987312002981
143
+ ],
144
+ "color": [
145
+ 0.603710191580461,
146
+ 0.6079160188904196,
147
+ 0.6146453425863534
148
+ ],
149
+ "azimuth_rad": -0.8855273336096494,
150
+ "elevation_rad": 1.2699928331358499,
151
+ "color_temp_k": 5637.986833830477,
152
+ "intensity": 0.6095983498144031
153
+ },
154
+ "point_color_scale": [
155
+ 0.9026858877611433,
156
+ 0.9381990267075548,
157
+ 0.9950200490218134
158
+ ],
159
+ "shadow": true
160
+ }
161
+ },
162
+ "frames": [
163
+ {
164
+ "frame_idx": 0,
165
+ "qpos": [
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0,
171
+ -1.100000023841858
172
+ ]
173
+ }
174
+ ]
175
+ }
so100/ProcTHOR/train/bg_000036/scene_b03_014/scene_meta.json ADDED
@@ -0,0 +1,175 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "so100",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 36,
7
+ "base_idx": 3,
8
+ "cam_idx": 13,
9
+ "n_dof": 6,
10
+ "num_links": 9,
11
+ "joint_names": [
12
+ "shoulder_pan",
13
+ "shoulder_lift",
14
+ "elbow_flex",
15
+ "wrist_flex",
16
+ "wrist_roll",
17
+ "gripper"
18
+ ],
19
+ "link_names": [
20
+ "Base",
21
+ "Rotation_Pitch",
22
+ "Upper_Arm",
23
+ "Lower_Arm",
24
+ "Wrist_Pitch_Roll",
25
+ "Fixed_Jaw",
26
+ "Moving_Jaw",
27
+ "Fixed_Jaw_tip",
28
+ "Moving_Jaw_tip"
29
+ ],
30
+ "ee_link_name": "Moving_Jaw",
31
+ "image_width": 640,
32
+ "image_height": 480,
33
+ "fovy_rad": 0.9800494457075073,
34
+ "K": [
35
+ [
36
+ 459.3043193280861,
37
+ 0.0,
38
+ 339.7941220355505
39
+ ],
40
+ [
41
+ 0.0,
42
+ 449.9269681635447,
43
+ 249.53430038347489
44
+ ],
45
+ [
46
+ 0.0,
47
+ 0.0,
48
+ 1.0
49
+ ]
50
+ ],
51
+ "camera_eye": [
52
+ -0.9872925152331018,
53
+ -4.88312333430825,
54
+ 1.164714301241315
55
+ ],
56
+ "camera_target": [
57
+ -0.5579907772651775,
58
+ -4.400810108341067,
59
+ 1.1733369292445663
60
+ ],
61
+ "camera_roll_rad": -0.034490128262336314,
62
+ "camera_pose_world_cv": [
63
+ [
64
+ 0.744575560092926,
65
+ 0.060341596603393555,
66
+ 0.6648052930831909,
67
+ -0.9872925281524658
68
+ ],
69
+ [
70
+ -0.6639708876609802,
71
+ -0.03587573766708374,
72
+ 0.7468973398208618,
73
+ -4.883123397827148
74
+ ],
75
+ [
76
+ 0.06891939043998718,
77
+ -0.997532844543457,
78
+ 0.01335287094116211,
79
+ 1.1647143363952637
80
+ ],
81
+ [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 1.0
86
+ ]
87
+ ],
88
+ "T_base_world": [
89
+ [
90
+ -0.967521071434021,
91
+ -0.2527899742126465,
92
+ 1.182373736696718e-07,
93
+ -0.5198671817779541
94
+ ],
95
+ [
96
+ 0.2527899742126465,
97
+ -0.967521071434021,
98
+ -1.5191309543638454e-08,
99
+ -4.361587047576904
100
+ ],
101
+ [
102
+ 1.182373736696718e-07,
103
+ 1.5191309543638454e-08,
104
+ 1.0,
105
+ 0.9372063875198364
106
+ ],
107
+ [
108
+ 0.0,
109
+ 0.0,
110
+ 0.0,
111
+ 1.0
112
+ ]
113
+ ],
114
+ "lighting": {
115
+ "aug_enabled": true,
116
+ "params": {
117
+ "ambient": [
118
+ 0.2500250188221935,
119
+ 0.2546720967231865,
120
+ 0.24984878738032693
121
+ ],
122
+ "directional_primary": {
123
+ "direction": [
124
+ -0.7926883697687412,
125
+ -0.1359718495454704,
126
+ -0.5942699744767181
127
+ ],
128
+ "color": [
129
+ 1.119603915555877,
130
+ 1.1649188740066845,
131
+ 1.2374228075279765
132
+ ],
133
+ "azimuth_rad": -2.9717133809120306,
134
+ "elevation_rad": 0.6363576526590167,
135
+ "color_temp_k": 6266.073376979039,
136
+ "intensity": 1.1830448573870074
137
+ },
138
+ "directional_fill": {
139
+ "direction": [
140
+ 0.18751495656524783,
141
+ -0.2294004200604565,
142
+ -0.9550987312002981
143
+ ],
144
+ "color": [
145
+ 0.7355155263969909,
146
+ 0.75656808616177,
147
+ 0.7902521817854165
148
+ ],
149
+ "azimuth_rad": -0.8855273336096494,
150
+ "elevation_rad": 1.2699928331358499,
151
+ "color_temp_k": 6050.401554419943,
152
+ "intensity": 0.7649891100676816
153
+ },
154
+ "point_color_scale": [
155
+ 1.1063321425293997,
156
+ 1.122793967523102,
157
+ 1.149132887513026
158
+ ],
159
+ "shadow": false
160
+ }
161
+ },
162
+ "frames": [
163
+ {
164
+ "frame_idx": 0,
165
+ "qpos": [
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0,
171
+ -1.100000023841858
172
+ ]
173
+ }
174
+ ]
175
+ }
so100/ProcTHOR/train/bg_000036/scene_b03_015/scene_meta.json ADDED
@@ -0,0 +1,175 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "so100",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 36,
7
+ "base_idx": 3,
8
+ "cam_idx": 14,
9
+ "n_dof": 6,
10
+ "num_links": 9,
11
+ "joint_names": [
12
+ "shoulder_pan",
13
+ "shoulder_lift",
14
+ "elbow_flex",
15
+ "wrist_flex",
16
+ "wrist_roll",
17
+ "gripper"
18
+ ],
19
+ "link_names": [
20
+ "Base",
21
+ "Rotation_Pitch",
22
+ "Upper_Arm",
23
+ "Lower_Arm",
24
+ "Wrist_Pitch_Roll",
25
+ "Fixed_Jaw",
26
+ "Moving_Jaw",
27
+ "Fixed_Jaw_tip",
28
+ "Moving_Jaw_tip"
29
+ ],
30
+ "ee_link_name": "Moving_Jaw",
31
+ "image_width": 640,
32
+ "image_height": 480,
33
+ "fovy_rad": 1.0824510950297652,
34
+ "K": [
35
+ [
36
+ 382.7273868665574,
37
+ 0.0,
38
+ 344.222615253222
39
+ ],
40
+ [
41
+ 0.0,
42
+ 399.27016414407575,
43
+ 217.81046700890533
44
+ ],
45
+ [
46
+ 0.0,
47
+ 0.0,
48
+ 1.0
49
+ ]
50
+ ],
51
+ "camera_eye": [
52
+ -0.8159748699619631,
53
+ -3.631930688161968,
54
+ 1.15022690797015
55
+ ],
56
+ "camera_target": [
57
+ -0.4900299345616083,
58
+ -4.362164846804287,
59
+ 1.1622515592416645
60
+ ],
61
+ "camera_roll_rad": 0.04567709024035223,
62
+ "camera_pose_world_cv": [
63
+ [
64
+ -0.9087957143783569,
65
+ 0.08940795063972473,
66
+ 0.40755000710487366,
67
+ -0.8159748911857605
68
+ ],
69
+ [
70
+ -0.40714895725250244,
71
+ 0.023511648178100586,
72
+ -0.9130592346191406,
73
+ -3.6319305896759033
74
+ ],
75
+ [
76
+ -0.09121686220169067,
77
+ -0.9957176446914673,
78
+ 0.015035271644592285,
79
+ 1.1502269506454468
80
+ ],
81
+ [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 1.0
86
+ ]
87
+ ],
88
+ "T_base_world": [
89
+ [
90
+ -0.967521071434021,
91
+ -0.2527899742126465,
92
+ 1.182373736696718e-07,
93
+ -0.5198671817779541
94
+ ],
95
+ [
96
+ 0.2527899742126465,
97
+ -0.967521071434021,
98
+ -1.5191309543638454e-08,
99
+ -4.361587047576904
100
+ ],
101
+ [
102
+ 1.182373736696718e-07,
103
+ 1.5191309543638454e-08,
104
+ 1.0,
105
+ 0.9372063875198364
106
+ ],
107
+ [
108
+ 0.0,
109
+ 0.0,
110
+ 0.0,
111
+ 1.0
112
+ ]
113
+ ],
114
+ "lighting": {
115
+ "aug_enabled": true,
116
+ "params": {
117
+ "ambient": [
118
+ 0.30279092939219576,
119
+ 0.31462113305018036,
120
+ 0.30698771308477546
121
+ ],
122
+ "directional_primary": {
123
+ "direction": [
124
+ -0.7926883697687412,
125
+ -0.1359718495454704,
126
+ -0.5942699744767181
127
+ ],
128
+ "color": [
129
+ 0.9747863958635633,
130
+ 0.9738574321970563,
131
+ 0.9722649230544731
132
+ ],
133
+ "azimuth_rad": -2.9717133809120306,
134
+ "elevation_rad": 0.6363576526590167,
135
+ "color_temp_k": 5486.372841565128,
136
+ "intensity": 0.9738574321970563
137
+ },
138
+ "directional_fill": {
139
+ "direction": [
140
+ 0.18751495656524783,
141
+ -0.2294004200604565,
142
+ -0.9550987312002981
143
+ ],
144
+ "color": [
145
+ 0.5786504686947854,
146
+ 0.5881986415555789,
147
+ 0.6034757181328485
148
+ ],
149
+ "azimuth_rad": -0.8855273336096494,
150
+ "elevation_rad": 1.2699928331358499,
151
+ "color_temp_k": 5822.563648437779,
152
+ "intensity": 0.5920179106998963
153
+ },
154
+ "point_color_scale": [
155
+ 1.2001960188361602,
156
+ 1.1691858185518023,
157
+ 1.1160254752071888
158
+ ],
159
+ "shadow": true
160
+ }
161
+ },
162
+ "frames": [
163
+ {
164
+ "frame_idx": 0,
165
+ "qpos": [
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0,
171
+ -1.100000023841858
172
+ ]
173
+ }
174
+ ]
175
+ }
so100/ProcTHOR/train/bg_000036/scene_b03_016/scene_meta.json ADDED
@@ -0,0 +1,175 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "so100",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 36,
7
+ "base_idx": 3,
8
+ "cam_idx": 15,
9
+ "n_dof": 6,
10
+ "num_links": 9,
11
+ "joint_names": [
12
+ "shoulder_pan",
13
+ "shoulder_lift",
14
+ "elbow_flex",
15
+ "wrist_flex",
16
+ "wrist_roll",
17
+ "gripper"
18
+ ],
19
+ "link_names": [
20
+ "Base",
21
+ "Rotation_Pitch",
22
+ "Upper_Arm",
23
+ "Lower_Arm",
24
+ "Wrist_Pitch_Roll",
25
+ "Fixed_Jaw",
26
+ "Moving_Jaw",
27
+ "Fixed_Jaw_tip",
28
+ "Moving_Jaw_tip"
29
+ ],
30
+ "ee_link_name": "Moving_Jaw",
31
+ "image_width": 640,
32
+ "image_height": 480,
33
+ "fovy_rad": 0.858771966454135,
34
+ "K": [
35
+ [
36
+ 520.1438194557024,
37
+ 0.0,
38
+ 292.0841056838779
39
+ ],
40
+ [
41
+ 0.0,
42
+ 524.1570123833767,
43
+ 233.04474980869085
44
+ ],
45
+ [
46
+ 0.0,
47
+ 0.0,
48
+ 1.0
49
+ ]
50
+ ],
51
+ "camera_eye": [
52
+ -0.8725944183109202,
53
+ -3.983569264339489,
54
+ 1.204268434533065
55
+ ],
56
+ "camera_target": [
57
+ -0.472681622023857,
58
+ -4.319371597236373,
59
+ 1.1610487353826053
60
+ ],
61
+ "camera_roll_rad": -0.047840552700883276,
62
+ "camera_pose_world_cv": [
63
+ [
64
+ -0.634076714515686,
65
+ -0.1243121325969696,
66
+ 0.7632124423980713,
67
+ -0.87259441614151
68
+ ],
69
+ [
70
+ -0.7673864364624023,
71
+ -0.020364999771118164,
72
+ -0.640861451625824,
73
+ -3.9835691452026367
74
+ ],
75
+ [
76
+ 0.09520962834358215,
77
+ -0.9920341372489929,
78
+ -0.08248245716094971,
79
+ 1.204268455505371
80
+ ],
81
+ [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 1.0
86
+ ]
87
+ ],
88
+ "T_base_world": [
89
+ [
90
+ -0.967521071434021,
91
+ -0.2527899742126465,
92
+ 1.182373736696718e-07,
93
+ -0.5198671817779541
94
+ ],
95
+ [
96
+ 0.2527899742126465,
97
+ -0.967521071434021,
98
+ -1.5191309543638454e-08,
99
+ -4.361587047576904
100
+ ],
101
+ [
102
+ 1.182373736696718e-07,
103
+ 1.5191309543638454e-08,
104
+ 1.0,
105
+ 0.9372063875198364
106
+ ],
107
+ [
108
+ 0.0,
109
+ 0.0,
110
+ 0.0,
111
+ 1.0
112
+ ]
113
+ ],
114
+ "lighting": {
115
+ "aug_enabled": true,
116
+ "params": {
117
+ "ambient": [
118
+ 0.27171132808775655,
119
+ 0.25761695276700775,
120
+ 0.26806025219735197
121
+ ],
122
+ "directional_primary": {
123
+ "direction": [
124
+ -0.7926883697687412,
125
+ -0.1359718495454704,
126
+ -0.5942699744767181
127
+ ],
128
+ "color": [
129
+ 0.9011022157634679,
130
+ 0.8735494520954484,
131
+ 0.826316142950272
132
+ ],
133
+ "azimuth_rad": -2.9717133809120306,
134
+ "elevation_rad": 0.6363576526590167,
135
+ "color_temp_k": 5049.411989671618,
136
+ "intensity": 0.8735494520954484
137
+ },
138
+ "directional_fill": {
139
+ "direction": [
140
+ 0.18751495656524783,
141
+ -0.2294004200604565,
142
+ -0.9550987312002981
143
+ ],
144
+ "color": [
145
+ 0.9444144090762215,
146
+ 0.9045915769324488,
147
+ 0.8363238646859814
148
+ ],
149
+ "azimuth_rad": -0.8855273336096494,
150
+ "elevation_rad": 1.2699928331358499,
151
+ "color_temp_k": 4871.100044969379,
152
+ "intensity": 0.9045915769324488
153
+ },
154
+ "point_color_scale": [
155
+ 1.0984245165981315,
156
+ 1.075628255047909,
157
+ 1.0365489495332423
158
+ ],
159
+ "shadow": true
160
+ }
161
+ },
162
+ "frames": [
163
+ {
164
+ "frame_idx": 0,
165
+ "qpos": [
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0,
171
+ -1.100000023841858
172
+ ]
173
+ }
174
+ ]
175
+ }
so100/ProcTHOR/train/bg_000041/scene_b00_001/scene_meta.json ADDED
@@ -0,0 +1,175 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "so100",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 41,
7
+ "base_idx": 0,
8
+ "cam_idx": 0,
9
+ "n_dof": 6,
10
+ "num_links": 9,
11
+ "joint_names": [
12
+ "shoulder_pan",
13
+ "shoulder_lift",
14
+ "elbow_flex",
15
+ "wrist_flex",
16
+ "wrist_roll",
17
+ "gripper"
18
+ ],
19
+ "link_names": [
20
+ "Base",
21
+ "Rotation_Pitch",
22
+ "Upper_Arm",
23
+ "Lower_Arm",
24
+ "Wrist_Pitch_Roll",
25
+ "Fixed_Jaw",
26
+ "Moving_Jaw",
27
+ "Fixed_Jaw_tip",
28
+ "Moving_Jaw_tip"
29
+ ],
30
+ "ee_link_name": "Moving_Jaw",
31
+ "image_width": 640,
32
+ "image_height": 480,
33
+ "fovy_rad": 1.1382477359365286,
34
+ "K": [
35
+ [
36
+ 382.5216298152268,
37
+ 0.0,
38
+ 348.0625789864007
39
+ ],
40
+ [
41
+ 0.0,
42
+ 375.1564153469138,
43
+ 261.9412406087494
44
+ ],
45
+ [
46
+ 0.0,
47
+ 0.0,
48
+ 1.0
49
+ ]
50
+ ],
51
+ "camera_eye": [
52
+ -3.450432300243105,
53
+ -0.182824545954563,
54
+ 0.9954782421328109
55
+ ],
56
+ "camera_target": [
57
+ -3.823661911146952,
58
+ -0.5138275841806405,
59
+ 1.2095263307003905
60
+ ],
61
+ "camera_roll_rad": -0.007109218353221064,
62
+ "camera_pose_world_cv": [
63
+ [
64
+ -0.659254789352417,
65
+ -0.3044106364250183,
66
+ -0.6875444650650024,
67
+ -3.450432300567627
68
+ ],
69
+ [
70
+ 0.7518061995506287,
71
+ -0.25096625089645386,
72
+ -0.6097568869590759,
73
+ -0.18282455205917358
74
+ ],
75
+ [
76
+ 0.013065993785858154,
77
+ -0.9188852906227112,
78
+ 0.39430856704711914,
79
+ 0.9954782128334045
80
+ ],
81
+ [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 1.0
86
+ ]
87
+ ],
88
+ "T_base_world": [
89
+ [
90
+ -0.9843313694000244,
91
+ -0.17632800340652466,
92
+ 1.1874140426471058e-07,
93
+ -3.865161657333374
94
+ ],
95
+ [
96
+ 0.17632800340652466,
97
+ -0.9843313694000244,
98
+ -1.0551380213996708e-08,
99
+ -0.5315397381782532
100
+ ],
101
+ [
102
+ 1.1874140426471058e-07,
103
+ 1.0551380213996708e-08,
104
+ 1.0,
105
+ 0.9702380299568176
106
+ ],
107
+ [
108
+ 0.0,
109
+ 0.0,
110
+ 0.0,
111
+ 1.0
112
+ ]
113
+ ],
114
+ "lighting": {
115
+ "aug_enabled": true,
116
+ "params": {
117
+ "ambient": [
118
+ 0.3312256435932038,
119
+ 0.3152141768761037,
120
+ 0.3231826898729272
121
+ ],
122
+ "directional_primary": {
123
+ "direction": [
124
+ 0.001178249119964529,
125
+ -0.3903290940437627,
126
+ -0.9206746483269682
127
+ ],
128
+ "color": [
129
+ 1.1573779044063286,
130
+ 1.1033721988797485,
131
+ 1.0107909894056113
132
+ ],
133
+ "azimuth_rad": -1.5677777315652839,
134
+ "elevation_rad": 1.16980538069028,
135
+ "color_temp_k": 4800.770782756304,
136
+ "intensity": 1.1033721988797485
137
+ },
138
+ "directional_fill": {
139
+ "direction": [
140
+ 0.25402386742797034,
141
+ -0.11544259332338164,
142
+ -0.9602837499529548
143
+ ],
144
+ "color": [
145
+ 0.6795750139961846,
146
+ 0.6864653992812961,
147
+ 0.6974900157374749
148
+ ],
149
+ "azimuth_rad": -0.42655310119326373,
150
+ "elevation_rad": 1.2880173805466368,
151
+ "color_temp_k": 5699.946889390422,
152
+ "intensity": 0.6892215533953409
153
+ },
154
+ "point_color_scale": [
155
+ 0.9357727297815946,
156
+ 0.8975515077884377,
157
+ 0.832029412943026
158
+ ],
159
+ "shadow": true
160
+ }
161
+ },
162
+ "frames": [
163
+ {
164
+ "frame_idx": 0,
165
+ "qpos": [
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0,
171
+ -1.100000023841858
172
+ ]
173
+ }
174
+ ]
175
+ }
so100/ProcTHOR/train/bg_000041/scene_b00_002/scene_meta.json ADDED
@@ -0,0 +1,175 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "so100",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 41,
7
+ "base_idx": 0,
8
+ "cam_idx": 1,
9
+ "n_dof": 6,
10
+ "num_links": 9,
11
+ "joint_names": [
12
+ "shoulder_pan",
13
+ "shoulder_lift",
14
+ "elbow_flex",
15
+ "wrist_flex",
16
+ "wrist_roll",
17
+ "gripper"
18
+ ],
19
+ "link_names": [
20
+ "Base",
21
+ "Rotation_Pitch",
22
+ "Upper_Arm",
23
+ "Lower_Arm",
24
+ "Wrist_Pitch_Roll",
25
+ "Fixed_Jaw",
26
+ "Moving_Jaw",
27
+ "Fixed_Jaw_tip",
28
+ "Moving_Jaw_tip"
29
+ ],
30
+ "ee_link_name": "Moving_Jaw",
31
+ "image_width": 640,
32
+ "image_height": 480,
33
+ "fovy_rad": 1.2272049822254327,
34
+ "K": [
35
+ [
36
+ 346.46293898071264,
37
+ 0.0,
38
+ 291.569419484237
39
+ ],
40
+ [
41
+ 0.0,
42
+ 340.7664509590031,
43
+ 257.94205705716763
44
+ ],
45
+ [
46
+ 0.0,
47
+ 0.0,
48
+ 1.0
49
+ ]
50
+ ],
51
+ "camera_eye": [
52
+ -4.286349815953898,
53
+ -0.8149345122015408,
54
+ 1.2129825787612905
55
+ ],
56
+ "camera_target": [
57
+ -3.9118051134006033,
58
+ -0.5220097174118352,
59
+ 1.0822744006171814
60
+ ],
61
+ "camera_roll_rad": 0.028166899851783625,
62
+ "camera_pose_world_cv": [
63
+ [
64
+ 0.6033180952072144,
65
+ -0.24314460158348083,
66
+ 0.7595314979553223,
67
+ -4.286349773406982
68
+ ],
69
+ [
70
+ -0.7956506013870239,
71
+ -0.11868053674697876,
72
+ 0.5940161347389221,
73
+ -0.814934492111206
74
+ ],
75
+ [
76
+ -0.05429014563560486,
77
+ -0.9627023339271545,
78
+ -0.2650602459907532,
79
+ 1.2129825353622437
80
+ ],
81
+ [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 1.0
86
+ ]
87
+ ],
88
+ "T_base_world": [
89
+ [
90
+ -0.9843313694000244,
91
+ -0.17632800340652466,
92
+ 1.1874140426471058e-07,
93
+ -3.865161657333374
94
+ ],
95
+ [
96
+ 0.17632800340652466,
97
+ -0.9843313694000244,
98
+ -1.0551380213996708e-08,
99
+ -0.5315397381782532
100
+ ],
101
+ [
102
+ 1.1874140426471058e-07,
103
+ 1.0551380213996708e-08,
104
+ 1.0,
105
+ 0.9702380299568176
106
+ ],
107
+ [
108
+ 0.0,
109
+ 0.0,
110
+ 0.0,
111
+ 1.0
112
+ ]
113
+ ],
114
+ "lighting": {
115
+ "aug_enabled": true,
116
+ "params": {
117
+ "ambient": [
118
+ 0.21868149430404765,
119
+ 0.21263538385832412,
120
+ 0.21256993993254064
121
+ ],
122
+ "directional_primary": {
123
+ "direction": [
124
+ 0.001178249119964529,
125
+ -0.3903290940437627,
126
+ -0.9206746483269682
127
+ ],
128
+ "color": [
129
+ 1.072542745649873,
130
+ 1.0103725873992684,
131
+ 0.9037951732553747
132
+ ],
133
+ "azimuth_rad": -1.5677777315652839,
134
+ "elevation_rad": 1.16980538069028,
135
+ "color_temp_k": 4620.972669941595,
136
+ "intensity": 1.0103725873992684
137
+ },
138
+ "directional_fill": {
139
+ "direction": [
140
+ 0.25402386742797034,
141
+ -0.11544259332338164,
142
+ -0.9602837499529548
143
+ ],
144
+ "color": [
145
+ 0.759414298837396,
146
+ 0.7800980570653765,
147
+ 0.8131920702301456
148
+ ],
149
+ "azimuth_rad": -0.42655310119326373,
150
+ "elevation_rad": 1.2880173805466368,
151
+ "color_temp_k": 6024.721064738196,
152
+ "intensity": 0.7883715603565687
153
+ },
154
+ "point_color_scale": [
155
+ 0.8804707962470049,
156
+ 0.8671976241255996,
157
+ 0.8444436147746194
158
+ ],
159
+ "shadow": false
160
+ }
161
+ },
162
+ "frames": [
163
+ {
164
+ "frame_idx": 0,
165
+ "qpos": [
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0,
171
+ -1.100000023841858
172
+ ]
173
+ }
174
+ ]
175
+ }
so100/ProcTHOR/train/bg_000041/scene_b00_003/scene_meta.json ADDED
@@ -0,0 +1,175 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "so100",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 41,
7
+ "base_idx": 0,
8
+ "cam_idx": 2,
9
+ "n_dof": 6,
10
+ "num_links": 9,
11
+ "joint_names": [
12
+ "shoulder_pan",
13
+ "shoulder_lift",
14
+ "elbow_flex",
15
+ "wrist_flex",
16
+ "wrist_roll",
17
+ "gripper"
18
+ ],
19
+ "link_names": [
20
+ "Base",
21
+ "Rotation_Pitch",
22
+ "Upper_Arm",
23
+ "Lower_Arm",
24
+ "Wrist_Pitch_Roll",
25
+ "Fixed_Jaw",
26
+ "Moving_Jaw",
27
+ "Fixed_Jaw_tip",
28
+ "Moving_Jaw_tip"
29
+ ],
30
+ "ee_link_name": "Moving_Jaw",
31
+ "image_width": 640,
32
+ "image_height": 480,
33
+ "fovy_rad": 0.79247669457927,
34
+ "K": [
35
+ [
36
+ 590.213054138421,
37
+ 0.0,
38
+ 298.82748793061194
39
+ ],
40
+ [
41
+ 0.0,
42
+ 573.6601434564751,
43
+ 259.0009114224224
44
+ ],
45
+ [
46
+ 0.0,
47
+ 0.0,
48
+ 1.0
49
+ ]
50
+ ],
51
+ "camera_eye": [
52
+ -4.101869521724721,
53
+ -0.9528476898008507,
54
+ 1.0535667805002338
55
+ ],
56
+ "camera_target": [
57
+ -3.8286858889042548,
58
+ -0.5627378737873449,
59
+ 1.168395591613715
60
+ ],
61
+ "camera_roll_rad": -0.029233460597063325,
62
+ "camera_pose_world_cv": [
63
+ [
64
+ 0.8098704814910889,
65
+ 0.18208563327789307,
66
+ 0.5576330423355103,
67
+ -4.101869583129883
68
+ ],
69
+ [
70
+ -0.5838517546653748,
71
+ 0.1581512689590454,
72
+ 0.7963073253631592,
73
+ -0.9528477191925049
74
+ ],
75
+ [
76
+ 0.05680578947067261,
77
+ -0.9704807996749878,
78
+ 0.23439300060272217,
79
+ 1.053566813468933
80
+ ],
81
+ [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 1.0
86
+ ]
87
+ ],
88
+ "T_base_world": [
89
+ [
90
+ -0.9843313694000244,
91
+ -0.17632800340652466,
92
+ 1.1874140426471058e-07,
93
+ -3.865161657333374
94
+ ],
95
+ [
96
+ 0.17632800340652466,
97
+ -0.9843313694000244,
98
+ -1.0551380213996708e-08,
99
+ -0.5315397381782532
100
+ ],
101
+ [
102
+ 1.1874140426471058e-07,
103
+ 1.0551380213996708e-08,
104
+ 1.0,
105
+ 0.9702380299568176
106
+ ],
107
+ [
108
+ 0.0,
109
+ 0.0,
110
+ 0.0,
111
+ 1.0
112
+ ]
113
+ ],
114
+ "lighting": {
115
+ "aug_enabled": true,
116
+ "params": {
117
+ "ambient": [
118
+ 0.25385891331762384,
119
+ 0.2522148960236733,
120
+ 0.25128299396945364
121
+ ],
122
+ "directional_primary": {
123
+ "direction": [
124
+ 0.001178249119964529,
125
+ -0.3903290940437627,
126
+ -0.9206746483269682
127
+ ],
128
+ "color": [
129
+ 1.112318290310827,
130
+ 1.1058921541391984,
131
+ 1.0948759207021206
132
+ ],
133
+ "azimuth_rad": -1.5677777315652839,
134
+ "elevation_rad": 1.16980538069028,
135
+ "color_temp_k": 5416.98833836068,
136
+ "intensity": 1.1058921541391984
137
+ },
138
+ "directional_fill": {
139
+ "direction": [
140
+ 0.25402386742797034,
141
+ -0.11544259332338164,
142
+ -0.9602837499529548
143
+ ],
144
+ "color": [
145
+ 0.7461220927744563,
146
+ 0.7210908613470981,
147
+ 0.6781801789001985
148
+ ],
149
+ "azimuth_rad": -0.42655310119326373,
150
+ "elevation_rad": 1.2880173805466368,
151
+ "color_temp_k": 5004.099913674118,
152
+ "intensity": 0.7210908613470981
153
+ },
154
+ "point_color_scale": [
155
+ 1.1359473258970443,
156
+ 1.1100557199260122,
157
+ 1.0656701096899575
158
+ ],
159
+ "shadow": true
160
+ }
161
+ },
162
+ "frames": [
163
+ {
164
+ "frame_idx": 0,
165
+ "qpos": [
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0,
171
+ -1.100000023841858
172
+ ]
173
+ }
174
+ ]
175
+ }
so100/ProcTHOR/train/bg_000041/scene_b00_004/scene_meta.json ADDED
@@ -0,0 +1,175 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "so100",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 41,
7
+ "base_idx": 0,
8
+ "cam_idx": 3,
9
+ "n_dof": 6,
10
+ "num_links": 9,
11
+ "joint_names": [
12
+ "shoulder_pan",
13
+ "shoulder_lift",
14
+ "elbow_flex",
15
+ "wrist_flex",
16
+ "wrist_roll",
17
+ "gripper"
18
+ ],
19
+ "link_names": [
20
+ "Base",
21
+ "Rotation_Pitch",
22
+ "Upper_Arm",
23
+ "Lower_Arm",
24
+ "Wrist_Pitch_Roll",
25
+ "Fixed_Jaw",
26
+ "Moving_Jaw",
27
+ "Fixed_Jaw_tip",
28
+ "Moving_Jaw_tip"
29
+ ],
30
+ "ee_link_name": "Moving_Jaw",
31
+ "image_width": 640,
32
+ "image_height": 480,
33
+ "fovy_rad": 1.0936029729862224,
34
+ "K": [
35
+ [
36
+ 404.4066103707459,
37
+ 0.0,
38
+ 313.15310392096114
39
+ ],
40
+ [
41
+ 0.0,
42
+ 394.2744883195837,
43
+ 217.795673425362
44
+ ],
45
+ [
46
+ 0.0,
47
+ 0.0,
48
+ 1.0
49
+ ]
50
+ ],
51
+ "camera_eye": [
52
+ -4.683104319951028,
53
+ -0.40037852686382824,
54
+ 1.2695539553342656
55
+ ],
56
+ "camera_target": [
57
+ -3.8265927739689176,
58
+ -0.5766050313429228,
59
+ 1.2119239458211373
60
+ ],
61
+ "camera_roll_rad": -0.026545666272658714,
62
+ "camera_pose_world_cv": [
63
+ [
64
+ -0.19782543182373047,
65
+ -0.07501578330993652,
66
+ 0.9773625135421753,
67
+ -4.683104515075684
68
+ ],
69
+ [
70
+ -0.9788058996200562,
71
+ -0.03874361515045166,
72
+ -0.20109140872955322,
73
+ -0.4003785252571106
74
+ ],
75
+ [
76
+ 0.052951544523239136,
77
+ -0.9964293241500854,
78
+ -0.0657615065574646,
79
+ 1.2695538997650146
80
+ ],
81
+ [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 1.0
86
+ ]
87
+ ],
88
+ "T_base_world": [
89
+ [
90
+ -0.9843313694000244,
91
+ -0.17632800340652466,
92
+ 1.1874140426471058e-07,
93
+ -3.865161657333374
94
+ ],
95
+ [
96
+ 0.17632800340652466,
97
+ -0.9843313694000244,
98
+ -1.0551380213996708e-08,
99
+ -0.5315397381782532
100
+ ],
101
+ [
102
+ 1.1874140426471058e-07,
103
+ 1.0551380213996708e-08,
104
+ 1.0,
105
+ 0.9702380299568176
106
+ ],
107
+ [
108
+ 0.0,
109
+ 0.0,
110
+ 0.0,
111
+ 1.0
112
+ ]
113
+ ],
114
+ "lighting": {
115
+ "aug_enabled": true,
116
+ "params": {
117
+ "ambient": [
118
+ 0.24532728402323087,
119
+ 0.249418946923362,
120
+ 0.24681912193616987
121
+ ],
122
+ "directional_primary": {
123
+ "direction": [
124
+ 0.001178249119964529,
125
+ -0.3903290940437627,
126
+ -0.9206746483269682
127
+ ],
128
+ "color": [
129
+ 1.2039907355069466,
130
+ 1.1702532137363308,
131
+ 1.112417462129561
132
+ ],
133
+ "azimuth_rad": -1.5677777315652839,
134
+ "elevation_rad": 1.16980538069028,
135
+ "color_temp_k": 5088.153579869876,
136
+ "intensity": 1.1702532137363308
137
+ },
138
+ "directional_fill": {
139
+ "direction": [
140
+ 0.25402386742797034,
141
+ -0.11544259332338164,
142
+ -0.9602837499529548
143
+ ],
144
+ "color": [
145
+ 0.9021253385246132,
146
+ 0.8637936231831231,
147
+ 0.7980821111691401
148
+ ],
149
+ "azimuth_rad": -0.42655310119326373,
150
+ "elevation_rad": 1.2880173805466368,
151
+ "color_temp_k": 4866.0569854267505,
152
+ "intensity": 0.8637936231831231
153
+ },
154
+ "point_color_scale": [
155
+ 1.1326551301145902,
156
+ 1.1662240986766472,
157
+ 1.2199344483759385
158
+ ],
159
+ "shadow": true
160
+ }
161
+ },
162
+ "frames": [
163
+ {
164
+ "frame_idx": 0,
165
+ "qpos": [
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0,
171
+ -1.100000023841858
172
+ ]
173
+ }
174
+ ]
175
+ }
so100/ProcTHOR/train/bg_000041/scene_b00_005/scene_meta.json ADDED
@@ -0,0 +1,175 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "so100",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 41,
7
+ "base_idx": 0,
8
+ "cam_idx": 4,
9
+ "n_dof": 6,
10
+ "num_links": 9,
11
+ "joint_names": [
12
+ "shoulder_pan",
13
+ "shoulder_lift",
14
+ "elbow_flex",
15
+ "wrist_flex",
16
+ "wrist_roll",
17
+ "gripper"
18
+ ],
19
+ "link_names": [
20
+ "Base",
21
+ "Rotation_Pitch",
22
+ "Upper_Arm",
23
+ "Lower_Arm",
24
+ "Wrist_Pitch_Roll",
25
+ "Fixed_Jaw",
26
+ "Moving_Jaw",
27
+ "Fixed_Jaw_tip",
28
+ "Moving_Jaw_tip"
29
+ ],
30
+ "ee_link_name": "Moving_Jaw",
31
+ "image_width": 640,
32
+ "image_height": 480,
33
+ "fovy_rad": 0.8544663074727427,
34
+ "K": [
35
+ [
36
+ 552.436033715002,
37
+ 0.0,
38
+ 310.45596457297364
39
+ ],
40
+ [
41
+ 0.0,
42
+ 527.1522355925881,
43
+ 233.38425908832386
44
+ ],
45
+ [
46
+ 0.0,
47
+ 0.0,
48
+ 1.0
49
+ ]
50
+ ],
51
+ "camera_eye": [
52
+ -3.4355139015990916,
53
+ -0.23726522007026568,
54
+ 1.214535673038029
55
+ ],
56
+ "camera_target": [
57
+ -3.8325554734793013,
58
+ -0.578204558367416,
59
+ 1.2190619443159085
60
+ ],
61
+ "camera_roll_rad": 0.004547200399921875,
62
+ "camera_pose_world_cv": [
63
+ [
64
+ -0.6515047550201416,
65
+ -0.0006364583969116211,
66
+ -0.7586443424224854,
67
+ -3.435513973236084
68
+ ],
69
+ [
70
+ 0.7585901618003845,
71
+ -0.01253366470336914,
72
+ -0.651447594165802,
73
+ -0.2372652143239975
74
+ ],
75
+ [
76
+ -0.00909397006034851,
77
+ -0.9999212622642517,
78
+ 0.00864863395690918,
79
+ 1.2145357131958008
80
+ ],
81
+ [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 1.0
86
+ ]
87
+ ],
88
+ "T_base_world": [
89
+ [
90
+ -0.9843313694000244,
91
+ -0.17632800340652466,
92
+ 1.1874140426471058e-07,
93
+ -3.865161657333374
94
+ ],
95
+ [
96
+ 0.17632800340652466,
97
+ -0.9843313694000244,
98
+ -1.0551380213996708e-08,
99
+ -0.5315397381782532
100
+ ],
101
+ [
102
+ 1.1874140426471058e-07,
103
+ 1.0551380213996708e-08,
104
+ 1.0,
105
+ 0.9702380299568176
106
+ ],
107
+ [
108
+ 0.0,
109
+ 0.0,
110
+ 0.0,
111
+ 1.0
112
+ ]
113
+ ],
114
+ "lighting": {
115
+ "aug_enabled": true,
116
+ "params": {
117
+ "ambient": [
118
+ 0.3508960355436394,
119
+ 0.3734560226475325,
120
+ 0.36846995129459625
121
+ ],
122
+ "directional_primary": {
123
+ "direction": [
124
+ 0.001178249119964529,
125
+ -0.3903290940437627,
126
+ -0.9206746483269682
127
+ ],
128
+ "color": [
129
+ 1.1357935033078959,
130
+ 1.1110118541448588,
131
+ 1.068529027008224
132
+ ],
133
+ "azimuth_rad": -1.5677777315652839,
134
+ "elevation_rad": 1.16980538069028,
135
+ "color_temp_k": 5181.350331095749,
136
+ "intensity": 1.1110118541448588
137
+ },
138
+ "directional_fill": {
139
+ "direction": [
140
+ 0.25402386742797034,
141
+ -0.11544259332338164,
142
+ -0.9602837499529548
143
+ ],
144
+ "color": [
145
+ 0.7342725677716052,
146
+ 0.7602299867908809,
147
+ 0.8017618572217221
148
+ ],
149
+ "azimuth_rad": -0.42655310119326373,
150
+ "elevation_rad": 1.2880173805466368,
151
+ "color_temp_k": 6173.68239454354,
152
+ "intensity": 0.7706129543985912
153
+ },
154
+ "point_color_scale": [
155
+ 1.1871901357727639,
156
+ 1.1811396847327593,
157
+ 1.170767482949894
158
+ ],
159
+ "shadow": true
160
+ }
161
+ },
162
+ "frames": [
163
+ {
164
+ "frame_idx": 0,
165
+ "qpos": [
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0,
171
+ -1.100000023841858
172
+ ]
173
+ }
174
+ ]
175
+ }
so100/ProcTHOR/train/bg_000041/scene_b00_006/scene_meta.json ADDED
@@ -0,0 +1,175 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "so100",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 41,
7
+ "base_idx": 0,
8
+ "cam_idx": 5,
9
+ "n_dof": 6,
10
+ "num_links": 9,
11
+ "joint_names": [
12
+ "shoulder_pan",
13
+ "shoulder_lift",
14
+ "elbow_flex",
15
+ "wrist_flex",
16
+ "wrist_roll",
17
+ "gripper"
18
+ ],
19
+ "link_names": [
20
+ "Base",
21
+ "Rotation_Pitch",
22
+ "Upper_Arm",
23
+ "Lower_Arm",
24
+ "Wrist_Pitch_Roll",
25
+ "Fixed_Jaw",
26
+ "Moving_Jaw",
27
+ "Fixed_Jaw_tip",
28
+ "Moving_Jaw_tip"
29
+ ],
30
+ "ee_link_name": "Moving_Jaw",
31
+ "image_width": 640,
32
+ "image_height": 480,
33
+ "fovy_rad": 0.9703390402943826,
34
+ "K": [
35
+ [
36
+ 458.8627153913826,
37
+ 0.0,
38
+ 295.9368959031669
39
+ ],
40
+ [
41
+ 0.0,
42
+ 455.23582761405055,
43
+ 254.43244765440986
44
+ ],
45
+ [
46
+ 0.0,
47
+ 0.0,
48
+ 1.0
49
+ ]
50
+ ],
51
+ "camera_eye": [
52
+ -4.251818063853984,
53
+ -0.20070860228347248,
54
+ 1.1629447868034417
55
+ ],
56
+ "camera_target": [
57
+ -3.888671038465207,
58
+ -0.5607883016531054,
59
+ 1.2192263823885303
60
+ ],
61
+ "camera_roll_rad": -0.027695969726952024,
62
+ "camera_pose_world_cv": [
63
+ [
64
+ -0.7073221206665039,
65
+ 0.03857898712158203,
66
+ 0.7058380842208862,
67
+ -4.2518181800842285
68
+ ],
69
+ [
70
+ -0.7047462463378906,
71
+ -0.11621904373168945,
72
+ -0.6998756527900696,
73
+ -0.20070859789848328
74
+ ],
75
+ [
76
+ 0.05503135919570923,
77
+ -0.9924741387367249,
78
+ 0.10939276218414307,
79
+ 1.1629447937011719
80
+ ],
81
+ [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 1.0
86
+ ]
87
+ ],
88
+ "T_base_world": [
89
+ [
90
+ -0.9843313694000244,
91
+ -0.17632800340652466,
92
+ 1.1874140426471058e-07,
93
+ -3.865161657333374
94
+ ],
95
+ [
96
+ 0.17632800340652466,
97
+ -0.9843313694000244,
98
+ -1.0551380213996708e-08,
99
+ -0.5315397381782532
100
+ ],
101
+ [
102
+ 1.1874140426471058e-07,
103
+ 1.0551380213996708e-08,
104
+ 1.0,
105
+ 0.9702380299568176
106
+ ],
107
+ [
108
+ 0.0,
109
+ 0.0,
110
+ 0.0,
111
+ 1.0
112
+ ]
113
+ ],
114
+ "lighting": {
115
+ "aug_enabled": true,
116
+ "params": {
117
+ "ambient": [
118
+ 0.3459494474530082,
119
+ 0.3201845025642312,
120
+ 0.32882256520070274
121
+ ],
122
+ "directional_primary": {
123
+ "direction": [
124
+ 0.001178249119964529,
125
+ -0.3903290940437627,
126
+ -0.9206746483269682
127
+ ],
128
+ "color": [
129
+ 1.1385454675045201,
130
+ 1.1420482542253838,
131
+ 1.1476527129787657
132
+ ],
133
+ "azimuth_rad": -1.5677777315652839,
134
+ "elevation_rad": 1.16980538069028,
135
+ "color_temp_k": 5561.267019180592,
136
+ "intensity": 1.1434493689137293
137
+ },
138
+ "directional_fill": {
139
+ "direction": [
140
+ 0.25402386742797034,
141
+ -0.11544259332338164,
142
+ -0.9602837499529548
143
+ ],
144
+ "color": [
145
+ 0.7127518951091308,
146
+ 0.7187068433857056,
147
+ 0.7282347606282255
148
+ ],
149
+ "azimuth_rad": -0.42655310119326373,
150
+ "elevation_rad": 1.2880173805466368,
151
+ "color_temp_k": 5665.165457822734,
152
+ "intensity": 0.7210888226963356
153
+ },
154
+ "point_color_scale": [
155
+ 1.0180490708649454,
156
+ 1.0217528160092975,
157
+ 1.0276788082402606
158
+ ],
159
+ "shadow": true
160
+ }
161
+ },
162
+ "frames": [
163
+ {
164
+ "frame_idx": 0,
165
+ "qpos": [
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0,
171
+ -1.100000023841858
172
+ ]
173
+ }
174
+ ]
175
+ }
so100/ProcTHOR/train/bg_000041/scene_b00_007/scene_meta.json ADDED
@@ -0,0 +1,175 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "so100",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 41,
7
+ "base_idx": 0,
8
+ "cam_idx": 6,
9
+ "n_dof": 6,
10
+ "num_links": 9,
11
+ "joint_names": [
12
+ "shoulder_pan",
13
+ "shoulder_lift",
14
+ "elbow_flex",
15
+ "wrist_flex",
16
+ "wrist_roll",
17
+ "gripper"
18
+ ],
19
+ "link_names": [
20
+ "Base",
21
+ "Rotation_Pitch",
22
+ "Upper_Arm",
23
+ "Lower_Arm",
24
+ "Wrist_Pitch_Roll",
25
+ "Fixed_Jaw",
26
+ "Moving_Jaw",
27
+ "Fixed_Jaw_tip",
28
+ "Moving_Jaw_tip"
29
+ ],
30
+ "ee_link_name": "Moving_Jaw",
31
+ "image_width": 640,
32
+ "image_height": 480,
33
+ "fovy_rad": 1.2172702006106018,
34
+ "K": [
35
+ [
36
+ 355.5293148847392,
37
+ 0.0,
38
+ 302.95970310027633
39
+ ],
40
+ [
41
+ 0.0,
42
+ 344.3876206202615,
43
+ 226.02456873893203
44
+ ],
45
+ [
46
+ 0.0,
47
+ 0.0,
48
+ 1.0
49
+ ]
50
+ ],
51
+ "camera_eye": [
52
+ -3.303226817371138,
53
+ -0.3825555211977782,
54
+ 1.2399628568475611
55
+ ],
56
+ "camera_target": [
57
+ -3.8454726995337363,
58
+ -0.5319968834111838,
59
+ 1.1467890539694834
60
+ ],
61
+ "camera_roll_rad": -0.01884240989907987,
62
+ "camera_pose_world_cv": [
63
+ [
64
+ -0.2714388370513916,
65
+ 0.1474303901195526,
66
+ -0.9510969519615173,
67
+ -3.3032267093658447
68
+ ],
69
+ [
70
+ 0.9617377519607544,
71
+ 0.0797119140625,
72
+ -0.26211944222450256,
73
+ -0.3825555145740509
74
+ ],
75
+ [
76
+ 0.03716933727264404,
77
+ -0.985855221748352,
78
+ -0.16342616081237793,
79
+ 1.2399628162384033
80
+ ],
81
+ [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 1.0
86
+ ]
87
+ ],
88
+ "T_base_world": [
89
+ [
90
+ -0.9843313694000244,
91
+ -0.17632800340652466,
92
+ 1.1874140426471058e-07,
93
+ -3.865161657333374
94
+ ],
95
+ [
96
+ 0.17632800340652466,
97
+ -0.9843313694000244,
98
+ -1.0551380213996708e-08,
99
+ -0.5315397381782532
100
+ ],
101
+ [
102
+ 1.1874140426471058e-07,
103
+ 1.0551380213996708e-08,
104
+ 1.0,
105
+ 0.9702380299568176
106
+ ],
107
+ [
108
+ 0.0,
109
+ 0.0,
110
+ 0.0,
111
+ 1.0
112
+ ]
113
+ ],
114
+ "lighting": {
115
+ "aug_enabled": true,
116
+ "params": {
117
+ "ambient": [
118
+ 0.36620733565622265,
119
+ 0.37135937312388984,
120
+ 0.3646098954842829
121
+ ],
122
+ "directional_primary": {
123
+ "direction": [
124
+ 0.001178249119964529,
125
+ -0.3903290940437627,
126
+ -0.9206746483269682
127
+ ],
128
+ "color": [
129
+ 1.1970987481377262,
130
+ 1.132700640822802,
131
+ 1.0223038854257895
132
+ ],
133
+ "azimuth_rad": -1.5677777315652839,
134
+ "elevation_rad": 1.16980538069028,
135
+ "color_temp_k": 4687.805737468731,
136
+ "intensity": 1.132700640822802
137
+ },
138
+ "directional_fill": {
139
+ "direction": [
140
+ 0.25402386742797034,
141
+ -0.11544259332338164,
142
+ -0.9602837499529548
143
+ ],
144
+ "color": [
145
+ 0.6756746191932297,
146
+ 0.6762180687751497,
147
+ 0.6770875881062217
148
+ ],
149
+ "azimuth_rad": -0.42655310119326373,
150
+ "elevation_rad": 1.2880173805466368,
151
+ "color_temp_k": 5516.068039693616,
152
+ "intensity": 0.6764354486079177
153
+ },
154
+ "point_color_scale": [
155
+ 0.8945651623015002,
156
+ 0.8700247483242354,
157
+ 0.8279554672203527
158
+ ],
159
+ "shadow": true
160
+ }
161
+ },
162
+ "frames": [
163
+ {
164
+ "frame_idx": 0,
165
+ "qpos": [
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0,
171
+ -1.100000023841858
172
+ ]
173
+ }
174
+ ]
175
+ }
so100/ProcTHOR/train/bg_000041/scene_b00_008/scene_meta.json ADDED
@@ -0,0 +1,175 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "so100",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 41,
7
+ "base_idx": 0,
8
+ "cam_idx": 7,
9
+ "n_dof": 6,
10
+ "num_links": 9,
11
+ "joint_names": [
12
+ "shoulder_pan",
13
+ "shoulder_lift",
14
+ "elbow_flex",
15
+ "wrist_flex",
16
+ "wrist_roll",
17
+ "gripper"
18
+ ],
19
+ "link_names": [
20
+ "Base",
21
+ "Rotation_Pitch",
22
+ "Upper_Arm",
23
+ "Lower_Arm",
24
+ "Wrist_Pitch_Roll",
25
+ "Fixed_Jaw",
26
+ "Moving_Jaw",
27
+ "Fixed_Jaw_tip",
28
+ "Moving_Jaw_tip"
29
+ ],
30
+ "ee_link_name": "Moving_Jaw",
31
+ "image_width": 640,
32
+ "image_height": 480,
33
+ "fovy_rad": 1.3086149340689992,
34
+ "K": [
35
+ [
36
+ 301.91138246371617,
37
+ 0.0,
38
+ 306.3700598319325
39
+ ],
40
+ [
41
+ 0.0,
42
+ 312.89781636642795,
43
+ 221.02958961382544
44
+ ],
45
+ [
46
+ 0.0,
47
+ 0.0,
48
+ 1.0
49
+ ]
50
+ ],
51
+ "camera_eye": [
52
+ -3.67387415142464,
53
+ -1.1635558511983617,
54
+ 1.1245680130922833
55
+ ],
56
+ "camera_target": [
57
+ -3.871293572019309,
58
+ -0.529289633733308,
59
+ 1.2063120519469395
60
+ ],
61
+ "camera_roll_rad": 0.034010214484833226,
62
+ "camera_pose_world_cv": [
63
+ [
64
+ 0.9501422643661499,
65
+ -0.10111086815595627,
66
+ -0.2949683368206024,
67
+ -3.6738741397857666
68
+ ],
69
+ [
70
+ 0.3044322431087494,
71
+ 0.09614765644073486,
72
+ 0.9476690888404846,
73
+ -1.1635558605194092
74
+ ],
75
+ [
76
+ -0.06745912879705429,
77
+ -0.9902183413505554,
78
+ 0.12213540077209473,
79
+ 1.124567985534668
80
+ ],
81
+ [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 1.0
86
+ ]
87
+ ],
88
+ "T_base_world": [
89
+ [
90
+ -0.9843313694000244,
91
+ -0.17632800340652466,
92
+ 1.1874140426471058e-07,
93
+ -3.865161657333374
94
+ ],
95
+ [
96
+ 0.17632800340652466,
97
+ -0.9843313694000244,
98
+ -1.0551380213996708e-08,
99
+ -0.5315397381782532
100
+ ],
101
+ [
102
+ 1.1874140426471058e-07,
103
+ 1.0551380213996708e-08,
104
+ 1.0,
105
+ 0.9702380299568176
106
+ ],
107
+ [
108
+ 0.0,
109
+ 0.0,
110
+ 0.0,
111
+ 1.0
112
+ ]
113
+ ],
114
+ "lighting": {
115
+ "aug_enabled": true,
116
+ "params": {
117
+ "ambient": [
118
+ 0.3400097093349812,
119
+ 0.35072950293804755,
120
+ 0.3445696172461247
121
+ ],
122
+ "directional_primary": {
123
+ "direction": [
124
+ 0.001178249119964529,
125
+ -0.3903290940437627,
126
+ -0.9206746483269682
127
+ ],
128
+ "color": [
129
+ 0.8930489653819255,
130
+ 0.8736049305145883,
131
+ 0.8402722993134393
132
+ ],
133
+ "azimuth_rad": -1.5677777315652839,
134
+ "elevation_rad": 1.16980538069028,
135
+ "color_temp_k": 5182.039424259403,
136
+ "intensity": 0.8736049305145883
137
+ },
138
+ "directional_fill": {
139
+ "direction": [
140
+ 0.25402386742797034,
141
+ -0.11544259332338164,
142
+ -0.9602837499529548
143
+ ],
144
+ "color": [
145
+ 0.5260231179307064,
146
+ 0.5474286802067395,
147
+ 0.5816775798483925
148
+ ],
149
+ "azimuth_rad": -0.42655310119326373,
150
+ "elevation_rad": 1.2880173805466368,
151
+ "color_temp_k": 6269.996849913319,
152
+ "intensity": 0.5559909051171528
153
+ },
154
+ "point_color_scale": [
155
+ 0.927275175939179,
156
+ 0.945783302479967,
157
+ 0.9753963049452278
158
+ ],
159
+ "shadow": false
160
+ }
161
+ },
162
+ "frames": [
163
+ {
164
+ "frame_idx": 0,
165
+ "qpos": [
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0,
171
+ -1.100000023841858
172
+ ]
173
+ }
174
+ ]
175
+ }
so100/ProcTHOR/train/bg_000041/scene_b00_009/scene_meta.json ADDED
@@ -0,0 +1,175 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "so100",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 41,
7
+ "base_idx": 0,
8
+ "cam_idx": 8,
9
+ "n_dof": 6,
10
+ "num_links": 9,
11
+ "joint_names": [
12
+ "shoulder_pan",
13
+ "shoulder_lift",
14
+ "elbow_flex",
15
+ "wrist_flex",
16
+ "wrist_roll",
17
+ "gripper"
18
+ ],
19
+ "link_names": [
20
+ "Base",
21
+ "Rotation_Pitch",
22
+ "Upper_Arm",
23
+ "Lower_Arm",
24
+ "Wrist_Pitch_Roll",
25
+ "Fixed_Jaw",
26
+ "Moving_Jaw",
27
+ "Fixed_Jaw_tip",
28
+ "Moving_Jaw_tip"
29
+ ],
30
+ "ee_link_name": "Moving_Jaw",
31
+ "image_width": 640,
32
+ "image_height": 480,
33
+ "fovy_rad": 1.2728550215122492,
34
+ "K": [
35
+ [
36
+ 310.2051407121519,
37
+ 0.0,
38
+ 293.6216470601498
39
+ ],
40
+ [
41
+ 0.0,
42
+ 324.76071191026244,
43
+ 245.33981906483058
44
+ ],
45
+ [
46
+ 0.0,
47
+ 0.0,
48
+ 1.0
49
+ ]
50
+ ],
51
+ "camera_eye": [
52
+ -3.632338719795639,
53
+ -1.2670625469762031,
54
+ 1.1220674607174421
55
+ ],
56
+ "camera_target": [
57
+ -3.824772360494528,
58
+ -0.5186035717570526,
59
+ 1.1494221496655301
60
+ ],
61
+ "camera_roll_rad": 0.049216639674397294,
62
+ "camera_pose_world_cv": [
63
+ [
64
+ 0.96294766664505,
65
+ -0.10394485294818878,
66
+ -0.2488519847393036,
67
+ -3.632338762283325
68
+ ],
69
+ [
70
+ 0.25116944313049316,
71
+ 0.00962376594543457,
72
+ 0.9678953289985657,
73
+ -1.2670625448226929
74
+ ],
75
+ [
76
+ -0.09821286052465439,
77
+ -0.9945365786552429,
78
+ 0.03537487983703613,
79
+ 1.1220674514770508
80
+ ],
81
+ [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 1.0
86
+ ]
87
+ ],
88
+ "T_base_world": [
89
+ [
90
+ -0.9843313694000244,
91
+ -0.17632800340652466,
92
+ 1.1874140426471058e-07,
93
+ -3.865161657333374
94
+ ],
95
+ [
96
+ 0.17632800340652466,
97
+ -0.9843313694000244,
98
+ -1.0551380213996708e-08,
99
+ -0.5315397381782532
100
+ ],
101
+ [
102
+ 1.1874140426471058e-07,
103
+ 1.0551380213996708e-08,
104
+ 1.0,
105
+ 0.9702380299568176
106
+ ],
107
+ [
108
+ 0.0,
109
+ 0.0,
110
+ 0.0,
111
+ 1.0
112
+ ]
113
+ ],
114
+ "lighting": {
115
+ "aug_enabled": true,
116
+ "params": {
117
+ "ambient": [
118
+ 0.3760530522666955,
119
+ 0.37233247366954136,
120
+ 0.3755988181801846
121
+ ],
122
+ "directional_primary": {
123
+ "direction": [
124
+ 0.001178249119964529,
125
+ -0.3903290940437627,
126
+ -0.9206746483269682
127
+ ],
128
+ "color": [
129
+ 1.0120075551060357,
130
+ 1.0614298000323985,
131
+ 1.1405053919145793
132
+ ],
133
+ "azimuth_rad": -1.5677777315652839,
134
+ "elevation_rad": 1.16980538069028,
135
+ "color_temp_k": 6414.212068838959,
136
+ "intensity": 1.0811986980029438
137
+ },
138
+ "directional_fill": {
139
+ "direction": [
140
+ 0.25402386742797034,
141
+ -0.11544259332338164,
142
+ -0.9602837499529548
143
+ ],
144
+ "color": [
145
+ 0.6083822979362031,
146
+ 0.6117483000720652,
147
+ 0.6171339034894446
148
+ ],
149
+ "azimuth_rad": -0.42655310119326373,
150
+ "elevation_rad": 1.2880173805466368,
151
+ "color_temp_k": 5609.803661025809,
152
+ "intensity": 0.61309470092641
153
+ },
154
+ "point_color_scale": [
155
+ 1.065159828435103,
156
+ 1.0913725311900309,
157
+ 1.1333128555979155
158
+ ],
159
+ "shadow": true
160
+ }
161
+ },
162
+ "frames": [
163
+ {
164
+ "frame_idx": 0,
165
+ "qpos": [
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0,
171
+ -1.100000023841858
172
+ ]
173
+ }
174
+ ]
175
+ }
so100/ProcTHOR/train/bg_000041/scene_b00_010/scene_meta.json ADDED
@@ -0,0 +1,175 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "so100",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 41,
7
+ "base_idx": 0,
8
+ "cam_idx": 9,
9
+ "n_dof": 6,
10
+ "num_links": 9,
11
+ "joint_names": [
12
+ "shoulder_pan",
13
+ "shoulder_lift",
14
+ "elbow_flex",
15
+ "wrist_flex",
16
+ "wrist_roll",
17
+ "gripper"
18
+ ],
19
+ "link_names": [
20
+ "Base",
21
+ "Rotation_Pitch",
22
+ "Upper_Arm",
23
+ "Lower_Arm",
24
+ "Wrist_Pitch_Roll",
25
+ "Fixed_Jaw",
26
+ "Moving_Jaw",
27
+ "Fixed_Jaw_tip",
28
+ "Moving_Jaw_tip"
29
+ ],
30
+ "ee_link_name": "Moving_Jaw",
31
+ "image_width": 640,
32
+ "image_height": 480,
33
+ "fovy_rad": 1.2364007233094658,
34
+ "K": [
35
+ [
36
+ 322.4045965719083,
37
+ 0.0,
38
+ 294.2415956962092
39
+ ],
40
+ [
41
+ 0.0,
42
+ 337.4598880549694,
43
+ 246.47301214128632
44
+ ],
45
+ [
46
+ 0.0,
47
+ 0.0,
48
+ 1.0
49
+ ]
50
+ ],
51
+ "camera_eye": [
52
+ -3.690165837453377,
53
+ -1.1672089211416803,
54
+ 1.3526760464573488
55
+ ],
56
+ "camera_target": [
57
+ -3.855756237159603,
58
+ -0.5556615600094786,
59
+ 1.0801024857289572
60
+ ],
61
+ "camera_roll_rad": -0.030347393861569556,
62
+ "camera_pose_world_cv": [
63
+ [
64
+ 0.957198441028595,
65
+ 0.1616482436656952,
66
+ -0.2400854527950287,
67
+ -3.6901657581329346
68
+ ],
69
+ [
70
+ 0.28401845693588257,
71
+ -0.36490482091903687,
72
+ 0.8866668939590454,
73
+ -1.1672089099884033
74
+ ],
75
+ [
76
+ 0.05571980029344559,
77
+ -0.9169048070907593,
78
+ -0.39519739151000977,
79
+ 1.3526760339736938
80
+ ],
81
+ [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 1.0
86
+ ]
87
+ ],
88
+ "T_base_world": [
89
+ [
90
+ -0.9843313694000244,
91
+ -0.17632800340652466,
92
+ 1.1874140426471058e-07,
93
+ -3.865161657333374
94
+ ],
95
+ [
96
+ 0.17632800340652466,
97
+ -0.9843313694000244,
98
+ -1.0551380213996708e-08,
99
+ -0.5315397381782532
100
+ ],
101
+ [
102
+ 1.1874140426471058e-07,
103
+ 1.0551380213996708e-08,
104
+ 1.0,
105
+ 0.9702380299568176
106
+ ],
107
+ [
108
+ 0.0,
109
+ 0.0,
110
+ 0.0,
111
+ 1.0
112
+ ]
113
+ ],
114
+ "lighting": {
115
+ "aug_enabled": true,
116
+ "params": {
117
+ "ambient": [
118
+ 0.22895412244161303,
119
+ 0.21628455519251066,
120
+ 0.2337094191833138
121
+ ],
122
+ "directional_primary": {
123
+ "direction": [
124
+ 0.001178249119964529,
125
+ -0.3903290940437627,
126
+ -0.9206746483269682
127
+ ],
128
+ "color": [
129
+ 1.1246742211751959,
130
+ 1.123611714200108,
131
+ 1.121790273671386
132
+ ],
133
+ "azimuth_rad": -1.5677777315652839,
134
+ "elevation_rad": 1.16980538069028,
135
+ "color_temp_k": 5486.491177618695,
136
+ "intensity": 1.123611714200108
137
+ },
138
+ "directional_fill": {
139
+ "direction": [
140
+ 0.25402386742797034,
141
+ -0.11544259332338164,
142
+ -0.9602837499529548
143
+ ],
144
+ "color": [
145
+ 0.7190777035369971,
146
+ 0.7238394508344745,
147
+ 0.7314582465104386
148
+ ],
149
+ "azimuth_rad": -0.42655310119326373,
150
+ "elevation_rad": 1.2880173805466368,
151
+ "color_temp_k": 5631.223856205939,
152
+ "intensity": 0.7257441497534656
153
+ },
154
+ "point_color_scale": [
155
+ 0.8167377167441866,
156
+ 0.8270883904112218,
157
+ 0.8436494682784783
158
+ ],
159
+ "shadow": true
160
+ }
161
+ },
162
+ "frames": [
163
+ {
164
+ "frame_idx": 0,
165
+ "qpos": [
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0,
171
+ -1.100000023841858
172
+ ]
173
+ }
174
+ ]
175
+ }
so100/ProcTHOR/train/bg_000041/scene_b00_011/scene_meta.json ADDED
@@ -0,0 +1,175 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "so100",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 41,
7
+ "base_idx": 0,
8
+ "cam_idx": 10,
9
+ "n_dof": 6,
10
+ "num_links": 9,
11
+ "joint_names": [
12
+ "shoulder_pan",
13
+ "shoulder_lift",
14
+ "elbow_flex",
15
+ "wrist_flex",
16
+ "wrist_roll",
17
+ "gripper"
18
+ ],
19
+ "link_names": [
20
+ "Base",
21
+ "Rotation_Pitch",
22
+ "Upper_Arm",
23
+ "Lower_Arm",
24
+ "Wrist_Pitch_Roll",
25
+ "Fixed_Jaw",
26
+ "Moving_Jaw",
27
+ "Fixed_Jaw_tip",
28
+ "Moving_Jaw_tip"
29
+ ],
30
+ "ee_link_name": "Moving_Jaw",
31
+ "image_width": 640,
32
+ "image_height": 480,
33
+ "fovy_rad": 1.0308467593205624,
34
+ "K": [
35
+ [
36
+ 432.3204507382538,
37
+ 0.0,
38
+ 320.921614820969
39
+ ],
40
+ [
41
+ 0.0,
42
+ 423.65348476887357,
43
+ 230.12380635741457
44
+ ],
45
+ [
46
+ 0.0,
47
+ 0.0,
48
+ 1.0
49
+ ]
50
+ ],
51
+ "camera_eye": [
52
+ -4.435527615006816,
53
+ -0.4652619023512019,
54
+ 1.228484976842445
55
+ ],
56
+ "camera_target": [
57
+ -3.8698634141406965,
58
+ -0.48967483565323267,
59
+ 1.2092515328363524
60
+ ],
61
+ "camera_roll_rad": 0.004959535151053102,
62
+ "camera_pose_world_cv": [
63
+ [
64
+ -0.04345226287841797,
65
+ -0.033489495515823364,
66
+ 0.9984940886497498,
67
+ -4.435527801513672
68
+ ],
69
+ [
70
+ -0.9990063905715942,
71
+ 0.011373519897460938,
72
+ -0.043093085289001465,
73
+ -0.46526190638542175
74
+ ],
75
+ [
76
+ -0.009913265705108643,
77
+ -0.9993743896484375,
78
+ -0.0339503288269043,
79
+ 1.2284849882125854
80
+ ],
81
+ [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 1.0
86
+ ]
87
+ ],
88
+ "T_base_world": [
89
+ [
90
+ -0.9843313694000244,
91
+ -0.17632800340652466,
92
+ 1.1874140426471058e-07,
93
+ -3.865161657333374
94
+ ],
95
+ [
96
+ 0.17632800340652466,
97
+ -0.9843313694000244,
98
+ -1.0551380213996708e-08,
99
+ -0.5315397381782532
100
+ ],
101
+ [
102
+ 1.1874140426471058e-07,
103
+ 1.0551380213996708e-08,
104
+ 1.0,
105
+ 0.9702380299568176
106
+ ],
107
+ [
108
+ 0.0,
109
+ 0.0,
110
+ 0.0,
111
+ 1.0
112
+ ]
113
+ ],
114
+ "lighting": {
115
+ "aug_enabled": true,
116
+ "params": {
117
+ "ambient": [
118
+ 0.30027439927177174,
119
+ 0.2920664938141294,
120
+ 0.28533249563276253
121
+ ],
122
+ "directional_primary": {
123
+ "direction": [
124
+ 0.001178249119964529,
125
+ -0.3903290940437627,
126
+ -0.9206746483269682
127
+ ],
128
+ "color": [
129
+ 0.8574942446214379,
130
+ 0.8880058317435318,
131
+ 0.9368243711388822
132
+ ],
133
+ "azimuth_rad": -1.5677777315652839,
134
+ "elevation_rad": 1.16980538069028,
135
+ "color_temp_k": 6177.876746703281,
136
+ "intensity": 0.9002104665923694
137
+ },
138
+ "directional_fill": {
139
+ "direction": [
140
+ 0.25402386742797034,
141
+ -0.11544259332338164,
142
+ -0.9602837499529548
143
+ ],
144
+ "color": [
145
+ 0.6670156730649002,
146
+ 0.6711184091428014,
147
+ 0.6776827868674435
148
+ ],
149
+ "azimuth_rad": -0.42655310119326373,
150
+ "elevation_rad": 1.2880173805466368,
151
+ "color_temp_k": 5621.967391203125,
152
+ "intensity": 0.672759503573962
153
+ },
154
+ "point_color_scale": [
155
+ 0.8574992410614909,
156
+ 0.8274665821364406,
157
+ 0.7759820239792118
158
+ ],
159
+ "shadow": true
160
+ }
161
+ },
162
+ "frames": [
163
+ {
164
+ "frame_idx": 0,
165
+ "qpos": [
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0,
171
+ -1.100000023841858
172
+ ]
173
+ }
174
+ ]
175
+ }
so100/ProcTHOR/train/bg_000041/scene_b00_012/scene_meta.json ADDED
@@ -0,0 +1,175 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "so100",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 41,
7
+ "base_idx": 0,
8
+ "cam_idx": 11,
9
+ "n_dof": 6,
10
+ "num_links": 9,
11
+ "joint_names": [
12
+ "shoulder_pan",
13
+ "shoulder_lift",
14
+ "elbow_flex",
15
+ "wrist_flex",
16
+ "wrist_roll",
17
+ "gripper"
18
+ ],
19
+ "link_names": [
20
+ "Base",
21
+ "Rotation_Pitch",
22
+ "Upper_Arm",
23
+ "Lower_Arm",
24
+ "Wrist_Pitch_Roll",
25
+ "Fixed_Jaw",
26
+ "Moving_Jaw",
27
+ "Fixed_Jaw_tip",
28
+ "Moving_Jaw_tip"
29
+ ],
30
+ "ee_link_name": "Moving_Jaw",
31
+ "image_width": 640,
32
+ "image_height": 480,
33
+ "fovy_rad": 1.1742414940435224,
34
+ "K": [
35
+ [
36
+ 356.9628605208925,
37
+ 0.0,
38
+ 344.6278559217541
39
+ ],
40
+ [
41
+ 0.0,
42
+ 360.6887593490617,
43
+ 247.1833360286061
44
+ ],
45
+ [
46
+ 0.0,
47
+ 0.0,
48
+ 1.0
49
+ ]
50
+ ],
51
+ "camera_eye": [
52
+ -3.1424543372347764,
53
+ -0.4531214474871307,
54
+ 0.9249817234123833
55
+ ],
56
+ "camera_target": [
57
+ -3.863975163863012,
58
+ -0.5516178703969796,
59
+ 1.0925385643465875
60
+ ],
61
+ "camera_roll_rad": 0.03591557611250179,
62
+ "camera_pose_world_cv": [
63
+ [
64
+ -0.150854229927063,
65
+ -0.21189317107200623,
66
+ -0.9655798673629761,
67
+ -3.1424543857574463
68
+ ],
69
+ [
70
+ 0.9860787391662598,
71
+ -0.10136091709136963,
72
+ -0.13181346654891968,
73
+ -0.45312145352363586
74
+ ],
75
+ [
76
+ -0.06994175910949707,
77
+ -0.9720223546028137,
78
+ 0.22423410415649414,
79
+ 0.9249817132949829
80
+ ],
81
+ [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 1.0
86
+ ]
87
+ ],
88
+ "T_base_world": [
89
+ [
90
+ -0.9843313694000244,
91
+ -0.17632800340652466,
92
+ 1.1874140426471058e-07,
93
+ -3.865161657333374
94
+ ],
95
+ [
96
+ 0.17632800340652466,
97
+ -0.9843313694000244,
98
+ -1.0551380213996708e-08,
99
+ -0.5315397381782532
100
+ ],
101
+ [
102
+ 1.1874140426471058e-07,
103
+ 1.0551380213996708e-08,
104
+ 1.0,
105
+ 0.9702380299568176
106
+ ],
107
+ [
108
+ 0.0,
109
+ 0.0,
110
+ 0.0,
111
+ 1.0
112
+ ]
113
+ ],
114
+ "lighting": {
115
+ "aug_enabled": true,
116
+ "params": {
117
+ "ambient": [
118
+ 0.2689956931143745,
119
+ 0.26584903641262075,
120
+ 0.27963386340057245
121
+ ],
122
+ "directional_primary": {
123
+ "direction": [
124
+ 0.001178249119964529,
125
+ -0.3903290940437627,
126
+ -0.9206746483269682
127
+ ],
128
+ "color": [
129
+ 1.0697977822304414,
130
+ 1.1111597875985584,
131
+ 1.177338996187546
132
+ ],
133
+ "azimuth_rad": -1.5677777315652839,
134
+ "elevation_rad": 1.16980538069028,
135
+ "color_temp_k": 6233.561000712794,
136
+ "intensity": 1.1277045897458053
137
+ },
138
+ "directional_fill": {
139
+ "direction": [
140
+ 0.25402386742797034,
141
+ -0.11544259332338164,
142
+ -0.9602837499529548
143
+ ],
144
+ "color": [
145
+ 0.7302438074393307,
146
+ 0.7429096278124825,
147
+ 0.7631749404095255
148
+ ],
149
+ "azimuth_rad": -0.42655310119326373,
150
+ "elevation_rad": 1.2880173805466368,
151
+ "color_temp_k": 5838.669185077379,
152
+ "intensity": 0.7479759559617433
153
+ },
154
+ "point_color_scale": [
155
+ 0.9531734056927308,
156
+ 0.939252398425929,
157
+ 0.915387814539983
158
+ ],
159
+ "shadow": true
160
+ }
161
+ },
162
+ "frames": [
163
+ {
164
+ "frame_idx": 0,
165
+ "qpos": [
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0,
171
+ -1.100000023841858
172
+ ]
173
+ }
174
+ ]
175
+ }
so100/ProcTHOR/train/bg_000041/scene_b00_013/scene_meta.json ADDED
@@ -0,0 +1,175 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "so100",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 41,
7
+ "base_idx": 0,
8
+ "cam_idx": 12,
9
+ "n_dof": 6,
10
+ "num_links": 9,
11
+ "joint_names": [
12
+ "shoulder_pan",
13
+ "shoulder_lift",
14
+ "elbow_flex",
15
+ "wrist_flex",
16
+ "wrist_roll",
17
+ "gripper"
18
+ ],
19
+ "link_names": [
20
+ "Base",
21
+ "Rotation_Pitch",
22
+ "Upper_Arm",
23
+ "Lower_Arm",
24
+ "Wrist_Pitch_Roll",
25
+ "Fixed_Jaw",
26
+ "Moving_Jaw",
27
+ "Fixed_Jaw_tip",
28
+ "Moving_Jaw_tip"
29
+ ],
30
+ "ee_link_name": "Moving_Jaw",
31
+ "image_width": 640,
32
+ "image_height": 480,
33
+ "fovy_rad": 1.102844273389986,
34
+ "K": [
35
+ [
36
+ 400.62836064642494,
37
+ 0.0,
38
+ 340.3179823899348
39
+ ],
40
+ [
41
+ 0.0,
42
+ 390.2035260598129,
43
+ 260.2409076271592
44
+ ],
45
+ [
46
+ 0.0,
47
+ 0.0,
48
+ 1.0
49
+ ]
50
+ ],
51
+ "camera_eye": [
52
+ -4.803320091298162,
53
+ -0.8095898307963593,
54
+ 1.04454006604663
55
+ ],
56
+ "camera_target": [
57
+ -3.8769975233552114,
58
+ -0.5776650633447447,
59
+ 1.1856164000616367
60
+ ],
61
+ "camera_roll_rad": -0.048037393051709135,
62
+ "camera_pose_world_cv": [
63
+ [
64
+ 0.22815454006195068,
65
+ 0.16441911458969116,
66
+ 0.959641695022583,
67
+ -4.803319931030273
68
+ ],
69
+ [
70
+ -0.9689893126487732,
71
+ -0.05772203207015991,
72
+ 0.24026688933372498,
73
+ -0.8095898032188416
74
+ ],
75
+ [
76
+ 0.09489706158638,
77
+ -0.9847003221511841,
78
+ 0.14615082740783691,
79
+ 1.0445400476455688
80
+ ],
81
+ [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 1.0
86
+ ]
87
+ ],
88
+ "T_base_world": [
89
+ [
90
+ -0.9843313694000244,
91
+ -0.17632800340652466,
92
+ 1.1874140426471058e-07,
93
+ -3.865161657333374
94
+ ],
95
+ [
96
+ 0.17632800340652466,
97
+ -0.9843313694000244,
98
+ -1.0551380213996708e-08,
99
+ -0.5315397381782532
100
+ ],
101
+ [
102
+ 1.1874140426471058e-07,
103
+ 1.0551380213996708e-08,
104
+ 1.0,
105
+ 0.9702380299568176
106
+ ],
107
+ [
108
+ 0.0,
109
+ 0.0,
110
+ 0.0,
111
+ 1.0
112
+ ]
113
+ ],
114
+ "lighting": {
115
+ "aug_enabled": true,
116
+ "params": {
117
+ "ambient": [
118
+ 0.33532241421701287,
119
+ 0.35745263780936126,
120
+ 0.35268263218119106
121
+ ],
122
+ "directional_primary": {
123
+ "direction": [
124
+ 0.001178249119964529,
125
+ -0.3903290940437627,
126
+ -0.9206746483269682
127
+ ],
128
+ "color": [
129
+ 1.2355301606143039,
130
+ 1.1667429479826963,
131
+ 1.0488220120427978
132
+ ],
133
+ "azimuth_rad": -1.5677777315652839,
134
+ "elevation_rad": 1.16980538069028,
135
+ "color_temp_k": 4657.762669262437,
136
+ "intensity": 1.1667429479826963
137
+ },
138
+ "directional_fill": {
139
+ "direction": [
140
+ 0.25402386742797034,
141
+ -0.11544259332338164,
142
+ -0.9602837499529548
143
+ ],
144
+ "color": [
145
+ 0.7007285050091637,
146
+ 0.6886819411063893,
147
+ 0.6680306887016331
148
+ ],
149
+ "azimuth_rad": -0.42655310119326373,
150
+ "elevation_rad": 1.2880173805466368,
151
+ "color_temp_k": 5250.111394291593,
152
+ "intensity": 0.6886819411063893
153
+ },
154
+ "point_color_scale": [
155
+ 1.0444110059298422,
156
+ 1.0314738633493132,
157
+ 1.009295904639835
158
+ ],
159
+ "shadow": true
160
+ }
161
+ },
162
+ "frames": [
163
+ {
164
+ "frame_idx": 0,
165
+ "qpos": [
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0,
171
+ -1.100000023841858
172
+ ]
173
+ }
174
+ ]
175
+ }
so100/ProcTHOR/train/bg_000041/scene_b00_014/scene_meta.json ADDED
@@ -0,0 +1,175 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "so100",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 41,
7
+ "base_idx": 0,
8
+ "cam_idx": 13,
9
+ "n_dof": 6,
10
+ "num_links": 9,
11
+ "joint_names": [
12
+ "shoulder_pan",
13
+ "shoulder_lift",
14
+ "elbow_flex",
15
+ "wrist_flex",
16
+ "wrist_roll",
17
+ "gripper"
18
+ ],
19
+ "link_names": [
20
+ "Base",
21
+ "Rotation_Pitch",
22
+ "Upper_Arm",
23
+ "Lower_Arm",
24
+ "Wrist_Pitch_Roll",
25
+ "Fixed_Jaw",
26
+ "Moving_Jaw",
27
+ "Fixed_Jaw_tip",
28
+ "Moving_Jaw_tip"
29
+ ],
30
+ "ee_link_name": "Moving_Jaw",
31
+ "image_width": 640,
32
+ "image_height": 480,
33
+ "fovy_rad": 0.8199822622295523,
34
+ "K": [
35
+ [
36
+ 569.8030494485741,
37
+ 0.0,
38
+ 311.030799548842
39
+ ],
40
+ [
41
+ 0.0,
42
+ 552.2056861895561,
43
+ 247.5070836741864
44
+ ],
45
+ [
46
+ 0.0,
47
+ 0.0,
48
+ 1.0
49
+ ]
50
+ ],
51
+ "camera_eye": [
52
+ -4.19136519373682,
53
+ -1.0120909606936266,
54
+ 1.2590825586299985
55
+ ],
56
+ "camera_target": [
57
+ -3.8218616308253752,
58
+ -0.5238591901067697,
59
+ 1.2080948418545145
60
+ ],
61
+ "camera_roll_rad": -0.04478831952803724,
62
+ "camera_pose_world_cv": [
63
+ [
64
+ 0.7986652255058289,
65
+ 0.02145203948020935,
66
+ 0.6013931035995483,
67
+ -4.1913652420043945
68
+ ],
69
+ [
70
+ -0.5951356887817383,
71
+ -0.11989140510559082,
72
+ 0.7946317195892334,
73
+ -1.0120909214019775
74
+ ],
75
+ [
76
+ 0.08914834260940552,
77
+ -0.9925552606582642,
78
+ -0.08298617601394653,
79
+ 1.259082555770874
80
+ ],
81
+ [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 1.0
86
+ ]
87
+ ],
88
+ "T_base_world": [
89
+ [
90
+ -0.9843313694000244,
91
+ -0.17632800340652466,
92
+ 1.1874140426471058e-07,
93
+ -3.865161657333374
94
+ ],
95
+ [
96
+ 0.17632800340652466,
97
+ -0.9843313694000244,
98
+ -1.0551380213996708e-08,
99
+ -0.5315397381782532
100
+ ],
101
+ [
102
+ 1.1874140426471058e-07,
103
+ 1.0551380213996708e-08,
104
+ 1.0,
105
+ 0.9702380299568176
106
+ ],
107
+ [
108
+ 0.0,
109
+ 0.0,
110
+ 0.0,
111
+ 1.0
112
+ ]
113
+ ],
114
+ "lighting": {
115
+ "aug_enabled": true,
116
+ "params": {
117
+ "ambient": [
118
+ 0.2300527744687923,
119
+ 0.21560857688767562,
120
+ 0.2217993874850661
121
+ ],
122
+ "directional_primary": {
123
+ "direction": [
124
+ 0.001178249119964529,
125
+ -0.3903290940437627,
126
+ -0.9206746483269682
127
+ ],
128
+ "color": [
129
+ 1.1600719603570702,
130
+ 1.162589346161233,
131
+ 1.1666171634478937
132
+ ],
133
+ "azimuth_rad": -1.5677777315652839,
134
+ "elevation_rad": 1.16980538069028,
135
+ "color_temp_k": 5543.269058231247,
136
+ "intensity": 1.1635963004828982
137
+ },
138
+ "directional_fill": {
139
+ "direction": [
140
+ 0.25402386742797034,
141
+ -0.11544259332338164,
142
+ -0.9602837499529548
143
+ ],
144
+ "color": [
145
+ 0.8709127362596295,
146
+ 0.8346681540865808,
147
+ 0.7725345846470687
148
+ ],
149
+ "azimuth_rad": -0.42655310119326373,
150
+ "elevation_rad": 1.2880173805466368,
151
+ "color_temp_k": 4879.657960119613,
152
+ "intensity": 0.8346681540865808
153
+ },
154
+ "point_color_scale": [
155
+ 0.9893486429337099,
156
+ 0.9759248523535589,
157
+ 0.9529126399304426
158
+ ],
159
+ "shadow": true
160
+ }
161
+ },
162
+ "frames": [
163
+ {
164
+ "frame_idx": 0,
165
+ "qpos": [
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0,
171
+ -1.100000023841858
172
+ ]
173
+ }
174
+ ]
175
+ }
so100/ProcTHOR/train/bg_000041/scene_b00_015/scene_meta.json ADDED
@@ -0,0 +1,175 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "so100",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 41,
7
+ "base_idx": 0,
8
+ "cam_idx": 14,
9
+ "n_dof": 6,
10
+ "num_links": 9,
11
+ "joint_names": [
12
+ "shoulder_pan",
13
+ "shoulder_lift",
14
+ "elbow_flex",
15
+ "wrist_flex",
16
+ "wrist_roll",
17
+ "gripper"
18
+ ],
19
+ "link_names": [
20
+ "Base",
21
+ "Rotation_Pitch",
22
+ "Upper_Arm",
23
+ "Lower_Arm",
24
+ "Wrist_Pitch_Roll",
25
+ "Fixed_Jaw",
26
+ "Moving_Jaw",
27
+ "Fixed_Jaw_tip",
28
+ "Moving_Jaw_tip"
29
+ ],
30
+ "ee_link_name": "Moving_Jaw",
31
+ "image_width": 640,
32
+ "image_height": 480,
33
+ "fovy_rad": 0.8466780658412024,
34
+ "K": [
35
+ [
36
+ 518.5753805661122,
37
+ 0.0,
38
+ 290.927866205389
39
+ ],
40
+ [
41
+ 0.0,
42
+ 532.6427107736888,
43
+ 236.4305685204149
44
+ ],
45
+ [
46
+ 0.0,
47
+ 0.0,
48
+ 1.0
49
+ ]
50
+ ],
51
+ "camera_eye": [
52
+ -4.6540426401572415,
53
+ -0.5041605532327229,
54
+ 1.0771343036614636
55
+ ],
56
+ "camera_target": [
57
+ -3.829731145541107,
58
+ -0.5047187996179644,
59
+ 1.2069168316420096
60
+ ],
61
+ "camera_roll_rad": -0.044074720068014606,
62
+ "camera_pose_world_cv": [
63
+ [
64
+ -0.014366507530212402,
65
+ 0.15486425161361694,
66
+ 0.9878312349319458,
67
+ -4.654042720794678
68
+ ],
69
+ [
70
+ -0.9961078763008118,
71
+ -0.08814024925231934,
72
+ -0.000668942928314209,
73
+ -0.5041605830192566
74
+ ],
75
+ [
76
+ 0.08696410059928894,
77
+ -0.9839960932731628,
78
+ 0.15552771091461182,
79
+ 1.0771342515945435
80
+ ],
81
+ [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 1.0
86
+ ]
87
+ ],
88
+ "T_base_world": [
89
+ [
90
+ -0.9843313694000244,
91
+ -0.17632800340652466,
92
+ 1.1874140426471058e-07,
93
+ -3.865161657333374
94
+ ],
95
+ [
96
+ 0.17632800340652466,
97
+ -0.9843313694000244,
98
+ -1.0551380213996708e-08,
99
+ -0.5315397381782532
100
+ ],
101
+ [
102
+ 1.1874140426471058e-07,
103
+ 1.0551380213996708e-08,
104
+ 1.0,
105
+ 0.9702380299568176
106
+ ],
107
+ [
108
+ 0.0,
109
+ 0.0,
110
+ 0.0,
111
+ 1.0
112
+ ]
113
+ ],
114
+ "lighting": {
115
+ "aug_enabled": true,
116
+ "params": {
117
+ "ambient": [
118
+ 0.22831932833571353,
119
+ 0.23323802837031304,
120
+ 0.2531199058760154
121
+ ],
122
+ "directional_primary": {
123
+ "direction": [
124
+ 0.001178249119964529,
125
+ -0.3903290940437627,
126
+ -0.9206746483269682
127
+ ],
128
+ "color": [
129
+ 1.1155388501408154,
130
+ 1.1450434369866482,
131
+ 1.192250775939981
132
+ ],
133
+ "azimuth_rad": -1.5677777315652839,
134
+ "elevation_rad": 1.16980538069028,
135
+ "color_temp_k": 6010.087002418888,
136
+ "intensity": 1.1568452717249815
137
+ },
138
+ "directional_fill": {
139
+ "direction": [
140
+ 0.25402386742797034,
141
+ -0.11544259332338164,
142
+ -0.9602837499529548
143
+ ],
144
+ "color": [
145
+ 0.6969371578071283,
146
+ 0.7048958953057701,
147
+ 0.7176298753035971
148
+ ],
149
+ "azimuth_rad": -0.42655310119326373,
150
+ "elevation_rad": 1.2880173805466368,
151
+ "color_temp_k": 5724.797885875796,
152
+ "intensity": 0.7080793903052269
153
+ },
154
+ "point_color_scale": [
155
+ 0.978512295842582,
156
+ 0.938467034784572,
157
+ 0.8698180158279835
158
+ ],
159
+ "shadow": true
160
+ }
161
+ },
162
+ "frames": [
163
+ {
164
+ "frame_idx": 0,
165
+ "qpos": [
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0,
171
+ -1.100000023841858
172
+ ]
173
+ }
174
+ ]
175
+ }
so100/ProcTHOR/train/bg_000041/scene_b00_016/scene_meta.json ADDED
@@ -0,0 +1,175 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "so100",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 41,
7
+ "base_idx": 0,
8
+ "cam_idx": 15,
9
+ "n_dof": 6,
10
+ "num_links": 9,
11
+ "joint_names": [
12
+ "shoulder_pan",
13
+ "shoulder_lift",
14
+ "elbow_flex",
15
+ "wrist_flex",
16
+ "wrist_roll",
17
+ "gripper"
18
+ ],
19
+ "link_names": [
20
+ "Base",
21
+ "Rotation_Pitch",
22
+ "Upper_Arm",
23
+ "Lower_Arm",
24
+ "Wrist_Pitch_Roll",
25
+ "Fixed_Jaw",
26
+ "Moving_Jaw",
27
+ "Fixed_Jaw_tip",
28
+ "Moving_Jaw_tip"
29
+ ],
30
+ "ee_link_name": "Moving_Jaw",
31
+ "image_width": 640,
32
+ "image_height": 480,
33
+ "fovy_rad": 1.1344350234141105,
34
+ "K": [
35
+ [
36
+ 363.7035628019573,
37
+ 0.0,
38
+ 309.28922183234056
39
+ ],
40
+ [
41
+ 0.0,
42
+ 376.73658920114406,
43
+ 229.37169360370666
44
+ ],
45
+ [
46
+ 0.0,
47
+ 0.0,
48
+ 1.0
49
+ ]
50
+ ],
51
+ "camera_eye": [
52
+ -4.51606997368948,
53
+ -0.42266518843175205,
54
+ 1.3351944357640366
55
+ ],
56
+ "camera_target": [
57
+ -3.885438162382825,
58
+ -0.49570184827950037,
59
+ 1.1808993650373143
60
+ ],
61
+ "camera_roll_rad": 0.0046961237682460535,
62
+ "camera_pose_world_cv": [
63
+ [
64
+ -0.11724448204040527,
65
+ -0.23350879549980164,
66
+ 0.9652603268623352,
67
+ -4.5160698890686035
68
+ ],
69
+ [
70
+ -0.9930611848831177,
71
+ 0.0364987850189209,
72
+ -0.11179167032241821,
73
+ -0.42266517877578735
74
+ ],
75
+ [
76
+ -0.009126424789428711,
77
+ -0.9716694951057434,
78
+ -0.2361677885055542,
79
+ 1.33519446849823
80
+ ],
81
+ [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 1.0
86
+ ]
87
+ ],
88
+ "T_base_world": [
89
+ [
90
+ -0.9843313694000244,
91
+ -0.17632800340652466,
92
+ 1.1874140426471058e-07,
93
+ -3.865161657333374
94
+ ],
95
+ [
96
+ 0.17632800340652466,
97
+ -0.9843313694000244,
98
+ -1.0551380213996708e-08,
99
+ -0.5315397381782532
100
+ ],
101
+ [
102
+ 1.1874140426471058e-07,
103
+ 1.0551380213996708e-08,
104
+ 1.0,
105
+ 0.9702380299568176
106
+ ],
107
+ [
108
+ 0.0,
109
+ 0.0,
110
+ 0.0,
111
+ 1.0
112
+ ]
113
+ ],
114
+ "lighting": {
115
+ "aug_enabled": true,
116
+ "params": {
117
+ "ambient": [
118
+ 0.2551374650500477,
119
+ 0.24753965253185078,
120
+ 0.23849071181211914
121
+ ],
122
+ "directional_primary": {
123
+ "direction": [
124
+ 0.001178249119964529,
125
+ -0.3903290940437627,
126
+ -0.9206746483269682
127
+ ],
128
+ "color": [
129
+ 1.1270011206975277,
130
+ 1.0880692391033875,
131
+ 1.0213288706562902
132
+ ],
133
+ "azimuth_rad": -1.5677777315652839,
134
+ "elevation_rad": 1.16980538069028,
135
+ "color_temp_k": 4988.847109107275,
136
+ "intensity": 1.0880692391033875
137
+ },
138
+ "directional_fill": {
139
+ "direction": [
140
+ 0.25402386742797034,
141
+ -0.11544259332338164,
142
+ -0.9602837499529548
143
+ ],
144
+ "color": [
145
+ 0.6840543009507197,
146
+ 0.6896805486920576,
147
+ 0.6986825450781984
148
+ ],
149
+ "azimuth_rad": -0.42655310119326373,
150
+ "elevation_rad": 1.2880173805466368,
151
+ "color_temp_k": 5662.624520443746,
152
+ "intensity": 0.6919310477885928
153
+ },
154
+ "point_color_scale": [
155
+ 1.019495975791761,
156
+ 1.0164510650652556,
157
+ 1.0112312181055323
158
+ ],
159
+ "shadow": true
160
+ }
161
+ },
162
+ "frames": [
163
+ {
164
+ "frame_idx": 0,
165
+ "qpos": [
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0,
171
+ -1.100000023841858
172
+ ]
173
+ }
174
+ ]
175
+ }
so100/ProcTHOR/train/bg_000041/scene_b02_001/scene_meta.json ADDED
@@ -0,0 +1,175 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "so100",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 41,
7
+ "base_idx": 2,
8
+ "cam_idx": 0,
9
+ "n_dof": 6,
10
+ "num_links": 9,
11
+ "joint_names": [
12
+ "shoulder_pan",
13
+ "shoulder_lift",
14
+ "elbow_flex",
15
+ "wrist_flex",
16
+ "wrist_roll",
17
+ "gripper"
18
+ ],
19
+ "link_names": [
20
+ "Base",
21
+ "Rotation_Pitch",
22
+ "Upper_Arm",
23
+ "Lower_Arm",
24
+ "Wrist_Pitch_Roll",
25
+ "Fixed_Jaw",
26
+ "Moving_Jaw",
27
+ "Fixed_Jaw_tip",
28
+ "Moving_Jaw_tip"
29
+ ],
30
+ "ee_link_name": "Moving_Jaw",
31
+ "image_width": 640,
32
+ "image_height": 480,
33
+ "fovy_rad": 1.2143955769513652,
34
+ "K": [
35
+ [
36
+ 328.55995488106157,
37
+ 0.0,
38
+ 317.6639797877891
39
+ ],
40
+ [
41
+ 0.0,
42
+ 345.44504565668086,
43
+ 236.01209651486326
44
+ ],
45
+ [
46
+ 0.0,
47
+ 0.0,
48
+ 1.0
49
+ ]
50
+ ],
51
+ "camera_eye": [
52
+ -3.7966228088854823,
53
+ -0.53497010917651,
54
+ 1.3643962207526883
55
+ ],
56
+ "camera_target": [
57
+ -4.310377381895226,
58
+ -0.22160340730870512,
59
+ 1.1365328532318373
60
+ ],
61
+ "camera_roll_rad": -0.021732613094969353,
62
+ "camera_pose_world_cv": [
63
+ [
64
+ 0.5071027278900146,
65
+ 0.3246537148952484,
66
+ -0.7984026670455933,
67
+ -3.7966227531433105
68
+ ],
69
+ [
70
+ 0.8609271049499512,
71
+ -0.1471272110939026,
72
+ 0.48698872327804565,
73
+ -0.5349701046943665
74
+ ],
75
+ [
76
+ 0.04063597321510315,
77
+ -0.934319794178009,
78
+ -0.35411185026168823,
79
+ 1.3643962144851685
80
+ ],
81
+ [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 1.0
86
+ ]
87
+ ],
88
+ "T_base_world": [
89
+ [
90
+ 0.4849032163619995,
91
+ -0.8745678067207336,
92
+ 6.854302014858149e-09,
93
+ -4.285968780517578
94
+ ],
95
+ [
96
+ 0.8745678067207336,
97
+ 0.4849032163619995,
98
+ -9.972473691277628e-08,
99
+ -0.21508465707302094
100
+ ],
101
+ [
102
+ 8.389236683115087e-08,
103
+ 5.435139982523651e-08,
104
+ 1.0,
105
+ 0.9702380299568176
106
+ ],
107
+ [
108
+ 0.0,
109
+ 0.0,
110
+ 0.0,
111
+ 1.0
112
+ ]
113
+ ],
114
+ "lighting": {
115
+ "aug_enabled": true,
116
+ "params": {
117
+ "ambient": [
118
+ 0.31737467622880944,
119
+ 0.32977956651742407,
120
+ 0.31758319429821624
121
+ ],
122
+ "directional_primary": {
123
+ "direction": [
124
+ 0.001178249119964529,
125
+ -0.3903290940437627,
126
+ -0.9206746483269682
127
+ ],
128
+ "color": [
129
+ 1.0437523865769007,
130
+ 1.0286585480034893,
131
+ 1.0027833961633554
132
+ ],
133
+ "azimuth_rad": -1.5677777315652839,
134
+ "elevation_rad": 1.16980538069028,
135
+ "color_temp_k": 5290.381107751493,
136
+ "intensity": 1.0286585480034893
137
+ },
138
+ "directional_fill": {
139
+ "direction": [
140
+ 0.25402386742797034,
141
+ -0.11544259332338164,
142
+ -0.9602837499529548
143
+ ],
144
+ "color": [
145
+ 0.5633017426277953,
146
+ 0.5827420960340036,
147
+ 0.6138466614839369
148
+ ],
149
+ "azimuth_rad": -0.42655310119326373,
150
+ "elevation_rad": 1.2880173805466368,
151
+ "color_temp_k": 6158.416698251968,
152
+ "intensity": 0.5905182373964869
153
+ },
154
+ "point_color_scale": [
155
+ 1.0885761187380636,
156
+ 1.1024471466378833,
157
+ 1.1246407912775949
158
+ ],
159
+ "shadow": true
160
+ }
161
+ },
162
+ "frames": [
163
+ {
164
+ "frame_idx": 0,
165
+ "qpos": [
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0,
171
+ -1.100000023841858
172
+ ]
173
+ }
174
+ ]
175
+ }
so100/ProcTHOR/train/bg_000041/scene_b02_002/scene_meta.json ADDED
@@ -0,0 +1,175 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_uid": "so100",
3
+ "num_frames": 1,
4
+ "qpos_mode": "zero",
5
+ "rng_drain_count": 6,
6
+ "scene_idx": 41,
7
+ "base_idx": 2,
8
+ "cam_idx": 1,
9
+ "n_dof": 6,
10
+ "num_links": 9,
11
+ "joint_names": [
12
+ "shoulder_pan",
13
+ "shoulder_lift",
14
+ "elbow_flex",
15
+ "wrist_flex",
16
+ "wrist_roll",
17
+ "gripper"
18
+ ],
19
+ "link_names": [
20
+ "Base",
21
+ "Rotation_Pitch",
22
+ "Upper_Arm",
23
+ "Lower_Arm",
24
+ "Wrist_Pitch_Roll",
25
+ "Fixed_Jaw",
26
+ "Moving_Jaw",
27
+ "Fixed_Jaw_tip",
28
+ "Moving_Jaw_tip"
29
+ ],
30
+ "ee_link_name": "Moving_Jaw",
31
+ "image_width": 640,
32
+ "image_height": 480,
33
+ "fovy_rad": 0.7869527311734079,
34
+ "K": [
35
+ [
36
+ 583.6123454282445,
37
+ 0.0,
38
+ 293.3274017387831
39
+ ],
40
+ [
41
+ 0.0,
42
+ 578.1398102844623,
43
+ 262.3154510058145
44
+ ],
45
+ [
46
+ 0.0,
47
+ 0.0,
48
+ 1.0
49
+ ]
50
+ ],
51
+ "camera_eye": [
52
+ -5.05800450480646,
53
+ -0.1287069471324942,
54
+ 0.9720757513619629
55
+ ],
56
+ "camera_target": [
57
+ -4.315179376393065,
58
+ -0.2179779153115722,
59
+ 1.1692048364659708
60
+ ],
61
+ "camera_roll_rad": 0.03917398999556407,
62
+ "camera_pose_world_cv": [
63
+ [
64
+ -0.09915399551391602,
65
+ 0.261528879404068,
66
+ 0.9600892066955566,
67
+ -5.058004379272461
68
+ ],
69
+ [
70
+ -0.9921897649765015,
71
+ 0.04740118980407715,
72
+ -0.11538124084472656,
73
+ -0.1287069469690323
74
+ ],
75
+ [
76
+ -0.07568478584289551,
77
+ -0.9640311002731323,
78
+ 0.25478625297546387,
79
+ 0.9720757603645325
80
+ ],
81
+ [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 1.0
86
+ ]
87
+ ],
88
+ "T_base_world": [
89
+ [
90
+ 0.4849032163619995,
91
+ -0.8745678067207336,
92
+ 6.854302014858149e-09,
93
+ -4.285968780517578
94
+ ],
95
+ [
96
+ 0.8745678067207336,
97
+ 0.4849032163619995,
98
+ -9.972473691277628e-08,
99
+ -0.21508465707302094
100
+ ],
101
+ [
102
+ 8.389236683115087e-08,
103
+ 5.435139982523651e-08,
104
+ 1.0,
105
+ 0.9702380299568176
106
+ ],
107
+ [
108
+ 0.0,
109
+ 0.0,
110
+ 0.0,
111
+ 1.0
112
+ ]
113
+ ],
114
+ "lighting": {
115
+ "aug_enabled": true,
116
+ "params": {
117
+ "ambient": [
118
+ 0.2899210599038646,
119
+ 0.3000447731691598,
120
+ 0.30820222529420105
121
+ ],
122
+ "directional_primary": {
123
+ "direction": [
124
+ 0.001178249119964529,
125
+ -0.3903290940437627,
126
+ -0.9206746483269682
127
+ ],
128
+ "color": [
129
+ 1.1212313854004852,
130
+ 1.0826520294677824,
131
+ 1.0165159907260062
132
+ ],
133
+ "azimuth_rad": -1.5677777315652839,
134
+ "elevation_rad": 1.16980538069028,
135
+ "color_temp_k": 4990.941095402188,
136
+ "intensity": 1.0826520294677824
137
+ },
138
+ "directional_fill": {
139
+ "direction": [
140
+ 0.25402386742797034,
141
+ -0.11544259332338164,
142
+ -0.9602837499529548
143
+ ],
144
+ "color": [
145
+ 0.6506505590170572,
146
+ 0.638209075908594,
147
+ 0.6168808191512286
148
+ ],
149
+ "azimuth_rad": -0.42655310119326373,
150
+ "elevation_rad": 1.2880173805466368,
151
+ "color_temp_k": 5221.509016892294,
152
+ "intensity": 0.638209075908594
153
+ },
154
+ "point_color_scale": [
155
+ 1.018356526471008,
156
+ 1.0441874657859687,
157
+ 1.0855169686899055
158
+ ],
159
+ "shadow": true
160
+ }
161
+ },
162
+ "frames": [
163
+ {
164
+ "frame_idx": 0,
165
+ "qpos": [
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0,
171
+ -1.100000023841858
172
+ ]
173
+ }
174
+ ]
175
+ }