Add files using upload-large-folder tool
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- panda/ProcTHOR/test/bg_000013/scene_b00_001/scene_meta.json +187 -0
- panda/ProcTHOR/test/bg_000013/scene_b00_002/scene_meta.json +187 -0
- panda/ProcTHOR/test/bg_000013/scene_b00_003/scene_meta.json +187 -0
- panda/ProcTHOR/test/bg_000013/scene_b00_004/scene_meta.json +187 -0
- panda/ProcTHOR/test/bg_000013/scene_b00_005/scene_meta.json +187 -0
- panda/ProcTHOR/test/bg_000013/scene_b00_006/scene_meta.json +187 -0
- panda/ProcTHOR/test/bg_000013/scene_b00_007/scene_meta.json +187 -0
- panda/ProcTHOR/test/bg_000013/scene_b00_008/scene_meta.json +187 -0
- panda/ProcTHOR/test/bg_000013/scene_b00_009/scene_meta.json +187 -0
- panda/ProcTHOR/test/bg_000013/scene_b00_010/scene_meta.json +187 -0
- panda/ProcTHOR/test/bg_000013/scene_b00_011/scene_meta.json +187 -0
- panda/ProcTHOR/test/bg_000013/scene_b00_012/scene_meta.json +187 -0
- panda/ProcTHOR/test/bg_000013/scene_b00_013/scene_meta.json +187 -0
- panda/ProcTHOR/test/bg_000013/scene_b00_014/scene_meta.json +187 -0
- panda/ProcTHOR/test/bg_000013/scene_b00_015/scene_meta.json +187 -0
- panda/ProcTHOR/test/bg_000013/scene_b00_016/scene_meta.json +187 -0
- panda/ProcTHOR/test/bg_000013/scene_b01_001/scene_meta.json +187 -0
- panda/ProcTHOR/test/bg_000013/scene_b01_002/scene_meta.json +187 -0
- panda/ProcTHOR/test/bg_000013/scene_b01_003/scene_meta.json +187 -0
- panda/ProcTHOR/test/bg_000013/scene_b01_004/scene_meta.json +187 -0
- panda/ProcTHOR/test/bg_000013/scene_b01_005/scene_meta.json +187 -0
- panda/ProcTHOR/test/bg_000013/scene_b01_006/scene_meta.json +187 -0
- panda/ProcTHOR/test/bg_000013/scene_b01_007/scene_meta.json +187 -0
- panda/ProcTHOR/test/bg_000013/scene_b01_008/scene_meta.json +187 -0
- panda/ProcTHOR/test/bg_000013/scene_b01_009/scene_meta.json +187 -0
- panda/ProcTHOR/test/bg_000013/scene_b01_010/scene_meta.json +187 -0
- panda/ProcTHOR/test/bg_000013/scene_b01_011/scene_meta.json +187 -0
- panda/ProcTHOR/test/bg_000013/scene_b01_012/scene_meta.json +187 -0
- panda/ProcTHOR/test/bg_000013/scene_b01_013/scene_meta.json +187 -0
- panda/ProcTHOR/test/bg_000013/scene_b01_014/scene_meta.json +187 -0
- panda/ProcTHOR/test/bg_000013/scene_b01_015/scene_meta.json +187 -0
- panda/ProcTHOR/test/bg_000013/scene_b01_016/scene_meta.json +187 -0
- panda/ProcTHOR/test/bg_000066/scene_b00_001/scene_meta.json +187 -0
- panda/ProcTHOR/test/bg_000066/scene_b00_002/scene_meta.json +187 -0
- panda/ProcTHOR/test/bg_000066/scene_b00_003/scene_meta.json +187 -0
- panda/ProcTHOR/test/bg_000066/scene_b00_004/scene_meta.json +187 -0
- panda/ProcTHOR/test/bg_000066/scene_b00_005/scene_meta.json +187 -0
- panda/ProcTHOR/test/bg_000066/scene_b00_006/scene_meta.json +187 -0
- panda/ProcTHOR/test/bg_000066/scene_b00_007/scene_meta.json +187 -0
- panda/ProcTHOR/test/bg_000066/scene_b00_008/scene_meta.json +187 -0
- panda/ProcTHOR/test/bg_000066/scene_b00_009/scene_meta.json +187 -0
- panda/ProcTHOR/test/bg_000066/scene_b00_010/scene_meta.json +187 -0
- panda/ProcTHOR/test/bg_000066/scene_b00_011/scene_meta.json +187 -0
- panda/ProcTHOR/test/bg_000066/scene_b00_012/scene_meta.json +187 -0
- panda/ProcTHOR/test/bg_000066/scene_b00_013/scene_meta.json +187 -0
- panda/ProcTHOR/test/bg_000066/scene_b00_014/scene_meta.json +187 -0
- panda/ProcTHOR/test/bg_000066/scene_b00_015/scene_meta.json +187 -0
- panda/ProcTHOR/test/bg_000066/scene_b00_016/scene_meta.json +187 -0
- panda/ProcTHOR/test/bg_000066/scene_b01_001/scene_meta.json +187 -0
- panda/ProcTHOR/test/bg_000066/scene_b01_002/scene_meta.json +187 -0
panda/ProcTHOR/test/bg_000013/scene_b00_001/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 13,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 0,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.001854495697764,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
432.93226717048816,
|
| 46 |
+
0.0,
|
| 47 |
+
333.6003457328415
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
438.3504942294155,
|
| 52 |
+
257.79130357619107
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
-1.344589615111508,
|
| 62 |
+
-6.569745986780806,
|
| 63 |
+
1.612980814085041
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
-0.6349957628408754,
|
| 67 |
+
-7.559580516304431,
|
| 68 |
+
1.1236653975918391
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": -0.0024041586800558,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.8116805553436279,
|
| 74 |
+
-0.2211139053106308,
|
| 75 |
+
0.5406321287155151,
|
| 76 |
+
-1.3445895910263062
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.5840843915939331,
|
| 80 |
+
0.30018579959869385,
|
| 81 |
+
-0.7541444301605225,
|
| 82 |
+
-6.569746017456055
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
0.004461705684661865,
|
| 86 |
+
-0.9278992414474487,
|
| 87 |
+
-0.3728042244911194,
|
| 88 |
+
1.612980842590332
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
-0.010083436965942383,
|
| 100 |
+
0.9999490976333618,
|
| 101 |
+
1.2182918007752619e-09,
|
| 102 |
+
-0.589582085609436
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.9999490976333618,
|
| 106 |
+
-0.010083436965942383,
|
| 107 |
+
-1.2306390351213281e-09,
|
| 108 |
+
-7.566658020019531
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-1.2182918007752619e-09,
|
| 112 |
+
-1.2306390351213281e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.937206506729126
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.3223556773314955,
|
| 128 |
+
0.3119393094770047,
|
| 129 |
+
0.3122396606430638
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.5878683915410815,
|
| 134 |
+
0.1333187107179183,
|
| 135 |
+
-0.7978952773387079
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.2221812864866946,
|
| 139 |
+
1.1668664271679265,
|
| 140 |
+
1.0720409540500386
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.22301112599728423,
|
| 143 |
+
"elevation_rad": 0.923795506397761,
|
| 144 |
+
"color_temp_k": 4822.791145940924,
|
| 145 |
+
"intensity": 1.1668664271679265
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.12702469205601305,
|
| 150 |
+
0.44526881894313647,
|
| 151 |
+
-0.886341020423324
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.9032777068803389,
|
| 155 |
+
0.933140854294547,
|
| 156 |
+
0.9809218901572802
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": 1.8486911144536782,
|
| 159 |
+
"elevation_rad": 1.0893821989290868,
|
| 160 |
+
"color_temp_k": 6131.966695842992,
|
| 161 |
+
"intensity": 0.9450861132602303
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
0.9355124064791982,
|
| 165 |
+
0.9249721313240374,
|
| 166 |
+
0.9069030882009046
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/ProcTHOR/test/bg_000013/scene_b00_002/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 13,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 1,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 0.9581409080228726,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
481.8534421350338,
|
| 46 |
+
0.0,
|
| 47 |
+
292.1666740545893
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
462.0449968102111,
|
| 52 |
+
262.20213555478443
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
-0.37004575905750664,
|
| 62 |
+
-6.057560142710651,
|
| 63 |
+
1.9137309914652372
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
-0.5426150448677776,
|
| 67 |
+
-7.599145489849897,
|
| 68 |
+
1.1404421876774928
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": -0.04746315384413862,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.9940229654312134,
|
| 74 |
+
-0.044786401093006134,
|
| 75 |
+
-0.09956272691488266,
|
| 76 |
+
-0.3700457513332367
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
0.06872250884771347,
|
| 80 |
+
0.45192229747772217,
|
| 81 |
+
-0.8894062638282776,
|
| 82 |
+
-6.057559967041016
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
0.08482790738344193,
|
| 86 |
+
-0.8909323811531067,
|
| 87 |
+
-0.44614315032958984,
|
| 88 |
+
1.9137309789657593
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
-0.010083436965942383,
|
| 100 |
+
0.9999490976333618,
|
| 101 |
+
1.2182918007752619e-09,
|
| 102 |
+
-0.589582085609436
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.9999490976333618,
|
| 106 |
+
-0.010083436965942383,
|
| 107 |
+
-1.2306390351213281e-09,
|
| 108 |
+
-7.566658020019531
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-1.2182918007752619e-09,
|
| 112 |
+
-1.2306390351213281e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.937206506729126
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.3161480516723278,
|
| 128 |
+
0.29045637137178326,
|
| 129 |
+
0.30557829131653785
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.5878683915410815,
|
| 134 |
+
0.1333187107179183,
|
| 135 |
+
-0.7978952773387079
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
0.886333928700754,
|
| 139 |
+
0.9071788921865733,
|
| 140 |
+
0.9405308337638841
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.22301112599728423,
|
| 143 |
+
"elevation_rad": 0.923795506397761,
|
| 144 |
+
"color_temp_k": 5955.370381393702,
|
| 145 |
+
"intensity": 0.9155168775809011
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.12702469205601305,
|
| 150 |
+
0.44526881894313647,
|
| 151 |
+
-0.886341020423324
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.7714066136593766,
|
| 155 |
+
0.7918029296667207,
|
| 156 |
+
0.8244370352784715
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": 1.8486911144536782,
|
| 159 |
+
"elevation_rad": 1.0893821989290868,
|
| 160 |
+
"color_temp_k": 6009.932468685545,
|
| 161 |
+
"intensity": 0.7999614560696584
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
1.0279527689599643,
|
| 165 |
+
1.0351081650248837,
|
| 166 |
+
1.0465567987287543
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/ProcTHOR/test/bg_000013/scene_b00_003/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 13,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 2,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.048263610329581,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
427.0615350557025,
|
| 46 |
+
0.0,
|
| 47 |
+
341.04441744065946
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
415.1809573752944,
|
| 52 |
+
246.8619883304101
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
-0.5970075401084141,
|
| 62 |
+
-5.699502387907837,
|
| 63 |
+
1.26164781277369
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
-0.6187761908867692,
|
| 67 |
+
-7.529584880732492,
|
| 68 |
+
1.1517071902814702
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": -0.040375652008356,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.9967286586761475,
|
| 74 |
+
-0.07994704693555832,
|
| 75 |
+
-0.011872746050357819,
|
| 76 |
+
-0.5970075130462646
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
0.007018983364105225,
|
| 80 |
+
0.06072187423706055,
|
| 81 |
+
-0.998130202293396,
|
| 82 |
+
-5.699502468109131
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
0.08051848411560059,
|
| 86 |
+
-0.9949480295181274,
|
| 87 |
+
-0.059961795806884766,
|
| 88 |
+
1.2616478204727173
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
-0.010083436965942383,
|
| 100 |
+
0.9999490976333618,
|
| 101 |
+
1.2182918007752619e-09,
|
| 102 |
+
-0.589582085609436
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.9999490976333618,
|
| 106 |
+
-0.010083436965942383,
|
| 107 |
+
-1.2306390351213281e-09,
|
| 108 |
+
-7.566658020019531
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-1.2182918007752619e-09,
|
| 112 |
+
-1.2306390351213281e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.937206506729126
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.3494282828980987,
|
| 128 |
+
0.3281562120262195,
|
| 129 |
+
0.32733042658797024
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.5878683915410815,
|
| 134 |
+
0.1333187107179183,
|
| 135 |
+
-0.7978952773387079
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.119387011447996,
|
| 139 |
+
1.0677343215051607,
|
| 140 |
+
0.9791868530317288
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.22301112599728423,
|
| 143 |
+
"elevation_rad": 0.923795506397761,
|
| 144 |
+
"color_temp_k": 4808.914628152313,
|
| 145 |
+
"intensity": 1.0677343215051607
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.12702469205601305,
|
| 150 |
+
0.44526881894313647,
|
| 151 |
+
-0.886341020423324
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.7795942628088586,
|
| 155 |
+
0.7962625894352904,
|
| 156 |
+
0.8229319120375813
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": 1.8486911144536782,
|
| 159 |
+
"elevation_rad": 1.0893821989290868,
|
| 160 |
+
"color_temp_k": 5915.187582613669,
|
| 161 |
+
"intensity": 0.8029299200858631
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
1.0467765690126938,
|
| 165 |
+
1.0471527070201325,
|
| 166 |
+
1.0477545278320344
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/ProcTHOR/test/bg_000013/scene_b00_004/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 13,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 3,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.028006823923063,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
444.0513765523987,
|
| 46 |
+
0.0,
|
| 47 |
+
339.4691139807284
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
425.0597154007798,
|
| 52 |
+
239.22062010314917
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
-1.6756713618635486,
|
| 62 |
+
-6.2985900092486045,
|
| 63 |
+
1.635886666992528
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
-0.5845108583208573,
|
| 67 |
+
-7.535366854343881,
|
| 68 |
+
1.1168750879036198
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": 0.046221952697166155,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.7650021314620972,
|
| 74 |
+
-0.12851792573928833,
|
| 75 |
+
0.6310745477676392,
|
| 76 |
+
-1.6756713390350342
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.6379797458648682,
|
| 80 |
+
0.2852010726928711,
|
| 81 |
+
-0.7152916789054871,
|
| 82 |
+
-6.298590183258057
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.08805534243583679,
|
| 86 |
+
-0.9498123526573181,
|
| 87 |
+
-0.3001711964607239,
|
| 88 |
+
1.6358866691589355
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
-0.010083436965942383,
|
| 100 |
+
0.9999490976333618,
|
| 101 |
+
1.2182918007752619e-09,
|
| 102 |
+
-0.589582085609436
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.9999490976333618,
|
| 106 |
+
-0.010083436965942383,
|
| 107 |
+
-1.2306390351213281e-09,
|
| 108 |
+
-7.566658020019531
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-1.2182918007752619e-09,
|
| 112 |
+
-1.2306390351213281e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.937206506729126
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.3093488770988568,
|
| 128 |
+
0.28951216629764476,
|
| 129 |
+
0.3060971024844818
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.5878683915410815,
|
| 134 |
+
0.1333187107179183,
|
| 135 |
+
-0.7978952773387079
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.1191854129151526,
|
| 139 |
+
1.0589809804779875,
|
| 140 |
+
0.955773382014276
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.22301112599728423,
|
| 143 |
+
"elevation_rad": 0.923795506397761,
|
| 144 |
+
"color_temp_k": 4687.838746506357,
|
| 145 |
+
"intensity": 1.0589809804779875
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.12702469205601305,
|
| 150 |
+
0.44526881894313647,
|
| 151 |
+
-0.886341020423324
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.8155919723795438,
|
| 155 |
+
0.8185508796914888,
|
| 156 |
+
0.8232851313906006
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": 1.8486911144536782,
|
| 159 |
+
"elevation_rad": 1.0893821989290868,
|
| 160 |
+
"color_temp_k": 5572.191850387579,
|
| 161 |
+
"intensity": 0.8197344426162667
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
0.8125910257486693,
|
| 165 |
+
0.8181710192873692,
|
| 166 |
+
0.8270990089492892
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/ProcTHOR/test/bg_000013/scene_b00_005/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 13,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 4,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.2482361773194894,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
317.51372129884004,
|
| 46 |
+
0.0,
|
| 47 |
+
311.7058745182753
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
333.2665355847342,
|
| 52 |
+
231.5322693557565
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
-1.6232283369833096,
|
| 62 |
+
-8.016342089631195,
|
| 63 |
+
1.6305085151712468
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
-0.6344355445534517,
|
| 67 |
+
-7.5602155415100505,
|
| 68 |
+
1.0975220125652307
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": -0.004530108665533043,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
0.4224766492843628,
|
| 74 |
+
-0.3953862190246582,
|
| 75 |
+
0.8155876398086548,
|
| 76 |
+
-1.6232283115386963
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.9063372611999512,
|
| 80 |
+
-0.19236791133880615,
|
| 81 |
+
0.3762277662754059,
|
| 82 |
+
-8.016342163085938
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
0.00813758373260498,
|
| 86 |
+
-0.8981449604034424,
|
| 87 |
+
-0.43962419033050537,
|
| 88 |
+
1.630508542060852
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
-0.010083436965942383,
|
| 100 |
+
0.9999490976333618,
|
| 101 |
+
1.2182918007752619e-09,
|
| 102 |
+
-0.589582085609436
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.9999490976333618,
|
| 106 |
+
-0.010083436965942383,
|
| 107 |
+
-1.2306390351213281e-09,
|
| 108 |
+
-7.566658020019531
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-1.2182918007752619e-09,
|
| 112 |
+
-1.2306390351213281e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.937206506729126
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.34501777473935435,
|
| 128 |
+
0.3297253476158571,
|
| 129 |
+
0.31556606901572815
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.5878683915410815,
|
| 134 |
+
0.1333187107179183,
|
| 135 |
+
-0.7978952773387079
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.1105357120201222,
|
| 139 |
+
1.1228339952651063,
|
| 140 |
+
1.1425112484570803
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.22301112599728423,
|
| 143 |
+
"elevation_rad": 0.923795506397761,
|
| 144 |
+
"color_temp_k": 5718.102366033462,
|
| 145 |
+
"intensity": 1.1277533085630997
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.12702469205601305,
|
| 150 |
+
0.44526881894313647,
|
| 151 |
+
-0.886341020423324
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.7230711749217262,
|
| 155 |
+
0.723616294985131,
|
| 156 |
+
0.7244884870865788
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": 1.8486911144536782,
|
| 159 |
+
"elevation_rad": 1.0893821989290868,
|
| 160 |
+
"color_temp_k": 5515.062011596123,
|
| 161 |
+
"intensity": 0.723834343010493
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
0.9516027708675582,
|
| 165 |
+
0.9806043020561767,
|
| 166 |
+
1.027006751957966
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/ProcTHOR/test/bg_000013/scene_b00_006/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 13,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 5,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.2684609236337385,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
329.8899315851164,
|
| 46 |
+
0.0,
|
| 47 |
+
327.7466949797548
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
326.2579644374577,
|
| 52 |
+
223.50144654102962
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
-2.1924699947487123,
|
| 62 |
+
-6.5519910656431275,
|
| 63 |
+
1.5803052117323877
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
-0.5487253780008758,
|
| 67 |
+
-7.591928301302992,
|
| 68 |
+
1.1254357961026655
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": 0.013136247345548302,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.5395188331604004,
|
| 74 |
+
-0.17832210659980774,
|
| 75 |
+
0.822873592376709,
|
| 76 |
+
-2.192470073699951
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.8415850400924683,
|
| 80 |
+
0.14390349388122559,
|
| 81 |
+
-0.5206022262573242,
|
| 82 |
+
-6.551990985870361
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.025579363107681274,
|
| 86 |
+
-0.9733926057815552,
|
| 87 |
+
-0.22771167755126953,
|
| 88 |
+
1.5803052186965942
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
-0.010083436965942383,
|
| 100 |
+
0.9999490976333618,
|
| 101 |
+
1.2182918007752619e-09,
|
| 102 |
+
-0.589582085609436
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.9999490976333618,
|
| 106 |
+
-0.010083436965942383,
|
| 107 |
+
-1.2306390351213281e-09,
|
| 108 |
+
-7.566658020019531
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-1.2182918007752619e-09,
|
| 112 |
+
-1.2306390351213281e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.937206506729126
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.3275761410460065,
|
| 128 |
+
0.3242712380908913,
|
| 129 |
+
0.3490577251596764
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.5878683915410815,
|
| 134 |
+
0.1333187107179183,
|
| 135 |
+
-0.7978952773387079
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
0.9483337498129644,
|
| 139 |
+
0.9337808126783514,
|
| 140 |
+
0.9088329204475866
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.22301112599728423,
|
| 143 |
+
"elevation_rad": 0.923795506397761,
|
| 144 |
+
"color_temp_k": 5277.35770632647,
|
| 145 |
+
"intensity": 0.9337808126783514
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.12702469205601305,
|
| 150 |
+
0.44526881894313647,
|
| 151 |
+
-0.886341020423324
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.8418276076753961,
|
| 155 |
+
0.8305421862704243,
|
| 156 |
+
0.811195749576187
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": 1.8486911144536782,
|
| 159 |
+
"elevation_rad": 1.0893821989290868,
|
| 160 |
+
"color_temp_k": 5305.885470418696,
|
| 161 |
+
"intensity": 0.8305421862704243
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
0.9499846647238182,
|
| 165 |
+
0.9287909750814262,
|
| 166 |
+
0.8924589356944687
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/ProcTHOR/test/bg_000013/scene_b00_007/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 13,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 6,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 0.9570195325742057,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
468.3237206948723,
|
| 46 |
+
0.0,
|
| 47 |
+
306.3610679827594
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
462.6789910468753,
|
| 52 |
+
237.49892136120883
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
-1.463813355416226,
|
| 62 |
+
-6.628224084689911,
|
| 63 |
+
1.7915451772677113
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
-0.6141006709176382,
|
| 67 |
+
-7.595022554658227,
|
| 68 |
+
1.1799143426930734
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": -0.01559103603720531,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.7419273853302002,
|
| 74 |
+
-0.3066176772117615,
|
| 75 |
+
0.5962634682655334,
|
| 76 |
+
-1.463813304901123
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.6698892116546631,
|
| 80 |
+
0.301641583442688,
|
| 81 |
+
-0.6784255504608154,
|
| 82 |
+
-6.628223896026611
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
0.028159499168395996,
|
| 86 |
+
-0.9027726650238037,
|
| 87 |
+
-0.4291955232620239,
|
| 88 |
+
1.7915451526641846
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
-0.010083436965942383,
|
| 100 |
+
0.9999490976333618,
|
| 101 |
+
1.2182918007752619e-09,
|
| 102 |
+
-0.589582085609436
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.9999490976333618,
|
| 106 |
+
-0.010083436965942383,
|
| 107 |
+
-1.2306390351213281e-09,
|
| 108 |
+
-7.566658020019531
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-1.2182918007752619e-09,
|
| 112 |
+
-1.2306390351213281e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.937206506729126
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.3472339431173691,
|
| 128 |
+
0.3553929695531297,
|
| 129 |
+
0.3630591366305256
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.5878683915410815,
|
| 134 |
+
0.1333187107179183,
|
| 135 |
+
-0.7978952773387079
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.0702301198450048,
|
| 139 |
+
1.0863536804658525,
|
| 140 |
+
1.1121513774592084
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.22301112599728423,
|
| 143 |
+
"elevation_rad": 0.923795506397761,
|
| 144 |
+
"color_temp_k": 5795.086288669805,
|
| 145 |
+
"intensity": 1.0928031047141915
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.12702469205601305,
|
| 150 |
+
0.44526881894313647,
|
| 151 |
+
-0.886341020423324
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.598054606272566,
|
| 155 |
+
0.6016060587860653,
|
| 156 |
+
0.6072883828076643
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": 1.8486911144536782,
|
| 159 |
+
"elevation_rad": 1.0893821989290868,
|
| 160 |
+
"color_temp_k": 5617.787582808199,
|
| 161 |
+
"intensity": 0.6030266397914651
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
0.8986367332992452,
|
| 165 |
+
0.9217962831256264,
|
| 166 |
+
0.9588515628478367
|
| 167 |
+
],
|
| 168 |
+
"shadow": false
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/ProcTHOR/test/bg_000013/scene_b00_008/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 13,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 7,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.024030255123402,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
421.18991678931303,
|
| 46 |
+
0.0,
|
| 47 |
+
325.7927789283318
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
427.04069377386287,
|
| 52 |
+
220.83228733406648
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
-2.052939276049202,
|
| 62 |
+
-7.865371523950864,
|
| 63 |
+
1.8276528738240567
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
-0.5846354804229728,
|
| 67 |
+
-7.531238628229202,
|
| 68 |
+
1.1121490539082248
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": 0.02399067871457758,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
0.20156466960906982,
|
| 74 |
+
-0.4286312758922577,
|
| 75 |
+
0.8807083368301392,
|
| 76 |
+
-2.0529391765594482
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.9785168170928955,
|
| 80 |
+
-0.048351824283599854,
|
| 81 |
+
0.20041754841804504,
|
| 82 |
+
-7.8653717041015625
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.043321192264556885,
|
| 86 |
+
-0.9021849632263184,
|
| 87 |
+
-0.4291687607765198,
|
| 88 |
+
1.827652931213379
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
-0.010083436965942383,
|
| 100 |
+
0.9999490976333618,
|
| 101 |
+
1.2182918007752619e-09,
|
| 102 |
+
-0.589582085609436
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.9999490976333618,
|
| 106 |
+
-0.010083436965942383,
|
| 107 |
+
-1.2306390351213281e-09,
|
| 108 |
+
-7.566658020019531
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-1.2182918007752619e-09,
|
| 112 |
+
-1.2306390351213281e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.937206506729126
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.2914148253488739,
|
| 128 |
+
0.2839695395841763,
|
| 129 |
+
0.28485238891251374
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.5878683915410815,
|
| 134 |
+
0.1333187107179183,
|
| 135 |
+
-0.7978952773387079
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.1577024703365097,
|
| 139 |
+
1.0906910971948398,
|
| 140 |
+
0.9758144575234058
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.22301112599728423,
|
| 143 |
+
"elevation_rad": 0.923795506397761,
|
| 144 |
+
"color_temp_k": 4622.294723907266,
|
| 145 |
+
"intensity": 1.0906910971948398
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.12702469205601305,
|
| 150 |
+
0.44526881894313647,
|
| 151 |
+
-0.886341020423324
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.5508766280735313,
|
| 155 |
+
0.5713098419015182,
|
| 156 |
+
0.6040029840262974
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": 1.8486911144536782,
|
| 159 |
+
"elevation_rad": 1.0893821989290868,
|
| 160 |
+
"color_temp_k": 6205.2220456706755,
|
| 161 |
+
"intensity": 0.579483127432713
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
1.0478840889131116,
|
| 165 |
+
1.0343548518987213,
|
| 166 |
+
1.0111618741597668
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/ProcTHOR/test/bg_000013/scene_b00_009/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 13,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 8,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.1146378403208486,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
395.1784444773345,
|
| 46 |
+
0.0,
|
| 47 |
+
295.69046680080754
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
385.09621598699425,
|
| 52 |
+
254.93455798892447
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
-0.7579296473390015,
|
| 62 |
+
-5.717041469460785,
|
| 63 |
+
1.4854315064847037
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
-0.6390556281603031,
|
| 67 |
+
-7.561990515698079,
|
| 68 |
+
1.1726345119275057
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": -0.012423921760023222,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.9973564147949219,
|
| 74 |
+
-0.035516928881406784,
|
| 75 |
+
0.06339793652296066,
|
| 76 |
+
-0.7579296231269836
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.06841520965099335,
|
| 80 |
+
0.1648266315460205,
|
| 81 |
+
-0.9839470386505127,
|
| 82 |
+
-5.717041492462158
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
0.02449711598455906,
|
| 86 |
+
-0.9856829643249512,
|
| 87 |
+
-0.16682052612304688,
|
| 88 |
+
1.4854315519332886
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
-0.010083436965942383,
|
| 100 |
+
0.9999490976333618,
|
| 101 |
+
1.2182918007752619e-09,
|
| 102 |
+
-0.589582085609436
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.9999490976333618,
|
| 106 |
+
-0.010083436965942383,
|
| 107 |
+
-1.2306390351213281e-09,
|
| 108 |
+
-7.566658020019531
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-1.2182918007752619e-09,
|
| 112 |
+
-1.2306390351213281e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.937206506729126
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.2730380442391193,
|
| 128 |
+
0.25904633063550797,
|
| 129 |
+
0.26944474790996065
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.5878683915410815,
|
| 134 |
+
0.1333187107179183,
|
| 135 |
+
-0.7978952773387079
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
0.8860910006846473,
|
| 139 |
+
0.8505274420909412,
|
| 140 |
+
0.7895613416445881
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.22301112599728423,
|
| 143 |
+
"elevation_rad": 0.923795506397761,
|
| 144 |
+
"color_temp_k": 4902.663792006584,
|
| 145 |
+
"intensity": 0.8505274420909412
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.12702469205601305,
|
| 150 |
+
0.44526881894313647,
|
| 151 |
+
-0.886341020423324
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.5677997941612593,
|
| 155 |
+
0.5650664764947637,
|
| 156 |
+
0.5603807890664856
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": 1.8486911144536782,
|
| 159 |
+
"elevation_rad": 1.0893821989290868,
|
| 160 |
+
"color_temp_k": 5430.897696359778,
|
| 161 |
+
"intensity": 0.5650664764947637
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
0.8989045555577948,
|
| 165 |
+
0.9336642235808086,
|
| 166 |
+
0.9892796924176308
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/ProcTHOR/test/bg_000013/scene_b00_010/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 13,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 9,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 0.9381940648982323,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
486.040046883437,
|
| 46 |
+
0.0,
|
| 47 |
+
321.1884340008577
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
473.53113104064045,
|
| 52 |
+
256.03500160125253
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
-1.7688627302744027,
|
| 62 |
+
-6.724287188452423,
|
| 63 |
+
1.8108126060056393
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
-0.5444072064426444,
|
| 67 |
+
-7.520568818812626,
|
| 68 |
+
1.1175021186088412
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": 0.022738839531916896,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.5609536170959473,
|
| 74 |
+
-0.33433079719543457,
|
| 75 |
+
0.7573337554931641,
|
| 76 |
+
-1.7688627243041992
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.826828122138977,
|
| 80 |
+
0.27165019512176514,
|
| 81 |
+
-0.4925055205821991,
|
| 82 |
+
-6.724287033081055
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.041069984436035156,
|
| 86 |
+
-0.9024573564529419,
|
| 87 |
+
-0.4288169741630554,
|
| 88 |
+
1.8108125925064087
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
-0.010083436965942383,
|
| 100 |
+
0.9999490976333618,
|
| 101 |
+
1.2182918007752619e-09,
|
| 102 |
+
-0.589582085609436
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.9999490976333618,
|
| 106 |
+
-0.010083436965942383,
|
| 107 |
+
-1.2306390351213281e-09,
|
| 108 |
+
-7.566658020019531
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-1.2182918007752619e-09,
|
| 112 |
+
-1.2306390351213281e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.937206506729126
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.26453094079577544,
|
| 128 |
+
0.29557191499622804,
|
| 129 |
+
0.295406455502119
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.5878683915410815,
|
| 134 |
+
0.1333187107179183,
|
| 135 |
+
-0.7978952773387079
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
0.9231947976541051,
|
| 139 |
+
0.9116372434549072,
|
| 140 |
+
0.8918242933991394
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.22301112599728423,
|
| 143 |
+
"elevation_rad": 0.923795506397761,
|
| 144 |
+
"color_temp_k": 5318.888578415605,
|
| 145 |
+
"intensity": 0.9116372434549072
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.12702469205601305,
|
| 150 |
+
0.44526881894313647,
|
| 151 |
+
-0.886341020423324
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.8050753703691979,
|
| 155 |
+
0.8117107879570801,
|
| 156 |
+
0.8223274560976916
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": 1.8486911144536782,
|
| 159 |
+
"elevation_rad": 1.0893821989290868,
|
| 160 |
+
"color_temp_k": 5662.959310741595,
|
| 161 |
+
"intensity": 0.8143649549922329
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
0.8884373690840819,
|
| 165 |
+
0.891092613249992,
|
| 166 |
+
0.8953410039154484
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/ProcTHOR/test/bg_000013/scene_b00_011/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 13,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 10,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.1414209187262818,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
364.4395027867955,
|
| 46 |
+
0.0,
|
| 47 |
+
334.29726770284555
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
373.8484570800113,
|
| 52 |
+
230.35357188565305
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
-0.5707801417701699,
|
| 62 |
+
-5.883222606828268,
|
| 63 |
+
1.22435823332519
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
-0.6345758664924728,
|
| 67 |
+
-7.582916442322426,
|
| 68 |
+
1.046112123461808
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": -0.03784351102506943,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.9967312812805176,
|
| 74 |
+
-0.07166354358196259,
|
| 75 |
+
-0.037303075194358826,
|
| 76 |
+
-0.5707801580429077
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
0.029524575918912888,
|
| 80 |
+
0.10668957233428955,
|
| 81 |
+
-0.9938540458679199,
|
| 82 |
+
-5.883222579956055
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
0.07520294189453125,
|
| 86 |
+
-0.9917066097259521,
|
| 87 |
+
-0.1042248010635376,
|
| 88 |
+
1.2243582010269165
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
-0.010083436965942383,
|
| 100 |
+
0.9999490976333618,
|
| 101 |
+
1.2182918007752619e-09,
|
| 102 |
+
-0.589582085609436
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.9999490976333618,
|
| 106 |
+
-0.010083436965942383,
|
| 107 |
+
-1.2306390351213281e-09,
|
| 108 |
+
-7.566658020019531
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-1.2182918007752619e-09,
|
| 112 |
+
-1.2306390351213281e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.937206506729126
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.2688461894895691,
|
| 128 |
+
0.2674490835735118,
|
| 129 |
+
0.26348693281187235
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.5878683915410815,
|
| 134 |
+
0.1333187107179183,
|
| 135 |
+
-0.7978952773387079
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.0484684991047635,
|
| 139 |
+
1.0955000901013519,
|
| 140 |
+
1.1707506356958932
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.22301112599728423,
|
| 143 |
+
"elevation_rad": 0.923795506397761,
|
| 144 |
+
"color_temp_k": 6344.136298152365,
|
| 145 |
+
"intensity": 1.1143127264999872
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.12702469205601305,
|
| 150 |
+
0.44526881894313647,
|
| 151 |
+
-0.886341020423324
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.5611326874340921,
|
| 155 |
+
0.5806577081412795,
|
| 156 |
+
0.6118977412727793
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": 1.8486911144536782,
|
| 159 |
+
"elevation_rad": 1.0893821989290868,
|
| 160 |
+
"color_temp_k": 6163.588508332518,
|
| 161 |
+
"intensity": 0.5884677164241544
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
0.8277554300579869,
|
| 165 |
+
0.8056140617811509,
|
| 166 |
+
0.7676574304494321
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/ProcTHOR/test/bg_000013/scene_b00_012/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 13,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 11,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.1515179534804325,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
377.34594349251597,
|
| 46 |
+
0.0,
|
| 47 |
+
343.29052109196056
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
369.72919603899066,
|
| 52 |
+
241.61930936991683
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
-1.7157431240424936,
|
| 62 |
+
-6.0215455244716605,
|
| 63 |
+
1.8270107972243879
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
-0.5600680758719268,
|
| 67 |
+
-7.537300900756069,
|
| 68 |
+
1.148331244618364
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": 0.006126523024781699,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.7976582050323486,
|
| 74 |
+
-0.19361889362335205,
|
| 75 |
+
0.571185827255249,
|
| 76 |
+
-1.715743064880371
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.6029994487762451,
|
| 80 |
+
0.2741544246673584,
|
| 81 |
+
-0.7491536736488342,
|
| 82 |
+
-6.02154541015625
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.01154276728630066,
|
| 86 |
+
-0.9419932961463928,
|
| 87 |
+
-0.3354334235191345,
|
| 88 |
+
1.8270107507705688
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
-0.010083436965942383,
|
| 100 |
+
0.9999490976333618,
|
| 101 |
+
1.2182918007752619e-09,
|
| 102 |
+
-0.589582085609436
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.9999490976333618,
|
| 106 |
+
-0.010083436965942383,
|
| 107 |
+
-1.2306390351213281e-09,
|
| 108 |
+
-7.566658020019531
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-1.2182918007752619e-09,
|
| 112 |
+
-1.2306390351213281e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.937206506729126
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.24150385879908728,
|
| 128 |
+
0.2438662238199596,
|
| 129 |
+
0.25325364146941187
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.5878683915410815,
|
| 134 |
+
0.1333187107179183,
|
| 135 |
+
-0.7978952773387079
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.252108409686645,
|
| 139 |
+
1.1704592470607298,
|
| 140 |
+
1.0304892539877322
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.22301112599728423,
|
| 143 |
+
"elevation_rad": 0.923795506397761,
|
| 144 |
+
"color_temp_k": 4503.453890538467,
|
| 145 |
+
"intensity": 1.1704592470607298
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.12702469205601305,
|
| 150 |
+
0.44526881894313647,
|
| 151 |
+
-0.886341020423324
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.8981732360608666,
|
| 155 |
+
0.905724726289445,
|
| 156 |
+
0.9178071106551702
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": 1.8486911144536782,
|
| 159 |
+
"elevation_rad": 1.0893821989290868,
|
| 160 |
+
"color_temp_k": 5666.1959636566535,
|
| 161 |
+
"intensity": 0.9087453223808762
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
0.8452187799831045,
|
| 165 |
+
0.8344616782116934,
|
| 166 |
+
0.8160209323178458
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/ProcTHOR/test/bg_000013/scene_b00_013/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 13,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 12,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.109786002054816,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
384.4368587177308,
|
| 46 |
+
0.0,
|
| 47 |
+
321.4047849108432
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
387.18558035759486,
|
| 52 |
+
226.0236155551411
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
-2.2999528048925098,
|
| 62 |
+
-7.617890138609224,
|
| 63 |
+
1.881780456358546
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
-0.5607099714656002,
|
| 67 |
+
-7.5620170395684925,
|
| 68 |
+
1.0782959576148836
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": -0.04735051313197314,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
0.07158398628234863,
|
| 74 |
+
-0.4140760004520416,
|
| 75 |
+
0.9074232578277588,
|
| 76 |
+
-2.299952745437622
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.993733286857605,
|
| 80 |
+
-0.10791033506393433,
|
| 81 |
+
0.029151082038879395,
|
| 82 |
+
-7.617890357971191
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
0.08584970235824585,
|
| 86 |
+
-0.9038233160972595,
|
| 87 |
+
-0.41920560598373413,
|
| 88 |
+
1.8817805051803589
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
-0.010083436965942383,
|
| 100 |
+
0.9999490976333618,
|
| 101 |
+
1.2182918007752619e-09,
|
| 102 |
+
-0.589582085609436
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.9999490976333618,
|
| 106 |
+
-0.010083436965942383,
|
| 107 |
+
-1.2306390351213281e-09,
|
| 108 |
+
-7.566658020019531
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-1.2182918007752619e-09,
|
| 112 |
+
-1.2306390351213281e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.937206506729126
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.3047229347137279,
|
| 128 |
+
0.31045995418234323,
|
| 129 |
+
0.3091603885829766
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.5878683915410815,
|
| 134 |
+
0.1333187107179183,
|
| 135 |
+
-0.7978952773387079
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
0.9530645395631617,
|
| 139 |
+
0.989511323112463,
|
| 140 |
+
1.0478261767913455
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.22301112599728423,
|
| 143 |
+
"elevation_rad": 0.923795506397761,
|
| 144 |
+
"color_temp_k": 6225.966441718261,
|
| 145 |
+
"intensity": 1.0040900365321836
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.12702469205601305,
|
| 150 |
+
0.44526881894313647,
|
| 151 |
+
-0.886341020423324
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.7708549410537061,
|
| 155 |
+
0.7493108555099608,
|
| 156 |
+
0.7123781374349687
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": 1.8486911144536782,
|
| 159 |
+
"elevation_rad": 1.0893821989290868,
|
| 160 |
+
"color_temp_k": 5089.259052685854,
|
| 161 |
+
"intensity": 0.7493108555099608
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
1.0899154837049343,
|
| 165 |
+
1.0619531470674564,
|
| 166 |
+
1.01401771283178
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/ProcTHOR/test/bg_000013/scene_b00_014/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 13,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 13,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.1482739645363214,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
388.8156357460733,
|
| 46 |
+
0.0,
|
| 47 |
+
312.195448142599
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
371.04562412895217,
|
| 52 |
+
235.1250054277346
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
-0.5333896163370734,
|
| 62 |
+
-5.884664307498485,
|
| 63 |
+
1.2653071996503877
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
-0.5397386633149507,
|
| 67 |
+
-7.577346083470892,
|
| 68 |
+
1.0610066043253605
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": 0.04880866536886419,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.9951884746551514,
|
| 74 |
+
0.09790899604558945,
|
| 75 |
+
-0.0037236660718917847,
|
| 76 |
+
-0.5333896279335022
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
0.015411272644996643,
|
| 80 |
+
0.11888909339904785,
|
| 81 |
+
-0.9927879571914673,
|
| 82 |
+
-5.884664535522461
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.09676016867160797,
|
| 86 |
+
-0.9880684614181519,
|
| 87 |
+
-0.11982589960098267,
|
| 88 |
+
1.2653071880340576
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
-0.010083436965942383,
|
| 100 |
+
0.9999490976333618,
|
| 101 |
+
1.2182918007752619e-09,
|
| 102 |
+
-0.589582085609436
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.9999490976333618,
|
| 106 |
+
-0.010083436965942383,
|
| 107 |
+
-1.2306390351213281e-09,
|
| 108 |
+
-7.566658020019531
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-1.2182918007752619e-09,
|
| 112 |
+
-1.2306390351213281e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.937206506729126
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.32180023623017173,
|
| 128 |
+
0.3296890734667511,
|
| 129 |
+
0.3055574847431139
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.5878683915410815,
|
| 134 |
+
0.1333187107179183,
|
| 135 |
+
-0.7978952773387079
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
0.90374228715997,
|
| 139 |
+
0.9097648710971077,
|
| 140 |
+
0.9194010053965279
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.22301112599728423,
|
| 143 |
+
"elevation_rad": 0.923795506397761,
|
| 144 |
+
"color_temp_k": 5632.049029385543,
|
| 145 |
+
"intensity": 0.9121739046719627
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.12702469205601305,
|
| 150 |
+
0.44526881894313647,
|
| 151 |
+
-0.886341020423324
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.8459019365196879,
|
| 155 |
+
0.8366578062391985,
|
| 156 |
+
0.8208107257583594
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": 1.8486911144536782,
|
| 159 |
+
"elevation_rad": 1.0893821989290868,
|
| 160 |
+
"color_temp_k": 5342.158881418197,
|
| 161 |
+
"intensity": 0.8366578062391985
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
0.8309458217695266,
|
| 165 |
+
0.8297906609207518,
|
| 166 |
+
0.8278103851799951
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/ProcTHOR/test/bg_000013/scene_b00_015/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 13,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 14,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.1843628709246175,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
343.00243135601124,
|
| 46 |
+
0.0,
|
| 47 |
+
346.69390717934755
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
356.7607963826503,
|
| 52 |
+
239.30217612345064
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
-1.5267381674437992,
|
| 62 |
+
-6.572065584071611,
|
| 63 |
+
1.722384008060231
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
-0.5660821777453823,
|
| 67 |
+
-7.5707933144890545,
|
| 68 |
+
1.0881147569999756
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": -0.03161802086856415,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.7010374069213867,
|
| 74 |
+
-0.3334815502166748,
|
| 75 |
+
0.6303465366363525,
|
| 76 |
+
-1.526738166809082
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.7108057737350464,
|
| 80 |
+
0.25554001331329346,
|
| 81 |
+
-0.6553277969360352,
|
| 82 |
+
-6.572065353393555
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
0.05746099352836609,
|
| 86 |
+
-0.9074631929397583,
|
| 87 |
+
-0.4161836504936218,
|
| 88 |
+
1.722383975982666
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
-0.010083436965942383,
|
| 100 |
+
0.9999490976333618,
|
| 101 |
+
1.2182918007752619e-09,
|
| 102 |
+
-0.589582085609436
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.9999490976333618,
|
| 106 |
+
-0.010083436965942383,
|
| 107 |
+
-1.2306390351213281e-09,
|
| 108 |
+
-7.566658020019531
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-1.2182918007752619e-09,
|
| 112 |
+
-1.2306390351213281e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.937206506729126
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.2541355330328413,
|
| 128 |
+
0.2621259293706751,
|
| 129 |
+
0.24894320634118935
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.5878683915410815,
|
| 134 |
+
0.1333187107179183,
|
| 135 |
+
-0.7978952773387079
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.0084238182330412,
|
| 139 |
+
1.0536101501335544,
|
| 140 |
+
1.1259082811743755
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.22301112599728423,
|
| 143 |
+
"elevation_rad": 0.923795506397761,
|
| 144 |
+
"color_temp_k": 6343.276620852717,
|
| 145 |
+
"intensity": 1.0716846828937596
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.12702469205601305,
|
| 150 |
+
0.44526881894313647,
|
| 151 |
+
-0.886341020423324
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.7565189714419029,
|
| 155 |
+
0.7316093681844417,
|
| 156 |
+
0.688907191171651
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": 1.8486911144536782,
|
| 159 |
+
"elevation_rad": 1.0893821989290868,
|
| 160 |
+
"color_temp_k": 5013.604540098129,
|
| 161 |
+
"intensity": 0.7316093681844417
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
0.8609872800389247,
|
| 165 |
+
0.8452932639574453,
|
| 166 |
+
0.818389236389195
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/ProcTHOR/test/bg_000013/scene_b00_016/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 13,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 15,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 0.8664250097242265,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
501.5494013258696,
|
| 46 |
+
0.0,
|
| 47 |
+
305.57368235483983
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
518.9021173109649,
|
| 52 |
+
219.3050816432881
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
-1.0225388925072587,
|
| 62 |
+
-5.884077133236419,
|
| 63 |
+
0.9475353970400169
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
-0.5826880524730808,
|
| 67 |
+
-7.522514791651469,
|
| 68 |
+
1.0781029507688231
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": -0.03472790707872124,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.9648551940917969,
|
| 74 |
+
-0.04717821627855301,
|
| 75 |
+
0.2585125267505646,
|
| 76 |
+
-1.0225389003753662
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.25350841879844666,
|
| 80 |
+
-0.09192919731140137,
|
| 81 |
+
-0.962955117225647,
|
| 82 |
+
-5.884077072143555
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
0.06919535994529724,
|
| 86 |
+
-0.9946472644805908,
|
| 87 |
+
0.07673835754394531,
|
| 88 |
+
0.9475353956222534
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
-0.010083436965942383,
|
| 100 |
+
0.9999490976333618,
|
| 101 |
+
1.2182918007752619e-09,
|
| 102 |
+
-0.589582085609436
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.9999490976333618,
|
| 106 |
+
-0.010083436965942383,
|
| 107 |
+
-1.2306390351213281e-09,
|
| 108 |
+
-7.566658020019531
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-1.2182918007752619e-09,
|
| 112 |
+
-1.2306390351213281e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.937206506729126
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.29751669197560887,
|
| 128 |
+
0.29536931675996053,
|
| 129 |
+
0.3179496007702312
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.5878683915410815,
|
| 134 |
+
0.1333187107179183,
|
| 135 |
+
-0.7978952773387079
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.0175408312772947,
|
| 139 |
+
0.9712032583641327,
|
| 140 |
+
0.8917674190844266
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.22301112599728423,
|
| 143 |
+
"elevation_rad": 0.923795506397761,
|
| 144 |
+
"color_temp_k": 4818.407015596426,
|
| 145 |
+
"intensity": 0.9712032583641327
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.12702469205601305,
|
| 150 |
+
0.44526881894313647,
|
| 151 |
+
-0.886341020423324
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.6855473732159985,
|
| 155 |
+
0.6741210565557918,
|
| 156 |
+
0.6545330851382948
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": 1.8486911144536782,
|
| 159 |
+
"elevation_rad": 1.0893821989290868,
|
| 160 |
+
"color_temp_k": 5257.857889827985,
|
| 161 |
+
"intensity": 0.6741210565557918
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
1.0648209615321467,
|
| 165 |
+
1.0800866913702056,
|
| 166 |
+
1.1045118591110998
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/ProcTHOR/test/bg_000013/scene_b01_001/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 13,
|
| 7 |
+
"base_idx": 1,
|
| 8 |
+
"cam_idx": 0,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 0.8171218485641909,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
537.5146333084243,
|
| 46 |
+
0.0,
|
| 47 |
+
298.1769190903399
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
554.3732140406426,
|
| 52 |
+
225.0767254974019
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
-1.2398274023760019,
|
| 62 |
+
-5.443623569300422,
|
| 63 |
+
1.194764693857793
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
-0.5508797363646952,
|
| 67 |
+
-7.32785403888878,
|
| 68 |
+
1.1714303282952867
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": -0.03699831596114029,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.9363226890563965,
|
| 74 |
+
-0.07341624796390533,
|
| 75 |
+
0.34338030219078064,
|
| 76 |
+
-1.2398273944854736
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.34327131509780884,
|
| 80 |
+
-0.014494478702545166,
|
| 81 |
+
-0.9391245245933533,
|
| 82 |
+
-5.4436235427856445
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
0.07392415404319763,
|
| 86 |
+
-0.9971961379051208,
|
| 87 |
+
-0.011630058288574219,
|
| 88 |
+
1.1947647333145142
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.35668230056762695,
|
| 100 |
+
0.9342257380485535,
|
| 101 |
+
2.3670707616219033e-09,
|
| 102 |
+
-0.5275591611862183
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.9342257380485535,
|
| 106 |
+
0.35668230056762695,
|
| 107 |
+
-1.6299900318372806e-09,
|
| 108 |
+
-7.282932281494141
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-2.3670707616219033e-09,
|
| 112 |
+
-1.6299900318372806e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.937206506729126
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.26463233699381333,
|
| 128 |
+
0.2720142119988178,
|
| 129 |
+
0.2819777172670445
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.5878683915410815,
|
| 134 |
+
0.1333187107179183,
|
| 135 |
+
-0.7978952773387079
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.1500670385721972,
|
| 139 |
+
1.1468109698125954,
|
| 140 |
+
1.1412291376532784
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.22301112599728423,
|
| 143 |
+
"elevation_rad": 0.923795506397761,
|
| 144 |
+
"color_temp_k": 5459.439463679084,
|
| 145 |
+
"intensity": 1.1468109698125954
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.12702469205601305,
|
| 150 |
+
0.44526881894313647,
|
| 151 |
+
-0.886341020423324
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.6144465540004845,
|
| 155 |
+
0.6207433930765216,
|
| 156 |
+
0.6308183355981809
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": 1.8486911144536782,
|
| 159 |
+
"elevation_rad": 1.0893821989290868,
|
| 160 |
+
"color_temp_k": 5702.060699214983,
|
| 161 |
+
"intensity": 0.6232621287069364
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
0.9365470269295436,
|
| 165 |
+
0.9688704144487714,
|
| 166 |
+
1.0205878344795358
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/ProcTHOR/test/bg_000013/scene_b01_002/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 13,
|
| 7 |
+
"base_idx": 1,
|
| 8 |
+
"cam_idx": 1,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.1821619838993274,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
349.9627585900729,
|
| 46 |
+
0.0,
|
| 47 |
+
328.4761066925763
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
357.6098860450264,
|
| 52 |
+
236.8419525960068
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
-0.036250475097662715,
|
| 62 |
+
-6.169153178590055,
|
| 63 |
+
1.137541276535086
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
-0.5422373109616025,
|
| 67 |
+
-7.329997013883561,
|
| 68 |
+
1.137943444133859
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": -0.02134419399675216,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.9158618450164795,
|
| 74 |
+
-0.03924739360809326,
|
| 75 |
+
-0.39957094192504883,
|
| 76 |
+
-0.03625047579407692
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
0.3992193639278412,
|
| 80 |
+
0.016761183738708496,
|
| 81 |
+
-0.9167022705078125,
|
| 82 |
+
-6.169153213500977
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
0.042675405740737915,
|
| 86 |
+
-0.9990890026092529,
|
| 87 |
+
0.00031757354736328125,
|
| 88 |
+
1.1375412940979004
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.35668230056762695,
|
| 100 |
+
0.9342257380485535,
|
| 101 |
+
2.3670707616219033e-09,
|
| 102 |
+
-0.5275591611862183
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.9342257380485535,
|
| 106 |
+
0.35668230056762695,
|
| 107 |
+
-1.6299900318372806e-09,
|
| 108 |
+
-7.282932281494141
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-2.3670707616219033e-09,
|
| 112 |
+
-1.6299900318372806e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.937206506729126
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.37235079080998357,
|
| 128 |
+
0.36590250289869203,
|
| 129 |
+
0.37921727892808815
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.5878683915410815,
|
| 134 |
+
0.1333187107179183,
|
| 135 |
+
-0.7978952773387079
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.121162202641134,
|
| 139 |
+
1.0976803676461144,
|
| 140 |
+
1.0574257933689377
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.22301112599728423,
|
| 143 |
+
"elevation_rad": 0.923795506397761,
|
| 144 |
+
"color_temp_k": 5194.39666087634,
|
| 145 |
+
"intensity": 1.0976803676461144
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.12702469205601305,
|
| 150 |
+
0.44526881894313647,
|
| 151 |
+
-0.886341020423324
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.7243637655225257,
|
| 155 |
+
0.7390640616054649,
|
| 156 |
+
0.7625845353381677
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": 1.8486911144536782,
|
| 159 |
+
"elevation_rad": 1.0893821989290868,
|
| 160 |
+
"color_temp_k": 5894.668391990841,
|
| 161 |
+
"intensity": 0.7449441800386406
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
0.787170762530375,
|
| 165 |
+
0.8046099751928267,
|
| 166 |
+
0.8325127154527495
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/ProcTHOR/test/bg_000013/scene_b01_003/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 13,
|
| 7 |
+
"base_idx": 1,
|
| 8 |
+
"cam_idx": 2,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.1003573918295013,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
379.63630608094354,
|
| 46 |
+
0.0,
|
| 47 |
+
300.30593664498053
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
391.293008250646,
|
| 52 |
+
247.828533815137
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
-1.4779472991719016,
|
| 62 |
+
-6.4004574365849765,
|
| 63 |
+
1.735168119207498
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
-0.5211606900836488,
|
| 67 |
+
-7.274353425317292,
|
| 68 |
+
1.1523063589742384
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": -0.0517041852562147,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.639531135559082,
|
| 74 |
+
-0.370885968208313,
|
| 75 |
+
0.6733824014663696,
|
| 76 |
+
-1.4779473543167114
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.7629797458648682,
|
| 80 |
+
0.19895398616790771,
|
| 81 |
+
-0.6150442957878113,
|
| 82 |
+
-6.400457382202148
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
0.09413924813270569,
|
| 86 |
+
-0.9071169495582581,
|
| 87 |
+
-0.41021549701690674,
|
| 88 |
+
1.7351680994033813
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.35668230056762695,
|
| 100 |
+
0.9342257380485535,
|
| 101 |
+
2.3670707616219033e-09,
|
| 102 |
+
-0.5275591611862183
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.9342257380485535,
|
| 106 |
+
0.35668230056762695,
|
| 107 |
+
-1.6299900318372806e-09,
|
| 108 |
+
-7.282932281494141
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-2.3670707616219033e-09,
|
| 112 |
+
-1.6299900318372806e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.937206506729126
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.2740685136140508,
|
| 128 |
+
0.27433581049578365,
|
| 129 |
+
0.2893858770219557
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.5878683915410815,
|
| 134 |
+
0.1333187107179183,
|
| 135 |
+
-0.7978952773387079
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.041089162970158,
|
| 139 |
+
1.0632551858807435,
|
| 140 |
+
1.09872082253768
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.22301112599728423,
|
| 143 |
+
"elevation_rad": 0.923795506397761,
|
| 144 |
+
"color_temp_k": 5913.49830118207,
|
| 145 |
+
"intensity": 1.0721215950449776
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.12702469205601305,
|
| 150 |
+
0.44526881894313647,
|
| 151 |
+
-0.886341020423324
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.9300890270239076,
|
| 155 |
+
0.9088840748326181,
|
| 156 |
+
0.8725327282189791
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": 1.8486911144536782,
|
| 159 |
+
"elevation_rad": 1.0893821989290868,
|
| 160 |
+
"color_temp_k": 5166.703491858651,
|
| 161 |
+
"intensity": 0.9088840748326181
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
0.9398940803224881,
|
| 165 |
+
0.9655686774138437,
|
| 166 |
+
1.006648032760013
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/ProcTHOR/test/bg_000013/scene_b01_004/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 13,
|
| 7 |
+
"base_idx": 1,
|
| 8 |
+
"cam_idx": 3,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.0844639164434515,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
407.99007630974876,
|
| 46 |
+
0.0,
|
| 47 |
+
300.8183678384838
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
398.3616520582278,
|
| 52 |
+
226.77893881273116
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
-1.2920147150875807,
|
| 62 |
+
-6.17904889473621,
|
| 63 |
+
1.1687165700741116
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
-0.5268718409966237,
|
| 67 |
+
-7.247864251465517,
|
| 68 |
+
1.0782639117601298
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": -0.04074250464096156,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.8071696758270264,
|
| 74 |
+
-0.10601282119750977,
|
| 75 |
+
0.5807225704193115,
|
| 76 |
+
-1.292014718055725
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.5847080945968628,
|
| 80 |
+
0.008256912231445312,
|
| 81 |
+
-0.811201810836792,
|
| 82 |
+
-6.179049015045166
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
0.08120283484458923,
|
| 86 |
+
-0.9943305253982544,
|
| 87 |
+
-0.06865119934082031,
|
| 88 |
+
1.168716549873352
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.35668230056762695,
|
| 100 |
+
0.9342257380485535,
|
| 101 |
+
2.3670707616219033e-09,
|
| 102 |
+
-0.5275591611862183
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.9342257380485535,
|
| 106 |
+
0.35668230056762695,
|
| 107 |
+
-1.6299900318372806e-09,
|
| 108 |
+
-7.282932281494141
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-2.3670707616219033e-09,
|
| 112 |
+
-1.6299900318372806e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.937206506729126
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.28702976257079005,
|
| 128 |
+
0.26976919105987796,
|
| 129 |
+
0.272826446719989
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.5878683915410815,
|
| 134 |
+
0.1333187107179183,
|
| 135 |
+
-0.7978952773387079
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
0.9722215975544042,
|
| 139 |
+
0.9172322229175979,
|
| 140 |
+
0.8229647235402158
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.22301112599728423,
|
| 143 |
+
"elevation_rad": 0.923795506397761,
|
| 144 |
+
"color_temp_k": 4643.55113657832,
|
| 145 |
+
"intensity": 0.9172322229175979
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.12702469205601305,
|
| 150 |
+
0.44526881894313647,
|
| 151 |
+
-0.886341020423324
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.5819495942205217,
|
| 155 |
+
0.5750064420981368,
|
| 156 |
+
0.5631038956026196
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": 1.8486911144536782,
|
| 159 |
+
"elevation_rad": 1.0893821989290868,
|
| 160 |
+
"color_temp_k": 5327.501258767264,
|
| 161 |
+
"intensity": 0.5750064420981368
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
1.165186549859635,
|
| 165 |
+
1.1669046449040872,
|
| 166 |
+
1.1696535969752102
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/ProcTHOR/test/bg_000013/scene_b01_005/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 13,
|
| 7 |
+
"base_idx": 1,
|
| 8 |
+
"cam_idx": 4,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.2788050371272566,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
325.6912039639995,
|
| 46 |
+
0.0,
|
| 47 |
+
304.5223367775056
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
322.7474229517519,
|
| 52 |
+
238.65171927270677
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
-0.9214019349806182,
|
| 62 |
+
-5.695796823675365,
|
| 63 |
+
1.620276424845758
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
-0.5392867205365639,
|
| 67 |
+
-7.244353629609991,
|
| 68 |
+
1.0642602591089276
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": 0.04152284720577969,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.9740744829177856,
|
| 74 |
+
0.0019469186663627625,
|
| 75 |
+
0.22621871531009674,
|
| 76 |
+
-0.9214019179344177
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.21223458647727966,
|
| 80 |
+
0.33835625648498535,
|
| 81 |
+
-0.9167722463607788,
|
| 82 |
+
-5.695796966552734
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.07832740247249603,
|
| 86 |
+
-0.9410159587860107,
|
| 87 |
+
-0.3291711211204529,
|
| 88 |
+
1.6202764511108398
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.35668230056762695,
|
| 100 |
+
0.9342257380485535,
|
| 101 |
+
2.3670707616219033e-09,
|
| 102 |
+
-0.5275591611862183
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.9342257380485535,
|
| 106 |
+
0.35668230056762695,
|
| 107 |
+
-1.6299900318372806e-09,
|
| 108 |
+
-7.282932281494141
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-2.3670707616219033e-09,
|
| 112 |
+
-1.6299900318372806e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.937206506729126
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.32850359415675473,
|
| 128 |
+
0.33358908352980093,
|
| 129 |
+
0.35953867573906895
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.5878683915410815,
|
| 134 |
+
0.1333187107179183,
|
| 135 |
+
-0.7978952773387079
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.0566092991490617,
|
| 139 |
+
1.0384612896547032,
|
| 140 |
+
1.0073504162358027
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.22301112599728423,
|
| 143 |
+
"elevation_rad": 0.923795506397761,
|
| 144 |
+
"color_temp_k": 5250.344783119414,
|
| 145 |
+
"intensity": 1.0384612896547032
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.12702469205601305,
|
| 150 |
+
0.44526881894313647,
|
| 151 |
+
-0.886341020423324
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.8937097341944592,
|
| 155 |
+
0.9268203892681631,
|
| 156 |
+
0.9797974373860894
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": 1.8486911144536782,
|
| 159 |
+
"elevation_rad": 1.0893821989290868,
|
| 160 |
+
"color_temp_k": 6204.433573329212,
|
| 161 |
+
"intensity": 0.9400646512976447
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
1.046844494995404,
|
| 165 |
+
1.0349060493944058,
|
| 166 |
+
1.014440142649837
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/ProcTHOR/test/bg_000013/scene_b01_006/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 13,
|
| 7 |
+
"base_idx": 1,
|
| 8 |
+
"cam_idx": 5,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.1121511681643468,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
399.7470310242554,
|
| 46 |
+
0.0,
|
| 47 |
+
302.7826364073728
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
386.16502288372794,
|
| 52 |
+
240.60248483880588
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
-1.338811807373614,
|
| 62 |
+
-5.81979799917433,
|
| 63 |
+
1.8603065807353962
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
-0.5309355040334363,
|
| 67 |
+
-7.328661185804593,
|
| 68 |
+
1.1610313311119258
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": 0.04617207301335893,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.894294023513794,
|
| 74 |
+
-0.09647199511528015,
|
| 75 |
+
0.4369569718837738,
|
| 76 |
+
-1.3388117551803589
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.4392623007297516,
|
| 80 |
+
0.3755379915237427,
|
| 81 |
+
-0.8161003589630127,
|
| 82 |
+
-5.819797992706299
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.08536311984062195,
|
| 86 |
+
-0.9217723608016968,
|
| 87 |
+
-0.378217875957489,
|
| 88 |
+
1.8603066205978394
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.35668230056762695,
|
| 100 |
+
0.9342257380485535,
|
| 101 |
+
2.3670707616219033e-09,
|
| 102 |
+
-0.5275591611862183
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.9342257380485535,
|
| 106 |
+
0.35668230056762695,
|
| 107 |
+
-1.6299900318372806e-09,
|
| 108 |
+
-7.282932281494141
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-2.3670707616219033e-09,
|
| 112 |
+
-1.6299900318372806e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.937206506729126
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.30732126416866423,
|
| 128 |
+
0.3142129819817116,
|
| 129 |
+
0.3079516740373536
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.5878683915410815,
|
| 134 |
+
0.1333187107179183,
|
| 135 |
+
-0.7978952773387079
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
0.8482588439129263,
|
| 139 |
+
0.8627244767453714,
|
| 140 |
+
0.8858694892772838
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.22301112599728423,
|
| 143 |
+
"elevation_rad": 0.923795506397761,
|
| 144 |
+
"color_temp_k": 5833.113508786964,
|
| 145 |
+
"intensity": 0.8685107298783495
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.12702469205601305,
|
| 150 |
+
0.44526881894313647,
|
| 151 |
+
-0.886341020423324
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.8785988955790496,
|
| 155 |
+
0.895245231681005,
|
| 156 |
+
0.9218793694441338
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": 1.8486911144536782,
|
| 159 |
+
"elevation_rad": 1.0893821989290868,
|
| 160 |
+
"color_temp_k": 5869.137744563042,
|
| 161 |
+
"intensity": 0.9019037661217872
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
0.9051669596987124,
|
| 165 |
+
0.9023338993080308,
|
| 166 |
+
0.8974772243525765
|
| 167 |
+
],
|
| 168 |
+
"shadow": false
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/ProcTHOR/test/bg_000013/scene_b01_007/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 13,
|
| 7 |
+
"base_idx": 1,
|
| 8 |
+
"cam_idx": 6,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.0625296006444716,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
415.72172202805,
|
| 46 |
+
0.0,
|
| 47 |
+
332.25630576974305
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
408.42910666881045,
|
| 52 |
+
218.7253901289725
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
-2.287859514582187,
|
| 62 |
+
-7.011454040648602,
|
| 63 |
+
1.473944711384748
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
-0.5502309944608995,
|
| 67 |
+
-7.235823841745772,
|
| 68 |
+
1.086348685931417
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": 0.025625414731059143,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.13886702060699463,
|
| 74 |
+
-0.20738118886947632,
|
| 75 |
+
0.968353807926178,
|
| 76 |
+
-2.2878594398498535
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.989047110080719,
|
| 80 |
+
0.07843172550201416,
|
| 81 |
+
-0.12503772974014282,
|
| 82 |
+
-7.011454105377197
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.05001908540725708,
|
| 86 |
+
-0.9751110672950745,
|
| 87 |
+
-0.21600127220153809,
|
| 88 |
+
1.4739446640014648
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.35668230056762695,
|
| 100 |
+
0.9342257380485535,
|
| 101 |
+
2.3670707616219033e-09,
|
| 102 |
+
-0.5275591611862183
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.9342257380485535,
|
| 106 |
+
0.35668230056762695,
|
| 107 |
+
-1.6299900318372806e-09,
|
| 108 |
+
-7.282932281494141
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-2.3670707616219033e-09,
|
| 112 |
+
-1.6299900318372806e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.937206506729126
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.2566581719320948,
|
| 128 |
+
0.2591055033911077,
|
| 129 |
+
0.263828733872525
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.5878683915410815,
|
| 134 |
+
0.1333187107179183,
|
| 135 |
+
-0.7978952773387079
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
0.9360554650618556,
|
| 139 |
+
0.9377482387082781,
|
| 140 |
+
0.940456676542554
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.22301112599728423,
|
| 143 |
+
"elevation_rad": 0.923795506397761,
|
| 144 |
+
"color_temp_k": 5536.076895188929,
|
| 145 |
+
"intensity": 0.938425348166847
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.12702469205601305,
|
| 150 |
+
0.44526881894313647,
|
| 151 |
+
-0.886341020423324
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.7653362409467361,
|
| 155 |
+
0.7465431225041522,
|
| 156 |
+
0.7143263480311514
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": 1.8486911144536782,
|
| 159 |
+
"elevation_rad": 1.0893821989290868,
|
| 160 |
+
"color_temp_k": 5140.378281554864,
|
| 161 |
+
"intensity": 0.7465431225041522
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
1.1426904313850041,
|
| 165 |
+
1.1591288464175997,
|
| 166 |
+
1.1854303104697528
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/ProcTHOR/test/bg_000013/scene_b01_008/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 13,
|
| 7 |
+
"base_idx": 1,
|
| 8 |
+
"cam_idx": 7,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.213758216466984,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
338.29889529815955,
|
| 46 |
+
0.0,
|
| 47 |
+
297.6568833938195
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
345.6800902352287,
|
| 52 |
+
243.02086523969587
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
-0.11303440375440044,
|
| 62 |
+
-5.363599404694677,
|
| 63 |
+
1.6145666120732476
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
-0.5454899225162738,
|
| 67 |
+
-7.271406984733097,
|
| 68 |
+
1.1074744121651632
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": -0.02099107976655827,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.9767272472381592,
|
| 74 |
+
0.0144919753074646,
|
| 75 |
+
-0.21399526298046112,
|
| 76 |
+
-0.11303440481424332
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
0.2106025516986847,
|
| 80 |
+
0.2537825107574463,
|
| 81 |
+
-0.9440555572509766,
|
| 82 |
+
-5.3635993003845215
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
0.04062701761722565,
|
| 86 |
+
-0.9671527147293091,
|
| 87 |
+
-0.25092828273773193,
|
| 88 |
+
1.6145665645599365
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.35668230056762695,
|
| 100 |
+
0.9342257380485535,
|
| 101 |
+
2.3670707616219033e-09,
|
| 102 |
+
-0.5275591611862183
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.9342257380485535,
|
| 106 |
+
0.35668230056762695,
|
| 107 |
+
-1.6299900318372806e-09,
|
| 108 |
+
-7.282932281494141
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-2.3670707616219033e-09,
|
| 112 |
+
-1.6299900318372806e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.937206506729126
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.2651879367162394,
|
| 128 |
+
0.2613879087944804,
|
| 129 |
+
0.262117521914205
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.5878683915410815,
|
| 134 |
+
0.1333187107179183,
|
| 135 |
+
-0.7978952773387079
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
0.9235963688299729,
|
| 139 |
+
0.8983428595117628,
|
| 140 |
+
0.8550511292519744
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.22301112599728423,
|
| 143 |
+
"elevation_rad": 0.923795506397761,
|
| 144 |
+
"color_temp_k": 5098.411213478514,
|
| 145 |
+
"intensity": 0.8983428595117628
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.12702469205601305,
|
| 150 |
+
0.44526881894313647,
|
| 151 |
+
-0.886341020423324
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.939972350395525,
|
| 155 |
+
0.9357483229425455,
|
| 156 |
+
0.9285071330231524
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": 1.8486911144536782,
|
| 159 |
+
"elevation_rad": 1.0893821989290868,
|
| 160 |
+
"color_temp_k": 5435.51337699594,
|
| 161 |
+
"intensity": 0.9357483229425455
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
0.857632150504393,
|
| 165 |
+
0.8754680136362003,
|
| 166 |
+
0.9040053946470922
|
| 167 |
+
],
|
| 168 |
+
"shadow": false
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/ProcTHOR/test/bg_000013/scene_b01_009/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 13,
|
| 7 |
+
"base_idx": 1,
|
| 8 |
+
"cam_idx": 8,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 0.8972341263832246,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
479.69443819773346,
|
| 46 |
+
0.0,
|
| 47 |
+
346.2943557686495
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
498.5971047305422,
|
| 52 |
+
246.48127207363052
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
-1.2652677988184116,
|
| 62 |
+
-5.712187060761637,
|
| 63 |
+
1.2757335093910098
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
-0.5765699783645055,
|
| 67 |
+
-7.328148221051587,
|
| 68 |
+
1.0390162950604773
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": -0.038292193165067205,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.9132356643676758,
|
| 74 |
+
-0.12259133160114288,
|
| 75 |
+
0.3885512948036194,
|
| 76 |
+
-1.2652678489685059
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.40031421184539795,
|
| 80 |
+
0.09250271320343018,
|
| 81 |
+
-0.9116972088813782,
|
| 82 |
+
-5.71218729019165
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
0.07582415640354156,
|
| 86 |
+
-0.9881369471549988,
|
| 87 |
+
-0.1335517168045044,
|
| 88 |
+
1.275733470916748
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.35668230056762695,
|
| 100 |
+
0.9342257380485535,
|
| 101 |
+
2.3670707616219033e-09,
|
| 102 |
+
-0.5275591611862183
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.9342257380485535,
|
| 106 |
+
0.35668230056762695,
|
| 107 |
+
-1.6299900318372806e-09,
|
| 108 |
+
-7.282932281494141
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-2.3670707616219033e-09,
|
| 112 |
+
-1.6299900318372806e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.937206506729126
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.33196254330801017,
|
| 128 |
+
0.34795224005215414,
|
| 129 |
+
0.3392757692988028
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.5878683915410815,
|
| 134 |
+
0.1333187107179183,
|
| 135 |
+
-0.7978952773387079
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.1752110949193242,
|
| 139 |
+
1.1260566824557747,
|
| 140 |
+
1.0417919753754044
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.22301112599728423,
|
| 143 |
+
"elevation_rad": 0.923795506397761,
|
| 144 |
+
"color_temp_k": 4876.402712867876,
|
| 145 |
+
"intensity": 1.1260566824557747
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.12702469205601305,
|
| 150 |
+
0.44526881894313647,
|
| 151 |
+
-0.886341020423324
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.812204704320626,
|
| 155 |
+
0.8139339636995291,
|
| 156 |
+
0.816700778705774
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": 1.8486911144536782,
|
| 159 |
+
"elevation_rad": 1.0893821989290868,
|
| 160 |
+
"color_temp_k": 5542.45531286324,
|
| 161 |
+
"intensity": 0.8146256674510903
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
0.976031473543327,
|
| 165 |
+
0.9349490417070154,
|
| 166 |
+
0.8645220157019097
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/ProcTHOR/test/bg_000013/scene_b01_010/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 13,
|
| 7 |
+
"base_idx": 1,
|
| 8 |
+
"cam_idx": 9,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.301109989909266,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
316.5475772695892,
|
| 46 |
+
0.0,
|
| 47 |
+
336.11592504535383
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
315.34114929160467,
|
| 52 |
+
233.58216284377752
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
-1.6515393918174122,
|
| 62 |
+
-7.683682305510132,
|
| 63 |
+
1.533621986209349
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
-0.5294528323806692,
|
| 67 |
+
-7.2837067042146915,
|
| 68 |
+
1.0486916769655172
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": 0.04473252947303946,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
0.30268949270248413,
|
| 74 |
+
-0.3837268352508545,
|
| 75 |
+
0.872429370880127,
|
| 76 |
+
-1.6515394449234009
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.9494900703430176,
|
| 80 |
+
-0.041929662227630615,
|
| 81 |
+
0.3109835982322693,
|
| 82 |
+
-7.683682441711426
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.08275195956230164,
|
| 86 |
+
-0.9224943518638611,
|
| 87 |
+
-0.37703633308410645,
|
| 88 |
+
1.5336220264434814
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.35668230056762695,
|
| 100 |
+
0.9342257380485535,
|
| 101 |
+
2.3670707616219033e-09,
|
| 102 |
+
-0.5275591611862183
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.9342257380485535,
|
| 106 |
+
0.35668230056762695,
|
| 107 |
+
-1.6299900318372806e-09,
|
| 108 |
+
-7.282932281494141
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-2.3670707616219033e-09,
|
| 112 |
+
-1.6299900318372806e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.937206506729126
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.3713677063975267,
|
| 128 |
+
0.38328974796122817,
|
| 129 |
+
0.3842567136277257
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.5878683915410815,
|
| 134 |
+
0.1333187107179183,
|
| 135 |
+
-0.7978952773387079
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.0609655004736167,
|
| 139 |
+
1.0212660750417208,
|
| 140 |
+
0.9532099171584708
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.22301112599728423,
|
| 143 |
+
"elevation_rad": 0.923795506397761,
|
| 144 |
+
"color_temp_k": 4944.674935467806,
|
| 145 |
+
"intensity": 1.0212660750417208
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.12702469205601305,
|
| 150 |
+
0.44526881894313647,
|
| 151 |
+
-0.886341020423324
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.7692541622392439,
|
| 155 |
+
0.796617663184383,
|
| 156 |
+
0.8403992646966058
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": 1.8486911144536782,
|
| 159 |
+
"elevation_rad": 1.0893821989290868,
|
| 160 |
+
"color_temp_k": 6177.680844500969,
|
| 161 |
+
"intensity": 0.8075630635624387
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
1.206506096776057,
|
| 165 |
+
1.158360421965868,
|
| 166 |
+
1.0758249794341157
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/ProcTHOR/test/bg_000013/scene_b01_011/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 13,
|
| 7 |
+
"base_idx": 1,
|
| 8 |
+
"cam_idx": 10,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 0.8468886420208699,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
535.9363293353958,
|
| 46 |
+
0.0,
|
| 47 |
+
317.78044126967336
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
532.4930136926865,
|
| 52 |
+
227.72653761212783
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
-0.8791590562629047,
|
| 62 |
+
-5.3152182627892275,
|
| 63 |
+
1.491574332397978
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
-0.5192681135339943,
|
| 67 |
+
-7.309784893388957,
|
| 68 |
+
1.083862113182193
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": 0.019853614199068975,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.9847229719161987,
|
| 74 |
+
0.004074849188327789,
|
| 75 |
+
0.17408110201358795,
|
| 76 |
+
-0.8791590332984924
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.16972416639328003,
|
| 80 |
+
0.2009742259979248,
|
| 81 |
+
-0.9647813439369202,
|
| 82 |
+
-5.315218448638916
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.03891715407371521,
|
| 86 |
+
-0.9795880913734436,
|
| 87 |
+
-0.19721227884292603,
|
| 88 |
+
1.4915742874145508
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.35668230056762695,
|
| 100 |
+
0.9342257380485535,
|
| 101 |
+
2.3670707616219033e-09,
|
| 102 |
+
-0.5275591611862183
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.9342257380485535,
|
| 106 |
+
0.35668230056762695,
|
| 107 |
+
-1.6299900318372806e-09,
|
| 108 |
+
-7.282932281494141
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-2.3670707616219033e-09,
|
| 112 |
+
-1.6299900318372806e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.937206506729126
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.26531714359981967,
|
| 128 |
+
0.2728387184681366,
|
| 129 |
+
0.27884849338254364
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.5878683915410815,
|
| 134 |
+
0.1333187107179183,
|
| 135 |
+
-0.7978952773387079
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
0.8830831117146173,
|
| 139 |
+
0.9283705308379104,
|
| 140 |
+
1.0008304014351797
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.22301112599728423,
|
| 143 |
+
"elevation_rad": 0.923795506397761,
|
| 144 |
+
"color_temp_k": 6456.95959833883,
|
| 145 |
+
"intensity": 0.9464854984872277
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.12702469205601305,
|
| 150 |
+
0.44526881894313647,
|
| 151 |
+
-0.886341020423324
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.6005515333509996,
|
| 155 |
+
0.5866406976063048,
|
| 156 |
+
0.5627935506153995
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": 1.8486911144536782,
|
| 159 |
+
"elevation_rad": 1.0893821989290868,
|
| 160 |
+
"color_temp_k": 5161.247121559956,
|
| 161 |
+
"intensity": 0.5866406976063048
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
1.1085947943170642,
|
| 165 |
+
1.1502107812769453,
|
| 166 |
+
1.2167963604127554
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/ProcTHOR/test/bg_000013/scene_b01_012/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 13,
|
| 7 |
+
"base_idx": 1,
|
| 8 |
+
"cam_idx": 11,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.218410780855163,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
340.4723084186866,
|
| 46 |
+
0.0,
|
| 47 |
+
300.99313064753596
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
343.96926819766713,
|
| 52 |
+
216.13502566384403
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
-1.2501737001207587,
|
| 62 |
+
-5.973656025182558,
|
| 63 |
+
1.1423423986092238
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
-0.5551953006369039,
|
| 67 |
+
-7.255339771476339,
|
| 68 |
+
1.1554931310525116
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": 0.01935362628248405,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.8782565593719482,
|
| 74 |
+
0.03831438720226288,
|
| 75 |
+
0.4766524136066437,
|
| 76 |
+
-1.2501736879348755
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.4766215682029724,
|
| 80 |
+
0.010523319244384766,
|
| 81 |
+
-0.8790456056594849,
|
| 82 |
+
-5.973656177520752
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.03869602084159851,
|
| 86 |
+
-0.9992103576660156,
|
| 87 |
+
0.00901937484741211,
|
| 88 |
+
1.142342448234558
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.35668230056762695,
|
| 100 |
+
0.9342257380485535,
|
| 101 |
+
2.3670707616219033e-09,
|
| 102 |
+
-0.5275591611862183
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.9342257380485535,
|
| 106 |
+
0.35668230056762695,
|
| 107 |
+
-1.6299900318372806e-09,
|
| 108 |
+
-7.282932281494141
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-2.3670707616219033e-09,
|
| 112 |
+
-1.6299900318372806e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.937206506729126
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.22255654037357867,
|
| 128 |
+
0.23869972520539587,
|
| 129 |
+
0.234947520822225
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.5878683915410815,
|
| 134 |
+
0.1333187107179183,
|
| 135 |
+
-0.7978952773387079
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.0861758889510074,
|
| 139 |
+
1.0890119707756403,
|
| 140 |
+
1.0935497016950528
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.22301112599728423,
|
| 143 |
+
"elevation_rad": 0.923795506397761,
|
| 144 |
+
"color_temp_k": 5552.03121003772,
|
| 145 |
+
"intensity": 1.0901464035054935
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.12702469205601305,
|
| 150 |
+
0.44526881894313647,
|
| 151 |
+
-0.886341020423324
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.8447267126830781,
|
| 155 |
+
0.8116761332320832,
|
| 156 |
+
0.7550179970303778
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": 1.8486911144536782,
|
| 159 |
+
"elevation_rad": 1.0893821989290868,
|
| 160 |
+
"color_temp_k": 4918.301073934363,
|
| 161 |
+
"intensity": 0.8116761332320832
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
0.8726449667936043,
|
| 165 |
+
0.8413330295043161,
|
| 166 |
+
0.7876554227226793
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/ProcTHOR/test/bg_000013/scene_b01_013/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 13,
|
| 7 |
+
"base_idx": 1,
|
| 8 |
+
"cam_idx": 12,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.2878999935902675,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
324.6893708028742,
|
| 46 |
+
0.0,
|
| 47 |
+
296.96217474887453
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
319.7009203163876,
|
| 52 |
+
227.74865827543545
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
-0.31800312591691743,
|
| 62 |
+
-5.808908362141299,
|
| 63 |
+
1.6134193340766343
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
-0.550412529033898,
|
| 67 |
+
-7.2738727896712145,
|
| 68 |
+
1.1342315856918777
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": 0.006316723614268917,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.9869611263275146,
|
| 74 |
+
0.060640640556812286,
|
| 75 |
+
-0.1490982174873352,
|
| 76 |
+
-0.3180031180381775
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
0.16050872206687927,
|
| 80 |
+
0.30161380767822266,
|
| 81 |
+
-0.9398223757743835,
|
| 82 |
+
-5.808908462524414
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.012021347880363464,
|
| 86 |
+
-0.9514997601509094,
|
| 87 |
+
-0.3074144721031189,
|
| 88 |
+
1.6134192943572998
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.35668230056762695,
|
| 100 |
+
0.9342257380485535,
|
| 101 |
+
2.3670707616219033e-09,
|
| 102 |
+
-0.5275591611862183
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.9342257380485535,
|
| 106 |
+
0.35668230056762695,
|
| 107 |
+
-1.6299900318372806e-09,
|
| 108 |
+
-7.282932281494141
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-2.3670707616219033e-09,
|
| 112 |
+
-1.6299900318372806e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.937206506729126
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.3663535914945868,
|
| 128 |
+
0.3625620310222903,
|
| 129 |
+
0.3908425945589263
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.5878683915410815,
|
| 134 |
+
0.1333187107179183,
|
| 135 |
+
-0.7978952773387079
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.0900210715203587,
|
| 139 |
+
1.0465702891998658,
|
| 140 |
+
0.9720832337933071
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.22301112599728423,
|
| 143 |
+
"elevation_rad": 0.923795506397761,
|
| 144 |
+
"color_temp_k": 4906.895582526152,
|
| 145 |
+
"intensity": 1.0465702891998658
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.12702469205601305,
|
| 150 |
+
0.44526881894313647,
|
| 151 |
+
-0.886341020423324
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.6437247934680844,
|
| 155 |
+
0.6509126087253464,
|
| 156 |
+
0.6624131131369657
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": 1.8486911144536782,
|
| 159 |
+
"elevation_rad": 1.0893821989290868,
|
| 160 |
+
"color_temp_k": 5719.88223009874,
|
| 161 |
+
"intensity": 0.6537877348282513
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
0.8762706795759517,
|
| 165 |
+
0.8815609025622324,
|
| 166 |
+
0.8900252593402816
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/ProcTHOR/test/bg_000013/scene_b01_014/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 13,
|
| 7 |
+
"base_idx": 1,
|
| 8 |
+
"cam_idx": 13,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 0.831948988711866,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
554.7963186280582,
|
| 46 |
+
0.0,
|
| 47 |
+
307.96758820664706
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
543.2901710724797,
|
| 52 |
+
254.63109314957939
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
-1.3120093084368945,
|
| 62 |
+
-6.025114233419539,
|
| 63 |
+
1.4835343415155293
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
-0.5107818220671372,
|
| 67 |
+
-7.249456620963428,
|
| 68 |
+
1.1351324874041153
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": 0.017971441843941116,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.8407691717147827,
|
| 74 |
+
-0.09668715298175812,
|
| 75 |
+
0.5326900482177734,
|
| 76 |
+
-1.312009334564209
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.5402638912200928,
|
| 80 |
+
0.21337103843688965,
|
| 81 |
+
-0.8139949440956116,
|
| 82 |
+
-6.025114059448242
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.034957751631736755,
|
| 86 |
+
-0.9721750617027283,
|
| 87 |
+
-0.23163241147994995,
|
| 88 |
+
1.483534336090088
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.35668230056762695,
|
| 100 |
+
0.9342257380485535,
|
| 101 |
+
2.3670707616219033e-09,
|
| 102 |
+
-0.5275591611862183
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.9342257380485535,
|
| 106 |
+
0.35668230056762695,
|
| 107 |
+
-1.6299900318372806e-09,
|
| 108 |
+
-7.282932281494141
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-2.3670707616219033e-09,
|
| 112 |
+
-1.6299900318372806e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.937206506729126
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.3105542260316205,
|
| 128 |
+
0.2833173187170934,
|
| 129 |
+
0.3021230786217683
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.5878683915410815,
|
| 134 |
+
0.1333187107179183,
|
| 135 |
+
-0.7978952773387079
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
0.9508706593066046,
|
| 139 |
+
0.9361610029729593,
|
| 140 |
+
0.9109444492581391
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.22301112599728423,
|
| 143 |
+
"elevation_rad": 0.923795506397761,
|
| 144 |
+
"color_temp_k": 5275.53225678471,
|
| 145 |
+
"intensity": 0.9361610029729593
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.12702469205601305,
|
| 150 |
+
0.44526881894313647,
|
| 151 |
+
-0.886341020423324
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.8559640220798229,
|
| 155 |
+
0.8661560886745227,
|
| 156 |
+
0.8824633952260424
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": 1.8486911144536782,
|
| 159 |
+
"elevation_rad": 1.0893821989290868,
|
| 160 |
+
"color_temp_k": 5734.237671670717,
|
| 161 |
+
"intensity": 0.8702329153124027
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
1.1534969733587592,
|
| 165 |
+
1.141401041374513,
|
| 166 |
+
1.1206651579729483
|
| 167 |
+
],
|
| 168 |
+
"shadow": false
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/ProcTHOR/test/bg_000013/scene_b01_015/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 13,
|
| 7 |
+
"base_idx": 1,
|
| 8 |
+
"cam_idx": 14,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 0.9227218185841889,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
471.9533516286801,
|
| 46 |
+
0.0,
|
| 47 |
+
320.8786430308392
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
482.7566517246873,
|
| 52 |
+
244.35132719493132
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
-2.013683703638155,
|
| 62 |
+
-7.746286566883962,
|
| 63 |
+
1.5466477453185719
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
-0.4782785003255045,
|
| 67 |
+
-7.235471404044284,
|
| 68 |
+
1.0642243227321453
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": 0.033948107849689574,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
0.29655921459198,
|
| 74 |
+
-0.29188916087150574,
|
| 75 |
+
0.9093148708343506,
|
| 76 |
+
-2.013683795928955
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.9527988433837891,
|
| 80 |
+
-0.025608539581298828,
|
| 81 |
+
0.30252063274383545,
|
| 82 |
+
-7.746286392211914
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.06501615047454834,
|
| 86 |
+
-0.9561094045639038,
|
| 87 |
+
-0.2857060432434082,
|
| 88 |
+
1.5466477870941162
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.35668230056762695,
|
| 100 |
+
0.9342257380485535,
|
| 101 |
+
2.3670707616219033e-09,
|
| 102 |
+
-0.5275591611862183
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.9342257380485535,
|
| 106 |
+
0.35668230056762695,
|
| 107 |
+
-1.6299900318372806e-09,
|
| 108 |
+
-7.282932281494141
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-2.3670707616219033e-09,
|
| 112 |
+
-1.6299900318372806e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.937206506729126
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.33043555101270045,
|
| 128 |
+
0.34320892825672555,
|
| 129 |
+
0.34798621562960946
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.5878683915410815,
|
| 134 |
+
0.1333187107179183,
|
| 135 |
+
-0.7978952773387079
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.141593308122391,
|
| 139 |
+
1.0852730714326837,
|
| 140 |
+
0.9887240942503283
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.22301112599728423,
|
| 143 |
+
"elevation_rad": 0.923795506397761,
|
| 144 |
+
"color_temp_k": 4758.642980249357,
|
| 145 |
+
"intensity": 1.0852730714326837
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.12702469205601305,
|
| 150 |
+
0.44526881894313647,
|
| 151 |
+
-0.886341020423324
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.6826975378053394,
|
| 155 |
+
0.6835360188003982,
|
| 156 |
+
0.6848775883924922
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": 1.8486911144536782,
|
| 159 |
+
"elevation_rad": 1.0893821989290868,
|
| 160 |
+
"color_temp_k": 5524.521598105393,
|
| 161 |
+
"intensity": 0.6838714111984217
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
1.2091960739395107,
|
| 165 |
+
1.1893670115501056,
|
| 166 |
+
1.155374333168268
|
| 167 |
+
],
|
| 168 |
+
"shadow": false
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/ProcTHOR/test/bg_000013/scene_b01_016/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 13,
|
| 7 |
+
"base_idx": 1,
|
| 8 |
+
"cam_idx": 15,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 0.816882642929559,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
529.1414810652647,
|
| 46 |
+
0.0,
|
| 47 |
+
318.40247785846816
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
554.5551251959163,
|
| 52 |
+
252.59606817980105
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
-1.9341754226847812,
|
| 62 |
+
-6.432710417976983,
|
| 63 |
+
1.87234414261129
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
-0.5088977603289183,
|
| 67 |
+
-7.247075097689729,
|
| 68 |
+
1.1228165171293667
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": -0.02705322346204082,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.4758732318878174,
|
| 74 |
+
-0.3869389593601227,
|
| 75 |
+
0.7898248434066772,
|
| 76 |
+
-1.9341753721237183
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.8781372308731079,
|
| 80 |
+
0.15880107879638672,
|
| 81 |
+
-0.4512842893600464,
|
| 82 |
+
-6.432710647583008
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
0.04919448494911194,
|
| 86 |
+
-0.9083285331726074,
|
| 87 |
+
-0.41535449028015137,
|
| 88 |
+
1.8723441362380981
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.35668230056762695,
|
| 100 |
+
0.9342257380485535,
|
| 101 |
+
2.3670707616219033e-09,
|
| 102 |
+
-0.5275591611862183
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.9342257380485535,
|
| 106 |
+
0.35668230056762695,
|
| 107 |
+
-1.6299900318372806e-09,
|
| 108 |
+
-7.282932281494141
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-2.3670707616219033e-09,
|
| 112 |
+
-1.6299900318372806e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.937206506729126
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.33121200867707246,
|
| 128 |
+
0.3361076294664288,
|
| 129 |
+
0.3428217133227489
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
0.5878683915410815,
|
| 134 |
+
0.1333187107179183,
|
| 135 |
+
-0.7978952773387079
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.0046092948914749,
|
| 139 |
+
1.0408467908154893,
|
| 140 |
+
1.0988267842939121
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 0.22301112599728423,
|
| 143 |
+
"elevation_rad": 0.923795506397761,
|
| 144 |
+
"color_temp_k": 6186.744262292425,
|
| 145 |
+
"intensity": 1.055341789185095
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
-0.12702469205601305,
|
| 150 |
+
0.44526881894313647,
|
| 151 |
+
-0.886341020423324
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.9151629608091838,
|
| 155 |
+
0.9295966198186805,
|
| 156 |
+
0.9526904742338752
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": 1.8486911144536782,
|
| 159 |
+
"elevation_rad": 1.0893821989290868,
|
| 160 |
+
"color_temp_k": 5808.6192142619,
|
| 161 |
+
"intensity": 0.9353700834224792
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
1.0062948091708122,
|
| 165 |
+
1.0487628300280358,
|
| 166 |
+
1.1167116633995944
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/ProcTHOR/test/bg_000066/scene_b00_001/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 66,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 0,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.0221017958933423,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
410.31267181614714,
|
| 46 |
+
0.0,
|
| 47 |
+
341.42915868655854
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
428.0064349772214,
|
| 52 |
+
221.39970131527352
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
-2.5377362720312076,
|
| 62 |
+
-9.033604531592069,
|
| 63 |
+
1.316487999929186
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
-0.9006330361110533,
|
| 67 |
+
-9.173905506819821,
|
| 68 |
+
0.96957435801569
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": 0.05045868699472457,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.1056891679763794,
|
| 74 |
+
-0.19617480039596558,
|
| 75 |
+
0.9748566150665283,
|
| 76 |
+
-2.537736177444458
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.9895015358924866,
|
| 80 |
+
0.11792778968811035,
|
| 81 |
+
-0.08354577422142029,
|
| 82 |
+
-9.033604621887207
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.0985729992389679,
|
| 86 |
+
-0.9734518527984619,
|
| 87 |
+
-0.20657885074615479,
|
| 88 |
+
1.3164880275726318
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.9971378445625305,
|
| 100 |
+
0.07560482621192932,
|
| 101 |
+
-3.122573088987224e-09,
|
| 102 |
+
-0.8576856851577759
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.07560482621192932,
|
| 106 |
+
0.9971378445625305,
|
| 107 |
+
-8.137796547735832e-10,
|
| 108 |
+
-9.22336196899414
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
3.052110342238734e-09,
|
| 112 |
+
1.0475320610936478e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.742155134677887
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.30563935349713867,
|
| 128 |
+
0.3004485094303898,
|
| 129 |
+
0.2885116729989978
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
-0.4212300424352215,
|
| 134 |
+
0.4254467232677049,
|
| 135 |
+
-0.8009746157093833
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.2285601692918589,
|
| 139 |
+
1.1994284543580416,
|
| 140 |
+
1.149488371614355
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 2.3512142590799057,
|
| 143 |
+
"elevation_rad": 0.9289213424222296,
|
| 144 |
+
"color_temp_k": 5153.028611514698,
|
| 145 |
+
"intensity": 1.1994284543580416
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
0.2908558770208403,
|
| 150 |
+
0.2547524312903855,
|
| 151 |
+
-0.9222277677201414
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.8185223215732614,
|
| 155 |
+
0.8526233394959518,
|
| 156 |
+
0.9071849681722566
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": 0.719323492258368,
|
| 159 |
+
"elevation_rad": 1.1738032222680845,
|
| 160 |
+
"color_temp_k": 6287.312595129917,
|
| 161 |
+
"intensity": 0.866263746665028
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
0.7893636217107758,
|
| 165 |
+
0.808108885444098,
|
| 166 |
+
0.8381013074174135
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/ProcTHOR/test/bg_000066/scene_b00_002/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 66,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 1,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.1517769958000577,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
386.38497170444896,
|
| 46 |
+
0.0,
|
| 47 |
+
293.5405434655112
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
369.6243589580474,
|
| 52 |
+
246.38237873498997
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
-1.8524022747166256,
|
| 62 |
+
-8.873779624260463,
|
| 63 |
+
1.7076843559319075
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
-0.8098600226557879,
|
| 67 |
+
-9.229506415418902,
|
| 68 |
+
0.8700966359800271
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": -0.02123218764709871,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.2983212471008301,
|
| 74 |
+
-0.5860312581062317,
|
| 75 |
+
0.7533738613128662,
|
| 76 |
+
-1.8524023294448853
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.9538672566413879,
|
| 80 |
+
0.15510571002960205,
|
| 81 |
+
-0.25705960392951965,
|
| 82 |
+
-8.873779296875
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
0.0337924063205719,
|
| 86 |
+
-0.7953048944473267,
|
| 87 |
+
-0.6052671670913696,
|
| 88 |
+
1.7076843976974487
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.9971378445625305,
|
| 100 |
+
0.07560482621192932,
|
| 101 |
+
-3.122573088987224e-09,
|
| 102 |
+
-0.8576856851577759
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.07560482621192932,
|
| 106 |
+
0.9971378445625305,
|
| 107 |
+
-8.137796547735832e-10,
|
| 108 |
+
-9.22336196899414
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
3.052110342238734e-09,
|
| 112 |
+
1.0475320610936478e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.742155134677887
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.31586681224814106,
|
| 128 |
+
0.31888140798955966,
|
| 129 |
+
0.33114191164535883
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
-0.4212300424352215,
|
| 134 |
+
0.4254467232677049,
|
| 135 |
+
-0.8009746157093833
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
0.8882694297969508,
|
| 139 |
+
0.9032262612964373,
|
| 140 |
+
0.9271571916956158
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 2.3512142590799057,
|
| 143 |
+
"elevation_rad": 0.9289213424222296,
|
| 144 |
+
"color_temp_k": 5829.007557116039,
|
| 145 |
+
"intensity": 0.909208993896232
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
0.2908558770208403,
|
| 150 |
+
0.2547524312903855,
|
| 151 |
+
-0.9222277677201414
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.7263760098199092,
|
| 155 |
+
0.7105177891556245,
|
| 156 |
+
0.6833322680168505
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": 0.719323492258368,
|
| 159 |
+
"elevation_rad": 1.1738032222680845,
|
| 160 |
+
"color_temp_k": 5181.153641826465,
|
| 161 |
+
"intensity": 0.7105177891556245
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
0.9125787815125214,
|
| 165 |
+
0.9092157902060467,
|
| 166 |
+
0.9034506622520901
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/ProcTHOR/test/bg_000066/scene_b00_003/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 66,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 2,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 0.9058041537568566,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
512.3440178514356,
|
| 46 |
+
0.0,
|
| 47 |
+
303.83233867776
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
493.17836281223305,
|
| 52 |
+
222.83704142777356
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
-0.9074302306025681,
|
| 62 |
+
-7.798141662345674,
|
| 63 |
+
0.6547872701531589
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
-0.8239416423196254,
|
| 67 |
+
-9.20496395387381,
|
| 68 |
+
0.9747113699080886
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": 0.009454455387310948,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.9978175163269043,
|
| 74 |
+
0.031986966729164124,
|
| 75 |
+
0.05777142196893692,
|
| 76 |
+
-0.9074302315711975
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.06340912729501724,
|
| 80 |
+
-0.21982866525650024,
|
| 81 |
+
-0.9734756350517273,
|
| 82 |
+
-7.7981414794921875
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.018438711762428284,
|
| 86 |
+
-0.9750140309333801,
|
| 87 |
+
0.22137737274169922,
|
| 88 |
+
0.6547872424125671
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.9971378445625305,
|
| 100 |
+
0.07560482621192932,
|
| 101 |
+
-3.122573088987224e-09,
|
| 102 |
+
-0.8576856851577759
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.07560482621192932,
|
| 106 |
+
0.9971378445625305,
|
| 107 |
+
-8.137796547735832e-10,
|
| 108 |
+
-9.22336196899414
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
3.052110342238734e-09,
|
| 112 |
+
1.0475320610936478e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.742155134677887
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.269129927902283,
|
| 128 |
+
0.2508389425425753,
|
| 129 |
+
0.24056876934708696
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
-0.4212300424352215,
|
| 134 |
+
0.4254467232677049,
|
| 135 |
+
-0.8009746157093833
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.0249733798864296,
|
| 139 |
+
1.0643830809364734,
|
| 140 |
+
1.1274386026165435
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 2.3512142590799057,
|
| 143 |
+
"elevation_rad": 0.9289213424222296,
|
| 144 |
+
"color_temp_k": 6229.7099831776895,
|
| 145 |
+
"intensity": 1.080146961356491
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
0.2908558770208403,
|
| 150 |
+
0.2547524312903855,
|
| 151 |
+
-0.9222277677201414
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.9261534260216852,
|
| 155 |
+
0.912990691539471,
|
| 156 |
+
0.8904260038556755
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": 0.719323492258368,
|
| 159 |
+
"elevation_rad": 1.1738032222680845,
|
| 160 |
+
"color_temp_k": 5294.040546333982,
|
| 161 |
+
"intensity": 0.912990691539471
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
0.9509714990549055,
|
| 165 |
+
0.9166046004252902,
|
| 166 |
+
0.8576899170602356
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/ProcTHOR/test/bg_000066/scene_b00_004/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 66,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 3,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 0.8864356135141337,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
506.28041919304974,
|
| 46 |
+
0.0,
|
| 47 |
+
307.7883891324676
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
505.5638480998652,
|
| 52 |
+
222.94164357696786
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
-2.575799288315772,
|
| 62 |
+
-8.591344298762976,
|
| 63 |
+
1.5942258332630752
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
-0.8270616211499883,
|
| 67 |
+
-9.20793928129405,
|
| 68 |
+
0.9738045564867046
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": -0.02417413144848162,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.31767845153808594,
|
| 74 |
+
-0.31496700644493103,
|
| 75 |
+
0.8943581581115723,
|
| 76 |
+
-2.5757992267608643
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.9470902681350708,
|
| 80 |
+
0.05981004238128662,
|
| 81 |
+
-0.3153456151485443,
|
| 82 |
+
-8.591343879699707
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
0.045831888914108276,
|
| 86 |
+
-0.947216272354126,
|
| 87 |
+
-0.3173024654388428,
|
| 88 |
+
1.5942258834838867
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.9971378445625305,
|
| 100 |
+
0.07560482621192932,
|
| 101 |
+
-3.122573088987224e-09,
|
| 102 |
+
-0.8576856851577759
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.07560482621192932,
|
| 106 |
+
0.9971378445625305,
|
| 107 |
+
-8.137796547735832e-10,
|
| 108 |
+
-9.22336196899414
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
3.052110342238734e-09,
|
| 112 |
+
1.0475320610936478e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.742155134677887
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.31989662264872903,
|
| 128 |
+
0.3251202526386539,
|
| 129 |
+
0.33050405211391287
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
-0.4212300424352215,
|
| 134 |
+
0.4254467232677049,
|
| 135 |
+
-0.8009746157093833
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.137461708600034,
|
| 139 |
+
1.0693684501991059,
|
| 140 |
+
0.952637150083229
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 2.3512142590799057,
|
| 143 |
+
"elevation_rad": 0.9289213424222296,
|
| 144 |
+
"color_temp_k": 4590.34081366637,
|
| 145 |
+
"intensity": 1.0693684501991059
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
0.2908558770208403,
|
| 150 |
+
0.2547524312903855,
|
| 151 |
+
-0.9222277677201414
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.8724509954199154,
|
| 155 |
+
0.8933584082755371,
|
| 156 |
+
0.9268102688445318
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": 0.719323492258368,
|
| 159 |
+
"elevation_rad": 1.1738032222680845,
|
| 160 |
+
"color_temp_k": 5963.722242190544,
|
| 161 |
+
"intensity": 0.9017213734177858
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
1.0209020365284003,
|
| 165 |
+
1.012402568209365,
|
| 166 |
+
0.9978320510910187
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/ProcTHOR/test/bg_000066/scene_b00_005/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 66,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 4,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.0009489503249667,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
457.2128480248783,
|
| 46 |
+
0.0,
|
| 47 |
+
339.6054275277704
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
438.8220529844777,
|
| 52 |
+
235.02188600252725
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
-1.7770113779125631,
|
| 62 |
+
-8.274339991372557,
|
| 63 |
+
0.6992837439305455
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
-0.8270359872071893,
|
| 67 |
+
-9.214717916772555,
|
| 68 |
+
0.9120968443754757
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": -0.0009869960003916628,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.703727126121521,
|
| 74 |
+
0.1103508472442627,
|
| 75 |
+
0.7018483877182007,
|
| 76 |
+
-1.7770113945007324
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.7104679346084595,
|
| 80 |
+
-0.11201357841491699,
|
| 81 |
+
-0.6947578191757202,
|
| 82 |
+
-8.27433967590332
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
0.0019494891166687012,
|
| 86 |
+
-0.987560510635376,
|
| 87 |
+
0.15722787380218506,
|
| 88 |
+
0.6992837190628052
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.9971378445625305,
|
| 100 |
+
0.07560482621192932,
|
| 101 |
+
-3.122573088987224e-09,
|
| 102 |
+
-0.8576856851577759
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.07560482621192932,
|
| 106 |
+
0.9971378445625305,
|
| 107 |
+
-8.137796547735832e-10,
|
| 108 |
+
-9.22336196899414
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
3.052110342238734e-09,
|
| 112 |
+
1.0475320610936478e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.742155134677887
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.2854394643624807,
|
| 128 |
+
0.27351450391626186,
|
| 129 |
+
0.27598790952661606
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
-0.4212300424352215,
|
| 134 |
+
0.4254467232677049,
|
| 135 |
+
-0.8009746157093833
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.0595287152289339,
|
| 139 |
+
1.085061650826689,
|
| 140 |
+
1.1259143477830975
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 2.3512142590799057,
|
| 143 |
+
"elevation_rad": 0.9289213424222296,
|
| 144 |
+
"color_temp_k": 5966.237970843921,
|
| 145 |
+
"intensity": 1.095274825065791
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
0.2908558770208403,
|
| 150 |
+
0.2547524312903855,
|
| 151 |
+
-0.9222277677201414
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.6076101023568722,
|
| 155 |
+
0.6224580658145537,
|
| 156 |
+
0.6462148073468443
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": 0.719323492258368,
|
| 159 |
+
"elevation_rad": 1.1738032222680845,
|
| 160 |
+
"color_temp_k": 5972.566149179798,
|
| 161 |
+
"intensity": 0.6283972511976263
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
0.9644634753140888,
|
| 165 |
+
0.9399733701685474,
|
| 166 |
+
0.8979903327761909
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/ProcTHOR/test/bg_000066/scene_b00_006/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 66,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 5,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 0.9107575836905836,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
500.43184684815634,
|
| 46 |
+
0.0,
|
| 47 |
+
296.4560599637261
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
490.0896698121361,
|
| 52 |
+
259.59686126557034
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
-0.37927065821949185,
|
| 62 |
+
-10.691395008054851,
|
| 63 |
+
0.7728637628601819
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
-0.8718140336218965,
|
| 67 |
+
-9.226164561902905,
|
| 68 |
+
0.8627800752565047
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": -0.002473267651254815,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
0.9479579925537109,
|
| 74 |
+
-0.013814136385917664,
|
| 75 |
+
-0.3180955648422241,
|
| 76 |
+
-0.37927067279815674
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
0.31835705041885376,
|
| 80 |
+
0.05661880970001221,
|
| 81 |
+
0.9462785720825195,
|
| 82 |
+
-10.691394805908203
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
0.004938170313835144,
|
| 86 |
+
-0.998300313949585,
|
| 87 |
+
0.05807006359100342,
|
| 88 |
+
0.7728637456893921
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.9971378445625305,
|
| 100 |
+
0.07560482621192932,
|
| 101 |
+
-3.122573088987224e-09,
|
| 102 |
+
-0.8576856851577759
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.07560482621192932,
|
| 106 |
+
0.9971378445625305,
|
| 107 |
+
-8.137796547735832e-10,
|
| 108 |
+
-9.22336196899414
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
3.052110342238734e-09,
|
| 112 |
+
1.0475320610936478e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.742155134677887
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.361644157899843,
|
| 128 |
+
0.36700773277409554,
|
| 129 |
+
0.3574353243386156
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
-0.4212300424352215,
|
| 134 |
+
0.4254467232677049,
|
| 135 |
+
-0.8009746157093833
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.0210656135396057,
|
| 139 |
+
1.048642294783488,
|
| 140 |
+
1.0927649847736995
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 2.3512142590799057,
|
| 143 |
+
"elevation_rad": 0.9289213424222296,
|
| 144 |
+
"color_temp_k": 6020.4753182416225,
|
| 145 |
+
"intensity": 1.0596729672810408
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
0.2908558770208403,
|
| 150 |
+
0.2547524312903855,
|
| 151 |
+
-0.9222277677201414
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.9256895224632701,
|
| 155 |
+
0.9402343482663895,
|
| 156 |
+
0.9635060695513809
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": 0.719323492258368,
|
| 159 |
+
"elevation_rad": 1.1738032222680845,
|
| 160 |
+
"color_temp_k": 5807.484610149315,
|
| 161 |
+
"intensity": 0.9460522785876374
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
0.7843287488566897,
|
| 165 |
+
0.8075938047903565,
|
| 166 |
+
0.8448178942842233
|
| 167 |
+
],
|
| 168 |
+
"shadow": false
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/ProcTHOR/test/bg_000066/scene_b00_007/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 66,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 6,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 0.900080942792222,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
490.53368439553003,
|
| 46 |
+
0.0,
|
| 47 |
+
335.32321062388564
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
496.7864317375915,
|
| 52 |
+
238.8854563291315
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
-1.5417285398704568,
|
| 62 |
+
-10.746485395217478,
|
| 63 |
+
1.0200384926076498
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
-0.8812709983083177,
|
| 67 |
+
-9.212615718936107,
|
| 68 |
+
0.9334255029279659
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": 0.029999685301397086,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
0.9155939221382141,
|
| 74 |
+
-0.07552140951156616,
|
| 75 |
+
0.39494848251342773,
|
| 76 |
+
-1.5417284965515137
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.39762023091316223,
|
| 80 |
+
-0.02377164363861084,
|
| 81 |
+
0.9172421097755432,
|
| 82 |
+
-10.746485710144043
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.059882864356040955,
|
| 86 |
+
-0.9968608021736145,
|
| 87 |
+
-0.05179399251937866,
|
| 88 |
+
1.0200384855270386
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.9971378445625305,
|
| 100 |
+
0.07560482621192932,
|
| 101 |
+
-3.122573088987224e-09,
|
| 102 |
+
-0.8576856851577759
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.07560482621192932,
|
| 106 |
+
0.9971378445625305,
|
| 107 |
+
-8.137796547735832e-10,
|
| 108 |
+
-9.22336196899414
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
3.052110342238734e-09,
|
| 112 |
+
1.0475320610936478e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.742155134677887
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.34740674991029336,
|
| 128 |
+
0.3501037622941032,
|
| 129 |
+
0.3264941881021603
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
-0.4212300424352215,
|
| 134 |
+
0.4254467232677049,
|
| 135 |
+
-0.8009746157093833
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.1111682447615119,
|
| 139 |
+
1.1450720789155306,
|
| 140 |
+
1.1993182135619613
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 2.3512142590799057,
|
| 143 |
+
"elevation_rad": 0.9289213424222296,
|
| 144 |
+
"color_temp_k": 6085.238228651194,
|
| 145 |
+
"intensity": 1.1586336125771384
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
0.2908558770208403,
|
| 150 |
+
0.2547524312903855,
|
| 151 |
+
-0.9222277677201414
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.9566583454767958,
|
| 155 |
+
0.9448791845903153,
|
| 156 |
+
0.9246863373563486
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": 0.719323492258368,
|
| 159 |
+
"elevation_rad": 1.1738032222680845,
|
| 160 |
+
"color_temp_k": 5321.90979577703,
|
| 161 |
+
"intensity": 0.9448791845903153
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
0.8486979173666239,
|
| 165 |
+
0.8238042200445781,
|
| 166 |
+
0.7811293103496427
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/ProcTHOR/test/bg_000066/scene_b00_008/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 66,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 7,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 0.9039761215845654,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
514.9633422307554,
|
| 46 |
+
0.0,
|
| 47 |
+
348.41513687965204
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
494.326180634806,
|
| 52 |
+
238.34645126477687
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
-2.7317310785391555,
|
| 62 |
+
-9.215568204416131,
|
| 63 |
+
1.0590426562371338
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
-0.8648869963241892,
|
| 67 |
+
-9.232431567736711,
|
| 68 |
+
0.9746707634547885
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": -0.015498631935976788,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.007629036903381348,
|
| 74 |
+
-0.04540342092514038,
|
| 75 |
+
0.9989396333694458,
|
| 76 |
+
-2.7317311763763428
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.9994915127754211,
|
| 80 |
+
-0.03058338165283203,
|
| 81 |
+
-0.009023278951644897,
|
| 82 |
+
-9.215568542480469
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
0.030960679054260254,
|
| 86 |
+
-0.9985004663467407,
|
| 87 |
+
-0.045147061347961426,
|
| 88 |
+
1.0590426921844482
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.9971378445625305,
|
| 100 |
+
0.07560482621192932,
|
| 101 |
+
-3.122573088987224e-09,
|
| 102 |
+
-0.8576856851577759
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.07560482621192932,
|
| 106 |
+
0.9971378445625305,
|
| 107 |
+
-8.137796547735832e-10,
|
| 108 |
+
-9.22336196899414
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
3.052110342238734e-09,
|
| 112 |
+
1.0475320610936478e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.742155134677887
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.3790965899540992,
|
| 128 |
+
0.36592896815141945,
|
| 129 |
+
0.35926569991099194
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
-0.4212300424352215,
|
| 134 |
+
0.4254467232677049,
|
| 135 |
+
-0.8009746157093833
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.1018460326886188,
|
| 139 |
+
1.0771009489120542,
|
| 140 |
+
1.0346808052950864
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 2.3512142590799057,
|
| 143 |
+
"elevation_rad": 0.9289213424222296,
|
| 144 |
+
"color_temp_k": 5171.803095926038,
|
| 145 |
+
"intensity": 1.0771009489120542
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
0.2908558770208403,
|
| 150 |
+
0.2547524312903855,
|
| 151 |
+
-0.9222277677201414
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.7738706675244275,
|
| 155 |
+
0.7658873309422048,
|
| 156 |
+
0.7522016110869661
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": 0.719323492258368,
|
| 159 |
+
"elevation_rad": 1.1738032222680845,
|
| 160 |
+
"color_temp_k": 5351.090805588833,
|
| 161 |
+
"intensity": 0.7658873309422048
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
0.9193392694900899,
|
| 165 |
+
0.928616375294844,
|
| 166 |
+
0.9434597445824504
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/ProcTHOR/test/bg_000066/scene_b00_009/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 66,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 8,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.1146701264137446,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
390.9605487351558,
|
| 46 |
+
0.0,
|
| 47 |
+
322.0841336782772
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
385.08236701795346,
|
| 52 |
+
248.66015506703906
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
-2.1507851610561257,
|
| 62 |
+
-8.150073544649052,
|
| 63 |
+
1.059471718210772
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
-0.8931620210880449,
|
| 67 |
+
-9.223853007802504,
|
| 68 |
+
0.8573266361206282
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": 0.01915461869642518,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.652389407157898,
|
| 74 |
+
-0.06734064221382141,
|
| 75 |
+
0.7548861503601074,
|
| 76 |
+
-2.150785207748413
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.7569297552108765,
|
| 80 |
+
0.1078575849533081,
|
| 81 |
+
-0.6445339322090149,
|
| 82 |
+
-8.150074005126953
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.03801688551902771,
|
| 86 |
+
-0.9918829798698425,
|
| 87 |
+
-0.12133735418319702,
|
| 88 |
+
1.0594717264175415
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.9971378445625305,
|
| 100 |
+
0.07560482621192932,
|
| 101 |
+
-3.122573088987224e-09,
|
| 102 |
+
-0.8576856851577759
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.07560482621192932,
|
| 106 |
+
0.9971378445625305,
|
| 107 |
+
-8.137796547735832e-10,
|
| 108 |
+
-9.22336196899414
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
3.052110342238734e-09,
|
| 112 |
+
1.0475320610936478e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.742155134677887
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.35242666213610013,
|
| 128 |
+
0.3807881694148587,
|
| 129 |
+
0.37354222124876
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
-0.4212300424352215,
|
| 134 |
+
0.4254467232677049,
|
| 135 |
+
-0.8009746157093833
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.0667031830443752,
|
| 139 |
+
1.0107495894101937,
|
| 140 |
+
0.9148291431801683
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 2.3512142590799057,
|
| 143 |
+
"elevation_rad": 0.9289213424222296,
|
| 144 |
+
"color_temp_k": 4709.164109200066,
|
| 145 |
+
"intensity": 1.0107495894101937
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
0.2908558770208403,
|
| 150 |
+
0.2547524312903855,
|
| 151 |
+
-0.9222277677201414
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.8661835896141402,
|
| 155 |
+
0.8776619286073704,
|
| 156 |
+
0.8960272709965383
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": 0.719323492258368,
|
| 159 |
+
"elevation_rad": 1.1738032222680845,
|
| 160 |
+
"color_temp_k": 5760.205078494725,
|
| 161 |
+
"intensity": 0.8822532642046623
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
1.1335556695237554,
|
| 165 |
+
1.171788094061477,
|
| 166 |
+
1.232959973321832
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/ProcTHOR/test/bg_000066/scene_b00_010/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 66,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 9,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.0063256925056674,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
421.1886357136715,
|
| 46 |
+
0.0,
|
| 47 |
+
336.0001229580659
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
436.03352075420906,
|
| 52 |
+
235.7185979496587
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
-1.1585811245251219,
|
| 62 |
+
-10.740714576476156,
|
| 63 |
+
1.5085501450678955
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
-0.8483593181885953,
|
| 67 |
+
-9.26705289669828,
|
| 68 |
+
0.98720935696359
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": 0.0012849272837614223,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
0.9783764481544495,
|
| 74 |
+
-0.06990334391593933,
|
| 75 |
+
0.19466140866279602,
|
| 76 |
+
-1.1585811376571655
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.2068178951740265,
|
| 80 |
+
-0.3195900321006775,
|
| 81 |
+
0.9247100353240967,
|
| 82 |
+
-10.740715026855469
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.0024284720420837402,
|
| 86 |
+
-0.9449739456176758,
|
| 87 |
+
-0.3271366357803345,
|
| 88 |
+
1.5085501670837402
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.9971378445625305,
|
| 100 |
+
0.07560482621192932,
|
| 101 |
+
-3.122573088987224e-09,
|
| 102 |
+
-0.8576856851577759
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.07560482621192932,
|
| 106 |
+
0.9971378445625305,
|
| 107 |
+
-8.137796547735832e-10,
|
| 108 |
+
-9.22336196899414
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
3.052110342238734e-09,
|
| 112 |
+
1.0475320610936478e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.742155134677887
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.2899331119231216,
|
| 128 |
+
0.3094727500894129,
|
| 129 |
+
0.29256542741337377
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
-0.4212300424352215,
|
| 134 |
+
0.4254467232677049,
|
| 135 |
+
-0.8009746157093833
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.147355574897173,
|
| 139 |
+
1.10550467935785,
|
| 140 |
+
1.0337602870047247
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 2.3512142590799057,
|
| 143 |
+
"elevation_rad": 0.9289213424222296,
|
| 144 |
+
"color_temp_k": 4959.188235527572,
|
| 145 |
+
"intensity": 1.10550467935785
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
0.2908558770208403,
|
| 150 |
+
0.2547524312903855,
|
| 151 |
+
-0.9222277677201414
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.7607462393422398,
|
| 155 |
+
0.7752249021568888,
|
| 156 |
+
0.7983907626603269
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": 0.719323492258368,
|
| 159 |
+
"elevation_rad": 1.1738032222680845,
|
| 160 |
+
"color_temp_k": 5870.764645176949,
|
| 161 |
+
"intensity": 0.7810163672827483
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
0.916291477282429,
|
| 165 |
+
0.9049572943034889,
|
| 166 |
+
0.8855272663395917
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/ProcTHOR/test/bg_000066/scene_b00_011/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 66,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 10,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 0.9212554942715484,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
460.6944909682519,
|
| 46 |
+
0.0,
|
| 47 |
+
303.7950274768508
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
483.6458653403607,
|
| 52 |
+
223.20425571846835
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
-2.4535687245757773,
|
| 62 |
+
-9.541250283189925,
|
| 63 |
+
1.2531884949737215
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
-0.8207458355310239,
|
| 67 |
+
-9.236576775385256,
|
| 68 |
+
0.9683776428464951
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": -0.009857572335251502,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
0.1866665482521057,
|
| 74 |
+
-0.16248685121536255,
|
| 75 |
+
0.9688929319381714,
|
| 76 |
+
-2.453568696975708
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.9822311997413635,
|
| 80 |
+
-0.050372958183288574,
|
| 81 |
+
0.1807885766029358,
|
| 82 |
+
-9.541250228881836
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
0.0194302499294281,
|
| 86 |
+
-0.9854241013526917,
|
| 87 |
+
-0.16900259256362915,
|
| 88 |
+
1.2531884908676147
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.9971378445625305,
|
| 100 |
+
0.07560482621192932,
|
| 101 |
+
-3.122573088987224e-09,
|
| 102 |
+
-0.8576856851577759
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.07560482621192932,
|
| 106 |
+
0.9971378445625305,
|
| 107 |
+
-8.137796547735832e-10,
|
| 108 |
+
-9.22336196899414
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
3.052110342238734e-09,
|
| 112 |
+
1.0475320610936478e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.742155134677887
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.2907751656907924,
|
| 128 |
+
0.3073464756177221,
|
| 129 |
+
0.3054933407625023
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
-0.4212300424352215,
|
| 134 |
+
0.4254467232677049,
|
| 135 |
+
-0.8009746157093833
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
0.8358332946296467,
|
| 139 |
+
0.8495632651123483,
|
| 140 |
+
0.8715312178846707
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 2.3512142590799057,
|
| 143 |
+
"elevation_rad": 0.9289213424222296,
|
| 144 |
+
"color_temp_k": 5821.148146382936,
|
| 145 |
+
"intensity": 0.8550552533054289
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
0.2908558770208403,
|
| 150 |
+
0.2547524312903855,
|
| 151 |
+
-0.9222277677201414
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.6660054954196607,
|
| 155 |
+
0.6661662427392937,
|
| 156 |
+
0.6664234384507066
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": 0.719323492258368,
|
| 159 |
+
"elevation_rad": 1.1738032222680845,
|
| 160 |
+
"color_temp_k": 5504.825576420762,
|
| 161 |
+
"intensity": 0.6662305416671469
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
1.114830188316652,
|
| 165 |
+
1.131600188579173,
|
| 166 |
+
1.158432188999207
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/ProcTHOR/test/bg_000066/scene_b00_012/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 66,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 11,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.0679725350053955,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
391.2066921338922,
|
| 46 |
+
0.0,
|
| 47 |
+
303.4361156318351
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
405.89609732689706,
|
| 52 |
+
251.22868208876483
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
-0.18877820017022473,
|
| 62 |
+
-7.349360456614122,
|
| 63 |
+
0.9251510306918801
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
-0.8829315557174837,
|
| 67 |
+
-9.221686194245438,
|
| 68 |
+
0.9198773060875016
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": -0.021913702951298814,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.936774492263794,
|
| 74 |
+
-0.0401638001203537,
|
| 75 |
+
-0.3476211130619049,
|
| 76 |
+
-0.18877820670604706
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
0.34718000888824463,
|
| 80 |
+
0.017704486846923828,
|
| 81 |
+
-0.9376314282417297,
|
| 82 |
+
-7.349360466003418
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
0.04381328821182251,
|
| 86 |
+
-0.9990362524986267,
|
| 87 |
+
-0.002641022205352783,
|
| 88 |
+
0.9251510500907898
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.9971378445625305,
|
| 100 |
+
0.07560482621192932,
|
| 101 |
+
-3.122573088987224e-09,
|
| 102 |
+
-0.8576856851577759
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.07560482621192932,
|
| 106 |
+
0.9971378445625305,
|
| 107 |
+
-8.137796547735832e-10,
|
| 108 |
+
-9.22336196899414
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
3.052110342238734e-09,
|
| 112 |
+
1.0475320610936478e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.742155134677887
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.2542106740451401,
|
| 128 |
+
0.2291799341251301,
|
| 129 |
+
0.23271900815330226
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
-0.4212300424352215,
|
| 134 |
+
0.4254467232677049,
|
| 135 |
+
-0.8009746157093833
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.2551282257406546,
|
| 139 |
+
1.1948028846420538,
|
| 140 |
+
1.0913880141873096
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 2.3512142590799057,
|
| 143 |
+
"elevation_rad": 0.9289213424222296,
|
| 144 |
+
"color_temp_k": 4778.717353129718,
|
| 145 |
+
"intensity": 1.1948028846420538
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
0.2908558770208403,
|
| 150 |
+
0.2547524312903855,
|
| 151 |
+
-0.9222277677201414
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.7083812262847962,
|
| 155 |
+
0.7151163612724842,
|
| 156 |
+
0.7258925772527853
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": 0.719323492258368,
|
| 159 |
+
"elevation_rad": 1.1738032222680845,
|
| 160 |
+
"color_temp_k": 5687.657767132778,
|
| 161 |
+
"intensity": 0.7178104152675595
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
1.0403188719247258,
|
| 165 |
+
1.0346032379399033,
|
| 166 |
+
1.024805008251636
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/ProcTHOR/test/bg_000066/scene_b00_013/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 66,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 12,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.1360066069163979,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
360.68663488081614,
|
| 46 |
+
0.0,
|
| 47 |
+
324.80144791659535
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
376.08410478138495,
|
| 52 |
+
221.4283549684725
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
-1.1033822275112652,
|
| 62 |
+
-7.837081817651123,
|
| 63 |
+
0.7384970380937821
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
-0.8895711550700421,
|
| 67 |
+
-9.205867901355381,
|
| 68 |
+
0.9842588155663361
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": 0.02610304897790608,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.9852662086486816,
|
| 74 |
+
0.07847777009010315,
|
| 75 |
+
0.15196090936660767,
|
| 76 |
+
-1.1033822298049927
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.16312861442565918,
|
| 80 |
+
-0.16428756713867188,
|
| 81 |
+
-0.9728302955627441,
|
| 82 |
+
-7.8370819091796875
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.051380254328250885,
|
| 86 |
+
-0.9832857847213745,
|
| 87 |
+
0.1746690273284912,
|
| 88 |
+
0.7384970188140869
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.9971378445625305,
|
| 100 |
+
0.07560482621192932,
|
| 101 |
+
-3.122573088987224e-09,
|
| 102 |
+
-0.8576856851577759
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.07560482621192932,
|
| 106 |
+
0.9971378445625305,
|
| 107 |
+
-8.137796547735832e-10,
|
| 108 |
+
-9.22336196899414
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
3.052110342238734e-09,
|
| 112 |
+
1.0475320610936478e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.742155134677887
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.25902009994962016,
|
| 128 |
+
0.28646048503376015,
|
| 129 |
+
0.2582377857729857
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
-0.4212300424352215,
|
| 134 |
+
0.4254467232677049,
|
| 135 |
+
-0.8009746157093833
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.0172938321505163,
|
| 139 |
+
1.0231871850757828,
|
| 140 |
+
1.0326165497562092
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 2.3512142590799057,
|
| 143 |
+
"elevation_rad": 0.9289213424222296,
|
| 144 |
+
"color_temp_k": 5614.93119556378,
|
| 145 |
+
"intensity": 1.0255445262458893
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
0.2908558770208403,
|
| 150 |
+
0.2547524312903855,
|
| 151 |
+
-0.9222277677201414
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.8510449389263992,
|
| 155 |
+
0.831757272662999,
|
| 156 |
+
0.7986927019257415
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": 0.719323492258368,
|
| 159 |
+
"elevation_rad": 1.1738032222680845,
|
| 160 |
+
"color_temp_k": 5168.727766461279,
|
| 161 |
+
"intensity": 0.831757272662999
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
0.9548485413850294,
|
| 165 |
+
0.9649456690381647,
|
| 166 |
+
0.9811010732831811
|
| 167 |
+
],
|
| 168 |
+
"shadow": false
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/ProcTHOR/test/bg_000066/scene_b00_014/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 66,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 13,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 0.9607252703249406,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
467.7896577344175,
|
| 46 |
+
0.0,
|
| 47 |
+
327.70487545993603
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
460.58906924940186,
|
| 52 |
+
244.7418111327874
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
-1.1164289736386002,
|
| 62 |
+
-7.731473154083454,
|
| 63 |
+
1.5013608213486829
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
-0.8324129671466064,
|
| 67 |
+
-9.249892165333572,
|
| 68 |
+
0.9236358438306697
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": -0.016932000820984068,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.9802086353302002,
|
| 74 |
+
-0.0976482629776001,
|
| 75 |
+
0.17220918834209442,
|
| 76 |
+
-1.1164289712905884
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.19541114568710327,
|
| 80 |
+
0.3379014730453491,
|
| 81 |
+
-0.9206721782684326,
|
| 82 |
+
-7.731472969055176
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
0.031712308526039124,
|
| 86 |
+
-0.9361023902893066,
|
| 87 |
+
-0.35029536485671997,
|
| 88 |
+
1.5013607740402222
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.9971378445625305,
|
| 100 |
+
0.07560482621192932,
|
| 101 |
+
-3.122573088987224e-09,
|
| 102 |
+
-0.8576856851577759
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.07560482621192932,
|
| 106 |
+
0.9971378445625305,
|
| 107 |
+
-8.137796547735832e-10,
|
| 108 |
+
-9.22336196899414
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
3.052110342238734e-09,
|
| 112 |
+
1.0475320610936478e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.742155134677887
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.22574039102585855,
|
| 128 |
+
0.22059825129367053,
|
| 129 |
+
0.22373160537909376
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
-0.4212300424352215,
|
| 134 |
+
0.4254467232677049,
|
| 135 |
+
-0.8009746157093833
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.2454939364868909,
|
| 139 |
+
1.1897406828957195,
|
| 140 |
+
1.094163676739426
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 2.3512142590799057,
|
| 143 |
+
"elevation_rad": 0.9289213424222296,
|
| 144 |
+
"color_temp_k": 4830.5473514077885,
|
| 145 |
+
"intensity": 1.1897406828957195
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
0.2908558770208403,
|
| 150 |
+
0.2547524312903855,
|
| 151 |
+
-0.9222277677201414
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.6581908667317065,
|
| 155 |
+
0.6548927313544113,
|
| 156 |
+
0.6492387849933339
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": 0.719323492258368,
|
| 159 |
+
"elevation_rad": 1.1738032222680845,
|
| 160 |
+
"color_temp_k": 5428.05505784405,
|
| 161 |
+
"intensity": 0.6548927313544113
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
0.9515454007974746,
|
| 165 |
+
0.9832339281285551,
|
| 166 |
+
1.033935571858284
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/ProcTHOR/test/bg_000066/scene_b00_015/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 66,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 14,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 1.2000003685003324,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
358.8896169794782,
|
| 46 |
+
0.0,
|
| 47 |
+
301.2953419374177
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
350.8068886001928,
|
| 52 |
+
223.38202613315062
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
-0.3183823186253203,
|
| 62 |
+
-7.925409567120571,
|
| 63 |
+
1.2811941423424718
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
-0.8821732775989436,
|
| 67 |
+
-9.242169144599655,
|
| 68 |
+
0.9168392348973787
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": 0.03752307599171645,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.9094178676605225,
|
| 74 |
+
0.16568168997764587,
|
| 75 |
+
-0.38145649433135986,
|
| 76 |
+
-0.3183823227882385
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
0.40948715806007385,
|
| 80 |
+
0.19647204875946045,
|
| 81 |
+
-0.8909092545509338,
|
| 82 |
+
-7.92540979385376
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.07266184687614441,
|
| 86 |
+
-0.966410219669342,
|
| 87 |
+
-0.24651944637298584,
|
| 88 |
+
1.2811940908432007
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.9971378445625305,
|
| 100 |
+
0.07560482621192932,
|
| 101 |
+
-3.122573088987224e-09,
|
| 102 |
+
-0.8576856851577759
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.07560482621192932,
|
| 106 |
+
0.9971378445625305,
|
| 107 |
+
-8.137796547735832e-10,
|
| 108 |
+
-9.22336196899414
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
3.052110342238734e-09,
|
| 112 |
+
1.0475320610936478e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.742155134677887
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.22778652763462692,
|
| 128 |
+
0.2416668981312001,
|
| 129 |
+
0.2200631277884982
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
-0.4212300424352215,
|
| 134 |
+
0.4254467232677049,
|
| 135 |
+
-0.8009746157093833
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
0.9914854056398766,
|
| 139 |
+
0.9445763606578913,
|
| 140 |
+
0.864160854974488
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 2.3512142590799057,
|
| 143 |
+
"elevation_rad": 0.9289213424222296,
|
| 144 |
+
"color_temp_k": 4790.550513500443,
|
| 145 |
+
"intensity": 0.9445763606578913
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
0.2908558770208403,
|
| 150 |
+
0.2547524312903855,
|
| 151 |
+
-0.9222277677201414
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.7119557716969108,
|
| 155 |
+
0.7210863532310801,
|
| 156 |
+
0.7356952836857507
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": 0.719323492258368,
|
| 159 |
+
"elevation_rad": 1.1738032222680845,
|
| 160 |
+
"color_temp_k": 5751.968964051408,
|
| 161 |
+
"intensity": 0.7247385858447477
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
1.073936381188875,
|
| 165 |
+
1.0985241073935177,
|
| 166 |
+
1.137864469320946
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/ProcTHOR/test/bg_000066/scene_b00_016/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 66,
|
| 7 |
+
"base_idx": 0,
|
| 8 |
+
"cam_idx": 15,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 0.8641743202636609,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
515.317909937729,
|
| 46 |
+
0.0,
|
| 47 |
+
295.16955897597904
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
520.4384790447523,
|
| 52 |
+
218.81588907939948
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
-1.7259149521815607,
|
| 62 |
+
-7.764757717648568,
|
| 63 |
+
1.1444852662972993
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
-0.8243638510427183,
|
| 67 |
+
-9.210585774225052,
|
| 68 |
+
0.904420862234599
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": -0.02628325695500951,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.843498706817627,
|
| 74 |
+
-0.11830222606658936,
|
| 75 |
+
0.5239412188529968,
|
| 76 |
+
-1.7259149551391602
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.5346053242683411,
|
| 80 |
+
0.09042060375213623,
|
| 81 |
+
-0.8402506709098816,
|
| 82 |
+
-7.7647576332092285
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
0.052028462290763855,
|
| 86 |
+
-0.9888522028923035,
|
| 87 |
+
-0.13951468467712402,
|
| 88 |
+
1.1444852352142334
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
0.9971378445625305,
|
| 100 |
+
0.07560482621192932,
|
| 101 |
+
-3.122573088987224e-09,
|
| 102 |
+
-0.8576856851577759
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.07560482621192932,
|
| 106 |
+
0.9971378445625305,
|
| 107 |
+
-8.137796547735832e-10,
|
| 108 |
+
-9.22336196899414
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
3.052110342238734e-09,
|
| 112 |
+
1.0475320610936478e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.742155134677887
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.2556349528679254,
|
| 128 |
+
0.24525553124226174,
|
| 129 |
+
0.24533288574925582
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
-0.4212300424352215,
|
| 134 |
+
0.4254467232677049,
|
| 135 |
+
-0.8009746157093833
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.1511148741818995,
|
| 139 |
+
1.1830042446715603,
|
| 140 |
+
1.2340272374550172
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 2.3512142590799057,
|
| 143 |
+
"elevation_rad": 0.9289213424222296,
|
| 144 |
+
"color_temp_k": 6033.37409981731,
|
| 145 |
+
"intensity": 1.1957599928674245
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
0.2908558770208403,
|
| 150 |
+
0.2547524312903855,
|
| 151 |
+
-0.9222277677201414
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.8202427022946766,
|
| 155 |
+
0.8355556631549307,
|
| 156 |
+
0.8600564005313371
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": 0.719323492258368,
|
| 159 |
+
"elevation_rad": 1.1738032222680845,
|
| 160 |
+
"color_temp_k": 5863.866206668596,
|
| 161 |
+
"intensity": 0.8416808474990323
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
0.9983365050023671,
|
| 165 |
+
1.0360647372782585,
|
| 166 |
+
1.0964299089196847
|
| 167 |
+
],
|
| 168 |
+
"shadow": false
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/ProcTHOR/test/bg_000066/scene_b01_001/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 66,
|
| 7 |
+
"base_idx": 1,
|
| 8 |
+
"cam_idx": 0,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 0.9172211609662063,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
507.5421918536749,
|
| 46 |
+
0.0,
|
| 47 |
+
342.01313389197475
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
486.10599803354,
|
| 52 |
+
239.63311461934214
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
-0.16494610810534505,
|
| 62 |
+
-7.9397609997006064,
|
| 63 |
+
1.4785933284689308
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
-1.1169617938557466,
|
| 67 |
+
-9.416905909260654,
|
| 68 |
+
0.8937629961078001
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": 0.015016541079022838,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
-0.8350353240966797,
|
| 74 |
+
0.19622306525707245,
|
| 75 |
+
-0.5140163898468018,
|
| 76 |
+
-0.16494610905647278
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
0.549458384513855,
|
| 80 |
+
0.24902868270874023,
|
| 81 |
+
-0.7975465059280396,
|
| 82 |
+
-7.939761161804199
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.028492212295532227,
|
| 86 |
+
-0.948409914970398,
|
| 87 |
+
-0.31576400995254517,
|
| 88 |
+
1.478593349456787
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
-0.22774279117584229,
|
| 100 |
+
-0.9737213253974915,
|
| 101 |
+
-3.743573895320651e-09,
|
| 102 |
+
-1.114132285118103
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
0.9737213253974915,
|
| 106 |
+
-0.22774279117584229,
|
| 107 |
+
-4.7201860198242684e-09,
|
| 108 |
+
-9.393716812133789
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
3.743573895320651e-09,
|
| 112 |
+
-4.7201860198242684e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.742155134677887
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.34224156643879977,
|
| 128 |
+
0.35062297568601597,
|
| 129 |
+
0.3686088986723814
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
-0.4212300424352215,
|
| 134 |
+
0.4254467232677049,
|
| 135 |
+
-0.8009746157093833
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
1.0905614228224716,
|
| 139 |
+
1.0412323626840763,
|
| 140 |
+
0.956668259589684
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 2.3512142590799057,
|
| 143 |
+
"elevation_rad": 0.9289213424222296,
|
| 144 |
+
"color_temp_k": 4823.204997870634,
|
| 145 |
+
"intensity": 1.0412323626840763
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
0.2908558770208403,
|
| 150 |
+
0.2547524312903855,
|
| 151 |
+
-0.9222277677201414
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.7026489003251353,
|
| 155 |
+
0.7201279496795953,
|
| 156 |
+
0.7480944286467313
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": 0.719323492258368,
|
| 159 |
+
"elevation_rad": 1.1738032222680845,
|
| 160 |
+
"color_temp_k": 5980.775104660415,
|
| 161 |
+
"intensity": 0.7271195694213792
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
1.1625098277863055,
|
| 165 |
+
1.1244636340149223,
|
| 166 |
+
1.0592415875496939
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|
panda/ProcTHOR/test/bg_000066/scene_b01_002/scene_meta.json
ADDED
|
@@ -0,0 +1,187 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_uid": "panda",
|
| 3 |
+
"num_frames": 1,
|
| 4 |
+
"qpos_mode": "zero",
|
| 5 |
+
"rng_drain_count": 6,
|
| 6 |
+
"scene_idx": 66,
|
| 7 |
+
"base_idx": 1,
|
| 8 |
+
"cam_idx": 1,
|
| 9 |
+
"n_dof": 9,
|
| 10 |
+
"num_links": 15,
|
| 11 |
+
"joint_names": [
|
| 12 |
+
"panda_joint1",
|
| 13 |
+
"panda_joint2",
|
| 14 |
+
"panda_joint3",
|
| 15 |
+
"panda_joint4",
|
| 16 |
+
"panda_joint5",
|
| 17 |
+
"panda_joint6",
|
| 18 |
+
"panda_joint7",
|
| 19 |
+
"panda_finger_joint1",
|
| 20 |
+
"panda_finger_joint2"
|
| 21 |
+
],
|
| 22 |
+
"link_names": [
|
| 23 |
+
"panda_link0",
|
| 24 |
+
"panda_link1",
|
| 25 |
+
"panda_link2",
|
| 26 |
+
"panda_link3",
|
| 27 |
+
"panda_link4",
|
| 28 |
+
"panda_link5",
|
| 29 |
+
"panda_link6",
|
| 30 |
+
"panda_link7",
|
| 31 |
+
"panda_link8",
|
| 32 |
+
"panda_hand",
|
| 33 |
+
"panda_hand_tcp",
|
| 34 |
+
"panda_leftfinger",
|
| 35 |
+
"panda_rightfinger",
|
| 36 |
+
"panda_leftfinger_pad",
|
| 37 |
+
"panda_rightfinger_pad"
|
| 38 |
+
],
|
| 39 |
+
"ee_link_name": "panda_hand_tcp",
|
| 40 |
+
"image_width": 640,
|
| 41 |
+
"image_height": 480,
|
| 42 |
+
"fovy_rad": 0.9846028472820171,
|
| 43 |
+
"K": [
|
| 44 |
+
[
|
| 45 |
+
432.4126725723614,
|
| 46 |
+
0.0,
|
| 47 |
+
337.1958495052505
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.0,
|
| 51 |
+
447.4706965742772,
|
| 52 |
+
258.44524666408057
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"camera_eye": [
|
| 61 |
+
-1.820813289148734,
|
| 62 |
+
-9.905167468957309,
|
| 63 |
+
0.6843950268451076
|
| 64 |
+
],
|
| 65 |
+
"camera_target": [
|
| 66 |
+
-1.1207063865550355,
|
| 67 |
+
-9.370108719932475,
|
| 68 |
+
0.9856768002797032
|
| 69 |
+
],
|
| 70 |
+
"camera_roll_rad": 0.027142310498867575,
|
| 71 |
+
"camera_pose_world_cv": [
|
| 72 |
+
[
|
| 73 |
+
0.6202759146690369,
|
| 74 |
+
0.2237272560596466,
|
| 75 |
+
0.7518004179000854,
|
| 76 |
+
-1.8208132982254028
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
-0.7827017307281494,
|
| 80 |
+
0.2392735481262207,
|
| 81 |
+
0.5745660066604614,
|
| 82 |
+
-9.905167579650879
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.051339954137802124,
|
| 86 |
+
-0.9448249340057373,
|
| 87 |
+
0.32352733612060547,
|
| 88 |
+
0.6843950152397156
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"T_base_world": [
|
| 98 |
+
[
|
| 99 |
+
-0.22774279117584229,
|
| 100 |
+
-0.9737213253974915,
|
| 101 |
+
-3.743573895320651e-09,
|
| 102 |
+
-1.114132285118103
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
0.9737213253974915,
|
| 106 |
+
-0.22774279117584229,
|
| 107 |
+
-4.7201860198242684e-09,
|
| 108 |
+
-9.393716812133789
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
3.743573895320651e-09,
|
| 112 |
+
-4.7201860198242684e-09,
|
| 113 |
+
1.0,
|
| 114 |
+
0.742155134677887
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
1.0
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"lighting": {
|
| 124 |
+
"aug_enabled": true,
|
| 125 |
+
"params": {
|
| 126 |
+
"ambient": [
|
| 127 |
+
0.35036923845772017,
|
| 128 |
+
0.36828383993776503,
|
| 129 |
+
0.3671389433691677
|
| 130 |
+
],
|
| 131 |
+
"directional_primary": {
|
| 132 |
+
"direction": [
|
| 133 |
+
-0.4212300424352215,
|
| 134 |
+
0.4254467232677049,
|
| 135 |
+
-0.8009746157093833
|
| 136 |
+
],
|
| 137 |
+
"color": [
|
| 138 |
+
0.8815145521026214,
|
| 139 |
+
0.9125707370664955,
|
| 140 |
+
0.9622606330086942
|
| 141 |
+
],
|
| 142 |
+
"azimuth_rad": 2.3512142590799057,
|
| 143 |
+
"elevation_rad": 0.9289213424222296,
|
| 144 |
+
"color_temp_k": 6171.4900086358975,
|
| 145 |
+
"intensity": 0.9249932110520452
|
| 146 |
+
},
|
| 147 |
+
"directional_fill": {
|
| 148 |
+
"direction": [
|
| 149 |
+
0.2908558770208403,
|
| 150 |
+
0.2547524312903855,
|
| 151 |
+
-0.9222277677201414
|
| 152 |
+
],
|
| 153 |
+
"color": [
|
| 154 |
+
0.7371066246872592,
|
| 155 |
+
0.7304682068229924,
|
| 156 |
+
0.7190880619128208
|
| 157 |
+
],
|
| 158 |
+
"azimuth_rad": 0.719323492258368,
|
| 159 |
+
"elevation_rad": 1.1738032222680845,
|
| 160 |
+
"color_temp_k": 5370.172938353391,
|
| 161 |
+
"intensity": 0.7304682068229924
|
| 162 |
+
},
|
| 163 |
+
"point_color_scale": [
|
| 164 |
+
1.1691269259579342,
|
| 165 |
+
1.1776188099633849,
|
| 166 |
+
1.1912058243721055
|
| 167 |
+
],
|
| 168 |
+
"shadow": true
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"frames": [
|
| 172 |
+
{
|
| 173 |
+
"frame_idx": 0,
|
| 174 |
+
"qpos": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0,
|
| 178 |
+
0.0,
|
| 179 |
+
0.0,
|
| 180 |
+
0.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.03999999910593033,
|
| 183 |
+
0.03999999910593033
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
]
|
| 187 |
+
}
|