{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Action Sequencing","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"{\"answer_A\":\"right\",\"answer_C\":\"below\"}","id":"5f8f869858e49110","metadata":"vendor/ESI-Bench/dataset/json_clean/Action Sequencing/Action Order Inference/house_double_floor_lower/corridor_0/house_double_floor_lower__corridor_0.json","metadata_sha256":"1ccb54be779c8e58a64c6824af26f0a5ebdd3237117a2832ef3901e0b6bf6f25","observation_policy":"runtime camera observations; no oracle poses","question":"Which place_mat should go under the feta_box as its base, and which hard_boiled_egg should go on top of the feta_box? The place_mat to the right or left of the feta_box? The hard_boiled_egg to the below or right of the feta_box?","room":"corridor_0","scene":"house_double_floor_lower","subcategory":"Action Order Inference","task":"action_sequencing.action_order_inference"},"group":{"id":"ESI-scene/house_double_floor_lower","kind":"scene","room":"corridor_0","scene":"house_double_floor_lower"},"id":"684eb6acd3a94aa0de2f","native_annotation":{"answer":"{\"answer_A\":\"right\",\"answer_C\":\"below\"}","answer_type":"choice","big_task":"Action Sequencing","gt_camera_poses":[{"baseline_selected":true,"camera_pose":{"position":[1.5249833943627902,3.8008349726492328,1.3796078150115343],"quaternion_xyzw":[0.25602892266235283,0.25602892266235283,0.6591275982390321,0.6591275982390321]},"camera_pose_rule":null,"fov_deg":null,"group":"stages/place_B_on_A_wrong","metadata_pointer":"/_gt_auxiliary/stages/0/views/0","original_image_path":"stage1_B_on_A_wrong_orb0.png","phase":null,"pose_source":"BEHAVIOR-ESI/output_metas/action/stages.views","render_mode":"action_snapshot","role":"gt_outcome","state_key":"action_stage:0","view_id":"stages/place_B_on_A_wrong/stage1_B_on_A_wrong_orb0.png"},{"baseline_selected":true,"camera_pose":{"position":[0.3079328461931223,5.017885520818901,1.3796078150115343],"quaternion_xyzw":[8.257444222050725e-18,0.36207957478887165,0.9321471887640438,2.1258181775231828e-17]},"camera_pose_rule":null,"fov_deg":null,"group":"stages/place_B_on_A_wrong","metadata_pointer":"/_gt_auxiliary/stages/0/views/1","original_image_path":"stage1_B_on_A_wrong_orb1.png","phase":null,"pose_source":"BEHAVIOR-ESI/output_metas/action/stages.views","render_mode":"action_snapshot","role":"gt_outcome","state_key":"action_stage:0","view_id":"stages/place_B_on_A_wrong/stage1_B_on_A_wrong_orb1.png"},{"baseline_selected":true,"camera_pose":{"position":[-0.9091177019765456,3.8008349726492328,1.3796078150115343],"quaternion_xyzw":[-0.25602892266235283,0.25602892266235283,0.6591275982390321,-0.6591275982390321]},"camera_pose_rule":null,"fov_deg":null,"group":"stages/place_B_on_A_wrong","metadata_pointer":"/_gt_auxiliary/stages/0/views/2","original_image_path":"stage1_B_on_A_wrong_orb2.png","phase":null,"pose_source":"BEHAVIOR-ESI/output_metas/action/stages.views","render_mode":"action_snapshot","role":"gt_outcome","state_key":"action_stage:0","view_id":"stages/place_B_on_A_wrong/stage1_B_on_A_wrong_orb2.png"},{"baseline_selected":true,"camera_pose":{"position":[0.307932846193122,2.583784424479565,1.3796078150115343],"quaternion_xyzw":[0.36207957478887165,-3.30297768882029e-17,-8.503272710092731e-17,0.9321471887640438]},"camera_pose_rule":null,"fov_deg":null,"group":"stages/place_B_on_A_wrong","metadata_pointer":"/_gt_auxiliary/stages/0/views/3","original_image_path":"stage1_B_on_A_wrong_orb3.png","phase":null,"pose_source":"BEHAVIOR-ESI/output_metas/action/stages.views","render_mode":"action_snapshot","role":"gt_outcome","state_key":"action_stage:0","view_id":"stages/place_B_on_A_wrong/stage1_B_on_A_wrong_orb3.png"},{"baseline_selected":true,"camera_pose":{"position":[1.5249833943627902,3.8008349726492328,1.3796078150115343],"quaternion_xyzw":[0.25602892266235283,0.25602892266235283,0.6591275982390321,0.6591275982390321]},"camera_pose_rule":null,"fov_deg":null,"group":"stages/place_B_on_A_correct","metadata_pointer":"/_gt_auxiliary/stages/1/views/0","original_image_path":"stage2_B_on_A_correct_orb0.png","phase":null,"pose_source":"BEHAVIOR-ESI/output_metas/action/stages.views","render_mode":"action_snapshot","role":"gt_outcome","state_key":"action_stage:1","view_id":"stages/place_B_on_A_correct/stage2_B_on_A_correct_orb0.png"},{"baseline_selected":true,"camera_pose":{"position":[0.3079328461931223,5.017885520818901,1.3796078150115343],"quaternion_xyzw":[8.257444222050725e-18,0.36207957478887165,0.9321471887640438,2.1258181775231828e-17]},"camera_pose_rule":null,"fov_deg":null,"group":"stages/place_B_on_A_correct","metadata_pointer":"/_gt_auxiliary/stages/1/views/1","original_image_path":"stage2_B_on_A_correct_orb1.png","phase":null,"pose_source":"BEHAVIOR-ESI/output_metas/action/stages.views","render_mode":"action_snapshot","role":"gt_outcome","state_key":"action_stage:1","view_id":"stages/place_B_on_A_correct/stage2_B_on_A_correct_orb1.png"},{"baseline_selected":true,"camera_pose":{"position":[-0.9091177019765456,3.8008349726492328,1.3796078150115343],"quaternion_xyzw":[-0.25602892266235283,0.25602892266235283,0.6591275982390321,-0.6591275982390321]},"camera_pose_rule":null,"fov_deg":null,"group":"stages/place_B_on_A_correct","metadata_pointer":"/_gt_auxiliary/stages/1/views/2","original_image_path":"stage2_B_on_A_correct_orb2.png","phase":null,"pose_source":"BEHAVIOR-ESI/output_metas/action/stages.views","render_mode":"action_snapshot","role":"gt_outcome","state_key":"action_stage:1","view_id":"stages/place_B_on_A_correct/stage2_B_on_A_correct_orb2.png"},{"baseline_selected":true,"camera_pose":{"position":[0.307932846193122,2.583784424479565,1.3796078150115343],"quaternion_xyzw":[0.36207957478887165,-3.30297768882029e-17,-8.503272710092731e-17,0.9321471887640438]},"camera_pose_rule":null,"fov_deg":null,"group":"stages/place_B_on_A_correct","metadata_pointer":"/_gt_auxiliary/stages/1/views/3","original_image_path":"stage2_B_on_A_correct_orb3.png","phase":null,"pose_source":"BEHAVIOR-ESI/output_metas/action/stages.views","render_mode":"action_snapshot","role":"gt_outcome","state_key":"action_stage:1","view_id":"stages/place_B_on_A_correct/stage2_B_on_A_correct_orb3.png"},{"baseline_selected":true,"camera_pose":{"position":[1.5249833943627902,3.8008349726492328,1.3796078150115343],"quaternion_xyzw":[0.25602892266235283,0.25602892266235283,0.6591275982390321,0.6591275982390321]},"camera_pose_rule":null,"fov_deg":null,"group":"stages/place_C_wrong_on_B","metadata_pointer":"/_gt_auxiliary/stages/2/views/0","original_image_path":"stage3_C_wrong_on_B_orb0.png","phase":null,"pose_source":"BEHAVIOR-ESI/output_metas/action/stages.views","render_mode":"action_snapshot","role":"gt_outcome","state_key":"action_stage:2","view_id":"stages/place_C_wrong_on_B/stage3_C_wrong_on_B_orb0.png"},{"baseline_selected":true,"camera_pose":{"position":[0.3079328461931223,5.017885520818901,1.3796078150115343],"quaternion_xyzw":[8.257444222050725e-18,0.36207957478887165,0.9321471887640438,2.1258181775231828e-17]},"camera_pose_rule":null,"fov_deg":null,"group":"stages/place_C_wrong_on_B","metadata_pointer":"/_gt_auxiliary/stages/2/views/1","original_image_path":"stage3_C_wrong_on_B_orb1.png","phase":null,"pose_source":"BEHAVIOR-ESI/output_metas/action/stages.views","render_mode":"action_snapshot","role":"gt_outcome","state_key":"action_stage:2","view_id":"stages/place_C_wrong_on_B/stage3_C_wrong_on_B_orb1.png"},{"baseline_selected":true,"camera_pose":{"position":[0.307932846193122,2.583784424479565,1.3796078150115343],"quaternion_xyzw":[0.36207957478887165,-3.30297768882029e-17,-8.503272710092731e-17,0.9321471887640438]},"camera_pose_rule":null,"fov_deg":null,"group":"stages/place_C_wrong_on_B","metadata_pointer":"/_gt_auxiliary/stages/2/views/3","original_image_path":"stage3_C_wrong_on_B_orb3.png","phase":null,"pose_source":"BEHAVIOR-ESI/output_metas/action/stages.views","render_mode":"action_snapshot","role":"gt_outcome","state_key":"action_stage:2","view_id":"stages/place_C_wrong_on_B/stage3_C_wrong_on_B_orb3.png"},{"baseline_selected":true,"camera_pose":{"position":[1.5249833943627902,3.8008349726492328,1.3796078150115343],"quaternion_xyzw":[0.25602892266235283,0.25602892266235283,0.6591275982390321,0.6591275982390321]},"camera_pose_rule":null,"fov_deg":null,"group":"stages/place_C_correct_on_B","metadata_pointer":"/_gt_auxiliary/stages/3/views/0","original_image_path":"stage4_C_correct_on_B_orb0.png","phase":null,"pose_source":"BEHAVIOR-ESI/output_metas/action/stages.views","render_mode":"action_snapshot","role":"gt_outcome","state_key":"action_stage:3","view_id":"stages/place_C_correct_on_B/stage4_C_correct_on_B_orb0.png"},{"baseline_selected":true,"camera_pose":{"position":[0.3079328461931223,5.017885520818901,1.3796078150115343],"quaternion_xyzw":[8.257444222050725e-18,0.36207957478887165,0.9321471887640438,2.1258181775231828e-17]},"camera_pose_rule":null,"fov_deg":null,"group":"stages/place_C_correct_on_B","metadata_pointer":"/_gt_auxiliary/stages/3/views/1","original_image_path":"stage4_C_correct_on_B_orb1.png","phase":null,"pose_source":"BEHAVIOR-ESI/output_metas/action/stages.views","render_mode":"action_snapshot","role":"gt_outcome","state_key":"action_stage:3","view_id":"stages/place_C_correct_on_B/stage4_C_correct_on_B_orb1.png"},{"baseline_selected":true,"camera_pose":{"position":[-0.9091177019765456,3.8008349726492328,1.3796078150115343],"quaternion_xyzw":[-0.25602892266235283,0.25602892266235283,0.6591275982390321,-0.6591275982390321]},"camera_pose_rule":null,"fov_deg":null,"group":"stages/place_C_correct_on_B","metadata_pointer":"/_gt_auxiliary/stages/3/views/2","original_image_path":"stage4_C_correct_on_B_orb2.png","phase":null,"pose_source":"BEHAVIOR-ESI/output_metas/action/stages.views","render_mode":"action_snapshot","role":"gt_outcome","state_key":"action_stage:3","view_id":"stages/place_C_correct_on_B/stage4_C_correct_on_B_orb2.png"},{"baseline_selected":true,"camera_pose":{"position":[0.307932846193122,2.583784424479565,1.3796078150115343],"quaternion_xyzw":[0.36207957478887165,-3.30297768882029e-17,-8.503272710092731e-17,0.9321471887640438]},"camera_pose_rule":null,"fov_deg":null,"group":"stages/place_C_correct_on_B","metadata_pointer":"/_gt_auxiliary/stages/3/views/3","original_image_path":"stage4_C_correct_on_B_orb3.png","phase":null,"pose_source":"BEHAVIOR-ESI/output_metas/action/stages.views","render_mode":"action_snapshot","role":"gt_outcome","state_key":"action_stage:3","view_id":"stages/place_C_correct_on_B/stage4_C_correct_on_B_orb3.png"}],"id":"0042","image_paths_json":"[\"stage0_initial_orb0.png\"]","metadata_json":"{\"hierarchy\":{\"description\":\"feta_box on place_mat, hard_boiled_egg on feta_box\",\"obj_A_cat\":\"place_mat\",\"obj_C_cat\":\"hard_boiled_egg\",\"obj_fixed_cat\":\"feta_box\",\"relation_A\":\"on_top_of\",\"relation_C\":\"on_top_of\"},\"initial_poses\":[{\"_key\":\"obj_A_correct\",\"aabb_max\":[-0.1346140205860138,4.2682929039001465,0.0021964579354971647],\"aabb_min\":[-0.22044765949249268,4.142062664031982,-5.5530108511447906e-08],\"position\":[-0.17753084003925323,4.205177307128906,0.0010845595970749855],\"quaternion_xyzw\":[1.5209946149785658e-11,5.960826943152142e-09,1.0843493214451883e-08,1.0]},{\"_key\":\"obj_A_wrong\",\"aabb_max\":[0.8497334718704224,3.479344367980957,0.002883320674300194],\"aabb_min\":[0.7370595932006836,3.3136420249938965,-4.202593117952347e-08],\"position\":[0.793396532535553,3.3964927196502686,0.001423732261173427],\"quaternion_xyzw\":[1.779144331859328e-10,6.179191380795146e-09,2.5814390625100714e-08,1.0]},{\"_key\":\"obj_C_correct\",\"aabb_max\":[0.5736973881721497,3.627931833267212,0.03498585522174835],\"aabb_min\":[0.5253559947013855,3.591261625289917,-0.001785527914762497],\"position\":[0.5470954179763794,3.60963773727417,0.01653865911066532],\"quaternion_xyzw\":[-0.11629900336265564,0.13121125102043152,0.004102766048163176,0.9845005869865417]},{\"_key\":\"obj_C_wrong\",\"aabb_max\":[0.15107131004333496,4.036647319793701,0.07602359354496002],\"aabb_min\":[0.04598478227853775,3.9569690227508545,-0.003879878669977188],\"position\":[0.09323789924383163,3.996886730194092,0.035938262939453125],\"quaternion_xyzw\":[-0.11601041257381439,0.13146379590034485,0.0019557117484509945,0.9845075607299805]},{\"_key\":\"obj_fixed\",\"aabb_max\":[0.36094826459884644,3.817901372909546,0.10263484716415405],\"aabb_min\":[0.282895028591156,3.752924919128418,-5.204230546951294e-06],\"position\":[0.32644519209861755,3.785417079925537,0.04469728842377663],\"quaternion_xyzw\":[-8.094124495983124e-06,4.889210686087608e-06,5.804176907986403e-07,1.0000001192092896]}],\"n_objects\":3,\"objects\":[{\"_key\":\"obj_A_correct\",\"cat\":\"place_mat\",\"model\":\"nxzfmz\",\"ratio\":1.3427178572828966,\"scale\":[0.08914461148329306,0.08914461148329306,0.08914461148329306]},{\"_key\":\"obj_A_wrong\",\"cat\":\"place_mat\",\"mode\":\"too_large\",\"model\":\"nxzfmz\",\"ratio\":1.3127002031282666,\"scale\":[0.1170201496019092,0.1170201496019092,0.1170201496019092]},{\"_key\":\"obj_C_correct\",\"cat\":\"hard_boiled_egg\",\"model\":\"xzucin\",\"ratio\":0.5676034563138969,\"scale\":[0.8268209434729551,0.8268209434729551,0.8268209434729551]},{\"_key\":\"obj_C_wrong\",\"cat\":\"hard_boiled_egg\",\"mode\":\"too_large\",\"model\":\"xzucin\",\"ratio\":1.2333912175664068,\"scale\":[1.7966657511252813,1.7966657511252813,1.7966657511252813]},{\"_key\":\"obj_fixed\",\"cat\":\"feta_box\",\"model\":\"qxnzpx\",\"scale\":[0.5,0.5,0.5]}],\"orbital_geometry\":{\"centre_xy\":[0.3079328461931222,3.8008349726492328],\"centre_z\":0.04937748610973358,\"height\":1.3796078150115343,\"n_views\":4,\"radius\":1.2170505481696678},\"qa\":{\"answer_A\":\"right\",\"answer_C\":\"below\",\"choices_A\":[\"right\",\"left\"],\"choices_C\":[\"below\",\"right\"],\"opposite_sides\":true,\"question\":\"Which place_mat should go under the feta_box as its base, and which hard_boiled_egg should go on top of the feta_box? The place_mat to the right or left of the feta_box? The hard_boiled_egg to the below or right of the feta_box?\",\"rel_A_correct\":\"right\",\"rel_A_wrong\":\"left\",\"rel_C_correct\":\"below\",\"rel_C_wrong\":\"right\",\"view_file\":\"stage0_initial_orb0.png\",\"view_idx\":0},\"qa_per_view\":[{\"answer_A\":\"right\",\"answer_C\":\"below\",\"choices_A\":[\"right\",\"left\"],\"choices_C\":[\"below\",\"right\"],\"opposite_sides\":true,\"question\":\"Which place_mat should go under the feta_box as its base, and which hard_boiled_egg should go on top of the feta_box? The place_mat to the right or left of the feta_box? The hard_boiled_egg to the below or right of the feta_box?\",\"rel_A_correct\":\"right\",\"rel_A_wrong\":\"left\",\"rel_C_correct\":\"below\",\"rel_C_wrong\":\"right\",\"view_file\":\"stage0_initial_orb0.png\",\"view_idx\":0},{\"answer_A\":\"right\",\"answer_C\":\"left\",\"choices_A\":[\"right\",\"left\"],\"choices_C\":[\"left\",\"right\"],\"opposite_sides\":true,\"question\":\"Which place_mat should go under the feta_box as its base, and which hard_boiled_egg should go on top of the feta_box? The place_mat to the right or left of the feta_box? The hard_boiled_egg to the left or right of the feta_box?\",\"rel_A_correct\":\"right\",\"rel_A_wrong\":\"left\",\"rel_C_correct\":\"left\",\"rel_C_wrong\":\"right\",\"view_file\":\"stage0_initial_orb1.png\",\"view_idx\":1},{\"answer_A\":\"left\",\"answer_C\":\"right\",\"choices_A\":[\"left\",\"right\"],\"choices_C\":[\"right\",\"left\"],\"opposite_sides\":true,\"question\":\"Which place_mat should go under the feta_box as its base, and which hard_boiled_egg should go on top of the feta_box? The place_mat to the left or right of the feta_box? The hard_boiled_egg to the right or left of the feta_box?\",\"rel_A_correct\":\"left\",\"rel_A_wrong\":\"right\",\"rel_C_correct\":\"right\",\"rel_C_wrong\":\"left\",\"view_file\":\"stage0_initial_orb2.png\",\"view_idx\":2},{\"answer_A\":\"left\",\"answer_C\":\"right\",\"choices_A\":[\"left\",\"right\"],\"choices_C\":[\"right\",\"left\"],\"opposite_sides\":true,\"question\":\"Which place_mat should go under the feta_box as its base, and which hard_boiled_egg should go on top of the feta_box? The place_mat to the left or right of the feta_box? The hard_boiled_egg to the right or left of the feta_box?\",\"rel_A_correct\":\"left\",\"rel_A_wrong\":\"right\",\"rel_C_correct\":\"right\",\"rel_C_wrong\":\"left\",\"view_file\":\"stage0_initial_orb3.png\",\"view_idx\":3}],\"row_layout\":{\"axis\":[-0.7683853622026455,0.63998744921499],\"row_centres\":[[0.7933965508998437,3.396492707238175],[0.5424273600118229,3.605524711501701],[0.3264447058529166,3.7854164620597857],[0.08313586603324957,3.9880681670861247],[-0.1775308585135993,4.2051772380602905]],\"row_midpoint\":[0.3079328461931222,3.8008349726492328],\"row_order\":[\"obj_A_wrong\",\"obj_C_correct\",\"obj_fixed\",\"obj_C_wrong\",\"obj_A_correct\"]},\"run_idx\":0,\"seed\":3086972786,\"stage0_initial_views\":[{\"azimuth_deg\":0.0,\"exist_obj_A_correct\":true,\"exist_obj_A_wrong\":true,\"exist_obj_C_correct\":true,\"exist_obj_C_wrong\":true,\"exist_obj_fixed\":true,\"filename\":\"stage0_initial_orb0.png\",\"pose\":{\"position\":[1.5249833943627902,3.8008349726492328,1.3796078150115343],\"quaternion_xyzw\":[0.25602892266235283,0.25602892266235283,0.6591275982390321,0.6591275982390321]},\"stage\":\"stage0_initial\",\"view_idx\":0},{\"azimuth_deg\":90.0,\"exist_obj_A_correct\":true,\"exist_obj_A_wrong\":true,\"exist_obj_C_correct\":true,\"exist_obj_C_wrong\":true,\"exist_obj_fixed\":true,\"filename\":\"stage0_initial_orb1.png\",\"pose\":{\"position\":[0.3079328461931223,5.017885520818901,1.3796078150115343],\"quaternion_xyzw\":[8.257444222050725e-18,0.36207957478887165,0.9321471887640438,2.1258181775231828e-17]},\"stage\":\"stage0_initial\",\"view_idx\":1},{\"azimuth_deg\":180.0,\"exist_obj_A_correct\":true,\"exist_obj_A_wrong\":true,\"exist_obj_C_correct\":true,\"exist_obj_C_wrong\":true,\"exist_obj_fixed\":true,\"filename\":\"stage0_initial_orb2.png\",\"pose\":{\"position\":[-0.9091177019765456,3.8008349726492328,1.3796078150115343],\"quaternion_xyzw\":[-0.25602892266235283,0.25602892266235283,0.6591275982390321,-0.6591275982390321]},\"stage\":\"stage0_initial\",\"view_idx\":2},{\"azimuth_deg\":270.0,\"exist_obj_A_correct\":true,\"exist_obj_A_wrong\":true,\"exist_obj_C_correct\":true,\"exist_obj_C_wrong\":true,\"exist_obj_fixed\":true,\"filename\":\"stage0_initial_orb3.png\",\"pose\":{\"position\":[0.307932846193122,2.583784424479565,1.3796078150115343],\"quaternion_xyzw\":[0.36207957478887165,-3.30297768882029e-17,-8.503272710092731e-17,0.9321471887640438]},\"stage\":\"stage0_initial\",\"view_idx\":3}],\"success\":true,\"task\":\"action_order_inference\"}","options_json":"{\"A\":[\"right\",\"left\"],\"C\":[\"below\",\"right\"]}","question":"Which place_mat should go under the feta_box as its base, and which hard_boiled_egg should go on top of the feta_box? The place_mat to the right or left of the feta_box? The hard_boiled_egg to the below or right of the feta_box?","room":"corridor_0","runner_task":"action","scene":"house_double_floor_lower","small_task":"Action Order Inference"},"observations":[],"question":{"answer_type":"choice","options":[],"original":"Which place_mat should go under the feta_box as its base, and which hard_boiled_egg should go on top of the feta_box? The place_mat to the right or left of the feta_box? The hard_boiled_egg to the below or right of the feta_box?","text":"Which place_mat should go under the feta_box as its base, and which hard_boiled_egg should go on top of the feta_box? The place_mat to the right or left of the feta_box? The hard_boiled_egg to the below or right of the feta_box?"},"reference_media":["stage0_initial_orb0.png"],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":33,"stratum_pool":77},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Action Sequencing/Action Order Inference/house_double_floor_lower/corridor_0/house_double_floor_lower__corridor_0.json","annotation_sha256":"1ccb54be779c8e58a64c6824af26f0a5ebdd3237117a2832ef3901e0b6bf6f25","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"6d961fdd5cb1df170188b70bd869e3ea48d449bac6e2b5e058aae743ead8efb7","sample_id":"0042","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"{\"answer_A\":\"right\",\"answer_C\":\"below\"}","metric":"official_esi_task","original_answer":"{\"answer_A\":\"right\",\"answer_C\":\"below\"}"},"task":{"category":"Action Sequencing","role":"spatial_core","skill_tags":["Action Sequencing","Action Order Inference"],"stratum":"ESI-Bench/Action Sequencing/Action Order Inference","subcategory":"Action Order Inference"},"transforms":[]}
{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Action Sequencing","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"{\"answer_A\":\"left\",\"answer_C\":\"right\"}","id":"9f9773ae3fbeeda5","metadata":"vendor/ESI-Bench/dataset/json_clean/Action Sequencing/Action Order Inference/Ihlen_0_int/storage_room_1/Ihlen_0_int__storage_room_1.json","metadata_sha256":"fa2ed489b841919612438237610bb9e7e3bf2ef96100e6ef32b56deb70ac4728","observation_policy":"runtime camera observations; no oracle poses","question":"Which jigsaw_puzzle should go under the wicker_basket as its base, and which apple_pie should go on top of the wicker_basket? The jigsaw_puzzle to the left or right of the wicker_basket? The apple_pie to the right or left of the wicker_basket?","room":"storage_room_1","scene":"Ihlen_0_int","subcategory":"Action Order Inference","task":"action_sequencing.action_order_inference"},"group":{"id":"ESI-scene/Ihlen_0_int","kind":"scene","room":"storage_room_1","scene":"Ihlen_0_int"},"id":"9d81f42c81395d55ced7","native_annotation":{"answer":"{\"answer_A\":\"left\",\"answer_C\":\"right\"}","answer_type":"choice","big_task":"Action Sequencing","gt_camera_poses":[{"baseline_selected":true,"camera_pose":{"position":[-1.6144802236108213,6.142054236527898,1.480267125011265],"quaternion_xyzw":[0.26334577460068304,0.26334577460068304,0.6562385259949054,0.6562385259949054]},"camera_pose_rule":null,"fov_deg":null,"group":"stages/place_B_on_A_wrong","metadata_pointer":"/_gt_auxiliary/stages/0/views/0","original_image_path":"stage1_B_on_A_wrong_orb0.png","phase":null,"pose_source":"BEHAVIOR-ESI/output_metas/action/stages.views","render_mode":"action_snapshot","role":"gt_outcome","state_key":"action_stage:0","view_id":"stages/place_B_on_A_wrong/stage1_B_on_A_wrong_orb0.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.961838829771799,7.489412842688875,1.480267125011265],"quaternion_xyzw":[0.0,0.372427166033934,0.9280614236137243,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"stages/place_B_on_A_wrong","metadata_pointer":"/_gt_auxiliary/stages/0/views/1","original_image_path":"stage1_B_on_A_wrong_orb1.png","phase":null,"pose_source":"BEHAVIOR-ESI/output_metas/action/stages.views","render_mode":"action_snapshot","role":"gt_outcome","state_key":"action_stage:0","view_id":"stages/place_B_on_A_wrong/stage1_B_on_A_wrong_orb1.png"},{"baseline_selected":true,"camera_pose":{"position":[-4.309197435932777,6.142054236527898,1.480267125011265],"quaternion_xyzw":[-0.26334577460068304,0.26334577460068304,0.6562385259949054,-0.6562385259949054]},"camera_pose_rule":null,"fov_deg":null,"group":"stages/place_B_on_A_wrong","metadata_pointer":"/_gt_auxiliary/stages/0/views/2","original_image_path":"stage1_B_on_A_wrong_orb2.png","phase":null,"pose_source":"BEHAVIOR-ESI/output_metas/action/stages.views","render_mode":"action_snapshot","role":"gt_outcome","state_key":"action_stage:0","view_id":"stages/place_B_on_A_wrong/stage1_B_on_A_wrong_orb2.png"},{"baseline_selected":true,"camera_pose":{"position":[-1.6144802236108213,6.142054236527898,1.480267125011265],"quaternion_xyzw":[0.26334577460068304,0.26334577460068304,0.6562385259949054,0.6562385259949054]},"camera_pose_rule":null,"fov_deg":null,"group":"stages/place_B_on_A_correct","metadata_pointer":"/_gt_auxiliary/stages/1/views/0","original_image_path":"stage2_B_on_A_correct_orb0.png","phase":null,"pose_source":"BEHAVIOR-ESI/output_metas/action/stages.views","render_mode":"action_snapshot","role":"gt_outcome","state_key":"action_stage:1","view_id":"stages/place_B_on_A_correct/stage2_B_on_A_correct_orb0.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.961838829771799,7.489412842688875,1.480267125011265],"quaternion_xyzw":[0.0,0.372427166033934,0.9280614236137243,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"stages/place_B_on_A_correct","metadata_pointer":"/_gt_auxiliary/stages/1/views/1","original_image_path":"stage2_B_on_A_correct_orb1.png","phase":null,"pose_source":"BEHAVIOR-ESI/output_metas/action/stages.views","render_mode":"action_snapshot","role":"gt_outcome","state_key":"action_stage:1","view_id":"stages/place_B_on_A_correct/stage2_B_on_A_correct_orb1.png"},{"baseline_selected":true,"camera_pose":{"position":[-4.309197435932777,6.142054236527898,1.480267125011265],"quaternion_xyzw":[-0.26334577460068304,0.26334577460068304,0.6562385259949054,-0.6562385259949054]},"camera_pose_rule":null,"fov_deg":null,"group":"stages/place_B_on_A_correct","metadata_pointer":"/_gt_auxiliary/stages/1/views/2","original_image_path":"stage2_B_on_A_correct_orb2.png","phase":null,"pose_source":"BEHAVIOR-ESI/output_metas/action/stages.views","render_mode":"action_snapshot","role":"gt_outcome","state_key":"action_stage:1","view_id":"stages/place_B_on_A_correct/stage2_B_on_A_correct_orb2.png"},{"baseline_selected":true,"camera_pose":{"position":[-4.309197435932777,6.142054236527898,1.480267125011265],"quaternion_xyzw":[-0.26334577460068304,0.26334577460068304,0.6562385259949054,-0.6562385259949054]},"camera_pose_rule":null,"fov_deg":null,"group":"stages/place_C_wrong_on_B","metadata_pointer":"/_gt_auxiliary/stages/2/views/2","original_image_path":"stage3_C_wrong_on_B_orb2.png","phase":null,"pose_source":"BEHAVIOR-ESI/output_metas/action/stages.views","render_mode":"action_snapshot","role":"gt_outcome","state_key":"action_stage:2","view_id":"stages/place_C_wrong_on_B/stage3_C_wrong_on_B_orb2.png"},{"baseline_selected":true,"camera_pose":{"position":[-1.6144802236108213,6.142054236527898,1.480267125011265],"quaternion_xyzw":[0.26334577460068304,0.26334577460068304,0.6562385259949054,0.6562385259949054]},"camera_pose_rule":null,"fov_deg":null,"group":"stages/place_C_correct_on_B","metadata_pointer":"/_gt_auxiliary/stages/3/views/0","original_image_path":"stage4_C_correct_on_B_orb0.png","phase":null,"pose_source":"BEHAVIOR-ESI/output_metas/action/stages.views","render_mode":"action_snapshot","role":"gt_outcome","state_key":"action_stage:3","view_id":"stages/place_C_correct_on_B/stage4_C_correct_on_B_orb0.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.961838829771799,7.489412842688875,1.480267125011265],"quaternion_xyzw":[0.0,0.372427166033934,0.9280614236137243,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"stages/place_C_correct_on_B","metadata_pointer":"/_gt_auxiliary/stages/3/views/1","original_image_path":"stage4_C_correct_on_B_orb1.png","phase":null,"pose_source":"BEHAVIOR-ESI/output_metas/action/stages.views","render_mode":"action_snapshot","role":"gt_outcome","state_key":"action_stage:3","view_id":"stages/place_C_correct_on_B/stage4_C_correct_on_B_orb1.png"},{"baseline_selected":true,"camera_pose":{"position":[-4.309197435932777,6.142054236527898,1.480267125011265],"quaternion_xyzw":[-0.26334577460068304,0.26334577460068304,0.6562385259949054,-0.6562385259949054]},"camera_pose_rule":null,"fov_deg":null,"group":"stages/place_C_correct_on_B","metadata_pointer":"/_gt_auxiliary/stages/3/views/2","original_image_path":"stage4_C_correct_on_B_orb2.png","phase":null,"pose_source":"BEHAVIOR-ESI/output_metas/action/stages.views","render_mode":"action_snapshot","role":"gt_outcome","state_key":"action_stage:3","view_id":"stages/place_C_correct_on_B/stage4_C_correct_on_B_orb2.png"}],"id":"0018","image_paths_json":"[\"stage0_initial_orb0.png\"]","metadata_json":"{\"hierarchy\":{\"description\":\"wicker_basket on jigsaw_puzzle, apple_pie on wicker_basket\",\"obj_A_cat\":\"jigsaw_puzzle\",\"obj_C_cat\":\"apple_pie\",\"obj_fixed_cat\":\"wicker_basket\",\"relation_A\":\"on_top_of\",\"relation_C\":\"on_top_of\"},\"initial_poses\":[{\"_key\":\"obj_A_correct\",\"aabb_max\":[-2.9972891807556152,5.546195983886719,0.005016874521970749],\"aabb_min\":[-3.284733295440674,5.32889461517334,-2.6586931198835373e-06],\"position\":[-3.147456169128418,5.442421913146973,0.002510468475520611],\"quaternion_xyzw\":[1.2989303286303766e-06,-8.007169526536018e-06,7.61830154516474e-09,1.0]},{\"_key\":\"obj_A_wrong\",\"aabb_max\":[-2.6764042377471924,6.910666465759277,0.003334744367748499],\"aabb_min\":[-2.867471218109131,6.766223907470703,-1.7748679965734482e-06],\"position\":[-2.776221752166748,6.841686725616455,0.0016687336610630155],\"quaternion_xyzw\":[1.2246073310961947e-06,-7.996131898835301e-06,1.5064539837794655e-08,1.0]},{\"_key\":\"obj_C_correct\",\"aabb_max\":[-2.8138132095336914,6.547201156616211,0.0235910527408123],\"aabb_min\":[-2.9229576587677,6.440159797668457,-6.044283509254456e-07],\"position\":[-2.8685455322265625,6.493699073791504,0.011565405875444412],\"quaternion_xyzw\":[-2.7512782253324986e-05,-2.582208253443241e-05,-1.4890792954247445e-07,1.0]},{\"_key\":\"obj_C_wrong\",\"aabb_max\":[-3.011214256286621,5.85227108001709,0.016007252037525177],\"aabb_min\":[-3.085270881652832,5.779641628265381,-6.491318345069885e-07],\"position\":[-3.0483510494232178,5.815970420837402,0.007847354747354984],\"quaternion_xyzw\":[-2.931174822151661e-05,-2.54001934081316e-05,2.478900569258258e-07,1.0000001192092896]},{\"_key\":\"obj_fixed\",\"aabb_max\":[-2.8833656311035156,6.223358631134033,0.1437787562608719],\"aabb_min\":[-3.0394206047058105,6.0673041343688965,-7.483735680580139e-05],\"position\":[-2.9611878395080566,6.144639015197754,0.05976396054029465],\"quaternion_xyzw\":[-0.00015385914593935013,-0.0002518529072403908,1.6123522073030472e-08,0.9999999403953552]}],\"n_objects\":3,\"objects\":[{\"_key\":\"obj_A_correct\",\"cat\":\"jigsaw_puzzle\",\"model\":\"antykn\",\"ratio\":1.388137431510037,\"scale\":[1.4684254067635096,1.4684254067635096,1.4684254067635096]},{\"_key\":\"obj_A_wrong\",\"cat\":\"jigsaw_puzzle\",\"mode\":\"too_small\",\"model\":\"antykn\",\"ratio\":0.9227074061090662,\"scale\":[0.9760755436624875,0.9760755436624875,0.9760755436624875]},{\"_key\":\"obj_C_correct\",\"cat\":\"apple_pie\",\"model\":\"ejrgdj\",\"ratio\":0.6899170665640455,\"scale\":[0.622930341007883,0.622930341007883,0.622930341007883]},{\"_key\":\"obj_C_wrong\",\"cat\":\"apple_pie\",\"mode\":\"too_small\",\"model\":\"ejrgdj\",\"ratio\":0.6785186442297034,\"scale\":[0.4226698504302156,0.4226698504302156,0.4226698504302156]},{\"_key\":\"obj_fixed\",\"cat\":\"wicker_basket\",\"model\":\"jqfftz\",\"scale\":[0.5,0.5,0.5]}],\"orbital_geometry\":{\"centre_xy\":[-2.961838829771799,6.142054236527898],\"centre_z\":0.07185196131467819,\"height\":1.480267125011265,\"n_views\":4,\"radius\":1.3473586061609777},\"qa\":{\"answer_A\":\"left\",\"answer_C\":\"right\",\"choices_A\":[\"left\",\"right\"],\"choices_C\":[\"right\",\"left\"],\"opposite_sides\":true,\"question\":\"Which jigsaw_puzzle should go under the wicker_basket as its base, and which apple_pie should go on top of the wicker_basket? The jigsaw_puzzle to the left or right of the wicker_basket? The apple_pie to the right or left of the wicker_basket?\",\"rel_A_correct\":\"left\",\"rel_A_wrong\":\"right\",\"rel_C_correct\":\"right\",\"rel_C_wrong\":\"left\",\"view_file\":\"stage0_initial_orb0.png\",\"view_idx\":0},\"qa_per_view\":[{\"answer_A\":\"left\",\"answer_C\":\"right\",\"choices_A\":[\"left\",\"right\"],\"choices_C\":[\"right\",\"left\"],\"opposite_sides\":true,\"question\":\"Which jigsaw_puzzle should go under the wicker_basket as its base, and which apple_pie should go on top of the wicker_basket? The jigsaw_puzzle to the left or right of the wicker_basket? The apple_pie to the right or left of the wicker_basket?\",\"rel_A_correct\":\"left\",\"rel_A_wrong\":\"right\",\"rel_C_correct\":\"right\",\"rel_C_wrong\":\"left\",\"view_file\":\"stage0_initial_orb0.png\",\"view_idx\":0},{\"answer_A\":\"above\",\"answer_C\":\"below\",\"choices_A\":[\"above\",\"below\"],\"choices_C\":[\"below\",\"above\"],\"opposite_sides\":true,\"question\":\"Which jigsaw_puzzle should go under the wicker_basket as its base, and which apple_pie should go on top of the wicker_basket? The jigsaw_puzzle to the above or below of the wicker_basket? The apple_pie to the below or above of the wicker_basket?\",\"rel_A_correct\":\"above\",\"rel_A_wrong\":\"below\",\"rel_C_correct\":\"below\",\"rel_C_wrong\":\"above\",\"view_file\":\"stage0_initial_orb1.png\",\"view_idx\":1},{\"answer_A\":\"right\",\"answer_C\":\"left\",\"choices_A\":[\"right\",\"left\"],\"choices_C\":[\"left\",\"right\"],\"opposite_sides\":true,\"question\":\"Which jigsaw_puzzle should go under the wicker_basket as its base, and which apple_pie should go on top of the wicker_basket? The jigsaw_puzzle to the right or left of the wicker_basket? The apple_pie to the left or right of the wicker_basket?\",\"rel_A_correct\":\"right\",\"rel_A_wrong\":\"left\",\"rel_C_correct\":\"left\",\"rel_C_wrong\":\"right\",\"view_file\":\"stage0_initial_orb2.png\",\"view_idx\":2},{\"answer_A\":\"below\",\"answer_C\":\"above\",\"choices_A\":[\"below\",\"above\"],\"choices_C\":[\"above\",\"below\"],\"opposite_sides\":true,\"question\":\"Which jigsaw_puzzle should go under the wicker_basket as its base, and which apple_pie should go on top of the wicker_basket? The jigsaw_puzzle to the below or above of the wicker_basket? The apple_pie to the above or below of the wicker_basket?\",\"rel_A_correct\":\"below\",\"rel_A_wrong\":\"above\",\"rel_C_correct\":\"above\",\"rel_C_wrong\":\"below\",\"view_file\":\"stage0_initial_orb3.png\",\"view_idx\":3}],\"row_layout\":{\"axis\":[-0.25643496953869677,-0.9665614860926788],\"row_centres\":[[-2.7762218251814117,6.841686771527703],[-2.8685459605252444,6.493696192782981],[-2.9611579889502204,6.14462047980385],[-3.0483517416489936,5.815967475347661],[-3.147455834362186,5.442421701528093]],\"row_midpoint\":[-2.961838829771799,6.142054236527898],\"row_order\":[\"obj_A_wrong\",\"obj_C_correct\",\"obj_fixed\",\"obj_C_wrong\",\"obj_A_correct\"]},\"run_idx\":0,\"seed\":3525101954,\"stage0_initial_views\":[{\"azimuth_deg\":0.0,\"exist_obj_A_correct\":true,\"exist_obj_A_wrong\":true,\"exist_obj_C_correct\":true,\"exist_obj_C_wrong\":true,\"exist_obj_fixed\":true,\"filename\":\"stage0_initial_orb0.png\",\"pose\":{\"position\":[-1.6144802236108213,6.142054236527898,1.480267125011265],\"quaternion_xyzw\":[0.26334577460068304,0.26334577460068304,0.6562385259949054,0.6562385259949054]},\"stage\":\"stage0_initial\",\"view_idx\":0},{\"azimuth_deg\":90.0,\"exist_obj_A_correct\":true,\"exist_obj_A_wrong\":true,\"exist_obj_C_correct\":true,\"exist_obj_C_wrong\":true,\"exist_obj_fixed\":true,\"filename\":\"stage0_initial_orb1.png\",\"pose\":{\"position\":[-2.961838829771799,7.489412842688875,1.480267125011265],\"quaternion_xyzw\":[0.0,0.372427166033934,0.9280614236137243,-0.0]},\"stage\":\"stage0_initial\",\"view_idx\":1},{\"azimuth_deg\":180.0,\"exist_obj_A_correct\":true,\"exist_obj_A_wrong\":true,\"exist_obj_C_correct\":true,\"exist_obj_C_wrong\":true,\"exist_obj_fixed\":true,\"filename\":\"stage0_initial_orb2.png\",\"pose\":{\"position\":[-4.309197435932777,6.142054236527898,1.480267125011265],\"quaternion_xyzw\":[-0.26334577460068304,0.26334577460068304,0.6562385259949054,-0.6562385259949054]},\"stage\":\"stage0_initial\",\"view_idx\":2},{\"azimuth_deg\":270.0,\"exist_obj_A_correct\":true,\"exist_obj_A_wrong\":false,\"exist_obj_C_correct\":false,\"exist_obj_C_wrong\":false,\"exist_obj_fixed\":false,\"filename\":\"stage0_initial_orb3.png\",\"pose\":{\"position\":[-2.9618388297717995,4.79469563036692,1.480267125011265],\"quaternion_xyzw\":[0.372427166033934,-6.137597115364681e-17,-1.5294445829802415e-16,0.9280614236137243]},\"stage\":\"stage0_initial\",\"view_idx\":3}],\"success\":true,\"task\":\"action_order_inference\"}","options_json":"{\"A\":[\"left\",\"right\"],\"C\":[\"right\",\"left\"]}","question":"Which jigsaw_puzzle should go under the wicker_basket as its base, and which apple_pie should go on top of the wicker_basket? The jigsaw_puzzle to the left or right of the wicker_basket? The apple_pie to the right or left of the wicker_basket?","room":"storage_room_1","runner_task":"action","scene":"Ihlen_0_int","small_task":"Action Order Inference"},"observations":[],"question":{"answer_type":"choice","options":[],"original":"Which jigsaw_puzzle should go under the wicker_basket as its base, and which apple_pie should go on top of the wicker_basket? The jigsaw_puzzle to the left or right of the wicker_basket? The apple_pie to the right or left of the wicker_basket?","text":"Which jigsaw_puzzle should go under the wicker_basket as its base, and which apple_pie should go on top of the wicker_basket? The jigsaw_puzzle to the left or right of the wicker_basket? The apple_pie to the right or left of the wicker_basket?"},"reference_media":["stage0_initial_orb0.png"],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":33,"stratum_pool":77},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Action Sequencing/Action Order Inference/Ihlen_0_int/storage_room_1/Ihlen_0_int__storage_room_1.json","annotation_sha256":"fa2ed489b841919612438237610bb9e7e3bf2ef96100e6ef32b56deb70ac4728","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"d5d82e487323c561629123fae7f64e1be15de051685bc4eea436f1f4f66ba730","sample_id":"0018","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"{\"answer_A\":\"left\",\"answer_C\":\"right\"}","metric":"official_esi_task","original_answer":"{\"answer_A\":\"left\",\"answer_C\":\"right\"}"},"task":{"category":"Action Sequencing","role":"spatial_core","skill_tags":["Action Sequencing","Action Order Inference"],"stratum":"ESI-Bench/Action Sequencing/Action Order Inference","subcategory":"Action Order Inference"},"transforms":[]}
{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Cognitive Mapping","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"No","id":"bb1abf1f661daa60","metadata":"vendor/ESI-Bench/dataset/json_clean/Cognitive Mapping/Connectivity/Beechwood_1_int/full_scene/q_006.json","metadata_sha256":"5753cca9d4b03ff245ca09f83abe9a68f2da6a092d32b7c0cbb318bc4c336b53","observation_policy":"runtime camera observations; no oracle poses","question":"Are bathroom 1 (with countertop, shower stall, and towel rack) and closet 2 (near childs room 1) adjacent, with a direct connection between them?","room":"full_scene","scene":"Beechwood_1_int","subcategory":"Connectivity","task":"cognitive_mapping.connectivity"},"group":{"id":"ESI-scene/Beechwood_1_int","kind":"scene","room":"full_scene","scene":"Beechwood_1_int"},"id":"2a478ae23c27b850ad58","native_annotation":{"answer":"No","answer_type":"choice","big_task":"Cognitive Mapping","gt_camera_poses":[{"baseline_selected":true,"camera_pose":{"position":[-6.5,-1.5,1.35],"quaternion_xyzw":[0.1329442024927775,0.5631612794391198,0.7937651261326808,0.18738232814121605]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/0","original_image_path":"path_view_000.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_000.png"},{"baseline_selected":true,"camera_pose":{"position":[-6.442229018164565,-2.378885583628018,1.35],"quaternion_xyzw":[-0.3042090604269962,0.4922211242826451,0.6937763249463975,-0.4287768922270924]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/1","original_image_path":"path_view_001.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_001.png"},{"baseline_selected":true,"camera_pose":{"position":[-5.447213488876055,-2.4000000953674316,1.35],"quaternion_xyzw":[0.4091605966096607,-0.4091605966096607,-0.576704088924317,0.576704088924317]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/2","original_image_path":"path_view_002.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_002.png"},{"baseline_selected":true,"camera_pose":{"position":[-4.4708202137719,-2.5,1.35],"quaternion_xyzw":[0.4091605966096607,-0.4091605966096607,-0.576704088924317,0.576704088924317]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/3","original_image_path":"path_view_003.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_003.png"},{"baseline_selected":true,"camera_pose":{"position":[-3.5839272954105597,-2.816072799956872,1.35],"quaternion_xyzw":[-0.2214361192186396,0.5345940822169053,0.7535002042812852,-0.31211000386420595]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/4","original_image_path":"path_view_004.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_004.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.8257979006094534,-3.4000000953674316,1.35],"quaternion_xyzw":[0.4091605966096607,-0.4091605966096607,-0.576704088924317,0.576704088924317]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/5","original_image_path":"path_view_005.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_005.png"},{"baseline_selected":true,"camera_pose":{"position":[-1.825797900609453,-3.4000000953674316,1.35],"quaternion_xyzw":[0.4091605966096607,-0.4091605966096607,-0.576704088924317,0.576704088924317]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/6","original_image_path":"path_view_006.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_006.png"},{"baseline_selected":true,"camera_pose":{"position":[-1.069248961338824,-2.76924900902254,1.35],"quaternion_xyzw":[0.5345940822169053,-0.22143611921863962,-0.31211000386420595,0.7535002042812852]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/7","original_image_path":"path_view_007.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_007.png"},{"baseline_selected":true,"camera_pose":{"position":[-0.36214215096229296,-2.0621422570260464,1.35],"quaternion_xyzw":[0.5345941275871353,-0.22143600968518334,-0.3121098494788799,0.7535002682297625]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/8","original_image_path":"path_view_008.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_008.png"},{"baseline_selected":true,"camera_pose":{"position":[0.20000000298023224,-1.294989130978227,1.35],"quaternion_xyzw":[0.5786404649140492,-1.6060499178184562e-17,-2.2636968522804183e-17,0.8155827440327885]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/9","original_image_path":"path_view_009.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_009.png"},{"baseline_selected":true,"camera_pose":{"position":[0.20000000298023224,-0.29498913097822754,1.35],"quaternion_xyzw":[0.5786404649140492,-1.6060499178184562e-17,-2.2636968522804183e-17,0.8155827440327885]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/10","original_image_path":"path_view_010.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_010.png"},{"baseline_selected":true,"camera_pose":{"position":[0.6278073012792927,0.5278072774374348,1.35],"quaternion_xyzw":[0.5345940822169053,-0.2214361192186396,-0.31211000386420595,0.7535002042812852]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/11","original_image_path":"path_view_011.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_011.png"},{"baseline_selected":true,"camera_pose":{"position":[1.0520713304192486,1.3520713709078982,1.35],"quaternion_xyzw":[0.5345940492203444,-0.22143619887936783,-0.3121101161444892,0.7535001577732593]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/12","original_image_path":"path_view_012.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_012.png"},{"baseline_selected":true,"camera_pose":{"position":[1.7591781082531908,2.0591781554469843,1.35],"quaternion_xyzw":[0.5345941152134348,-0.22143603955795402,-0.3121098915839827,0.7535002507892665]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/13","original_image_path":"path_view_013.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_013.png"},{"baseline_selected":true,"camera_pose":{"position":[2.4662849368784823,2.7662848891947664,1.35],"quaternion_xyzw":[0.5345940822169053,-0.2214361192186396,-0.31211000386420595,0.7535002042812852]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/14","original_image_path":"path_view_014.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_014.png"},{"baseline_selected":true,"camera_pose":{"position":[3.17339171806496,3.473391670381244,1.35],"quaternion_xyzw":[0.5345940822169053,-0.2214361192186397,-0.3121100038642061,0.7535002042812852]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/15","original_image_path":"path_view_015.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_015.png"},{"baseline_selected":true,"camera_pose":{"position":[3.973077947376274,4.0,1.35],"quaternion_xyzw":[0.4091605966096607,-0.4091605966096607,-0.5767040889243171,0.576704088924317]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/16","original_image_path":"path_view_016.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_016.png"},{"baseline_selected":true,"camera_pose":{"position":[4.870347375095177,4.4351736875475885,1.35],"quaternion_xyzw":[0.4922209792243362,-0.3042092951363955,-0.4287772230455325,0.6937761204894666]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/17","original_image_path":"path_view_017.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_017.png"},{"baseline_selected":true,"camera_pose":{"position":[5.0,4.5,1.35],"quaternion_xyzw":[0.4922209792243362,-0.3042092951363955,-0.4287772230455325,0.6937761204894666]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/18","original_image_path":"path_view_018.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_018.png"}],"id":"0089","image_paths_json":"[\"pair_connectivity__bathroom_1__closet_2__initial.png\",\"view_00.png\",\"view_01.png\",\"view_02.png\",\"view_03.png\",\"path_view_000.png\",\"path_view_001.png\",\"path_view_002.png\",\"path_view_003.png\",\"path_view_004.png\",\"path_view_005.png\",\"path_view_006.png\",\"path_view_007.png\",\"path_view_008.png\",\"path_view_009.png\",\"path_view_010.png\",\"path_view_011.png\",\"path_view_012.png\",\"path_view_013.png\",\"path_view_014.png\",\"path_view_015.png\",\"path_view_016.png\",\"path_view_017.png\",\"path_view_018.png\",\"pair_connectivity__bathroom_1__closet_2.png\"]","metadata_json":"{\"image_paths\":[\"pair_connectivity__bathroom_1__closet_2__initial.png\",\"view_00.png\",\"view_01.png\",\"view_02.png\",\"view_03.png\",\"view_00.png\",\"view_01.png\",\"view_02.png\",\"view_03.png\",\"path_view_000.png\",\"path_view_001.png\",\"path_view_002.png\",\"path_view_003.png\",\"path_view_004.png\",\"path_view_005.png\",\"path_view_006.png\",\"path_view_007.png\",\"path_view_008.png\",\"path_view_009.png\",\"path_view_010.png\",\"path_view_011.png\",\"path_view_012.png\",\"path_view_013.png\",\"path_view_014.png\",\"path_view_015.png\",\"path_view_016.png\",\"path_view_017.png\",\"path_view_018.png\",\"pair_connectivity__bathroom_1__closet_2__initial.png\",\"pair_connectivity__bathroom_1__closet_2.png\",\"pair_connectivity__bathroom_1__closet_2__initial.png\",\"view_00.png\",\"view_01.png\",\"view_02.png\",\"view_03.png\",\"view_00.png\",\"view_01.png\",\"view_02.png\",\"view_03.png\",\"path_view_000.png\",\"path_view_001.png\",\"path_view_002.png\",\"path_view_003.png\",\"path_view_004.png\",\"path_view_005.png\",\"path_view_006.png\",\"path_view_007.png\",\"path_view_008.png\",\"path_view_009.png\",\"path_view_010.png\",\"path_view_011.png\",\"path_view_012.png\",\"path_view_013.png\",\"path_view_014.png\",\"path_view_015.png\",\"path_view_016.png\",\"path_view_017.png\",\"path_view_018.png\"],\"question_data\":{\"answer\":\"No\",\"answer_bool\":false,\"case_id\":\"pair_connectivity__bathroom_1__closet_2\",\"case_type\":\"pair_connectivity\",\"directly_adjacent\":false,\"graph_shortest_region_path\":[\"bathroom_1\",\"bedroom_0\",\"storage_room_0\",\"corridor_0\",\"childs_room_1\",\"closet_2\"],\"initial_view\":{\"camera_pose\":{\"position\":[-6.5,-2.9000000953674316,1.35],\"quaternion_xyzw\":[0.5113523006089558,-0.4463548351674802,-0.48291897952655016,0.5532408562259076],\"target\":[-2.1000001430511475,-2.299999952316284,1.0]},\"image_path\":\"pair_connectivity__bathroom_1__closet_2__initial.png\",\"ray_debug\":{\"angle_deg\":8.0,\"angle_rad\":0.13962634015954636,\"end_map_rc\":[70,72],\"ray_length_px\":44.40720748901367,\"start_map_rc\":[64,28],\"start_xy\":[-6.5,-2.9000000953674316],\"success\":true,\"target_xy\":[-2.1000001430511475,-2.299999952316284]},\"render_xy\":[-6.5,-2.9000000953674316],\"room_instance\":\"bathroom_1\",\"selection_debug\":{\"center_distance_px\":14.0,\"clearance_px\":7.196899890899658,\"room_instance\":\"bathroom_1\",\"selected_by\":\"center_near_free_xy\",\"selected_map_rc\":[64,28]},\"success\":true},\"options\":[\"Yes\",\"No\"],\"path_views\":{\"path_length_m\":17.145,\"path_world_xy\":[[-6.5,-1.5],[-6.599999904632568,-1.7000000476837158],[-6.599999904632568,-1.899999976158142],[-6.599999904632568,-2.1000001430511475],[-6.599999904632568,-2.299999952316284],[-6.400000095367432,-2.4000000953674316],[-6.200000286102295,-2.4000000953674316],[-6.0,-2.4000000953674316],[-5.800000190734863,-2.4000000953674316],[-5.599999904632568,-2.4000000953674316],[-5.400000095367432,-2.4000000953674316],[-5.200000286102295,-2.4000000953674316],[-5.0,-2.4000000953674316],[-4.800000190734863,-2.4000000953674316],[-4.599999904632568,-2.5],[-4.400000095367432,-2.5],[-4.200000286102295,-2.5],[-4.0,-2.5],[-3.799999952316284,-2.6000001430511475],[-3.6000001430511475,-2.799999952316284],[-3.4000000953674316,-3.0],[-3.200000047683716,-3.200000047683716],[-3.0,-3.4000000953674316],[-2.799999952316284,-3.4000000953674316],[-2.6000001430511475,-3.4000000953674316],[-2.4000000953674316,-3.4000000953674316],[-2.200000047683716,-3.4000000953674316],[-2.0,-3.4000000953674316],[-1.8000000715255737,-3.4000000953674316],[-1.600000023841858,-3.299999952316284],[-1.399999976158142,-3.1000001430511475],[-1.2000000476837158,-2.9000000953674316],[-1.0,-2.700000047683716],[-0.800000011920929,-2.5],[-0.6000000238418579,-2.299999952316284],[-0.4000000059604645,-2.1000001430511475],[-0.20000000298023224,-1.899999976158142],[0.0,-1.7000000476837158],[0.20000000298023224,-1.5],[0.20000000298023224,-1.3000000715255737],[0.20000000298023224,-1.100000023841858],[0.20000000298023224,-0.9000000357627869],[0.20000000298023224,-0.699999988079071],[0.20000000298023224,-0.5],[0.20000000298023224,-0.30000001192092896],[0.20000000298023224,-0.10000000149011612],[0.20000000298023224,0.10000000149011612],[0.4000000059604645,0.30000001192092896],[0.6000000238418579,0.5],[0.800000011920929,0.699999988079071],[1.0,0.9000000357627869],[1.0,1.100000023841858],[1.0,1.3000000715255737],[1.2000000476837158,1.5],[1.399999976158142,1.7000000476837158],[1.600000023841858,1.899999976158142],[1.8000000715255737,2.1000001430511475],[2.0,2.299999952316284],[2.200000047683716,2.5],[2.4000000953674316,2.700000047683716],[2.6000001430511475,2.9000000953674316],[2.799999952316284,3.1000001430511475],[3.0,3.299999952316284],[3.200000047683716,3.5],[3.4000000953674316,3.700000047683716],[3.6000001430511475,3.9000000953674316],[3.799999952316284,4.0],[4.0,4.0],[4.200000286102295,4.099999904632568],[4.400000095367432,4.200000286102295],[4.599999904632568,4.300000190734863],[4.800000190734863,4.400000095367432],[5.0,4.5]],\"room_sequence\":[\"bathroom_1\",\"bedroom_0\",\"storage_room_0\",\"corridor_0\",\"childs_room_1\",\"closet_2\"],\"sample_count\":19,\"sample_spacing_m\":1.0,\"selected_target_region\":\"closet_2\",\"selection_reason\":\"direct_path\",\"success\":true,\"views\":[{\"camera_pose\":{\"position\":[-6.5,-1.5,1.35],\"quaternion_xyzw\":[0.1329442024927775,0.5631612794391198,0.7937651261326808,0.18738232814121605],\"target\":[-6.9472131690037875,-2.394427404247874,1.0]},\"distance_along_path_m\":0.0,\"image_path\":\"path_view_000.png\",\"sample_index\":0,\"yaw_rad\":-2.0344434589585445},{\"camera_pose\":{\"position\":[-6.442229018164565,-2.378885583628018,1.35],\"quaternion_xyzw\":[-0.3042090604269962,0.4922211242826451,0.6937763249463975,-0.4287768922270924],\"target\":[-5.547802253661379,-2.826100032120419,1.0]},\"distance_along_path_m\":1.0,\"image_path\":\"path_view_001.png\",\"sample_index\":1,\"yaw_rad\":-0.46364856267557725},{\"camera_pose\":{\"position\":[-5.447213488876055,-2.4000000953674316,1.35],\"quaternion_xyzw\":[0.4091605966096607,-0.4091605966096607,-0.576704088924317,0.576704088924317],\"target\":[-4.447213488876055,-2.4000000953674316,1.0]},\"distance_along_path_m\":2.0,\"image_path\":\"path_view_002.png\",\"sample_index\":2,\"yaw_rad\":0.0},{\"camera_pose\":{\"position\":[-4.4708202137719,-2.5,1.35],\"quaternion_xyzw\":[0.4091605966096607,-0.4091605966096607,-0.576704088924317,0.576704088924317],\"target\":[-3.4708202137719004,-2.5,1.0]},\"distance_along_path_m\":3.0,\"image_path\":\"path_view_003.png\",\"sample_index\":3,\"yaw_rad\":0.0},{\"camera_pose\":{\"position\":[-3.5839272954105597,-2.816072799956872,1.35],\"quaternion_xyzw\":[-0.2214361192186396,0.5345940822169053,0.7535002042812852,-0.31211000386420595],\"target\":[-2.876820514224012,-3.5231795811434194,1.0]},\"distance_along_path_m\":4.0,\"image_path\":\"path_view_004.png\",\"sample_index\":4,\"yaw_rad\":-0.7853981633974483},{\"camera_pose\":{\"position\":[-2.8257979006094534,-3.4000000953674316,1.35],\"quaternion_xyzw\":[0.4091605966096607,-0.4091605966096607,-0.576704088924317,0.576704088924317],\"target\":[-1.8257979006094534,-3.4000000953674316,1.0]},\"distance_along_path_m\":5.0,\"image_path\":\"path_view_005.png\",\"sample_index\":5,\"yaw_rad\":0.0},{\"camera_pose\":{\"position\":[-1.825797900609453,-3.4000000953674316,1.35],\"quaternion_xyzw\":[0.4091605966096607,-0.4091605966096607,-0.576704088924317,0.576704088924317],\"target\":[-0.8257979006094529,-3.4000000953674316,1.0]},\"distance_along_path_m\":6.0,\"image_path\":\"path_view_006.png\",\"sample_index\":6,\"yaw_rad\":0.0},{\"camera_pose\":{\"position\":[-1.069248961338824,-2.76924900902254,1.35],\"quaternion_xyzw\":[0.5345940822169053,-0.22143611921863962,-0.31211000386420595,0.7535002042812852],\"target\":[-0.3621421801522765,-2.0621422278359924,1.0]},\"distance_along_path_m\":7.0,\"image_path\":\"path_view_007.png\",\"sample_index\":7,\"yaw_rad\":0.7853981633974483},{\"camera_pose\":{\"position\":[-0.36214215096229296,-2.0621422570260464,1.35],\"quaternion_xyzw\":[0.5345941275871353,-0.22143600968518334,-0.3121098494788799,0.7535002682297625],\"target\":[0.3449643404647347,-1.3550351860800978,1.0]},\"distance_along_path_m\":8.0,\"image_path\":\"path_view_008.png\",\"sample_index\":8,\"yaw_rad\":0.7853985731792071},{\"camera_pose\":{\"position\":[0.20000000298023224,-1.294989130978227,1.35],\"quaternion_xyzw\":[0.5786404649140492,-1.6060499178184562e-17,-2.2636968522804183e-17,0.8155827440327885],\"target\":[0.2000000029802323,-0.2949891309782271,1.0]},\"distance_along_path_m\":9.0,\"image_path\":\"path_view_009.png\",\"sample_index\":9,\"yaw_rad\":1.5707963267948966},{\"camera_pose\":{\"position\":[0.20000000298023224,-0.29498913097822754,1.35],\"quaternion_xyzw\":[0.5786404649140492,-1.6060499178184562e-17,-2.2636968522804183e-17,0.8155827440327885],\"target\":[0.2000000029802323,0.7050108690217725,1.0]},\"distance_along_path_m\":10.0,\"image_path\":\"path_view_010.png\",\"sample_index\":10,\"yaw_rad\":1.5707963267948966},{\"camera_pose\":{\"position\":[0.6278073012792927,0.5278072774374348,1.35],\"quaternion_xyzw\":[0.5345940822169053,-0.2214361192186396,-0.31211000386420595,0.7535002042812852],\"target\":[1.3349140824658403,1.2349140586239824,1.0]},\"distance_along_path_m\":11.0,\"image_path\":\"path_view_011.png\",\"sample_index\":11,\"yaw_rad\":0.7853981633974483},{\"camera_pose\":{\"position\":[1.0520713304192486,1.3520713709078982,1.35],\"quaternion_xyzw\":[0.5345940492203444,-0.22143619887936783,-0.3121101161444892,0.7535001577732593],\"target\":[1.75917832234002,2.059177941360159,1.0]},\"distance_along_path_m\":12.0,\"image_path\":\"path_view_012.png\",\"sample_index\":12,\"yaw_rad\":0.7853978653742066},{\"camera_pose\":{\"position\":[1.7591781082531908,2.0591781554469843,1.35],\"quaternion_xyzw\":[0.5345941152134348,-0.22143603955795402,-0.3121098915839827,0.7535002507892665],\"target\":[2.4662846787055774,2.76628514736763,1.0]},\"distance_along_path_m\":13.0,\"image_path\":\"path_view_013.png\",\"sample_index\":13,\"yaw_rad\":0.7853984614205123},{\"camera_pose\":{\"position\":[2.4662849368784823,2.7662848891947664,1.35],\"quaternion_xyzw\":[0.5345940822169053,-0.2214361192186396,-0.31211000386420595,0.7535002042812852],\"target\":[3.1733917180650297,3.473391670381314,1.0]},\"distance_along_path_m\":14.0,\"image_path\":\"path_view_014.png\",\"sample_index\":14,\"yaw_rad\":0.7853981633974483},{\"camera_pose\":{\"position\":[3.17339171806496,3.473391670381244,1.35],\"quaternion_xyzw\":[0.5345940822169053,-0.2214361192186397,-0.3121100038642061,0.7535002042812852],\"target\":[3.8804984992515075,4.180498451567791,1.0]},\"distance_along_path_m\":15.0,\"image_path\":\"path_view_015.png\",\"sample_index\":15,\"yaw_rad\":0.7853981633974483},{\"camera_pose\":{\"position\":[3.973077947376274,4.0,1.35],\"quaternion_xyzw\":[0.4091605966096607,-0.4091605966096607,-0.5767040889243171,0.576704088924317],\"target\":[4.973077947376273,4.0,1.0]},\"distance_along_path_m\":16.0,\"image_path\":\"path_view_016.png\",\"sample_index\":16,\"yaw_rad\":0.0},{\"camera_pose\":{\"position\":[4.870347375095177,4.4351736875475885,1.35],\"quaternion_xyzw\":[0.4922209792243362,-0.3042092951363955,-0.4287772230455325,0.6937761204894666],\"target\":[5.764774566095093,4.882387283047547,1.0]},\"distance_along_path_m\":17.0,\"image_path\":\"path_view_017.png\",\"sample_index\":17,\"yaw_rad\":0.4636476090008061},{\"camera_pose\":{\"position\":[5.0,4.5,1.35],\"quaternion_xyzw\":[0.4922209792243362,-0.3042092951363955,-0.4287772230455325,0.6937761204894666],\"target\":[5.894427190999916,4.947213595499958,1.0]},\"distance_along_path_m\":17.145,\"image_path\":\"path_view_018.png\",\"sample_index\":18,\"yaw_rad\":0.4636476090008061}]},\"question\":\"Are bathroom 1 (with countertop, shower stall, and towel rack) and closet 2 (near childs room 1) adjacent, with a direct connection between them?\",\"render\":{\"image\":\"pair_connectivity__bathroom_1__closet_2__initial.png\",\"initial_view\":{\"camera_pose\":{\"position\":[-6.5,-2.9000000953674316,1.35],\"quaternion_xyzw\":[0.5113523006089558,-0.4463548351674802,-0.48291897952655016,0.5532408562259076],\"target\":[-2.1000001430511475,-2.299999952316284,1.0]},\"image_path\":\"pair_connectivity__bathroom_1__closet_2__initial.png\",\"ray_debug\":{\"angle_deg\":8.0,\"angle_rad\":0.13962634015954636,\"end_map_rc\":[70,72],\"ray_length_px\":44.40720748901367,\"start_map_rc\":[64,28],\"start_xy\":[-6.5,-2.9000000953674316],\"success\":true,\"target_xy\":[-2.1000001430511475,-2.299999952316284]},\"render_xy\":[-6.5,-2.9000000953674316],\"room_instance\":\"bathroom_1\",\"selection_debug\":{\"center_distance_px\":14.0,\"clearance_px\":7.196899890899658,\"room_instance\":\"bathroom_1\",\"selected_by\":\"center_near_free_xy\",\"selected_map_rc\":[64,28]},\"success\":true},\"kind\":\"start_room_longest_ray_view\",\"path_views\":{\"path_length_m\":17.145,\"path_world_xy\":[[-6.5,-1.5],[-6.599999904632568,-1.7000000476837158],[-6.599999904632568,-1.899999976158142],[-6.599999904632568,-2.1000001430511475],[-6.599999904632568,-2.299999952316284],[-6.400000095367432,-2.4000000953674316],[-6.200000286102295,-2.4000000953674316],[-6.0,-2.4000000953674316],[-5.800000190734863,-2.4000000953674316],[-5.599999904632568,-2.4000000953674316],[-5.400000095367432,-2.4000000953674316],[-5.200000286102295,-2.4000000953674316],[-5.0,-2.4000000953674316],[-4.800000190734863,-2.4000000953674316],[-4.599999904632568,-2.5],[-4.400000095367432,-2.5],[-4.200000286102295,-2.5],[-4.0,-2.5],[-3.799999952316284,-2.6000001430511475],[-3.6000001430511475,-2.799999952316284],[-3.4000000953674316,-3.0],[-3.200000047683716,-3.200000047683716],[-3.0,-3.4000000953674316],[-2.799999952316284,-3.4000000953674316],[-2.6000001430511475,-3.4000000953674316],[-2.4000000953674316,-3.4000000953674316],[-2.200000047683716,-3.4000000953674316],[-2.0,-3.4000000953674316],[-1.8000000715255737,-3.4000000953674316],[-1.600000023841858,-3.299999952316284],[-1.399999976158142,-3.1000001430511475],[-1.2000000476837158,-2.9000000953674316],[-1.0,-2.700000047683716],[-0.800000011920929,-2.5],[-0.6000000238418579,-2.299999952316284],[-0.4000000059604645,-2.1000001430511475],[-0.20000000298023224,-1.899999976158142],[0.0,-1.7000000476837158],[0.20000000298023224,-1.5],[0.20000000298023224,-1.3000000715255737],[0.20000000298023224,-1.100000023841858],[0.20000000298023224,-0.9000000357627869],[0.20000000298023224,-0.699999988079071],[0.20000000298023224,-0.5],[0.20000000298023224,-0.30000001192092896],[0.20000000298023224,-0.10000000149011612],[0.20000000298023224,0.10000000149011612],[0.4000000059604645,0.30000001192092896],[0.6000000238418579,0.5],[0.800000011920929,0.699999988079071],[1.0,0.9000000357627869],[1.0,1.100000023841858],[1.0,1.3000000715255737],[1.2000000476837158,1.5],[1.399999976158142,1.7000000476837158],[1.600000023841858,1.899999976158142],[1.8000000715255737,2.1000001430511475],[2.0,2.299999952316284],[2.200000047683716,2.5],[2.4000000953674316,2.700000047683716],[2.6000001430511475,2.9000000953674316],[2.799999952316284,3.1000001430511475],[3.0,3.299999952316284],[3.200000047683716,3.5],[3.4000000953674316,3.700000047683716],[3.6000001430511475,3.9000000953674316],[3.799999952316284,4.0],[4.0,4.0],[4.200000286102295,4.099999904632568],[4.400000095367432,4.200000286102295],[4.599999904632568,4.300000190734863],[4.800000190734863,4.400000095367432],[5.0,4.5]],\"room_sequence\":[\"bathroom_1\",\"bedroom_0\",\"storage_room_0\",\"corridor_0\",\"childs_room_1\",\"closet_2\"],\"sample_count\":19,\"sample_spacing_m\":1.0,\"selected_target_region\":\"closet_2\",\"selection_reason\":\"direct_path\",\"success\":true,\"views\":[{\"camera_pose\":{\"position\":[-6.5,-1.5,1.35],\"quaternion_xyzw\":[0.1329442024927775,0.5631612794391198,0.7937651261326808,0.18738232814121605],\"target\":[-6.9472131690037875,-2.394427404247874,1.0]},\"distance_along_path_m\":0.0,\"image_path\":\"path_view_000.png\",\"sample_index\":0,\"yaw_rad\":-2.0344434589585445},{\"camera_pose\":{\"position\":[-6.442229018164565,-2.378885583628018,1.35],\"quaternion_xyzw\":[-0.3042090604269962,0.4922211242826451,0.6937763249463975,-0.4287768922270924],\"target\":[-5.547802253661379,-2.826100032120419,1.0]},\"distance_along_path_m\":1.0,\"image_path\":\"path_view_001.png\",\"sample_index\":1,\"yaw_rad\":-0.46364856267557725},{\"camera_pose\":{\"position\":[-5.447213488876055,-2.4000000953674316,1.35],\"quaternion_xyzw\":[0.4091605966096607,-0.4091605966096607,-0.576704088924317,0.576704088924317],\"target\":[-4.447213488876055,-2.4000000953674316,1.0]},\"distance_along_path_m\":2.0,\"image_path\":\"path_view_002.png\",\"sample_index\":2,\"yaw_rad\":0.0},{\"camera_pose\":{\"position\":[-4.4708202137719,-2.5,1.35],\"quaternion_xyzw\":[0.4091605966096607,-0.4091605966096607,-0.576704088924317,0.576704088924317],\"target\":[-3.4708202137719004,-2.5,1.0]},\"distance_along_path_m\":3.0,\"image_path\":\"path_view_003.png\",\"sample_index\":3,\"yaw_rad\":0.0},{\"camera_pose\":{\"position\":[-3.5839272954105597,-2.816072799956872,1.35],\"quaternion_xyzw\":[-0.2214361192186396,0.5345940822169053,0.7535002042812852,-0.31211000386420595],\"target\":[-2.876820514224012,-3.5231795811434194,1.0]},\"distance_along_path_m\":4.0,\"image_path\":\"path_view_004.png\",\"sample_index\":4,\"yaw_rad\":-0.7853981633974483},{\"camera_pose\":{\"position\":[-2.8257979006094534,-3.4000000953674316,1.35],\"quaternion_xyzw\":[0.4091605966096607,-0.4091605966096607,-0.576704088924317,0.576704088924317],\"target\":[-1.8257979006094534,-3.4000000953674316,1.0]},\"distance_along_path_m\":5.0,\"image_path\":\"path_view_005.png\",\"sample_index\":5,\"yaw_rad\":0.0},{\"camera_pose\":{\"position\":[-1.825797900609453,-3.4000000953674316,1.35],\"quaternion_xyzw\":[0.4091605966096607,-0.4091605966096607,-0.576704088924317,0.576704088924317],\"target\":[-0.8257979006094529,-3.4000000953674316,1.0]},\"distance_along_path_m\":6.0,\"image_path\":\"path_view_006.png\",\"sample_index\":6,\"yaw_rad\":0.0},{\"camera_pose\":{\"position\":[-1.069248961338824,-2.76924900902254,1.35],\"quaternion_xyzw\":[0.5345940822169053,-0.22143611921863962,-0.31211000386420595,0.7535002042812852],\"target\":[-0.3621421801522765,-2.0621422278359924,1.0]},\"distance_along_path_m\":7.0,\"image_path\":\"path_view_007.png\",\"sample_index\":7,\"yaw_rad\":0.7853981633974483},{\"camera_pose\":{\"position\":[-0.36214215096229296,-2.0621422570260464,1.35],\"quaternion_xyzw\":[0.5345941275871353,-0.22143600968518334,-0.3121098494788799,0.7535002682297625],\"target\":[0.3449643404647347,-1.3550351860800978,1.0]},\"distance_along_path_m\":8.0,\"image_path\":\"path_view_008.png\",\"sample_index\":8,\"yaw_rad\":0.7853985731792071},{\"camera_pose\":{\"position\":[0.20000000298023224,-1.294989130978227,1.35],\"quaternion_xyzw\":[0.5786404649140492,-1.6060499178184562e-17,-2.2636968522804183e-17,0.8155827440327885],\"target\":[0.2000000029802323,-0.2949891309782271,1.0]},\"distance_along_path_m\":9.0,\"image_path\":\"path_view_009.png\",\"sample_index\":9,\"yaw_rad\":1.5707963267948966},{\"camera_pose\":{\"position\":[0.20000000298023224,-0.29498913097822754,1.35],\"quaternion_xyzw\":[0.5786404649140492,-1.6060499178184562e-17,-2.2636968522804183e-17,0.8155827440327885],\"target\":[0.2000000029802323,0.7050108690217725,1.0]},\"distance_along_path_m\":10.0,\"image_path\":\"path_view_010.png\",\"sample_index\":10,\"yaw_rad\":1.5707963267948966},{\"camera_pose\":{\"position\":[0.6278073012792927,0.5278072774374348,1.35],\"quaternion_xyzw\":[0.5345940822169053,-0.2214361192186396,-0.31211000386420595,0.7535002042812852],\"target\":[1.3349140824658403,1.2349140586239824,1.0]},\"distance_along_path_m\":11.0,\"image_path\":\"path_view_011.png\",\"sample_index\":11,\"yaw_rad\":0.7853981633974483},{\"camera_pose\":{\"position\":[1.0520713304192486,1.3520713709078982,1.35],\"quaternion_xyzw\":[0.5345940492203444,-0.22143619887936783,-0.3121101161444892,0.7535001577732593],\"target\":[1.75917832234002,2.059177941360159,1.0]},\"distance_along_path_m\":12.0,\"image_path\":\"path_view_012.png\",\"sample_index\":12,\"yaw_rad\":0.7853978653742066},{\"camera_pose\":{\"position\":[1.7591781082531908,2.0591781554469843,1.35],\"quaternion_xyzw\":[0.5345941152134348,-0.22143603955795402,-0.3121098915839827,0.7535002507892665],\"target\":[2.4662846787055774,2.76628514736763,1.0]},\"distance_along_path_m\":13.0,\"image_path\":\"path_view_013.png\",\"sample_index\":13,\"yaw_rad\":0.7853984614205123},{\"camera_pose\":{\"position\":[2.4662849368784823,2.7662848891947664,1.35],\"quaternion_xyzw\":[0.5345940822169053,-0.2214361192186396,-0.31211000386420595,0.7535002042812852],\"target\":[3.1733917180650297,3.473391670381314,1.0]},\"distance_along_path_m\":14.0,\"image_path\":\"path_view_014.png\",\"sample_index\":14,\"yaw_rad\":0.7853981633974483},{\"camera_pose\":{\"position\":[3.17339171806496,3.473391670381244,1.35],\"quaternion_xyzw\":[0.5345940822169053,-0.2214361192186397,-0.3121100038642061,0.7535002042812852],\"target\":[3.8804984992515075,4.180498451567791,1.0]},\"distance_along_path_m\":15.0,\"image_path\":\"path_view_015.png\",\"sample_index\":15,\"yaw_rad\":0.7853981633974483},{\"camera_pose\":{\"position\":[3.973077947376274,4.0,1.35],\"quaternion_xyzw\":[0.4091605966096607,-0.4091605966096607,-0.5767040889243171,0.576704088924317],\"target\":[4.973077947376273,4.0,1.0]},\"distance_along_path_m\":16.0,\"image_path\":\"path_view_016.png\",\"sample_index\":16,\"yaw_rad\":0.0},{\"camera_pose\":{\"position\":[4.870347375095177,4.4351736875475885,1.35],\"quaternion_xyzw\":[0.4922209792243362,-0.3042092951363955,-0.4287772230455325,0.6937761204894666],\"target\":[5.764774566095093,4.882387283047547,1.0]},\"distance_along_path_m\":17.0,\"image_path\":\"path_view_017.png\",\"sample_index\":17,\"yaw_rad\":0.4636476090008061},{\"camera_pose\":{\"position\":[5.0,4.5,1.35],\"quaternion_xyzw\":[0.4922209792243362,-0.3042092951363955,-0.4287772230455325,0.6937761204894666],\"target\":[5.894427190999916,4.947213595499958,1.0]},\"distance_along_path_m\":17.145,\"image_path\":\"path_view_018.png\",\"sample_index\":18,\"yaw_rad\":0.4636476090008061}]},\"room_views\":[{\"_key\":\"bathroom_1\",\"center_xy\":[-6.5,-1.5],\"corner_render_xy\":[[-7.700000286102295,-2.700000047683716],[-7.700000286102295,-0.4000000059604645],[-5.400000095367432,-2.700000047683716],[-5.400000095367432,-1.100000023841858]],\"room_bbox_world_xy\":[-8.0,-3.0,-5.0,0.0],\"room_instance\":\"bathroom_1\",\"success\":true,\"views\":[{\"_key\":\"view_00\",\"camera_pose\":{\"position\":[-7.700000286102295,-2.700000047683716,1.35],\"quaternion_xyzw\":[0.5835860944632922,-0.2417293090994616,-0.29667083721086196,0.7162266581327342],\"target\":[-6.5,-1.5,1.0]},\"image_path\":\"view_00.png\",\"preferred_corner_xy\":[-7.650000095367432,-2.6500000953674316],\"view_role\":\"corner_00\"},{\"_key\":\"view_01\",\"camera_pose\":{\"position\":[-7.700000286102295,-0.4000000059604645,1.35],\"quaternion_xyzw\":[-0.25303796019284436,0.5752146652323706,0.712032554307359,-0.31322439433989513],\"target\":[-6.5,-1.5,1.0]},\"image_path\":\"view_01.png\",\"preferred_corner_xy\":[-7.650000095367432,-0.3499999940395355],\"view_role\":\"corner_01\"},{\"_key\":\"view_02\",\"camera_pose\":{\"position\":[-5.400000095367432,-2.700000047683716,1.35],\"quaternion_xyzw\":[0.585663030505569,0.2278133457948713,0.2819999788994971,0.7249661413317607],\"target\":[-6.5,-1.5,1.0]},\"image_path\":\"view_02.png\",\"preferred_corner_xy\":[-5.349999904632568,-2.6500000953674316],\"view_role\":\"corner_02\"},{\"_key\":\"view_03\",\"camera_pose\":{\"position\":[-5.400000095367432,-1.100000023841858,1.35],\"quaternion_xyzw\":[0.34266320045519244,0.4892202530383056,0.6569132969039764,0.4601199793767808],\"target\":[-6.5,-1.5,1.0]},\"image_path\":\"view_03.png\",\"preferred_corner_xy\":[-5.349999904632568,-0.3499999940395355],\"view_role\":\"corner_03\"}]},{\"_key\":\"closet_2\",\"center_xy\":[5.0,4.5],\"corner_render_xy\":[[5.300000190734863,4.300000190734863],[5.300000190734863,4.599999904632568],[5.200000286102295,4.300000190734863],[5.200000286102295,4.599999904632568]],\"room_bbox_world_xy\":[5.0,4.0,5.0,5.0],\"room_instance\":\"closet_2\",\"success\":true,\"views\":[{\"_key\":\"view_00\",\"camera_pose\":{\"position\":[5.300000190734863,4.300000190734863,1.35],\"quaternion_xyzw\":[0.34344247421460433,0.18380499623021254,0.4345870803906347,0.8120326716479495],\"target\":[5.0,4.5,1.0]},\"image_path\":\"view_00.png\",\"preferred_corner_xy\":[5.349999904632568,4.349999904632568],\"view_role\":\"corner_00\"},{\"_key\":\"view_01\",\"camera_pose\":{\"position\":[5.300000190734863,4.599999904632568,1.35],\"quaternion_xyzw\":[0.2100086168026329,0.29137124493479105,0.7571105959170924,0.5456947168920183],\"target\":[5.0,4.5,1.0]},\"image_path\":\"view_01.png\",\"preferred_corner_xy\":[5.349999904632568,4.650000095367432],\"view_role\":\"corner_01\"},{\"_key\":\"view_02\",\"camera_pose\":{\"position\":[5.200000286102295,4.300000190734863,1.35],\"quaternion_xyzw\":[0.30795981889998014,0.12756134870632682,0.36079791184482346,0.871041743585076],\"target\":[5.0,4.5,1.0]},\"image_path\":\"view_02.png\",\"preferred_corner_xy\":[4.650000095367432,4.349999904632568],\"view_role\":\"corner_02\"},{\"_key\":\"view_03\",\"camera_pose\":{\"position\":[5.200000286102295,4.599999904632568,1.35],\"quaternion_xyzw\":[0.14743899355712292,0.23856104847926538,0.8165139297052058,0.504633898905631],\"target\":[5.0,4.5,1.0]},\"image_path\":\"view_03.png\",\"preferred_corner_xy\":[4.650000095367432,4.650000095367432],\"view_role\":\"corner_03\"}]}],\"topdown_map\":\"pair_connectivity__bathroom_1__closet_2.png\"},\"required_regions\":[\"bathroom_1\",\"closet_2\"],\"room_views\":[{\"_key\":\"bathroom_1\",\"center_xy\":[-6.5,-1.5],\"corner_render_xy\":[[-7.700000286102295,-2.700000047683716],[-7.700000286102295,-0.4000000059604645],[-5.400000095367432,-2.700000047683716],[-5.400000095367432,-1.100000023841858]],\"room_bbox_world_xy\":[-8.0,-3.0,-5.0,0.0],\"room_instance\":\"bathroom_1\",\"success\":true,\"views\":[{\"_key\":\"view_00\",\"camera_pose\":{\"position\":[-7.700000286102295,-2.700000047683716,1.35],\"quaternion_xyzw\":[0.5835860944632922,-0.2417293090994616,-0.29667083721086196,0.7162266581327342],\"target\":[-6.5,-1.5,1.0]},\"image_path\":\"view_00.png\",\"preferred_corner_xy\":[-7.650000095367432,-2.6500000953674316],\"view_role\":\"corner_00\"},{\"_key\":\"view_01\",\"camera_pose\":{\"position\":[-7.700000286102295,-0.4000000059604645,1.35],\"quaternion_xyzw\":[-0.25303796019284436,0.5752146652323706,0.712032554307359,-0.31322439433989513],\"target\":[-6.5,-1.5,1.0]},\"image_path\":\"view_01.png\",\"preferred_corner_xy\":[-7.650000095367432,-0.3499999940395355],\"view_role\":\"corner_01\"},{\"_key\":\"view_02\",\"camera_pose\":{\"position\":[-5.400000095367432,-2.700000047683716,1.35],\"quaternion_xyzw\":[0.585663030505569,0.2278133457948713,0.2819999788994971,0.7249661413317607],\"target\":[-6.5,-1.5,1.0]},\"image_path\":\"view_02.png\",\"preferred_corner_xy\":[-5.349999904632568,-2.6500000953674316],\"view_role\":\"corner_02\"},{\"_key\":\"view_03\",\"camera_pose\":{\"position\":[-5.400000095367432,-1.100000023841858,1.35],\"quaternion_xyzw\":[0.34266320045519244,0.4892202530383056,0.6569132969039764,0.4601199793767808],\"target\":[-6.5,-1.5,1.0]},\"image_path\":\"view_03.png\",\"preferred_corner_xy\":[-5.349999904632568,-0.3499999940395355],\"view_role\":\"corner_03\"}]},{\"_key\":\"closet_2\",\"center_xy\":[5.0,4.5],\"corner_render_xy\":[[5.300000190734863,4.300000190734863],[5.300000190734863,4.599999904632568],[5.200000286102295,4.300000190734863],[5.200000286102295,4.599999904632568]],\"room_bbox_world_xy\":[5.0,4.0,5.0,5.0],\"room_instance\":\"closet_2\",\"success\":true,\"views\":[{\"_key\":\"view_00\",\"camera_pose\":{\"position\":[5.300000190734863,4.300000190734863,1.35],\"quaternion_xyzw\":[0.34344247421460433,0.18380499623021254,0.4345870803906347,0.8120326716479495],\"target\":[5.0,4.5,1.0]},\"image_path\":\"view_00.png\",\"preferred_corner_xy\":[5.349999904632568,4.349999904632568],\"view_role\":\"corner_00\"},{\"_key\":\"view_01\",\"camera_pose\":{\"position\":[5.300000190734863,4.599999904632568,1.35],\"quaternion_xyzw\":[0.2100086168026329,0.29137124493479105,0.7571105959170924,0.5456947168920183],\"target\":[5.0,4.5,1.0]},\"image_path\":\"view_01.png\",\"preferred_corner_xy\":[5.349999904632568,4.650000095367432],\"view_role\":\"corner_01\"},{\"_key\":\"view_02\",\"camera_pose\":{\"position\":[5.200000286102295,4.300000190734863,1.35],\"quaternion_xyzw\":[0.30795981889998014,0.12756134870632682,0.36079791184482346,0.871041743585076],\"target\":[5.0,4.5,1.0]},\"image_path\":\"view_02.png\",\"preferred_corner_xy\":[4.650000095367432,4.349999904632568],\"view_role\":\"corner_02\"},{\"_key\":\"view_03\",\"camera_pose\":{\"position\":[5.200000286102295,4.599999904632568,1.35],\"quaternion_xyzw\":[0.14743899355712292,0.23856104847926538,0.8165139297052058,0.504633898905631],\"target\":[5.0,4.5,1.0]},\"image_path\":\"view_03.png\",\"preferred_corner_xy\":[4.650000095367432,4.650000095367432],\"view_role\":\"corner_03\"}]}],\"source_region\":\"bathroom_1\",\"source_room_type\":\"bathroom\",\"target_region\":\"closet_2\",\"target_room_type\":\"closet\",\"task_type\":\"pair_connectivity\",\"verification\":{\"graph_reachable\":true,\"method\":\"scene.get_shortest_path + room_sequence_projection\",\"shortest_path_attempts\":[{\"path_distance\":17.34091567993164,\"path_length_steps\":73,\"path_world_xy\":[[-6.5,-1.5],[-6.599999904632568,-1.7000000476837158],[-6.599999904632568,-1.899999976158142],[-6.599999904632568,-2.1000001430511475],[-6.599999904632568,-2.299999952316284],[-6.400000095367432,-2.4000000953674316],[-6.200000286102295,-2.4000000953674316],[-6.0,-2.4000000953674316],[-5.800000190734863,-2.4000000953674316],[-5.599999904632568,-2.4000000953674316],[-5.400000095367432,-2.4000000953674316],[-5.200000286102295,-2.4000000953674316],[-5.0,-2.4000000953674316],[-4.800000190734863,-2.4000000953674316],[-4.599999904632568,-2.5],[-4.400000095367432,-2.5],[-4.200000286102295,-2.5],[-4.0,-2.5],[-3.799999952316284,-2.6000001430511475],[-3.6000001430511475,-2.799999952316284],[-3.4000000953674316,-3.0],[-3.200000047683716,-3.200000047683716],[-3.0,-3.4000000953674316],[-2.799999952316284,-3.4000000953674316],[-2.6000001430511475,-3.4000000953674316],[-2.4000000953674316,-3.4000000953674316],[-2.200000047683716,-3.4000000953674316],[-2.0,-3.4000000953674316],[-1.8000000715255737,-3.4000000953674316],[-1.600000023841858,-3.299999952316284],[-1.399999976158142,-3.1000001430511475],[-1.2000000476837158,-2.9000000953674316],[-1.0,-2.700000047683716],[-0.800000011920929,-2.5],[-0.6000000238418579,-2.299999952316284],[-0.4000000059604645,-2.1000001430511475],[-0.20000000298023224,-1.899999976158142],[0.0,-1.7000000476837158],[0.20000000298023224,-1.5],[0.20000000298023224,-1.3000000715255737],[0.20000000298023224,-1.100000023841858],[0.20000000298023224,-0.9000000357627869],[0.20000000298023224,-0.699999988079071],[0.20000000298023224,-0.5],[0.20000000298023224,-0.30000001192092896],[0.20000000298023224,-0.10000000149011612],[0.20000000298023224,0.10000000149011612],[0.4000000059604645,0.30000001192092896],[0.6000000238418579,0.5],[0.800000011920929,0.699999988079071],[1.0,0.9000000357627869],[1.0,1.100000023841858],[1.0,1.3000000715255737],[1.2000000476837158,1.5],[1.399999976158142,1.7000000476837158],[1.600000023841858,1.899999976158142],[1.8000000715255737,2.1000001430511475],[2.0,2.299999952316284],[2.200000047683716,2.5],[2.4000000953674316,2.700000047683716],[2.6000001430511475,2.9000000953674316],[2.799999952316284,3.1000001430511475],[3.0,3.299999952316284],[3.200000047683716,3.5],[3.4000000953674316,3.700000047683716],[3.6000001430511475,3.9000000953674316],[3.799999952316284,4.0],[4.0,4.0],[4.200000286102295,4.099999904632568],[4.400000095367432,4.200000286102295],[4.599999904632568,4.300000190734863],[4.800000190734863,4.400000095367432],[5.0,4.5]],\"reachable\":true,\"room_sequence\":[\"bathroom_1\",\"bedroom_0\",\"storage_room_0\",\"corridor_0\",\"childs_room_1\",\"closet_2\"],\"source_xy\":[-6.5,-1.5],\"target_xy\":[5.0,4.5]}],\"successful_path\":{\"path_distance\":17.34091567993164,\"path_length_steps\":73,\"path_world_xy\":[[-6.5,-1.5],[-6.599999904632568,-1.7000000476837158],[-6.599999904632568,-1.899999976158142],[-6.599999904632568,-2.1000001430511475],[-6.599999904632568,-2.299999952316284],[-6.400000095367432,-2.4000000953674316],[-6.200000286102295,-2.4000000953674316],[-6.0,-2.4000000953674316],[-5.800000190734863,-2.4000000953674316],[-5.599999904632568,-2.4000000953674316],[-5.400000095367432,-2.4000000953674316],[-5.200000286102295,-2.4000000953674316],[-5.0,-2.4000000953674316],[-4.800000190734863,-2.4000000953674316],[-4.599999904632568,-2.5],[-4.400000095367432,-2.5],[-4.200000286102295,-2.5],[-4.0,-2.5],[-3.799999952316284,-2.6000001430511475],[-3.6000001430511475,-2.799999952316284],[-3.4000000953674316,-3.0],[-3.200000047683716,-3.200000047683716],[-3.0,-3.4000000953674316],[-2.799999952316284,-3.4000000953674316],[-2.6000001430511475,-3.4000000953674316],[-2.4000000953674316,-3.4000000953674316],[-2.200000047683716,-3.4000000953674316],[-2.0,-3.4000000953674316],[-1.8000000715255737,-3.4000000953674316],[-1.600000023841858,-3.299999952316284],[-1.399999976158142,-3.1000001430511475],[-1.2000000476837158,-2.9000000953674316],[-1.0,-2.700000047683716],[-0.800000011920929,-2.5],[-0.6000000238418579,-2.299999952316284],[-0.4000000059604645,-2.1000001430511475],[-0.20000000298023224,-1.899999976158142],[0.0,-1.7000000476837158],[0.20000000298023224,-1.5],[0.20000000298023224,-1.3000000715255737],[0.20000000298023224,-1.100000023841858],[0.20000000298023224,-0.9000000357627869],[0.20000000298023224,-0.699999988079071],[0.20000000298023224,-0.5],[0.20000000298023224,-0.30000001192092896],[0.20000000298023224,-0.10000000149011612],[0.20000000298023224,0.10000000149011612],[0.4000000059604645,0.30000001192092896],[0.6000000238418579,0.5],[0.800000011920929,0.699999988079071],[1.0,0.9000000357627869],[1.0,1.100000023841858],[1.0,1.3000000715255737],[1.2000000476837158,1.5],[1.399999976158142,1.7000000476837158],[1.600000023841858,1.899999976158142],[1.8000000715255737,2.1000001430511475],[2.0,2.299999952316284],[2.200000047683716,2.5],[2.4000000953674316,2.700000047683716],[2.6000001430511475,2.9000000953674316],[2.799999952316284,3.1000001430511475],[3.0,3.299999952316284],[3.200000047683716,3.5],[3.4000000953674316,3.700000047683716],[3.6000001430511475,3.9000000953674316],[3.799999952316284,4.0],[4.0,4.0],[4.200000286102295,4.099999904632568],[4.400000095367432,4.200000286102295],[4.599999904632568,4.300000190734863],[4.800000190734863,4.400000095367432],[5.0,4.5]],\"reachable\":true,\"room_sequence\":[\"bathroom_1\",\"bedroom_0\",\"storage_room_0\",\"corridor_0\",\"childs_room_1\",\"closet_2\"],\"source_xy\":[-6.5,-1.5],\"target_xy\":[5.0,4.5]},\"directly_adjacent\":false,\"answer_criterion\":\"directly_adjacent: true iff the shortest region path contains exactly the two queried regions\"},\"visualization\":{\"map_path\":\"pair_connectivity__bathroom_1__closet_2.png\"},\"answer_criterion\":\"directly_adjacent: true iff the shortest region path contains exactly the two queried regions\",\"room_descriptions\":{\"bathroom_1\":\"with countertop, shower stall, and towel rack\",\"closet_2\":\"near childs room 1\"}},\"question_id\":\"Topological Connectivity/q_006\",\"question_index\":6,\"seed\":1,\"task_family\":\"Topological Connectivity\",\"task_type\":\"pair_connectivity\",\"trav_map_basename\":\"floor_trav_no_door\"}","options_json":"[\"Yes\",\"No\"]","question":"Are bathroom 1 (with countertop, shower stall, and towel rack) and closet 2 (near childs room 1) adjacent, with a direct connection between them?","room":"full_scene","runner_task":"cognitivemap","scene":"Beechwood_1_int","small_task":"Connectivity"},"observations":[],"question":{"answer_type":"choice","options":[],"original":"Are bathroom 1 (with countertop, shower stall, and towel rack) and closet 2 (near childs room 1) adjacent, with a direct connection between them?","text":"Are bathroom 1 (with countertop, shower stall, and towel rack) and closet 2 (near childs room 1) adjacent, with a direct connection between them?"},"reference_media":["pair_connectivity__bathroom_1__closet_2__initial.png","view_00.png","view_01.png","view_02.png","view_03.png","path_view_000.png","path_view_001.png","path_view_002.png","path_view_003.png","path_view_004.png","path_view_005.png","path_view_006.png","path_view_007.png","path_view_008.png","path_view_009.png","path_view_010.png","path_view_011.png","path_view_012.png","path_view_013.png","path_view_014.png","path_view_015.png","path_view_016.png","path_view_017.png","path_view_018.png","pair_connectivity__bathroom_1__closet_2.png"],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":36,"stratum_pool":60},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Cognitive Mapping/Connectivity/Beechwood_1_int/full_scene/q_006.json","annotation_sha256":"5753cca9d4b03ff245ca09f83abe9a68f2da6a092d32b7c0cbb318bc4c336b53","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"ec93824095e4d4753d370a9e0cb22bd750135b0b81361ec9219ed0e411d45eb4","sample_id":"0089","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"No","metric":"official_esi_task","original_answer":"No"},"task":{"category":"Cognitive Mapping","role":"spatial_core","skill_tags":["Cognitive Mapping","Connectivity"],"stratum":"ESI-Bench/Cognitive Mapping/Connectivity","subcategory":"Connectivity"},"transforms":[]}
{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Cognitive Mapping","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"No","id":"2ed380ec4b5dda63","metadata":"vendor/ESI-Bench/dataset/json_clean/Cognitive Mapping/Connectivity/Benevolence_1_int/full_scene/q_007.json","metadata_sha256":"0432c435fa3096973e3a9d9284ff04ee0e836000c146c68e18032939ef1ebc6a","observation_policy":"runtime camera observations; no oracle poses","question":"Are dining_room_0 and kitchen_0 adjacent, with a direct connection between them?","room":"full_scene","scene":"Benevolence_1_int","subcategory":"Connectivity","task":"cognitive_mapping.connectivity"},"group":{"id":"ESI-scene/Benevolence_1_int","kind":"scene","room":"full_scene","scene":"Benevolence_1_int"},"id":"eb56c84bacc6d2a00702","native_annotation":{"answer":"No","answer_type":"choice","big_task":"Cognitive Mapping","gt_camera_poses":[{"baseline_selected":true,"camera_pose":{"position":[2.0,5.300000190734863,1.35],"quaternion_xyzw":[0.5345940492203248,0.22143619887941524,0.312110116144556,0.7535001577732315]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/0","original_image_path":"path_view_000.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_000.png"},{"baseline_selected":true,"camera_pose":{"position":[1.1892922494336655,5.800000190734863,1.35],"quaternion_xyzw":[0.4091605966096607,0.4091605966096607,0.576704088924317,0.576704088924317]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/1","original_image_path":"path_view_001.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_001.png"},{"baseline_selected":true,"camera_pose":{"position":[0.6000000238418579,6.363494373121495,1.35],"quaternion_xyzw":[0.5786404649140492,-3.2120998356369123e-17,-4.5273937045608366e-17,0.8155827440327885]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/2","original_image_path":"path_view_002.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_002.png"},{"baseline_selected":true,"camera_pose":{"position":[0.9040044776896382,7.252002472493028,1.35],"quaternion_xyzw":[0.49222092482745433,-0.30420938315238155,-0.428777347102393,0.6937760438180949]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/3","original_image_path":"path_view_003.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_003.png"},{"baseline_selected":true,"camera_pose":{"position":[1.3999999761581414,7.400000095367432,1.35],"quaternion_xyzw":[0.4091605966096607,-0.4091605966096607,-0.576704088924317,0.576704088924317]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/4","original_image_path":"path_view_004.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_004.png"}],"id":"0091","image_paths_json":"[\"pair_connectivity__dining_room_0__kitchen_0__initial.png\",\"view_00.png\",\"view_01.png\",\"view_02.png\",\"view_03.png\",\"path_view_000.png\",\"path_view_001.png\",\"path_view_002.png\",\"path_view_003.png\",\"path_view_004.png\",\"pair_connectivity__dining_room_0__kitchen_0.png\"]","metadata_json":"{\"image_paths\":[\"pair_connectivity__dining_room_0__kitchen_0__initial.png\",\"view_00.png\",\"view_01.png\",\"view_02.png\",\"view_03.png\",\"view_00.png\",\"view_01.png\",\"view_02.png\",\"view_03.png\",\"path_view_000.png\",\"path_view_001.png\",\"path_view_002.png\",\"path_view_003.png\",\"path_view_004.png\",\"pair_connectivity__dining_room_0__kitchen_0__initial.png\",\"pair_connectivity__dining_room_0__kitchen_0.png\",\"pair_connectivity__dining_room_0__kitchen_0__initial.png\",\"view_00.png\",\"view_01.png\",\"view_02.png\",\"view_03.png\",\"view_00.png\",\"view_01.png\",\"view_02.png\",\"view_03.png\",\"path_view_000.png\",\"path_view_001.png\",\"path_view_002.png\",\"path_view_003.png\",\"path_view_004.png\"],\"question_data\":{\"answer\":\"No\",\"answer_bool\":false,\"case_id\":\"pair_connectivity__dining_room_0__kitchen_0\",\"case_type\":\"pair_connectivity\",\"directly_adjacent\":false,\"graph_shortest_region_path\":[\"dining_room_0\",\"living_room_0\",\"corridor_0\",\"kitchen_0\"],\"initial_view\":{\"camera_pose\":{\"position\":[2.1000001430511475,5.599999904632568,1.35],\"quaternion_xyzw\":[0.5382368758422437,0.41020289714156905,0.44626819581405675,0.5855590030604185],\"target\":[-1.899999976158142,6.700000286102295,1.0]},\"image_path\":\"pair_connectivity__dining_room_0__kitchen_0__initial.png\",\"ray_debug\":{\"angle_deg\":165.0,\"angle_rad\":2.8797932657906435,\"end_map_rc\":[160,74],\"ray_length_px\":41.48493576049805,\"start_map_rc\":[149,114],\"start_xy\":[2.1000001430511475,5.599999904632568],\"success\":true,\"target_xy\":[-1.899999976158142,6.700000286102295]},\"render_xy\":[2.1000001430511475,5.599999904632568],\"room_instance\":\"dining_room_0\",\"selection_debug\":{\"center_distance_px\":3.1622776985168457,\"clearance_px\":4.0,\"room_instance\":\"dining_room_0\",\"selected_by\":\"center_near_free_xy\",\"selected_map_rc\":[149,114]},\"success\":true},\"options\":[\"Yes\",\"No\"],\"path_views\":{\"path_length_m\":3.531,\"path_world_xy\":[[2.0,5.300000190734863],[1.8000000715255737,5.5],[1.600000023841858,5.700000286102295],[1.399999976158142,5.800000190734863],[1.2000000476837158,5.800000190734863],[1.0,5.800000190734863],[0.800000011920929,5.800000190734863],[0.699999988079071,6.0],[0.6000000238418579,6.200000286102295],[0.6000000238418579,6.400000095367432],[0.699999988079071,6.599999904632568],[0.699999988079071,6.800000190734863],[0.699999988079071,7.0],[0.800000011920929,7.200000286102295],[1.0,7.300000190734863],[1.2000000476837158,7.400000095367432],[1.399999976158142,7.400000095367432]],\"room_sequence\":[\"dining_room_0\",\"living_room_0\",\"corridor_0\",\"kitchen_0\"],\"sample_count\":5,\"sample_spacing_m\":1.0,\"selected_target_region\":\"kitchen_0\",\"selection_reason\":\"direct_path\",\"success\":true,\"views\":[{\"camera_pose\":{\"position\":[2.0,5.300000190734863,1.35],\"quaternion_xyzw\":[0.5345940492203248,0.22143619887941524,0.312110116144556,0.7535001577732315],\"target\":[1.2928930080791032,6.007106761186999,1.0]},\"distance_along_path_m\":0.0,\"image_path\":\"path_view_000.png\",\"sample_index\":0,\"yaw_rad\":2.356194788215764},{\"camera_pose\":{\"position\":[1.1892922494336655,5.800000190734863,1.35],\"quaternion_xyzw\":[0.4091605966096607,0.4091605966096607,0.576704088924317,0.576704088924317],\"target\":[0.18929224943366552,5.800000190734863,1.0]},\"distance_along_path_m\":1.0,\"image_path\":\"path_view_001.png\",\"sample_index\":1,\"yaw_rad\":3.141592653589793},{\"camera_pose\":{\"position\":[0.6000000238418579,6.363494373121495,1.35],\"quaternion_xyzw\":[0.5786404649140492,-3.2120998356369123e-17,-4.5273937045608366e-17,0.8155827440327885],\"target\":[0.600000023841858,7.363494373121495,1.0]},\"distance_along_path_m\":2.0,\"image_path\":\"path_view_002.png\",\"sample_index\":2,\"yaw_rad\":1.5707963267948966},{\"camera_pose\":{\"position\":[0.9040044776896382,7.252002472493028,1.35],\"quaternion_xyzw\":[0.49222092482745433,-0.30420938315238155,-0.428777347102393,0.6937760438180949],\"target\":[1.79843182862558,7.699215748120791,1.0]},\"distance_along_path_m\":3.0,\"image_path\":\"path_view_003.png\",\"sample_index\":3,\"yaw_rad\":0.4636472513728522},{\"camera_pose\":{\"position\":[1.3999999761581414,7.400000095367432,1.35],\"quaternion_xyzw\":[0.4091605966096607,-0.4091605966096607,-0.576704088924317,0.576704088924317],\"target\":[2.399999976158141,7.400000095367432,1.0]},\"distance_along_path_m\":3.531,\"image_path\":\"path_view_004.png\",\"sample_index\":4,\"yaw_rad\":0.0}]},\"question\":\"Are dining_room_0 and kitchen_0 adjacent, with a direct connection between them?\",\"render\":{\"image\":\"pair_connectivity__dining_room_0__kitchen_0__initial.png\",\"initial_view\":{\"camera_pose\":{\"position\":[2.1000001430511475,5.599999904632568,1.35],\"quaternion_xyzw\":[0.5382368758422437,0.41020289714156905,0.44626819581405675,0.5855590030604185],\"target\":[-1.899999976158142,6.700000286102295,1.0]},\"image_path\":\"pair_connectivity__dining_room_0__kitchen_0__initial.png\",\"ray_debug\":{\"angle_deg\":165.0,\"angle_rad\":2.8797932657906435,\"end_map_rc\":[160,74],\"ray_length_px\":41.48493576049805,\"start_map_rc\":[149,114],\"start_xy\":[2.1000001430511475,5.599999904632568],\"success\":true,\"target_xy\":[-1.899999976158142,6.700000286102295]},\"render_xy\":[2.1000001430511475,5.599999904632568],\"room_instance\":\"dining_room_0\",\"selection_debug\":{\"center_distance_px\":3.1622776985168457,\"clearance_px\":4.0,\"room_instance\":\"dining_room_0\",\"selected_by\":\"center_near_free_xy\",\"selected_map_rc\":[149,114]},\"success\":true},\"kind\":\"start_room_longest_ray_view\",\"path_views\":{\"path_length_m\":3.531,\"path_world_xy\":[[2.0,5.300000190734863],[1.8000000715255737,5.5],[1.600000023841858,5.700000286102295],[1.399999976158142,5.800000190734863],[1.2000000476837158,5.800000190734863],[1.0,5.800000190734863],[0.800000011920929,5.800000190734863],[0.699999988079071,6.0],[0.6000000238418579,6.200000286102295],[0.6000000238418579,6.400000095367432],[0.699999988079071,6.599999904632568],[0.699999988079071,6.800000190734863],[0.699999988079071,7.0],[0.800000011920929,7.200000286102295],[1.0,7.300000190734863],[1.2000000476837158,7.400000095367432],[1.399999976158142,7.400000095367432]],\"room_sequence\":[\"dining_room_0\",\"living_room_0\",\"corridor_0\",\"kitchen_0\"],\"sample_count\":5,\"sample_spacing_m\":1.0,\"selected_target_region\":\"kitchen_0\",\"selection_reason\":\"direct_path\",\"success\":true,\"views\":[{\"camera_pose\":{\"position\":[2.0,5.300000190734863,1.35],\"quaternion_xyzw\":[0.5345940492203248,0.22143619887941524,0.312110116144556,0.7535001577732315],\"target\":[1.2928930080791032,6.007106761186999,1.0]},\"distance_along_path_m\":0.0,\"image_path\":\"path_view_000.png\",\"sample_index\":0,\"yaw_rad\":2.356194788215764},{\"camera_pose\":{\"position\":[1.1892922494336655,5.800000190734863,1.35],\"quaternion_xyzw\":[0.4091605966096607,0.4091605966096607,0.576704088924317,0.576704088924317],\"target\":[0.18929224943366552,5.800000190734863,1.0]},\"distance_along_path_m\":1.0,\"image_path\":\"path_view_001.png\",\"sample_index\":1,\"yaw_rad\":3.141592653589793},{\"camera_pose\":{\"position\":[0.6000000238418579,6.363494373121495,1.35],\"quaternion_xyzw\":[0.5786404649140492,-3.2120998356369123e-17,-4.5273937045608366e-17,0.8155827440327885],\"target\":[0.600000023841858,7.363494373121495,1.0]},\"distance_along_path_m\":2.0,\"image_path\":\"path_view_002.png\",\"sample_index\":2,\"yaw_rad\":1.5707963267948966},{\"camera_pose\":{\"position\":[0.9040044776896382,7.252002472493028,1.35],\"quaternion_xyzw\":[0.49222092482745433,-0.30420938315238155,-0.428777347102393,0.6937760438180949],\"target\":[1.79843182862558,7.699215748120791,1.0]},\"distance_along_path_m\":3.0,\"image_path\":\"path_view_003.png\",\"sample_index\":3,\"yaw_rad\":0.4636472513728522},{\"camera_pose\":{\"position\":[1.3999999761581414,7.400000095367432,1.35],\"quaternion_xyzw\":[0.4091605966096607,-0.4091605966096607,-0.576704088924317,0.576704088924317],\"target\":[2.399999976158141,7.400000095367432,1.0]},\"distance_along_path_m\":3.531,\"image_path\":\"path_view_004.png\",\"sample_index\":4,\"yaw_rad\":0.0}]},\"room_views\":[{\"_key\":\"dining_room_0\",\"center_xy\":[2.0,5.300000190734863],\"corner_render_xy\":[[2.1000001430511475,4.300000190734863],[2.1000001430511475,5.599999904632568],[2.6000001430511475,4.300000190734863],[2.6000001430511475,5.599999904632568]],\"room_bbox_world_xy\":[1.0,4.0,3.0,6.0],\"room_instance\":\"dining_room_0\",\"success\":true,\"views\":[{\"_key\":\"view_00\",\"camera_pose\":{\"position\":[2.1000001430511475,4.300000190734863,1.35],\"quaternion_xyzw\":[0.5785525086415374,0.028855706793049742,0.04060492737437798,0.814122584628985],\"target\":[2.0,5.300000190734863,1.0]},\"image_path\":\"view_00.png\",\"preferred_corner_xy\":[1.350000023841858,4.349999904632568],\"view_role\":\"corner_00\"},{\"_key\":\"view_01\",\"camera_pose\":{\"position\":[2.1000001430511475,5.599999904632568,1.35],\"quaternion_xyzw\":[0.05753223307891163,0.3545287927547314,0.9212224872641057,0.1494941678586863],\"target\":[2.0,5.300000190734863,1.0]},\"image_path\":\"view_01.png\",\"preferred_corner_xy\":[1.350000023841858,5.650000095367432],\"view_role\":\"corner_01\"},{\"_key\":\"view_02\",\"camera_pose\":{\"position\":[2.6000001430511475,4.300000190734863,1.35],\"quaternion_xyzw\":[0.5752274057673545,0.1593288001699726,0.21416791925649822,0.7732139855511527],\"target\":[2.0,5.300000190734863,1.0]},\"image_path\":\"view_02.png\",\"preferred_corner_xy\":[2.6500000953674316,4.349999904632568],\"view_role\":\"corner_02\"},{\"_key\":\"view_03\",\"camera_pose\":{\"position\":[2.6000001430511475,5.599999904632568,1.35],\"quaternion_xyzw\":[0.2725264010100629,0.44095674458300504,0.7274364122785248,0.44958066712282996],\"target\":[2.0,5.300000190734863,1.0]},\"image_path\":\"view_03.png\",\"preferred_corner_xy\":[2.6500000953674316,5.650000095367432],\"view_role\":\"corner_03\"}]},{\"_key\":\"kitchen_0\",\"center_xy\":[1.5,7.5],\"corner_render_xy\":[[0.30000001192092896,7.300000190734863],[0.30000001192092896,7.599999904632568],[2.5,7.300000190734863],[2.5,7.599999904632568]],\"room_bbox_world_xy\":[0.0,7.0,3.0,8.0],\"room_instance\":\"kitchen_0\",\"success\":true,\"views\":[{\"_key\":\"view_00\",\"camera_pose\":{\"position\":[0.30000001192092896,7.300000190734863,1.35],\"quaternion_xyzw\":[0.45892861738956636,-0.38877092374265604,-0.5163891465532109,0.609576855134141],\"target\":[1.5,7.5,1.0]},\"image_path\":\"view_00.png\",\"preferred_corner_xy\":[0.3499999940395355,7.349999904632568],\"view_role\":\"corner_00\"},{\"_key\":\"view_01\",\"camera_pose\":{\"position\":[0.30000001192092896,7.599999904632568,1.35],\"quaternion_xyzw\":[0.4065172122006964,-0.4418026879429676,-0.5885007102262593,0.5414988967432262],\"target\":[1.5,7.5,1.0]},\"image_path\":\"view_01.png\",\"preferred_corner_xy\":[0.3499999940395355,7.650000095367432],\"view_role\":\"corner_01\"},{\"_key\":\"view_02\",\"camera_pose\":{\"position\":[2.5,7.300000190734863,1.35],\"quaternion_xyzw\":[0.4493985141110576,0.3684187246498537,0.515955100446735,0.629363927441944],\"target\":[1.5,7.5,1.0]},\"image_path\":\"view_02.png\",\"preferred_corner_xy\":[2.6500000953674316,7.349999904632568],\"view_role\":\"corner_02\"},{\"_key\":\"view_03\",\"camera_pose\":{\"position\":[2.5,7.599999904632568,1.35],\"quaternion_xyzw\":[0.38869438487227365,0.4295024199894063,0.6043835568216964,0.5469596535719647],\"target\":[1.5,7.5,1.0]},\"image_path\":\"view_03.png\",\"preferred_corner_xy\":[2.6500000953674316,7.650000095367432],\"view_role\":\"corner_03\"}]}],\"topdown_map\":\"pair_connectivity__dining_room_0__kitchen_0.png\"},\"required_regions\":[\"dining_room_0\",\"kitchen_0\"],\"room_views\":[{\"_key\":\"dining_room_0\",\"center_xy\":[2.0,5.300000190734863],\"corner_render_xy\":[[2.1000001430511475,4.300000190734863],[2.1000001430511475,5.599999904632568],[2.6000001430511475,4.300000190734863],[2.6000001430511475,5.599999904632568]],\"room_bbox_world_xy\":[1.0,4.0,3.0,6.0],\"room_instance\":\"dining_room_0\",\"success\":true,\"views\":[{\"_key\":\"view_00\",\"camera_pose\":{\"position\":[2.1000001430511475,4.300000190734863,1.35],\"quaternion_xyzw\":[0.5785525086415374,0.028855706793049742,0.04060492737437798,0.814122584628985],\"target\":[2.0,5.300000190734863,1.0]},\"image_path\":\"view_00.png\",\"preferred_corner_xy\":[1.350000023841858,4.349999904632568],\"view_role\":\"corner_00\"},{\"_key\":\"view_01\",\"camera_pose\":{\"position\":[2.1000001430511475,5.599999904632568,1.35],\"quaternion_xyzw\":[0.05753223307891163,0.3545287927547314,0.9212224872641057,0.1494941678586863],\"target\":[2.0,5.300000190734863,1.0]},\"image_path\":\"view_01.png\",\"preferred_corner_xy\":[1.350000023841858,5.650000095367432],\"view_role\":\"corner_01\"},{\"_key\":\"view_02\",\"camera_pose\":{\"position\":[2.6000001430511475,4.300000190734863,1.35],\"quaternion_xyzw\":[0.5752274057673545,0.1593288001699726,0.21416791925649822,0.7732139855511527],\"target\":[2.0,5.300000190734863,1.0]},\"image_path\":\"view_02.png\",\"preferred_corner_xy\":[2.6500000953674316,4.349999904632568],\"view_role\":\"corner_02\"},{\"_key\":\"view_03\",\"camera_pose\":{\"position\":[2.6000001430511475,5.599999904632568,1.35],\"quaternion_xyzw\":[0.2725264010100629,0.44095674458300504,0.7274364122785248,0.44958066712282996],\"target\":[2.0,5.300000190734863,1.0]},\"image_path\":\"view_03.png\",\"preferred_corner_xy\":[2.6500000953674316,5.650000095367432],\"view_role\":\"corner_03\"}]},{\"_key\":\"kitchen_0\",\"center_xy\":[1.5,7.5],\"corner_render_xy\":[[0.30000001192092896,7.300000190734863],[0.30000001192092896,7.599999904632568],[2.5,7.300000190734863],[2.5,7.599999904632568]],\"room_bbox_world_xy\":[0.0,7.0,3.0,8.0],\"room_instance\":\"kitchen_0\",\"success\":true,\"views\":[{\"_key\":\"view_00\",\"camera_pose\":{\"position\":[0.30000001192092896,7.300000190734863,1.35],\"quaternion_xyzw\":[0.45892861738956636,-0.38877092374265604,-0.5163891465532109,0.609576855134141],\"target\":[1.5,7.5,1.0]},\"image_path\":\"view_00.png\",\"preferred_corner_xy\":[0.3499999940395355,7.349999904632568],\"view_role\":\"corner_00\"},{\"_key\":\"view_01\",\"camera_pose\":{\"position\":[0.30000001192092896,7.599999904632568,1.35],\"quaternion_xyzw\":[0.4065172122006964,-0.4418026879429676,-0.5885007102262593,0.5414988967432262],\"target\":[1.5,7.5,1.0]},\"image_path\":\"view_01.png\",\"preferred_corner_xy\":[0.3499999940395355,7.650000095367432],\"view_role\":\"corner_01\"},{\"_key\":\"view_02\",\"camera_pose\":{\"position\":[2.5,7.300000190734863,1.35],\"quaternion_xyzw\":[0.4493985141110576,0.3684187246498537,0.515955100446735,0.629363927441944],\"target\":[1.5,7.5,1.0]},\"image_path\":\"view_02.png\",\"preferred_corner_xy\":[2.6500000953674316,7.349999904632568],\"view_role\":\"corner_02\"},{\"_key\":\"view_03\",\"camera_pose\":{\"position\":[2.5,7.599999904632568,1.35],\"quaternion_xyzw\":[0.38869438487227365,0.4295024199894063,0.6043835568216964,0.5469596535719647],\"target\":[1.5,7.5,1.0]},\"image_path\":\"view_03.png\",\"preferred_corner_xy\":[2.6500000953674316,7.650000095367432],\"view_role\":\"corner_03\"}]}],\"source_region\":\"dining_room_0\",\"source_room_type\":\"dining_room\",\"target_region\":\"kitchen_0\",\"target_room_type\":\"kitchen\",\"task_type\":\"pair_connectivity\",\"verification\":{\"graph_reachable\":true,\"method\":\"scene.get_shortest_path + room_sequence_projection\",\"shortest_path_attempts\":[{\"path_distance\":3.797055721282959,\"path_length_steps\":17,\"path_world_xy\":[[2.0,5.300000190734863],[1.8000000715255737,5.5],[1.600000023841858,5.700000286102295],[1.399999976158142,5.800000190734863],[1.2000000476837158,5.800000190734863],[1.0,5.800000190734863],[0.800000011920929,5.800000190734863],[0.699999988079071,6.0],[0.6000000238418579,6.200000286102295],[0.6000000238418579,6.400000095367432],[0.699999988079071,6.599999904632568],[0.699999988079071,6.800000190734863],[0.699999988079071,7.0],[0.800000011920929,7.200000286102295],[1.0,7.300000190734863],[1.2000000476837158,7.400000095367432],[1.399999976158142,7.400000095367432]],\"reachable\":true,\"room_sequence\":[\"dining_room_0\",\"living_room_0\",\"corridor_0\",\"kitchen_0\"],\"source_xy\":[2.0,5.300000190734863],\"target_xy\":[1.5,7.5]}],\"successful_path\":{\"path_distance\":3.797055721282959,\"path_length_steps\":17,\"path_world_xy\":[[2.0,5.300000190734863],[1.8000000715255737,5.5],[1.600000023841858,5.700000286102295],[1.399999976158142,5.800000190734863],[1.2000000476837158,5.800000190734863],[1.0,5.800000190734863],[0.800000011920929,5.800000190734863],[0.699999988079071,6.0],[0.6000000238418579,6.200000286102295],[0.6000000238418579,6.400000095367432],[0.699999988079071,6.599999904632568],[0.699999988079071,6.800000190734863],[0.699999988079071,7.0],[0.800000011920929,7.200000286102295],[1.0,7.300000190734863],[1.2000000476837158,7.400000095367432],[1.399999976158142,7.400000095367432]],\"reachable\":true,\"room_sequence\":[\"dining_room_0\",\"living_room_0\",\"corridor_0\",\"kitchen_0\"],\"source_xy\":[2.0,5.300000190734863],\"target_xy\":[1.5,7.5]},\"directly_adjacent\":false,\"answer_criterion\":\"directly_adjacent: true iff the shortest region path contains exactly the two queried regions\"},\"visualization\":{\"map_path\":\"pair_connectivity__dining_room_0__kitchen_0.png\"},\"answer_criterion\":\"directly_adjacent: true iff the shortest region path contains exactly the two queried regions\"},\"question_id\":\"Topological Connectivity/q_007\",\"question_index\":7,\"seed\":1,\"task_family\":\"Topological Connectivity\",\"task_type\":\"pair_connectivity\",\"trav_map_basename\":\"floor_trav_no_door\"}","options_json":"[\"Yes\",\"No\"]","question":"Are dining_room_0 and kitchen_0 adjacent, with a direct connection between them?","room":"full_scene","runner_task":"cognitivemap","scene":"Benevolence_1_int","small_task":"Connectivity"},"observations":[],"question":{"answer_type":"choice","options":[],"original":"Are dining_room_0 and kitchen_0 adjacent, with a direct connection between them?","text":"Are dining_room_0 and kitchen_0 adjacent, with a direct connection between them?"},"reference_media":["pair_connectivity__dining_room_0__kitchen_0__initial.png","view_00.png","view_01.png","view_02.png","view_03.png","path_view_000.png","path_view_001.png","path_view_002.png","path_view_003.png","path_view_004.png","pair_connectivity__dining_room_0__kitchen_0.png"],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":36,"stratum_pool":60},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Cognitive Mapping/Connectivity/Benevolence_1_int/full_scene/q_007.json","annotation_sha256":"0432c435fa3096973e3a9d9284ff04ee0e836000c146c68e18032939ef1ebc6a","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"17d6f8f07361d49dbb4d2ce8e01cd51dcdacc4aad50e96dd6d906d2a88582cc9","sample_id":"0091","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"No","metric":"official_esi_task","original_answer":"No"},"task":{"category":"Cognitive Mapping","role":"spatial_core","skill_tags":["Cognitive Mapping","Connectivity"],"stratum":"ESI-Bench/Cognitive Mapping/Connectivity","subcategory":"Connectivity"},"transforms":[]}
{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Cognitive Mapping","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"turn left | turn left | turn back","id":"56581bbc5773ab39","metadata":"vendor/ESI-Bench/dataset/json_clean/Cognitive Mapping/Long-Term Navigation/Beechwood_0_int/full_scene/q_003.json","metadata_sha256":"0cb79a38a93a3dac54ab053666c677a2bd3d69d1bf2f59c920ea6e2dbb6a5a52","observation_policy":"runtime camera observations; no oracle poses","question":"You are beginning in the living room 1 standing at the point shown in the image. You want to navigate to the storage room 1. You will perform the following actions. For each blank, choose either 'turn back,' 'turn left,' or 'turn right.' 1. Go to the corridor 0. 2. [please fill in] Choose the next turn direction. 3. Go to the private office 0. 4. [please fill in] Choose the next turn direction. 5. Go to the utility room 0. 6. [please fill in] Choose the next turn direction. 7. Go to the storage room 1. You have reached the final destination.","room":"full_scene","scene":"Beechwood_0_int","subcategory":"Long-Term Navigation","task":"cognitive_mapping.long_term_navigation"},"group":{"id":"ESI-scene/Beechwood_0_int","kind":"scene","room":"full_scene","scene":"Beechwood_0_int"},"id":"c54709ea04337b2dec1c","native_annotation":{"answer":"turn left | turn left | turn back","answer_type":"choice","big_task":"Cognitive Mapping","gt_camera_poses":[{"baseline_selected":true,"camera_pose":{"position":[-2.049999952316284,-0.05000000074505806,1.35],"quaternion_xyzw":[0.4091605966096607,-0.4091605966096607,-0.576704088924317,0.576704088924317]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/0","original_image_path":"path_view_000.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_000.png"},{"baseline_selected":true,"camera_pose":{"position":[-1.1328426502978326,-0.25,1.35],"quaternion_xyzw":[0.4091605966096607,-0.4091605966096607,-0.576704088924317,0.576704088924317]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/1","original_image_path":"path_view_001.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_001.png"},{"baseline_selected":true,"camera_pose":{"position":[-0.15644944349442225,-0.3499999940395355,1.35],"quaternion_xyzw":[0.4091605966096607,-0.4091605966096607,-0.576704088924317,0.576704088924317]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/2","original_image_path":"path_view_002.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_002.png"},{"baseline_selected":true,"camera_pose":{"position":[0.6237217585511866,-0.9237217924429095,1.35],"quaternion_xyzw":[-0.22143607938827964,0.5345940987151789,0.7535002275352883,-0.3121099477240702]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/3","original_image_path":"path_view_003.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_003.png"},{"baseline_selected":true,"camera_pose":{"position":[1.3308285748119042,-1.6308285385552597,1.35],"quaternion_xyzw":[-0.22143619887936783,0.5345940492203444,0.7535001577732593,-0.3121101161444892]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/4","original_image_path":"path_view_004.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_004.png"},{"baseline_selected":true,"camera_pose":{"position":[2.1335952369295748,-2.1500000953674316,1.35],"quaternion_xyzw":[0.4091605966096607,-0.4091605966096607,-0.576704088924317,0.576704088924317]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/5","original_image_path":"path_view_005.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_005.png"},{"baseline_selected":true,"camera_pose":{"position":[2.8850670547144417,-1.5500000715255737,1.35],"quaternion_xyzw":[0.4091605966096607,-0.4091605966096607,-0.576704088924317,0.576704088924317]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/6","original_image_path":"path_view_006.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_006.png"},{"baseline_selected":true,"camera_pose":{"position":[3.7014994686129983,-1.074250308310512,1.35],"quaternion_xyzw":[0.4922209066951742,-0.3042094124910133,-0.42877738845463725,0.6937760182609906]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/7","original_image_path":"path_view_007.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_007.png"},{"baseline_selected":true,"camera_pose":{"position":[4.544422191760583,-0.5555780025833545,1.35],"quaternion_xyzw":[0.5345939997255422,-0.22143631837030253,-0.31211028456469203,0.7535000880112755]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/8","original_image_path":"path_view_008.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_008.png"},{"baseline_selected":true,"camera_pose":{"position":[5.251528874862599,0.15152887668748266,1.35],"quaternion_xyzw":[0.5345941348051719,-0.22143599225929075,-0.3121098249174153,0.7535002784034478]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/9","original_image_path":"path_view_009.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_009.png"},{"baseline_selected":true,"camera_pose":{"position":[5.950000286102295,-0.050000000745053785,1.35],"quaternion_xyzw":[0.0,0.5786404649140492,0.8155827440327885,-0.0]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/10","original_image_path":"path_view_010.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_010.png"}],"id":"0142","image_paths_json":"[\"view_00.png\",\"view_01.png\",\"view_02.png\",\"view_03.png\",\"navigation_pair__living_room_1__storage_room_1__initial.png\",\"path_view_000.png\",\"path_view_001.png\",\"path_view_002.png\",\"path_view_003.png\",\"path_view_004.png\",\"path_view_005.png\",\"path_view_006.png\",\"path_view_007.png\",\"path_view_008.png\",\"path_view_009.png\",\"path_view_010.png\"]","metadata_json":"{\"image_paths\":[\"view_00.png\",\"view_01.png\",\"view_02.png\",\"view_03.png\",\"view_00.png\",\"view_01.png\",\"view_02.png\",\"view_03.png\",\"view_00.png\",\"view_01.png\",\"view_02.png\",\"view_03.png\",\"view_00.png\",\"view_01.png\",\"view_02.png\",\"view_03.png\",\"view_00.png\",\"view_01.png\",\"view_02.png\",\"view_03.png\",\"navigation_pair__living_room_1__storage_room_1__initial.png\",\"path_view_000.png\",\"path_view_001.png\",\"path_view_002.png\",\"path_view_003.png\",\"path_view_004.png\",\"path_view_005.png\",\"path_view_006.png\",\"path_view_007.png\",\"path_view_008.png\",\"path_view_009.png\",\"path_view_010.png\",\"view_00.png\",\"view_01.png\",\"view_02.png\",\"view_03.png\",\"navigation_pair__living_room_1__storage_room_1__initial.png\",\"navigation_pair__living_room_1__storage_room_1__initial.png\",\"view_00.png\",\"view_01.png\",\"view_02.png\",\"view_03.png\",\"view_00.png\",\"view_01.png\",\"view_02.png\",\"view_03.png\",\"view_00.png\",\"view_01.png\",\"view_02.png\",\"view_03.png\",\"view_00.png\",\"view_01.png\",\"view_02.png\",\"view_03.png\",\"view_00.png\",\"view_01.png\",\"view_02.png\",\"view_03.png\",\"path_view_000.png\",\"path_view_001.png\",\"path_view_002.png\",\"path_view_003.png\",\"path_view_004.png\",\"path_view_005.png\",\"path_view_006.png\",\"path_view_007.png\",\"path_view_008.png\",\"path_view_009.png\",\"path_view_010.png\"],\"question_data\":{\"answer\":\"turn left | turn left | turn back\",\"case_id\":\"navigation_pair__living_room_1__storage_room_1\",\"floor_idx\":0,\"floor_z\":0.0,\"goal_xy\":[6.0,0.0],\"initial_view\":{\"camera_pose\":{\"position\":[-3.75,-0.75,1.35],\"quaternion_xyzw\":[-0.40793328184682726,0.562217845846516,0.5822539946952201,-0.4224710842588388],\"target\":[5.75,-3.8500001430511475,1.0]},\"image_path\":\"navigation_pair__living_room_1__storage_room_1__initial.png\",\"ray_debug\":{\"angle_deg\":342.0,\"angle_rad\":5.969026041820607,\"end_map_rc\":[65,161],\"ray_length_px\":99.92997741699219,\"start_map_rc\":[96,66],\"start_xy\":[-3.75,-0.75],\"success\":true,\"target_xy\":[5.75,-3.8500001430511475]},\"render_xy\":[-3.75,-0.75],\"room_instance\":\"living_room_1\",\"selection_debug\":{\"center_distance_px\":18.384777069091797,\"clearance_px\":17.187597274780273,\"room_instance\":\"living_room_1\",\"selected_by\":\"center_near_free_xy\",\"selected_map_rc\":[96,66]},\"success\":true},\"initial_yaw\":0.0,\"options\":[[\"turn back\",\"turn left\",\"turn right\"],[\"turn back\",\"turn left\",\"turn right\"],[\"turn back\",\"turn left\",\"turn right\"]],\"path_distance\":10.105382919311523,\"path_views\":{\"path_length_m\":9.963,\"sample_count\":11,\"sample_spacing_m\":1.0,\"success\":true,\"views\":[{\"camera_pose\":{\"position\":[-2.049999952316284,-0.05000000074505806,1.35],\"quaternion_xyzw\":[0.4091605966096607,-0.4091605966096607,-0.576704088924317,0.576704088924317],\"target\":[-1.0499999523162842,-0.05000000074505806,1.0]},\"distance_along_path_m\":0.0,\"image_path\":\"path_view_000.png\",\"sample_index\":0,\"yaw_rad\":0.0},{\"camera_pose\":{\"position\":[-1.1328426502978326,-0.25,1.35],\"quaternion_xyzw\":[0.4091605966096607,-0.4091605966096607,-0.576704088924317,0.576704088924317],\"target\":[-0.1328426502978326,-0.25,1.0]},\"distance_along_path_m\":1.0,\"image_path\":\"path_view_001.png\",\"sample_index\":1,\"yaw_rad\":0.0},{\"camera_pose\":{\"position\":[-0.15644944349442225,-0.3499999940395355,1.35],\"quaternion_xyzw\":[0.4091605966096607,-0.4091605966096607,-0.576704088924317,0.576704088924317],\"target\":[0.8435505565055778,-0.3499999940395355,1.0]},\"distance_along_path_m\":2.0,\"image_path\":\"path_view_002.png\",\"sample_index\":2,\"yaw_rad\":0.0},{\"camera_pose\":{\"position\":[0.6237217585511866,-0.9237217924429095,1.35],\"quaternion_xyzw\":[-0.22143607938827964,0.5345940987151789,0.7535002275352883,-0.3121099477240702],\"target\":[1.3308284343706145,-1.630828678996561,1.0]},\"distance_along_path_m\":3.0,\"image_path\":\"path_view_003.png\",\"sample_index\":3,\"yaw_rad\":-0.7853983124090469},{\"camera_pose\":{\"position\":[1.3308285748119042,-1.6308285385552597,1.35],\"quaternion_xyzw\":[-0.22143619887936783,0.5345940492203444,0.7535001577732593,-0.3121101161444892],\"target\":[2.0379355667326755,-2.3379351090075207,1.0]},\"distance_along_path_m\":4.0,\"image_path\":\"path_view_004.png\",\"sample_index\":4,\"yaw_rad\":-0.7853978653742066},{\"camera_pose\":{\"position\":[2.1335952369295748,-2.1500000953674316,1.35],\"quaternion_xyzw\":[0.4091605966096607,-0.4091605966096607,-0.576704088924317,0.576704088924317],\"target\":[3.1335952369295748,-2.1500000953674316,1.0]},\"distance_along_path_m\":5.0,\"image_path\":\"path_view_005.png\",\"sample_index\":5,\"yaw_rad\":0.0},{\"camera_pose\":{\"position\":[2.8850670547144417,-1.5500000715255737,1.35],\"quaternion_xyzw\":[0.4091605966096607,-0.4091605966096607,-0.576704088924317,0.576704088924317],\"target\":[3.8850670547144417,-1.5500000715255737,1.0]},\"distance_along_path_m\":6.0,\"image_path\":\"path_view_006.png\",\"sample_index\":6,\"yaw_rad\":0.0},{\"camera_pose\":{\"position\":[3.7014994686129983,-1.074250308310512,1.35],\"quaternion_xyzw\":[0.4922209066951742,-0.3042094124910133,-0.42877738845463725,0.6937760182609906],\"target\":[4.595926872860872,-0.6270371393067249,1.0]},\"distance_along_path_m\":7.0,\"image_path\":\"path_view_007.png\",\"sample_index\":7,\"yaw_rad\":0.4636471321636479},{\"camera_pose\":{\"position\":[4.544422191760583,-0.5555780025833545,1.35],\"quaternion_xyzw\":[0.5345939997255422,-0.22143631837030253,-0.31211028456469203,0.7535000880112755],\"target\":[5.25152949978218,0.15152825176775142,1.0]},\"distance_along_path_m\":8.0,\"image_path\":\"path_view_008.png\",\"sample_index\":8,\"yaw_rad\":0.7853974183398993},{\"camera_pose\":{\"position\":[5.251528874862599,0.15152887668748266,1.35],\"quaternion_xyzw\":[0.5345941348051719,-0.22143599225929075,-0.3121098249174153,0.7535002784034478],\"target\":[5.958635320191207,0.8586359937318102,1.0]},\"distance_along_path_m\":9.0,\"image_path\":\"path_view_009.png\",\"sample_index\":9,\"yaw_rad\":0.7853986383721887},{\"camera_pose\":{\"position\":[5.950000286102295,-0.050000000745053785,1.35],\"quaternion_xyzw\":[0.0,0.5786404649140492,0.8155827440327885,-0.0],\"target\":[5.950000286102295,-1.0500000007450538,1.0]},\"distance_along_path_m\":9.963,\"image_path\":\"path_view_010.png\",\"sample_index\":10,\"yaw_rad\":-1.5707963267948966}]},\"path_world\":[[-2.049999952316284,-0.05000000074505806],[-1.850000023841858,-0.05000000074505806],[-1.649999976158142,-0.05000000074505806],[-1.4500000476837158,-0.05000000074505806],[-1.25,-0.25],[-1.0500000715255737,-0.25],[-0.8500000238418579,-0.25],[-0.6500000357627869,-0.25],[-0.45000001788139343,-0.3499999940395355],[-0.25,-0.3499999940395355],[-0.05000000074505806,-0.3499999940395355],[0.15000000596046448,-0.45000001788139343],[0.3499999940395355,-0.6500000357627869],[0.550000011920929,-0.8500000238418579],[0.75,-1.0500000715255737],[0.949999988079071,-1.25],[1.149999976158142,-1.4500000476837158],[1.350000023841858,-1.649999976158142],[1.5500000715255737,-1.850000023841858],[1.75,-2.049999952316284],[1.9500000476837158,-2.1500000953674316],[2.1500000953674316,-2.1500000953674316],[2.3500001430511475,-1.9500000476837158],[2.549999952316284,-1.75],[2.75,-1.5500000715255737],[2.950000047683716,-1.5500000715255737],[3.1500000953674316,-1.5500000715255737],[3.3500001430511475,-1.350000023841858],[3.549999952316284,-1.149999976158142],[3.75,-1.0500000715255737],[3.950000047683716,-0.949999988079071],[4.150000095367432,-0.8500000238418579],[4.349999904632568,-0.75],[4.550000190734863,-0.550000011920929],[4.75,-0.3499999940395355],[4.950000286102295,-0.15000000596046448],[5.150000095367432,0.05000000074505806],[5.349999904632568,0.25],[5.550000190734863,0.25],[5.75,0.25],[5.950000286102295,0.15000000596046448],[5.950000286102295,-0.05000000074505806]],\"question\":\"You are beginning in the living room 1 standing at the point shown in the image. You want to navigate to the storage room 1. You will perform the following actions. For each blank, choose either 'turn back,' 'turn left,' or 'turn right.' 1. Go to the corridor 0. 2. [please fill in] Choose the next turn direction. 3. Go to the private office 0. 4. [please fill in] Choose the next turn direction. 5. Go to the utility room 0. 6. [please fill in] Choose the next turn direction. 7. Go to the storage room 1. You have reached the final destination.\",\"question_case_id\":\"navigation_actions__navigation_pair__living_room_1__storage_room_1\",\"question_payload\":{\"case_id\":\"navigation_actions__navigation_pair__living_room_1__storage_room_1\",\"prompt\":\"You are beginning in the living room 1 standing at the point shown in the image. You want to navigate to the storage room 1. You will perform the following actions. For each blank, choose either 'turn back,' 'turn left,' or 'turn right.' 1. Go to the corridor 0. 2. [please fill in] Choose the next turn direction. 3. Go to the private office 0. 4. [please fill in] Choose the next turn direction. 5. Go to the utility room 0. 6. [please fill in] Choose the next turn direction. 7. Go to the storage room 1. You have reached the final destination.\",\"question_type\":\"navigation_actions\",\"steps\":[{\"step_id\":1,\"step_type\":\"go_to_region\",\"target_region\":\"corridor_0\",\"text\":\"Go to the corridor 0.\"},{\"answer\":\"turn left\",\"choices\":[\"turn back\",\"turn left\",\"turn right\"],\"placeholder\":\"[please fill in]\",\"step_id\":2,\"step_type\":\"turn_choice\",\"target_region\":\"private_office_0\",\"text\":\"Choose the next turn direction.\"},{\"step_id\":3,\"step_type\":\"go_to_region\",\"target_region\":\"private_office_0\",\"text\":\"Go to the private office 0.\"},{\"answer\":\"turn left\",\"choices\":[\"turn back\",\"turn left\",\"turn right\"],\"placeholder\":\"[please fill in]\",\"step_id\":4,\"step_type\":\"turn_choice\",\"target_region\":\"utility_room_0\",\"text\":\"Choose the next turn direction.\"},{\"step_id\":5,\"step_type\":\"go_to_region\",\"target_region\":\"utility_room_0\",\"text\":\"Go to the utility room 0.\"},{\"answer\":\"turn back\",\"choices\":[\"turn back\",\"turn left\",\"turn right\"],\"placeholder\":\"[please fill in]\",\"step_id\":6,\"step_type\":\"turn_choice\",\"target_region\":\"storage_room_1\",\"text\":\"Choose the next turn direction.\"},{\"step_id\":7,\"step_type\":\"go_to_region\",\"target_region\":\"storage_room_1\",\"text\":\"Go to the storage room 1.\"}]},\"region_sequence\":[\"living_room_1\",\"corridor_0\",\"private_office_0\",\"utility_room_0\",\"storage_room_1\"],\"render\":{\"image\":\"navigation_pair__living_room_1__storage_room_1__initial.png\",\"initial_view\":{\"camera_pose\":{\"position\":[-3.75,-0.75,1.35],\"quaternion_xyzw\":[-0.40793328184682726,0.562217845846516,0.5822539946952201,-0.4224710842588388],\"target\":[5.75,-3.8500001430511475,1.0]},\"image_path\":\"navigation_pair__living_room_1__storage_room_1__initial.png\",\"ray_debug\":{\"angle_deg\":342.0,\"angle_rad\":5.969026041820607,\"end_map_rc\":[65,161],\"ray_length_px\":99.92997741699219,\"start_map_rc\":[96,66],\"start_xy\":[-3.75,-0.75],\"success\":true,\"target_xy\":[5.75,-3.8500001430511475]},\"render_xy\":[-3.75,-0.75],\"room_instance\":\"living_room_1\",\"selection_debug\":{\"center_distance_px\":18.384777069091797,\"clearance_px\":17.187597274780273,\"room_instance\":\"living_room_1\",\"selected_by\":\"center_near_free_xy\",\"selected_map_rc\":[96,66]},\"success\":true},\"kind\":\"start_room_longest_ray_view\",\"path_views\":{\"path_length_m\":9.963,\"sample_count\":11,\"sample_spacing_m\":1.0,\"success\":true,\"views\":[{\"camera_pose\":{\"position\":[-2.049999952316284,-0.05000000074505806,1.35],\"quaternion_xyzw\":[0.4091605966096607,-0.4091605966096607,-0.576704088924317,0.576704088924317],\"target\":[-1.0499999523162842,-0.05000000074505806,1.0]},\"distance_along_path_m\":0.0,\"image_path\":\"path_view_000.png\",\"sample_index\":0,\"yaw_rad\":0.0},{\"camera_pose\":{\"position\":[-1.1328426502978326,-0.25,1.35],\"quaternion_xyzw\":[0.4091605966096607,-0.4091605966096607,-0.576704088924317,0.576704088924317],\"target\":[-0.1328426502978326,-0.25,1.0]},\"distance_along_path_m\":1.0,\"image_path\":\"path_view_001.png\",\"sample_index\":1,\"yaw_rad\":0.0},{\"camera_pose\":{\"position\":[-0.15644944349442225,-0.3499999940395355,1.35],\"quaternion_xyzw\":[0.4091605966096607,-0.4091605966096607,-0.576704088924317,0.576704088924317],\"target\":[0.8435505565055778,-0.3499999940395355,1.0]},\"distance_along_path_m\":2.0,\"image_path\":\"path_view_002.png\",\"sample_index\":2,\"yaw_rad\":0.0},{\"camera_pose\":{\"position\":[0.6237217585511866,-0.9237217924429095,1.35],\"quaternion_xyzw\":[-0.22143607938827964,0.5345940987151789,0.7535002275352883,-0.3121099477240702],\"target\":[1.3308284343706145,-1.630828678996561,1.0]},\"distance_along_path_m\":3.0,\"image_path\":\"path_view_003.png\",\"sample_index\":3,\"yaw_rad\":-0.7853983124090469},{\"camera_pose\":{\"position\":[1.3308285748119042,-1.6308285385552597,1.35],\"quaternion_xyzw\":[-0.22143619887936783,0.5345940492203444,0.7535001577732593,-0.3121101161444892],\"target\":[2.0379355667326755,-2.3379351090075207,1.0]},\"distance_along_path_m\":4.0,\"image_path\":\"path_view_004.png\",\"sample_index\":4,\"yaw_rad\":-0.7853978653742066},{\"camera_pose\":{\"position\":[2.1335952369295748,-2.1500000953674316,1.35],\"quaternion_xyzw\":[0.4091605966096607,-0.4091605966096607,-0.576704088924317,0.576704088924317],\"target\":[3.1335952369295748,-2.1500000953674316,1.0]},\"distance_along_path_m\":5.0,\"image_path\":\"path_view_005.png\",\"sample_index\":5,\"yaw_rad\":0.0},{\"camera_pose\":{\"position\":[2.8850670547144417,-1.5500000715255737,1.35],\"quaternion_xyzw\":[0.4091605966096607,-0.4091605966096607,-0.576704088924317,0.576704088924317],\"target\":[3.8850670547144417,-1.5500000715255737,1.0]},\"distance_along_path_m\":6.0,\"image_path\":\"path_view_006.png\",\"sample_index\":6,\"yaw_rad\":0.0},{\"camera_pose\":{\"position\":[3.7014994686129983,-1.074250308310512,1.35],\"quaternion_xyzw\":[0.4922209066951742,-0.3042094124910133,-0.42877738845463725,0.6937760182609906],\"target\":[4.595926872860872,-0.6270371393067249,1.0]},\"distance_along_path_m\":7.0,\"image_path\":\"path_view_007.png\",\"sample_index\":7,\"yaw_rad\":0.4636471321636479},{\"camera_pose\":{\"position\":[4.544422191760583,-0.5555780025833545,1.35],\"quaternion_xyzw\":[0.5345939997255422,-0.22143631837030253,-0.31211028456469203,0.7535000880112755],\"target\":[5.25152949978218,0.15152825176775142,1.0]},\"distance_along_path_m\":8.0,\"image_path\":\"path_view_008.png\",\"sample_index\":8,\"yaw_rad\":0.7853974183398993},{\"camera_pose\":{\"position\":[5.251528874862599,0.15152887668748266,1.35],\"quaternion_xyzw\":[0.5345941348051719,-0.22143599225929075,-0.3121098249174153,0.7535002784034478],\"target\":[5.958635320191207,0.8586359937318102,1.0]},\"distance_along_path_m\":9.0,\"image_path\":\"path_view_009.png\",\"sample_index\":9,\"yaw_rad\":0.7853986383721887},{\"camera_pose\":{\"position\":[5.950000286102295,-0.050000000745053785,1.35],\"quaternion_xyzw\":[0.0,0.5786404649140492,0.8155827440327885,-0.0],\"target\":[5.950000286102295,-1.0500000007450538,1.0]},\"distance_along_path_m\":9.963,\"image_path\":\"path_view_010.png\",\"sample_index\":10,\"yaw_rad\":-1.5707963267948966}]},\"room_views\":[{\"_key\":\"corridor_0\",\"center_xy\":[2.0,-3.0],\"corner_render_xy\":[[1.350000023841858,-3.6500000953674316],[1.350000023841858,-2.3500001430511475],[2.549999952316284,-3.6500000953674316],[2.6500000953674316,-2.3500001430511475]],\"room_bbox_world_xy\":[1.0,-4.0,3.0,-2.0],\"room_instance\":\"corridor_0\",\"success\":true,\"views\":[{\"_key\":\"view_00\",\"camera_pose\":{\"position\":[1.350000023841858,-3.6500000953674316,1.35],\"quaternion_xyzw\":[0.5243250543700898,-0.21718252044730377,-0.31508463910231055,0.7606817076634127],\"target\":[2.0,-3.0,1.0]},\"image_path\":\"view_00.png\",\"preferred_corner_xy\":[1.350000023841858,-3.6500000953674316],\"view_role\":\"corner_00\"},{\"_key\":\"view_01\",\"camera_pose\":{\"position\":[1.350000023841858,-2.3500001430511475,1.35],\"quaternion_xyzw\":[-0.21718255891948093,0.5243250112584584,0.7606816947590056,-0.31508471547914024],\"target\":[2.0,-3.0,1.0]},\"image_path\":\"view_01.png\",\"preferred_corner_xy\":[1.350000023841858,-2.3499999046325684],\"view_role\":\"corner_01\"},{\"_key\":\"view_02\",\"camera_pose\":{\"position\":[2.549999952316284,-3.6500000953674316,1.35],\"quaternion_xyzw\":[0.5227256414960817,0.1914784725141191,0.2857320680385299,0.7800327451976581],\"target\":[2.0,-3.0,1.0]},\"image_path\":\"view_02.png\",\"preferred_corner_xy\":[2.6500000953674316,-3.6500000953674316],\"view_role\":\"corner_02\"},{\"_key\":\"view_03\",\"camera_pose\":{\"position\":[2.6500000953674316,-2.3500001430511475,1.35],\"quaternion_xyzw\":[0.2171825877637118,0.5243250128987548,0.7606816723181128,0.31508474704481904],\"target\":[2.0,-3.0,1.0]},\"image_path\":\"view_03.png\",\"preferred_corner_xy\":[2.6500000953674316,-2.3499999046325684],\"view_role\":\"corner_03\"}]},{\"_key\":\"living_room_1\",\"center_xy\":[-2.0,0.0],\"corner_render_xy\":[[-4.650000095367432,-1.649999976158142],[-4.650000095367432,1.649999976158142],[0.6500000357627869,-1.649999976158142],[0.6500000357627869,0.949999988079071]],\"room_bbox_world_xy\":[-5.0,-2.0,1.0,2.0],\"room_instance\":\"living_room_1\",\"success\":true,\"views\":[{\"_key\":\"view_00\",\"camera_pose\":{\"position\":[-4.650000095367432,-1.649999976158142,1.35],\"quaternion_xyzw\":[0.5827190441900841,-0.3236175938844308,-0.36192877222122194,0.6517037151229731],\"target\":[-2.0,0.0,1.0]},\"image_path\":\"view_00.png\",\"preferred_corner_xy\":[-4.650000095367432,-1.649999976158142],\"view_role\":\"corner_00\"},{\"_key\":\"view_01\",\"camera_pose\":{\"position\":[-4.650000095367432,1.649999976158142,1.35],\"quaternion_xyzw\":[-0.3236175938844308,0.5827190441900841,0.6517037151229731,-0.36192877222122194],\"target\":[-2.0,0.0,1.0]},\"image_path\":\"view_01.png\",\"preferred_corner_xy\":[-4.650000095367432,1.649999976158142],\"view_role\":\"corner_01\"},{\"_key\":\"view_02\",\"camera_pose\":{\"position\":[0.6500000357627869,-1.649999976158142,1.35],\"quaternion_xyzw\":[0.5827190452382652,0.3236175906192171,0.3619287692230884,0.6517037174721945],\"target\":[-2.0,0.0,1.0]},\"image_path\":\"view_02.png\",\"preferred_corner_xy\":[0.6499999761581421,-1.649999976158142],\"view_role\":\"corner_02\"},{\"_key\":\"view_03\",\"camera_pose\":{\"position\":[0.6500000357627869,0.949999988079071,1.35],\"quaternion_xyzw\":[0.3810498800667129,0.5413982030716045,0.6128773366112283,0.4313587194902968],\"target\":[-2.0,0.0,1.0]},\"image_path\":\"view_03.png\",\"preferred_corner_xy\":[0.6499999761581421,1.649999976158142],\"view_role\":\"corner_03\"}]},{\"_key\":\"private_office_0\",\"center_xy\":[4.5,-3.0],\"corner_render_xy\":[[3.3500001430511475,-3.6500000953674316],[3.3500001430511475,-2.3500001430511475],[5.650000095367432,-3.6500000953674316],[5.650000095367432,-2.6500000953674316]],\"room_bbox_world_xy\":[3.0,-4.0,6.0,-2.0],\"room_instance\":\"private_office_0\",\"success\":true,\"views\":[{\"_key\":\"view_00\",\"camera_pose\":{\"position\":[3.3500001430511475,-3.6500000953674316,1.35],\"quaternion_xyzw\":[0.5267629137961597,-0.3073475594464171,-0.39938552654911896,0.6845067651487411],\"target\":[4.5,-3.0,1.0]},\"image_path\":\"view_00.png\",\"preferred_corner_xy\":[3.3499999046325684,-3.6500000953674316],\"view_role\":\"corner_00\"},{\"_key\":\"view_01\",\"camera_pose\":{\"position\":[3.3500001430511475,-2.3500001430511475,1.35],\"quaternion_xyzw\":[-0.30734759643934734,0.5267628821252403,0.6845067395631441,-0.3993855837041447],\"target\":[4.5,-3.0,1.0]},\"image_path\":\"view_01.png\",\"preferred_corner_xy\":[3.3499999046325684,-2.3499999046325684],\"view_role\":\"corner_01\"},{\"_key\":\"view_02\",\"camera_pose\":{\"position\":[5.650000095367432,-3.6500000953674316,1.35],\"quaternion_xyzw\":[0.5267629134621057,0.3073475906051327,0.3993855509664921,0.6845067371686896],\"target\":[4.5,-3.0,1.0]},\"image_path\":\"view_02.png\",\"preferred_corner_xy\":[5.650000095367432,-3.6500000953674316],\"view_role\":\"corner_02\"},{\"_key\":\"view_03\",\"camera_pose\":{\"position\":[5.650000095367432,-2.6500000953674316,1.35],\"quaternion_xyzw\":[0.35730956955883747,0.48223784809420744,0.6426720924411891,0.4761818045289113],\"target\":[4.5,-3.0,1.0]},\"image_path\":\"view_03.png\",\"preferred_corner_xy\":[5.650000095367432,-2.3499999046325684],\"view_role\":\"corner_03\"}]},{\"_key\":\"storage_room_1\",\"center_xy\":[6.0,0.0],\"corner_render_xy\":[[6.25,0.05000000074505806],[6.25,0.25],[6.25,0.05000000074505806],[6.25,0.25]],\"room_bbox_world_xy\":[5.812000000000002,-0.33799999999999997,6.487999999999995,0.6754999999999998],\"room_instance\":\"storage_room_1\",\"success\":true,\"views\":[{\"_key\":\"view_00\",\"camera_pose\":{\"position\":[6.25,0.05000000074505806,1.35],\"quaternion_xyzw\":[0.19628567979286274,0.23943003895879927,0.7353443583915361,0.6028381730897454],\"target\":[6.0,0.0,1.0]},\"image_path\":\"view_00.png\",\"preferred_corner_xy\":[6.1620001792907715,0.012000000104308128],\"view_role\":\"corner_00\"},{\"_key\":\"view_01\",\"camera_pose\":{\"position\":[6.25,0.25,1.35],\"quaternion_xyzw\":[0.1473389682798605,0.3557077354872985,0.8526578431632303,0.35318244270200133],\"target\":[6.0,0.0,1.0]},\"image_path\":\"view_01.png\",\"preferred_corner_xy\":[6.1620001792907715,0.3255000114440918],\"view_role\":\"corner_01\"},{\"_key\":\"view_02\",\"camera_pose\":{\"position\":[6.25,0.05000000074505806,1.35],\"quaternion_xyzw\":[0.19628567979286274,0.23943003895879927,0.7353443583915361,0.6028381730897454],\"target\":[6.0,0.0,1.0]},\"image_path\":\"view_02.png\",\"preferred_corner_xy\":[6.138000011444092,0.012000000104308128],\"view_role\":\"corner_02\"},{\"_key\":\"view_03\",\"camera_pose\":{\"position\":[6.25,0.25,1.35],\"quaternion_xyzw\":[0.1473389682798605,0.3557077354872985,0.8526578431632303,0.35318244270200133],\"target\":[6.0,0.0,1.0]},\"image_path\":\"view_03.png\",\"preferred_corner_xy\":[6.138000011444092,0.3255000114440918],\"view_role\":\"corner_03\"}]},{\"_key\":\"utility_room_0\",\"center_xy\":[4.5,-0.5],\"corner_render_xy\":[[3.3500001430511475,-0.6500000357627869],[3.3500001430511475,-0.3499999940395355],[5.550000190734863,-0.6500000357627869],[5.550000190734863,-0.3499999940395355]],\"room_bbox_world_xy\":[3.0,-1.0,6.0,0.0],\"room_instance\":\"utility_room_0\",\"success\":true,\"views\":[{\"_key\":\"view_00\",\"camera_pose\":{\"position\":[3.3500001430511475,-0.6500000357627869,1.35],\"quaternion_xyzw\":[0.44806513623021776,-0.39341728219737854,-0.5296727545987341,0.6032472534535187],\"target\":[4.5,-0.5,1.0]},\"image_path\":\"view_00.png\",\"preferred_corner_xy\":[3.3499999046325684,-0.6499999761581421],\"view_role\":\"corner_00\"},{\"_key\":\"view_01\",\"camera_pose\":{\"position\":[3.3500001430511475,-0.3499999940395355,1.35],\"quaternion_xyzw\":[0.3934172876626024,-0.44806513094048706,-0.6032472469110387,0.5296727624654091],\"target\":[4.5,-0.5,1.0]},\"image_path\":\"view_01.png\",\"preferred_corner_xy\":[3.3499999046325684,-0.3499999940395355],\"view_role\":\"corner_01\"},{\"_key\":\"view_02\",\"camera_pose\":{\"position\":[5.550000190734863,-0.6500000357627869,1.35],\"quaternion_xyzw\":[0.442646065786558,0.3839048943531174,0.5309485380329829,0.6121888127824962],\"target\":[4.5,-0.5,1.0]},\"image_path\":\"view_02.png\",\"preferred_corner_xy\":[5.650000095367432,-0.6499999761581421],\"view_role\":\"corner_02\"},{\"_key\":\"view_03\",\"camera_pose\":{\"position\":[5.550000190734863,-0.3499999940395355,1.35],\"quaternion_xyzw\":[0.3839049001954103,0.44264606008535606,0.612188805659907,0.5309485467741297],\"target\":[4.5,-0.5,1.0]},\"image_path\":\"view_03.png\",\"preferred_corner_xy\":[5.650000095367432,-0.3499999940395355],\"view_role\":\"corner_03\"}]}],\"source_room\":\"living_room_1\"},\"room_views\":[{\"_key\":\"corridor_0\",\"center_xy\":[2.0,-3.0],\"corner_render_xy\":[[1.350000023841858,-3.6500000953674316],[1.350000023841858,-2.3500001430511475],[2.549999952316284,-3.6500000953674316],[2.6500000953674316,-2.3500001430511475]],\"room_bbox_world_xy\":[1.0,-4.0,3.0,-2.0],\"room_instance\":\"corridor_0\",\"success\":true,\"views\":[{\"_key\":\"view_00\",\"camera_pose\":{\"position\":[1.350000023841858,-3.6500000953674316,1.35],\"quaternion_xyzw\":[0.5243250543700898,-0.21718252044730377,-0.31508463910231055,0.7606817076634127],\"target\":[2.0,-3.0,1.0]},\"image_path\":\"view_00.png\",\"preferred_corner_xy\":[1.350000023841858,-3.6500000953674316],\"view_role\":\"corner_00\"},{\"_key\":\"view_01\",\"camera_pose\":{\"position\":[1.350000023841858,-2.3500001430511475,1.35],\"quaternion_xyzw\":[-0.21718255891948093,0.5243250112584584,0.7606816947590056,-0.31508471547914024],\"target\":[2.0,-3.0,1.0]},\"image_path\":\"view_01.png\",\"preferred_corner_xy\":[1.350000023841858,-2.3499999046325684],\"view_role\":\"corner_01\"},{\"_key\":\"view_02\",\"camera_pose\":{\"position\":[2.549999952316284,-3.6500000953674316,1.35],\"quaternion_xyzw\":[0.5227256414960817,0.1914784725141191,0.2857320680385299,0.7800327451976581],\"target\":[2.0,-3.0,1.0]},\"image_path\":\"view_02.png\",\"preferred_corner_xy\":[2.6500000953674316,-3.6500000953674316],\"view_role\":\"corner_02\"},{\"_key\":\"view_03\",\"camera_pose\":{\"position\":[2.6500000953674316,-2.3500001430511475,1.35],\"quaternion_xyzw\":[0.2171825877637118,0.5243250128987548,0.7606816723181128,0.31508474704481904],\"target\":[2.0,-3.0,1.0]},\"image_path\":\"view_03.png\",\"preferred_corner_xy\":[2.6500000953674316,-2.3499999046325684],\"view_role\":\"corner_03\"}]},{\"_key\":\"living_room_1\",\"center_xy\":[-2.0,0.0],\"corner_render_xy\":[[-4.650000095367432,-1.649999976158142],[-4.650000095367432,1.649999976158142],[0.6500000357627869,-1.649999976158142],[0.6500000357627869,0.949999988079071]],\"room_bbox_world_xy\":[-5.0,-2.0,1.0,2.0],\"room_instance\":\"living_room_1\",\"success\":true,\"views\":[{\"_key\":\"view_00\",\"camera_pose\":{\"position\":[-4.650000095367432,-1.649999976158142,1.35],\"quaternion_xyzw\":[0.5827190441900841,-0.3236175938844308,-0.36192877222122194,0.6517037151229731],\"target\":[-2.0,0.0,1.0]},\"image_path\":\"view_00.png\",\"preferred_corner_xy\":[-4.650000095367432,-1.649999976158142],\"view_role\":\"corner_00\"},{\"_key\":\"view_01\",\"camera_pose\":{\"position\":[-4.650000095367432,1.649999976158142,1.35],\"quaternion_xyzw\":[-0.3236175938844308,0.5827190441900841,0.6517037151229731,-0.36192877222122194],\"target\":[-2.0,0.0,1.0]},\"image_path\":\"view_01.png\",\"preferred_corner_xy\":[-4.650000095367432,1.649999976158142],\"view_role\":\"corner_01\"},{\"_key\":\"view_02\",\"camera_pose\":{\"position\":[0.6500000357627869,-1.649999976158142,1.35],\"quaternion_xyzw\":[0.5827190452382652,0.3236175906192171,0.3619287692230884,0.6517037174721945],\"target\":[-2.0,0.0,1.0]},\"image_path\":\"view_02.png\",\"preferred_corner_xy\":[0.6499999761581421,-1.649999976158142],\"view_role\":\"corner_02\"},{\"_key\":\"view_03\",\"camera_pose\":{\"position\":[0.6500000357627869,0.949999988079071,1.35],\"quaternion_xyzw\":[0.3810498800667129,0.5413982030716045,0.6128773366112283,0.4313587194902968],\"target\":[-2.0,0.0,1.0]},\"image_path\":\"view_03.png\",\"preferred_corner_xy\":[0.6499999761581421,1.649999976158142],\"view_role\":\"corner_03\"}]},{\"_key\":\"private_office_0\",\"center_xy\":[4.5,-3.0],\"corner_render_xy\":[[3.3500001430511475,-3.6500000953674316],[3.3500001430511475,-2.3500001430511475],[5.650000095367432,-3.6500000953674316],[5.650000095367432,-2.6500000953674316]],\"room_bbox_world_xy\":[3.0,-4.0,6.0,-2.0],\"room_instance\":\"private_office_0\",\"success\":true,\"views\":[{\"_key\":\"view_00\",\"camera_pose\":{\"position\":[3.3500001430511475,-3.6500000953674316,1.35],\"quaternion_xyzw\":[0.5267629137961597,-0.3073475594464171,-0.39938552654911896,0.6845067651487411],\"target\":[4.5,-3.0,1.0]},\"image_path\":\"view_00.png\",\"preferred_corner_xy\":[3.3499999046325684,-3.6500000953674316],\"view_role\":\"corner_00\"},{\"_key\":\"view_01\",\"camera_pose\":{\"position\":[3.3500001430511475,-2.3500001430511475,1.35],\"quaternion_xyzw\":[-0.30734759643934734,0.5267628821252403,0.6845067395631441,-0.3993855837041447],\"target\":[4.5,-3.0,1.0]},\"image_path\":\"view_01.png\",\"preferred_corner_xy\":[3.3499999046325684,-2.3499999046325684],\"view_role\":\"corner_01\"},{\"_key\":\"view_02\",\"camera_pose\":{\"position\":[5.650000095367432,-3.6500000953674316,1.35],\"quaternion_xyzw\":[0.5267629134621057,0.3073475906051327,0.3993855509664921,0.6845067371686896],\"target\":[4.5,-3.0,1.0]},\"image_path\":\"view_02.png\",\"preferred_corner_xy\":[5.650000095367432,-3.6500000953674316],\"view_role\":\"corner_02\"},{\"_key\":\"view_03\",\"camera_pose\":{\"position\":[5.650000095367432,-2.6500000953674316,1.35],\"quaternion_xyzw\":[0.35730956955883747,0.48223784809420744,0.6426720924411891,0.4761818045289113],\"target\":[4.5,-3.0,1.0]},\"image_path\":\"view_03.png\",\"preferred_corner_xy\":[5.650000095367432,-2.3499999046325684],\"view_role\":\"corner_03\"}]},{\"_key\":\"storage_room_1\",\"center_xy\":[6.0,0.0],\"corner_render_xy\":[[6.25,0.05000000074505806],[6.25,0.25],[6.25,0.05000000074505806],[6.25,0.25]],\"room_bbox_world_xy\":[5.812000000000002,-0.33799999999999997,6.487999999999995,0.6754999999999998],\"room_instance\":\"storage_room_1\",\"success\":true,\"views\":[{\"_key\":\"view_00\",\"camera_pose\":{\"position\":[6.25,0.05000000074505806,1.35],\"quaternion_xyzw\":[0.19628567979286274,0.23943003895879927,0.7353443583915361,0.6028381730897454],\"target\":[6.0,0.0,1.0]},\"image_path\":\"view_00.png\",\"preferred_corner_xy\":[6.1620001792907715,0.012000000104308128],\"view_role\":\"corner_00\"},{\"_key\":\"view_01\",\"camera_pose\":{\"position\":[6.25,0.25,1.35],\"quaternion_xyzw\":[0.1473389682798605,0.3557077354872985,0.8526578431632303,0.35318244270200133],\"target\":[6.0,0.0,1.0]},\"image_path\":\"view_01.png\",\"preferred_corner_xy\":[6.1620001792907715,0.3255000114440918],\"view_role\":\"corner_01\"},{\"_key\":\"view_02\",\"camera_pose\":{\"position\":[6.25,0.05000000074505806,1.35],\"quaternion_xyzw\":[0.19628567979286274,0.23943003895879927,0.7353443583915361,0.6028381730897454],\"target\":[6.0,0.0,1.0]},\"image_path\":\"view_02.png\",\"preferred_corner_xy\":[6.138000011444092,0.012000000104308128],\"view_role\":\"corner_02\"},{\"_key\":\"view_03\",\"camera_pose\":{\"position\":[6.25,0.25,1.35],\"quaternion_xyzw\":[0.1473389682798605,0.3557077354872985,0.8526578431632303,0.35318244270200133],\"target\":[6.0,0.0,1.0]},\"image_path\":\"view_03.png\",\"preferred_corner_xy\":[6.138000011444092,0.3255000114440918],\"view_role\":\"corner_03\"}]},{\"_key\":\"utility_room_0\",\"center_xy\":[4.5,-0.5],\"corner_render_xy\":[[3.3500001430511475,-0.6500000357627869],[3.3500001430511475,-0.3499999940395355],[5.550000190734863,-0.6500000357627869],[5.550000190734863,-0.3499999940395355]],\"room_bbox_world_xy\":[3.0,-1.0,6.0,0.0],\"room_instance\":\"utility_room_0\",\"success\":true,\"views\":[{\"_key\":\"view_00\",\"camera_pose\":{\"position\":[3.3500001430511475,-0.6500000357627869,1.35],\"quaternion_xyzw\":[0.44806513623021776,-0.39341728219737854,-0.5296727545987341,0.6032472534535187],\"target\":[4.5,-0.5,1.0]},\"image_path\":\"view_00.png\",\"preferred_corner_xy\":[3.3499999046325684,-0.6499999761581421],\"view_role\":\"corner_00\"},{\"_key\":\"view_01\",\"camera_pose\":{\"position\":[3.3500001430511475,-0.3499999940395355,1.35],\"quaternion_xyzw\":[0.3934172876626024,-0.44806513094048706,-0.6032472469110387,0.5296727624654091],\"target\":[4.5,-0.5,1.0]},\"image_path\":\"view_01.png\",\"preferred_corner_xy\":[3.3499999046325684,-0.3499999940395355],\"view_role\":\"corner_01\"},{\"_key\":\"view_02\",\"camera_pose\":{\"position\":[5.550000190734863,-0.6500000357627869,1.35],\"quaternion_xyzw\":[0.442646065786558,0.3839048943531174,0.5309485380329829,0.6121888127824962],\"target\":[4.5,-0.5,1.0]},\"image_path\":\"view_02.png\",\"preferred_corner_xy\":[5.650000095367432,-0.6499999761581421],\"view_role\":\"corner_02\"},{\"_key\":\"view_03\",\"camera_pose\":{\"position\":[5.550000190734863,-0.3499999940395355,1.35],\"quaternion_xyzw\":[0.3839049001954103,0.44264606008535606,0.612188805659907,0.5309485467741297],\"target\":[4.5,-0.5,1.0]},\"image_path\":\"view_03.png\",\"preferred_corner_xy\":[5.650000095367432,-0.3499999940395355],\"view_role\":\"corner_03\"}]}],\"source_region\":\"living_room_1\",\"source_room_type\":\"living_room\",\"source_room_views\":[{\"_key\":\"center_xy\",\"value\":[-2.0,0.0]},{\"_key\":\"corner_render_xy\",\"value\":[[-4.650000095367432,-1.649999976158142],[-4.650000095367432,1.649999976158142],[0.6500000357627869,-1.649999976158142],[0.6500000357627869,0.949999988079071]]},{\"_key\":\"room_bbox_world_xy\",\"value\":[-5.0,-2.0,1.0,2.0]},{\"_key\":\"room_instance\",\"value\":\"living_room_1\"},{\"_key\":\"success\",\"value\":true},{\"_key\":\"views\",\"value\":[{\"_key\":\"view_00\",\"camera_pose\":{\"position\":[-4.650000095367432,-1.649999976158142,1.35],\"quaternion_xyzw\":[0.5827190441900841,-0.3236175938844308,-0.36192877222122194,0.6517037151229731],\"target\":[-2.0,0.0,1.0]},\"image_path\":\"view_00.png\",\"preferred_corner_xy\":[-4.650000095367432,-1.649999976158142],\"view_role\":\"corner_00\"},{\"_key\":\"view_01\",\"camera_pose\":{\"position\":[-4.650000095367432,1.649999976158142,1.35],\"quaternion_xyzw\":[-0.3236175938844308,0.5827190441900841,0.6517037151229731,-0.36192877222122194],\"target\":[-2.0,0.0,1.0]},\"image_path\":\"view_01.png\",\"preferred_corner_xy\":[-4.650000095367432,1.649999976158142],\"view_role\":\"corner_01\"},{\"_key\":\"view_02\",\"camera_pose\":{\"position\":[0.6500000357627869,-1.649999976158142,1.35],\"quaternion_xyzw\":[0.5827190452382652,0.3236175906192171,0.3619287692230884,0.6517037174721945],\"target\":[-2.0,0.0,1.0]},\"image_path\":\"view_02.png\",\"preferred_corner_xy\":[0.6499999761581421,-1.649999976158142],\"view_role\":\"corner_02\"},{\"_key\":\"view_03\",\"camera_pose\":{\"position\":[0.6500000357627869,0.949999988079071,1.35],\"quaternion_xyzw\":[0.3810498800667129,0.5413982030716045,0.6128773366112283,0.4313587194902968],\"target\":[-2.0,0.0,1.0]},\"image_path\":\"view_03.png\",\"preferred_corner_xy\":[0.6499999761581421,1.649999976158142],\"view_role\":\"corner_03\"}]}],\"start_xy\":[-2.0,0.0],\"steps\":[{\"step_id\":1,\"step_type\":\"go_to_region\",\"target_region\":\"corridor_0\",\"text\":\"Go to the corridor 0.\"},{\"answer\":\"turn left\",\"choices\":[\"turn back\",\"turn left\",\"turn right\"],\"placeholder\":\"[please fill in]\",\"step_id\":2,\"step_type\":\"turn_choice\",\"target_region\":\"private_office_0\",\"text\":\"Choose the next turn direction.\"},{\"step_id\":3,\"step_type\":\"go_to_region\",\"target_region\":\"private_office_0\",\"text\":\"Go to the private office 0.\"},{\"answer\":\"turn left\",\"choices\":[\"turn back\",\"turn left\",\"turn right\"],\"placeholder\":\"[please fill in]\",\"step_id\":4,\"step_type\":\"turn_choice\",\"target_region\":\"utility_room_0\",\"text\":\"Choose the next turn direction.\"},{\"step_id\":5,\"step_type\":\"go_to_region\",\"target_region\":\"utility_room_0\",\"text\":\"Go to the utility room 0.\"},{\"answer\":\"turn back\",\"choices\":[\"turn back\",\"turn left\",\"turn right\"],\"placeholder\":\"[please fill in]\",\"step_id\":6,\"step_type\":\"turn_choice\",\"target_region\":\"storage_room_1\",\"text\":\"Choose the next turn direction.\"},{\"step_id\":7,\"step_type\":\"go_to_region\",\"target_region\":\"storage_room_1\",\"text\":\"Go to the storage room 1.\"}],\"structured_answer\":[\"turn left\",\"turn left\",\"turn back\"],\"target_region\":\"storage_room_1\",\"target_room_type\":\"storage_room\",\"task_type\":\"navigation_actions\"},\"question_id\":\"Long-Horizon Navigation/q_003\",\"question_index\":3,\"seed\":1,\"task_family\":\"Long-Horizon Navigation\",\"task_type\":\"navigation_actions\",\"trav_map_basename\":\"floor_trav_no_door\"}","options_json":"[[\"turn back\",\"turn left\",\"turn right\"],[\"turn back\",\"turn left\",\"turn right\"],[\"turn back\",\"turn left\",\"turn right\"]]","question":"You are beginning in the living room 1 standing at the point shown in the image. You want to navigate to the storage room 1. You will perform the following actions. For each blank, choose either 'turn back,' 'turn left,' or 'turn right.' 1. Go to the corridor 0. 2. [please fill in] Choose the next turn direction. 3. Go to the private office 0. 4. [please fill in] Choose the next turn direction. 5. Go to the utility room 0. 6. [please fill in] Choose the next turn direction. 7. Go to the storage room 1. You have reached the final destination.","room":"full_scene","runner_task":"cognitivemap","scene":"Beechwood_0_int","small_task":"Long-Term Navigation"},"observations":[],"question":{"answer_type":"choice","options":[],"original":"You are beginning in the living room 1 standing at the point shown in the image. You want to navigate to the storage room 1. You will perform the following actions. For each blank, choose either 'turn back,' 'turn left,' or 'turn right.' 1. Go to the corridor 0. 2. [please fill in] Choose the next turn direction. 3. Go to the private office 0. 4. [please fill in] Choose the next turn direction. 5. Go to the utility room 0. 6. [please fill in] Choose the next turn direction. 7. Go to the storage room 1. You have reached the final destination.","text":"You are beginning in the living room 1 standing at the point shown in the image. You want to navigate to the storage room 1. You will perform the following actions. For each blank, choose either 'turn back,' 'turn left,' or 'turn right.' 1. Go to the corridor 0. 2. [please fill in] Choose the next turn direction. 3. Go to the private office 0. 4. [please fill in] Choose the next turn direction. 5. Go to the utility room 0. 6. [please fill in] Choose the next turn direction. 7. Go to the storage room 1. You have reached the final destination."},"reference_media":["view_00.png","view_01.png","view_02.png","view_03.png","navigation_pair__living_room_1__storage_room_1__initial.png","path_view_000.png","path_view_001.png","path_view_002.png","path_view_003.png","path_view_004.png","path_view_005.png","path_view_006.png","path_view_007.png","path_view_008.png","path_view_009.png","path_view_010.png"],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":31,"stratum_pool":60},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Cognitive Mapping/Long-Term Navigation/Beechwood_0_int/full_scene/q_003.json","annotation_sha256":"0cb79a38a93a3dac54ab053666c677a2bd3d69d1bf2f59c920ea6e2dbb6a5a52","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"057bcf94fcc180cb66e736cbe5e18bc0ea7ee0a7292574f52383bcb6f88250d8","sample_id":"0142","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"turn left | turn left | turn back","metric":"official_esi_task","original_answer":"turn left | turn left | turn back"},"task":{"category":"Cognitive Mapping","role":"spatial_core","skill_tags":["Cognitive Mapping","Long-Term Navigation"],"stratum":"ESI-Bench/Cognitive Mapping/Long-Term Navigation","subcategory":"Long-Term Navigation"},"transforms":[]}
{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Cognitive Mapping","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"grocery_store_0","id":"7853ddc3d4c3d36a","metadata":"vendor/ESI-Bench/dataset/json_clean/Cognitive Mapping/Long-Term Navigation/grocery_store_half_stocked/full_scene/q_001.json","metadata_sha256":"f478026682c12851f25bd00f14ae053bb7b053e60b57a05d80623150358b2369","observation_policy":"runtime camera observations; no oracle poses","question":"You are beginning in the bathroom 0. You want to navigate to the grocery store 0. At each step, choose the next region you should explore. 1. Choose the next region to explore. corridor_0 2. Choose the next region to explore. [please fill in] You have reached the final destination.","room":"full_scene","scene":"grocery_store_half_stocked","subcategory":"Long-Term Navigation","task":"cognitive_mapping.long_term_navigation"},"group":{"id":"ESI-scene/grocery_store_half_stocked","kind":"scene","room":"full_scene","scene":"grocery_store_half_stocked"},"id":"e4bce3266136fc525a5e","native_annotation":{"answer":"grocery_store_0","answer_type":"choice","big_task":"Cognitive Mapping","gt_camera_poses":[{"baseline_selected":true,"camera_pose":{"position":[14.449999809265137,-5.050000190734863,1.35],"quaternion_xyzw":[0.4091605966096607,0.4091605966096607,0.576704088924317,0.576704088924317]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/0","original_image_path":"path_view_000.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_000.png"},{"baseline_selected":true,"camera_pose":{"position":[13.449999809265137,-5.050000190734863,1.35],"quaternion_xyzw":[0.4091605966096607,0.4091605966096607,0.576704088924317,0.576704088924317]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/1","original_image_path":"path_view_001.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_001.png"},{"baseline_selected":true,"camera_pose":{"position":[12.449999809265137,-5.050000190734863,1.35],"quaternion_xyzw":[0.4091605966096607,0.4091605966096607,0.576704088924317,0.576704088924317]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/2","original_image_path":"path_view_002.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_002.png"},{"baseline_selected":true,"camera_pose":{"position":[11.449999809265137,-5.050000190734863,1.35],"quaternion_xyzw":[0.4091605966096607,0.4091605966096607,0.576704088924317,0.576704088924317]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/3","original_image_path":"path_view_003.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_003.png"},{"baseline_selected":true,"camera_pose":{"position":[10.449999809265137,-5.050000190734863,1.35],"quaternion_xyzw":[0.4091605966096607,0.4091605966096607,0.576704088924317,0.576704088924317]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/4","original_image_path":"path_view_004.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_004.png"},{"baseline_selected":true,"camera_pose":{"position":[9.659121024776292,-4.459120738673997,1.35],"quaternion_xyzw":[0.5345940822169053,0.22143611921863973,0.31211000386420606,0.7535002042812851]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/5","original_image_path":"path_view_005.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_005.png"},{"baseline_selected":true,"camera_pose":{"position":[8.952014182784918,-3.7520140182926665,1.35],"quaternion_xyzw":[0.5345941482100113,0.2214359598971209,0.31210977930355166,0.7535002972973146]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/6","original_image_path":"path_view_006.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_006.png"},{"baseline_selected":true,"camera_pose":{"position":[8.244907343194512,-3.0449072955107956,1.35],"quaternion_xyzw":[0.5345940822169053,0.22143611921863973,0.31211000386420606,0.7535002042812851]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/7","original_image_path":"path_view_007.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_007.png"},{"baseline_selected":true,"camera_pose":{"position":[7.432090073402458,-2.549999952316284,1.35],"quaternion_xyzw":[0.4091605966096607,0.4091605966096607,0.576704088924317,0.576704088924317]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/8","original_image_path":"path_view_008.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_008.png"},{"baseline_selected":true,"camera_pose":{"position":[6.432090073402459,-2.549999952316284,1.35],"quaternion_xyzw":[0.4091605966096607,0.4091605966096607,0.576704088924317,0.576704088924317]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/9","original_image_path":"path_view_009.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_009.png"},{"baseline_selected":true,"camera_pose":{"position":[5.432090073402459,-2.549999952316284,1.35],"quaternion_xyzw":[0.4091605966096607,0.4091605966096607,0.576704088924317,0.576704088924317]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/10","original_image_path":"path_view_010.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_010.png"},{"baseline_selected":true,"camera_pose":{"position":[4.497324557632979,-2.2736621921803235,1.35],"quaternion_xyzw":[0.49222112428264514,0.3042090604269961,0.42877689222709237,0.6937763249463976]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/11","original_image_path":"path_view_011.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_011.png"},{"baseline_selected":true,"camera_pose":{"position":[4.050000190734863,-2.1500000953674316,1.35],"quaternion_xyzw":[0.4091605966096607,0.4091605966096607,0.576704088924317,0.576704088924317]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/12","original_image_path":"path_view_012.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_012.png"}],"id":"0169","image_paths_json":"[\"view_00.png\",\"view_01.png\",\"view_02.png\",\"view_03.png\",\"navigation_pair__bathroom_0__grocery_store_0__initial.png\",\"path_view_000.png\",\"path_view_001.png\",\"path_view_002.png\",\"path_view_003.png\",\"path_view_004.png\",\"path_view_005.png\",\"path_view_006.png\",\"path_view_007.png\",\"path_view_008.png\",\"path_view_009.png\",\"path_view_010.png\",\"path_view_011.png\",\"path_view_012.png\"]","metadata_json":"{\"image_paths\":[\"view_00.png\",\"view_01.png\",\"view_02.png\",\"view_03.png\",\"view_00.png\",\"view_01.png\",\"view_02.png\",\"view_03.png\",\"view_00.png\",\"view_01.png\",\"view_02.png\",\"view_03.png\",\"navigation_pair__bathroom_0__grocery_store_0__initial.png\",\"path_view_000.png\",\"path_view_001.png\",\"path_view_002.png\",\"path_view_003.png\",\"path_view_004.png\",\"path_view_005.png\",\"path_view_006.png\",\"path_view_007.png\",\"path_view_008.png\",\"path_view_009.png\",\"path_view_010.png\",\"path_view_011.png\",\"path_view_012.png\",\"view_00.png\",\"view_01.png\",\"view_02.png\",\"view_03.png\",\"navigation_pair__bathroom_0__grocery_store_0__initial.png\",\"navigation_pair__bathroom_0__grocery_store_0__initial.png\",\"view_00.png\",\"view_01.png\",\"view_02.png\",\"view_03.png\",\"view_00.png\",\"view_01.png\",\"view_02.png\",\"view_03.png\",\"view_00.png\",\"view_01.png\",\"view_02.png\",\"view_03.png\",\"path_view_000.png\",\"path_view_001.png\",\"path_view_002.png\",\"path_view_003.png\",\"path_view_004.png\",\"path_view_005.png\",\"path_view_006.png\",\"path_view_007.png\",\"path_view_008.png\",\"path_view_009.png\",\"path_view_010.png\",\"path_view_011.png\",\"path_view_012.png\"],\"question_data\":{\"answer\":\"grocery_store_0\",\"case_id\":\"navigation_pair__bathroom_0__grocery_store_0\",\"floor_idx\":0,\"floor_z\":0.0,\"goal_xy\":[4.0,-2.0],\"initial_view\":{\"camera_pose\":{\"position\":[14.449999809265137,-4.950000286102295,1.35],\"quaternion_xyzw\":[0.4724789876856247,0.5156261470294945,0.526984952514685,0.4828872979466126],\"target\":[-1.5500000715255737,-6.349999904632568,1.0]},\"image_path\":\"navigation_pair__bathroom_0__grocery_store_0__initial.png\",\"ray_debug\":{\"angle_deg\":185.0,\"angle_rad\":3.2288591161895095,\"end_map_rc\":[124,172],\"ray_length_px\":160.611328125,\"start_map_rc\":[138,332],\"start_xy\":[14.449999809265137,-4.950000286102295],\"success\":true,\"target_xy\":[-1.5500000715255737,-6.349999904632568]},\"render_xy\":[14.449999809265137,-4.950000286102295],\"room_instance\":\"bathroom_0\",\"selection_debug\":{\"center_distance_px\":1.0,\"clearance_px\":11.0,\"room_instance\":\"bathroom_0\",\"selected_by\":\"center_near_free_xy\",\"selected_map_rc\":[138,332]},\"success\":true},\"initial_yaw\":3.141592653589793,\"options\":[[\"grocery_store_0\",\"bathroom_0\",\"corridor_0\"]],\"path_distance\":11.742640495300293,\"path_views\":{\"path_length_m\":11.477,\"sample_count\":13,\"sample_spacing_m\":1.0,\"success\":true,\"views\":[{\"camera_pose\":{\"position\":[14.449999809265137,-5.050000190734863,1.35],\"quaternion_xyzw\":[0.4091605966096607,0.4091605966096607,0.576704088924317,0.576704088924317],\"target\":[13.449999809265137,-5.050000190734863,1.0]},\"distance_along_path_m\":0.0,\"image_path\":\"path_view_000.png\",\"sample_index\":0,\"yaw_rad\":3.141592653589793},{\"camera_pose\":{\"position\":[13.449999809265137,-5.050000190734863,1.35],\"quaternion_xyzw\":[0.4091605966096607,0.4091605966096607,0.576704088924317,0.576704088924317],\"target\":[12.449999809265137,-5.050000190734863,1.0]},\"distance_along_path_m\":1.0,\"image_path\":\"path_view_001.png\",\"sample_index\":1,\"yaw_rad\":3.141592653589793},{\"camera_pose\":{\"position\":[12.449999809265137,-5.050000190734863,1.35],\"quaternion_xyzw\":[0.4091605966096607,0.4091605966096607,0.576704088924317,0.576704088924317],\"target\":[11.449999809265137,-5.050000190734863,1.0]},\"distance_along_path_m\":2.0,\"image_path\":\"path_view_002.png\",\"sample_index\":2,\"yaw_rad\":3.141592653589793},{\"camera_pose\":{\"position\":[11.449999809265137,-5.050000190734863,1.35],\"quaternion_xyzw\":[0.4091605966096607,0.4091605966096607,0.576704088924317,0.576704088924317],\"target\":[10.449999809265137,-5.050000190734863,1.0]},\"distance_along_path_m\":3.0,\"image_path\":\"path_view_003.png\",\"sample_index\":3,\"yaw_rad\":3.141592653589793},{\"camera_pose\":{\"position\":[10.449999809265137,-5.050000190734863,1.35],\"quaternion_xyzw\":[0.4091605966096607,0.4091605966096607,0.576704088924317,0.576704088924317],\"target\":[9.449999809265137,-5.050000190734863,1.0]},\"distance_along_path_m\":4.0,\"image_path\":\"path_view_004.png\",\"sample_index\":4,\"yaw_rad\":3.141592653589793},{\"camera_pose\":{\"position\":[9.659121024776292,-4.459120738673997,1.35],\"quaternion_xyzw\":[0.5345940822169053,0.22143611921863973,0.31211000386420606,0.7535002042812851],\"target\":[8.952014243589744,-3.7520139574874496,1.0]},\"distance_along_path_m\":5.0,\"image_path\":\"path_view_005.png\",\"sample_index\":5,\"yaw_rad\":2.356194490192345},{\"camera_pose\":{\"position\":[8.952014182784918,-3.7520140182926665,1.35],\"quaternion_xyzw\":[0.5345941482100113,0.2214359598971209,0.31210977930355166,0.7535002972973146],\"target\":[8.244907823067132,-3.0449068156376087,1.0]},\"distance_along_path_m\":6.0,\"image_path\":\"path_view_006.png\",\"sample_index\":6,\"yaw_rad\":2.356193894145684},{\"camera_pose\":{\"position\":[8.244907343194512,-3.0449072955107956,1.35],\"quaternion_xyzw\":[0.5345940822169053,0.22143611921863973,0.31211000386420606,0.7535002042812851],\"target\":[7.5378005620079644,-2.337800514324248,1.0]},\"distance_along_path_m\":7.0,\"image_path\":\"path_view_007.png\",\"sample_index\":7,\"yaw_rad\":2.356194490192345},{\"camera_pose\":{\"position\":[7.432090073402458,-2.549999952316284,1.35],\"quaternion_xyzw\":[0.4091605966096607,0.4091605966096607,0.576704088924317,0.576704088924317],\"target\":[6.432090073402458,-2.549999952316284,1.0]},\"distance_along_path_m\":8.0,\"image_path\":\"path_view_008.png\",\"sample_index\":8,\"yaw_rad\":3.141592653589793},{\"camera_pose\":{\"position\":[6.432090073402459,-2.549999952316284,1.35],\"quaternion_xyzw\":[0.4091605966096607,0.4091605966096607,0.576704088924317,0.576704088924317],\"target\":[5.432090073402459,-2.549999952316284,1.0]},\"distance_along_path_m\":9.0,\"image_path\":\"path_view_009.png\",\"sample_index\":9,\"yaw_rad\":3.141592653589793},{\"camera_pose\":{\"position\":[5.432090073402459,-2.549999952316284,1.35],\"quaternion_xyzw\":[0.4091605966096607,0.4091605966096607,0.576704088924317,0.576704088924317],\"target\":[4.432090073402459,-2.549999952316284,1.0]},\"distance_along_path_m\":10.0,\"image_path\":\"path_view_010.png\",\"sample_index\":10,\"yaw_rad\":3.141592653589793},{\"camera_pose\":{\"position\":[4.497324557632979,-2.2736621921803235,1.35],\"quaternion_xyzw\":[0.49222112428264514,0.3042090604269961,0.42877689222709237,0.6937763249463976],\"target\":[3.602897793129793,-1.826447743687922,1.0]},\"distance_along_path_m\":11.0,\"image_path\":\"path_view_011.png\",\"sample_index\":11,\"yaw_rad\":2.677944090914216},{\"camera_pose\":{\"position\":[4.050000190734863,-2.1500000953674316,1.35],\"quaternion_xyzw\":[0.4091605966096607,0.4091605966096607,0.576704088924317,0.576704088924317],\"target\":[3.0500001907348633,-2.1500000953674316,1.0]},\"distance_along_path_m\":11.477,\"image_path\":\"path_view_012.png\",\"sample_index\":12,\"yaw_rad\":3.141592653589793}]},\"path_world\":[[14.449999809265137,-5.050000190734863],[14.25,-5.050000190734863],[14.050000190734863,-5.050000190734863],[13.850000381469727,-5.050000190734863],[13.65000057220459,-5.050000190734863],[13.449999809265137,-5.050000190734863],[13.25,-5.050000190734863],[13.050000190734863,-5.050000190734863],[12.850000381469727,-5.050000190734863],[12.65000057220459,-5.050000190734863],[12.449999809265137,-5.050000190734863],[12.25,-5.050000190734863],[12.050000190734863,-5.050000190734863],[11.850000381469727,-5.050000190734863],[11.65000057220459,-5.050000190734863],[11.449999809265137,-5.050000190734863],[11.25,-5.050000190734863],[11.050000190734863,-5.050000190734863],[10.850000381469727,-5.050000190734863],[10.65000057220459,-5.050000190734863],[10.449999809265137,-5.050000190734863],[10.25,-4.950000286102295],[10.050000190734863,-4.849999904632568],[9.850000381469727,-4.650000095367432],[9.65000057220459,-4.450000286102295],[9.449999809265137,-4.25],[9.25,-4.050000190734863],[9.050000190734863,-3.8500001430511475],[8.850000381469727,-3.6500000953674316],[8.65000057220459,-3.450000047683716],[8.449999809265137,-3.25],[8.25,-3.049999952316284],[8.050000190734863,-2.8500001430511475],[7.849999904632568,-2.6500000953674316],[7.650000095367432,-2.549999952316284],[7.450000286102295,-2.549999952316284],[7.25,-2.549999952316284],[7.050000190734863,-2.549999952316284],[6.849999904632568,-2.549999952316284],[6.650000095367432,-2.549999952316284],[6.450000286102295,-2.549999952316284],[6.25,-2.549999952316284],[6.050000190734863,-2.549999952316284],[5.849999904632568,-2.549999952316284],[5.650000095367432,-2.549999952316284],[5.450000286102295,-2.549999952316284],[5.25,-2.549999952316284],[5.050000190734863,-2.549999952316284],[4.849999904632568,-2.450000047683716],[4.650000095367432,-2.3500001430511475],[4.450000286102295,-2.25],[4.25,-2.1500000953674316],[4.050000190734863,-2.1500000953674316]],\"question\":\"You are beginning in the bathroom 0. You want to navigate to the grocery store 0. At each step, choose the next region you should explore. 1. Choose the next region to explore. corridor_0 2. Choose the next region to explore. [please fill in] You have reached the final destination.\",\"question_case_id\":\"navigation_regions__navigation_pair__bathroom_0__grocery_store_0\",\"question_payload\":{\"case_id\":\"navigation_regions__navigation_pair__bathroom_0__grocery_store_0\",\"prompt\":\"You are beginning in the bathroom 0. You want to navigate to the grocery store 0. At each step, choose the next region you should explore. 1. Choose the next region to explore. corridor_0 2. Choose the next region to explore. [please fill in] You have reached the final destination.\",\"question_type\":\"navigation_regions\",\"steps\":[{\"step_id\":1,\"step_type\":\"choose_region\",\"text\":\"Choose the next region to explore.\",\"filled_answer\":\"corridor_0\"},{\"answer\":\"grocery_store_0\",\"options\":[\"grocery_store_0\",\"bathroom_0\",\"corridor_0\"],\"placeholder\":\"[please fill in]\",\"step_id\":2,\"step_type\":\"choose_region\",\"text\":\"Choose the next region to explore.\"}]},\"region_sequence\":[\"bathroom_0\",\"corridor_0\",\"grocery_store_0\"],\"render\":{\"image\":\"navigation_pair__bathroom_0__grocery_store_0__initial.png\",\"initial_view\":{\"camera_pose\":{\"position\":[14.449999809265137,-4.950000286102295,1.35],\"quaternion_xyzw\":[0.4724789876856247,0.5156261470294945,0.526984952514685,0.4828872979466126],\"target\":[-1.5500000715255737,-6.349999904632568,1.0]},\"image_path\":\"navigation_pair__bathroom_0__grocery_store_0__initial.png\",\"ray_debug\":{\"angle_deg\":185.0,\"angle_rad\":3.2288591161895095,\"end_map_rc\":[124,172],\"ray_length_px\":160.611328125,\"start_map_rc\":[138,332],\"start_xy\":[14.449999809265137,-4.950000286102295],\"success\":true,\"target_xy\":[-1.5500000715255737,-6.349999904632568]},\"render_xy\":[14.449999809265137,-4.950000286102295],\"room_instance\":\"bathroom_0\",\"selection_debug\":{\"center_distance_px\":1.0,\"clearance_px\":11.0,\"room_instance\":\"bathroom_0\",\"selected_by\":\"center_near_free_xy\",\"selected_map_rc\":[138,332]},\"success\":true},\"kind\":\"start_room_longest_ray_view\",\"path_views\":{\"path_length_m\":11.477,\"sample_count\":13,\"sample_spacing_m\":1.0,\"success\":true,\"views\":[{\"camera_pose\":{\"position\":[14.449999809265137,-5.050000190734863,1.35],\"quaternion_xyzw\":[0.4091605966096607,0.4091605966096607,0.576704088924317,0.576704088924317],\"target\":[13.449999809265137,-5.050000190734863,1.0]},\"distance_along_path_m\":0.0,\"image_path\":\"path_view_000.png\",\"sample_index\":0,\"yaw_rad\":3.141592653589793},{\"camera_pose\":{\"position\":[13.449999809265137,-5.050000190734863,1.35],\"quaternion_xyzw\":[0.4091605966096607,0.4091605966096607,0.576704088924317,0.576704088924317],\"target\":[12.449999809265137,-5.050000190734863,1.0]},\"distance_along_path_m\":1.0,\"image_path\":\"path_view_001.png\",\"sample_index\":1,\"yaw_rad\":3.141592653589793},{\"camera_pose\":{\"position\":[12.449999809265137,-5.050000190734863,1.35],\"quaternion_xyzw\":[0.4091605966096607,0.4091605966096607,0.576704088924317,0.576704088924317],\"target\":[11.449999809265137,-5.050000190734863,1.0]},\"distance_along_path_m\":2.0,\"image_path\":\"path_view_002.png\",\"sample_index\":2,\"yaw_rad\":3.141592653589793},{\"camera_pose\":{\"position\":[11.449999809265137,-5.050000190734863,1.35],\"quaternion_xyzw\":[0.4091605966096607,0.4091605966096607,0.576704088924317,0.576704088924317],\"target\":[10.449999809265137,-5.050000190734863,1.0]},\"distance_along_path_m\":3.0,\"image_path\":\"path_view_003.png\",\"sample_index\":3,\"yaw_rad\":3.141592653589793},{\"camera_pose\":{\"position\":[10.449999809265137,-5.050000190734863,1.35],\"quaternion_xyzw\":[0.4091605966096607,0.4091605966096607,0.576704088924317,0.576704088924317],\"target\":[9.449999809265137,-5.050000190734863,1.0]},\"distance_along_path_m\":4.0,\"image_path\":\"path_view_004.png\",\"sample_index\":4,\"yaw_rad\":3.141592653589793},{\"camera_pose\":{\"position\":[9.659121024776292,-4.459120738673997,1.35],\"quaternion_xyzw\":[0.5345940822169053,0.22143611921863973,0.31211000386420606,0.7535002042812851],\"target\":[8.952014243589744,-3.7520139574874496,1.0]},\"distance_along_path_m\":5.0,\"image_path\":\"path_view_005.png\",\"sample_index\":5,\"yaw_rad\":2.356194490192345},{\"camera_pose\":{\"position\":[8.952014182784918,-3.7520140182926665,1.35],\"quaternion_xyzw\":[0.5345941482100113,0.2214359598971209,0.31210977930355166,0.7535002972973146],\"target\":[8.244907823067132,-3.0449068156376087,1.0]},\"distance_along_path_m\":6.0,\"image_path\":\"path_view_006.png\",\"sample_index\":6,\"yaw_rad\":2.356193894145684},{\"camera_pose\":{\"position\":[8.244907343194512,-3.0449072955107956,1.35],\"quaternion_xyzw\":[0.5345940822169053,0.22143611921863973,0.31211000386420606,0.7535002042812851],\"target\":[7.5378005620079644,-2.337800514324248,1.0]},\"distance_along_path_m\":7.0,\"image_path\":\"path_view_007.png\",\"sample_index\":7,\"yaw_rad\":2.356194490192345},{\"camera_pose\":{\"position\":[7.432090073402458,-2.549999952316284,1.35],\"quaternion_xyzw\":[0.4091605966096607,0.4091605966096607,0.576704088924317,0.576704088924317],\"target\":[6.432090073402458,-2.549999952316284,1.0]},\"distance_along_path_m\":8.0,\"image_path\":\"path_view_008.png\",\"sample_index\":8,\"yaw_rad\":3.141592653589793},{\"camera_pose\":{\"position\":[6.432090073402459,-2.549999952316284,1.35],\"quaternion_xyzw\":[0.4091605966096607,0.4091605966096607,0.576704088924317,0.576704088924317],\"target\":[5.432090073402459,-2.549999952316284,1.0]},\"distance_along_path_m\":9.0,\"image_path\":\"path_view_009.png\",\"sample_index\":9,\"yaw_rad\":3.141592653589793},{\"camera_pose\":{\"position\":[5.432090073402459,-2.549999952316284,1.35],\"quaternion_xyzw\":[0.4091605966096607,0.4091605966096607,0.576704088924317,0.576704088924317],\"target\":[4.432090073402459,-2.549999952316284,1.0]},\"distance_along_path_m\":10.0,\"image_path\":\"path_view_010.png\",\"sample_index\":10,\"yaw_rad\":3.141592653589793},{\"camera_pose\":{\"position\":[4.497324557632979,-2.2736621921803235,1.35],\"quaternion_xyzw\":[0.49222112428264514,0.3042090604269961,0.42877689222709237,0.6937763249463976],\"target\":[3.602897793129793,-1.826447743687922,1.0]},\"distance_along_path_m\":11.0,\"image_path\":\"path_view_011.png\",\"sample_index\":11,\"yaw_rad\":2.677944090914216},{\"camera_pose\":{\"position\":[4.050000190734863,-2.1500000953674316,1.35],\"quaternion_xyzw\":[0.4091605966096607,0.4091605966096607,0.576704088924317,0.576704088924317],\"target\":[3.0500001907348633,-2.1500000953674316,1.0]},\"distance_along_path_m\":11.477,\"image_path\":\"path_view_012.png\",\"sample_index\":12,\"yaw_rad\":3.141592653589793}]},\"room_views\":[{\"_key\":\"bathroom_0\",\"center_xy\":[14.5,-5.0],\"corner_render_xy\":[[11.850000381469727,-5.950000286102295],[12.050000190734863,-3.450000047683716],[17.149999618530273,-6.150000095367432],[17.149999618530273,-3.8500001430511475]],\"room_bbox_world_xy\":[11.5,-6.5,17.5,-3.5],\"room_instance\":\"bathroom_0\",\"success\":true,\"views\":[{\"_key\":\"view_00\",\"camera_pose\":{\"position\":[11.850000381469727,-5.950000286102295,1.35],\"quaternion_xyzw\":[0.5413982276932897,-0.3810498368104668,-0.4313586760468373,0.6128773723318566],\"target\":[14.5,-5.0,1.0]},\"image_path\":\"view_00.png\",\"preferred_corner_xy\":[11.850000381469727,-6.150000095367432],\"view_role\":\"corner_00\"},{\"_key\":\"view_01\",\"camera_pose\":{\"position\":[12.050000190734863,-3.450000047683716,1.35],\"quaternion_xyzw\":[-0.3199932104658358,0.5810995612999511,0.6554724747452326,-0.3609480294504072],\"target\":[14.5,-5.0,1.0]},\"image_path\":\"view_01.png\",\"preferred_corner_xy\":[11.850000381469727,-3.8499999046325684],\"view_role\":\"corner_01\"},{\"_key\":\"view_02\",\"camera_pose\":{\"position\":[17.149999618530273,-6.150000095367432,1.35],\"quaternion_xyzw\":[0.5545114245338946,0.36383716963574386,0.41057997634728083,0.6257504910709285],\"target\":[14.5,-5.0,1.0]},\"image_path\":\"view_02.png\",\"preferred_corner_xy\":[17.149999618530273,-6.150000095367432],\"view_role\":\"corner_02\"},{\"_key\":\"view_03\",\"camera_pose\":{\"position\":[17.149999618530273,-3.8500001430511475,1.35],\"quaternion_xyzw\":[0.3638371898216955,0.5545114095331697,0.6257504766159159,0.41058000074911455],\"target\":[14.5,-5.0,1.0]},\"image_path\":\"view_03.png\",\"preferred_corner_xy\":[17.149999618530273,-3.8499999046325684],\"view_role\":\"corner_03\"}]},{\"_key\":\"corridor_0\",\"center_xy\":[11.0,-5.0],\"corner_render_xy\":[[10.65000057220459,-5.550000190734863],[10.65000057220459,-4.550000190734863],[11.25,-5.550000190734863],[11.25,-4.550000190734863]],\"room_bbox_world_xy\":[10.350000000000001,-5.912499999999996,11.649999999999999,-4.162500000000003],\"room_instance\":\"corridor_0\",\"success\":true,\"views\":[{\"_key\":\"view_00\",\"camera_pose\":{\"position\":[10.65000057220459,-5.550000190734863,1.35],\"quaternion_xyzw\":[0.49284376416615744,-0.1435162028696622,-0.23994189860194085,0.8239757332177343],\"target\":[11.0,-5.0,1.0]},\"image_path\":\"view_00.png\",\"preferred_corner_xy\":[10.699999809265137,-5.5625],\"view_role\":\"corner_00\"},{\"_key\":\"view_01\",\"camera_pose\":{\"position\":[10.65000057220459,-4.550000190734863,1.35],\"quaternion_xyzw\":[-0.15845792730895067,0.46183182605607986,0.8254620847038466,-0.2832221679724904],\"target\":[11.0,-5.0,1.0]},\"image_path\":\"view_01.png\",\"preferred_corner_xy\":[10.699999809265137,-4.512499809265137],\"view_role\":\"corner_01\"},{\"_key\":\"view_02\",\"camera_pose\":{\"position\":[11.25,-5.550000190734863,1.35],\"quaternion_xyzw\":[0.48804134454196185,0.1057142092560974,0.183415485170673,0.8467578826197243],\"target\":[11.0,-5.0,1.0]},\"image_path\":\"view_02.png\",\"preferred_corner_xy\":[11.300000190734863,-5.5625],\"view_role\":\"corner_02\"},{\"_key\":\"view_03\",\"camera_pose\":{\"position\":[11.25,-4.550000190734863,1.35],\"quaternion_xyzw\":[0.11735334539803484,0.45288118192174465,0.8555566780926724,0.22169708603426516],\"target\":[11.0,-5.0,1.0]},\"image_path\":\"view_03.png\",\"preferred_corner_xy\":[11.300000190734863,-4.512499809265137],\"view_role\":\"corner_03\"}]},{\"_key\":\"grocery_store_0\",\"center_xy\":[4.0,-2.0],\"corner_render_xy\":[[-0.75,-6.050000190734863],[-0.75,1.9500000476837158],[9.449999809265137,-6.050000190734863],[9.449999809265137,1.9500000476837158]],\"room_bbox_world_xy\":[-1.5,-6.8149999999999995,10.270000000000003,2.8150000000000004],\"room_instance\":\"grocery_store_0\",\"success\":true,\"views\":[{\"_key\":\"view_00\",\"camera_pose\":{\"position\":[-0.75,-6.050000190734863,1.35],\"quaternion_xyzw\":[0.6238001281865138,-0.2878929598464699,-0.30448731385629463,0.6597564091737996],\"target\":[4.0,-2.0,1.0]},\"image_path\":\"view_00.png\",\"preferred_corner_xy\":[-0.7296000123023987,-6.044600009918213],\"view_role\":\"corner_00\"},{\"_key\":\"view_01\",\"camera_pose\":{\"position\":[-0.75,1.9500000476837158,1.35],\"quaternion_xyzw\":[-0.2916395000190045,0.6218234794198014,0.6580498072258041,-0.3086298975812275],\"target\":[4.0,-2.0,1.0]},\"image_path\":\"view_01.png\",\"preferred_corner_xy\":[-0.7296000123023987,2.044600009918213],\"view_role\":\"corner_01\"},{\"_key\":\"view_02\",\"camera_pose\":{\"position\":[9.449999809265137,-6.050000190734863,1.35],\"quaternion_xyzw\":[0.6152799720670663,0.3093408839886162,0.3256968182903367,0.6478119758246547],\"target\":[4.0,-2.0,1.0]},\"image_path\":\"view_02.png\",\"preferred_corner_xy\":[9.499600410461426,-6.044600009918213],\"view_role\":\"corner_02\"},{\"_key\":\"view_03\",\"camera_pose\":{\"position\":[9.449999809265137,1.9500000476837158,1.35],\"quaternion_xyzw\":[0.3129295162611788,0.6132786455575048,0.6459970824690868,0.32962431675640214],\"target\":[4.0,-2.0,1.0]},\"image_path\":\"view_03.png\",\"preferred_corner_xy\":[9.499600410461426,2.044600009918213],\"view_role\":\"corner_03\"}]}],\"source_room\":\"bathroom_0\"},\"room_views\":[{\"_key\":\"bathroom_0\",\"center_xy\":[14.5,-5.0],\"corner_render_xy\":[[11.850000381469727,-5.950000286102295],[12.050000190734863,-3.450000047683716],[17.149999618530273,-6.150000095367432],[17.149999618530273,-3.8500001430511475]],\"room_bbox_world_xy\":[11.5,-6.5,17.5,-3.5],\"room_instance\":\"bathroom_0\",\"success\":true,\"views\":[{\"_key\":\"view_00\",\"camera_pose\":{\"position\":[11.850000381469727,-5.950000286102295,1.35],\"quaternion_xyzw\":[0.5413982276932897,-0.3810498368104668,-0.4313586760468373,0.6128773723318566],\"target\":[14.5,-5.0,1.0]},\"image_path\":\"view_00.png\",\"preferred_corner_xy\":[11.850000381469727,-6.150000095367432],\"view_role\":\"corner_00\"},{\"_key\":\"view_01\",\"camera_pose\":{\"position\":[12.050000190734863,-3.450000047683716,1.35],\"quaternion_xyzw\":[-0.3199932104658358,0.5810995612999511,0.6554724747452326,-0.3609480294504072],\"target\":[14.5,-5.0,1.0]},\"image_path\":\"view_01.png\",\"preferred_corner_xy\":[11.850000381469727,-3.8499999046325684],\"view_role\":\"corner_01\"},{\"_key\":\"view_02\",\"camera_pose\":{\"position\":[17.149999618530273,-6.150000095367432,1.35],\"quaternion_xyzw\":[0.5545114245338946,0.36383716963574386,0.41057997634728083,0.6257504910709285],\"target\":[14.5,-5.0,1.0]},\"image_path\":\"view_02.png\",\"preferred_corner_xy\":[17.149999618530273,-6.150000095367432],\"view_role\":\"corner_02\"},{\"_key\":\"view_03\",\"camera_pose\":{\"position\":[17.149999618530273,-3.8500001430511475,1.35],\"quaternion_xyzw\":[0.3638371898216955,0.5545114095331697,0.6257504766159159,0.41058000074911455],\"target\":[14.5,-5.0,1.0]},\"image_path\":\"view_03.png\",\"preferred_corner_xy\":[17.149999618530273,-3.8499999046325684],\"view_role\":\"corner_03\"}]},{\"_key\":\"corridor_0\",\"center_xy\":[11.0,-5.0],\"corner_render_xy\":[[10.65000057220459,-5.550000190734863],[10.65000057220459,-4.550000190734863],[11.25,-5.550000190734863],[11.25,-4.550000190734863]],\"room_bbox_world_xy\":[10.350000000000001,-5.912499999999996,11.649999999999999,-4.162500000000003],\"room_instance\":\"corridor_0\",\"success\":true,\"views\":[{\"_key\":\"view_00\",\"camera_pose\":{\"position\":[10.65000057220459,-5.550000190734863,1.35],\"quaternion_xyzw\":[0.49284376416615744,-0.1435162028696622,-0.23994189860194085,0.8239757332177343],\"target\":[11.0,-5.0,1.0]},\"image_path\":\"view_00.png\",\"preferred_corner_xy\":[10.699999809265137,-5.5625],\"view_role\":\"corner_00\"},{\"_key\":\"view_01\",\"camera_pose\":{\"position\":[10.65000057220459,-4.550000190734863,1.35],\"quaternion_xyzw\":[-0.15845792730895067,0.46183182605607986,0.8254620847038466,-0.2832221679724904],\"target\":[11.0,-5.0,1.0]},\"image_path\":\"view_01.png\",\"preferred_corner_xy\":[10.699999809265137,-4.512499809265137],\"view_role\":\"corner_01\"},{\"_key\":\"view_02\",\"camera_pose\":{\"position\":[11.25,-5.550000190734863,1.35],\"quaternion_xyzw\":[0.48804134454196185,0.1057142092560974,0.183415485170673,0.8467578826197243],\"target\":[11.0,-5.0,1.0]},\"image_path\":\"view_02.png\",\"preferred_corner_xy\":[11.300000190734863,-5.5625],\"view_role\":\"corner_02\"},{\"_key\":\"view_03\",\"camera_pose\":{\"position\":[11.25,-4.550000190734863,1.35],\"quaternion_xyzw\":[0.11735334539803484,0.45288118192174465,0.8555566780926724,0.22169708603426516],\"target\":[11.0,-5.0,1.0]},\"image_path\":\"view_03.png\",\"preferred_corner_xy\":[11.300000190734863,-4.512499809265137],\"view_role\":\"corner_03\"}]},{\"_key\":\"grocery_store_0\",\"center_xy\":[4.0,-2.0],\"corner_render_xy\":[[-0.75,-6.050000190734863],[-0.75,1.9500000476837158],[9.449999809265137,-6.050000190734863],[9.449999809265137,1.9500000476837158]],\"room_bbox_world_xy\":[-1.5,-6.8149999999999995,10.270000000000003,2.8150000000000004],\"room_instance\":\"grocery_store_0\",\"success\":true,\"views\":[{\"_key\":\"view_00\",\"camera_pose\":{\"position\":[-0.75,-6.050000190734863,1.35],\"quaternion_xyzw\":[0.6238001281865138,-0.2878929598464699,-0.30448731385629463,0.6597564091737996],\"target\":[4.0,-2.0,1.0]},\"image_path\":\"view_00.png\",\"preferred_corner_xy\":[-0.7296000123023987,-6.044600009918213],\"view_role\":\"corner_00\"},{\"_key\":\"view_01\",\"camera_pose\":{\"position\":[-0.75,1.9500000476837158,1.35],\"quaternion_xyzw\":[-0.2916395000190045,0.6218234794198014,0.6580498072258041,-0.3086298975812275],\"target\":[4.0,-2.0,1.0]},\"image_path\":\"view_01.png\",\"preferred_corner_xy\":[-0.7296000123023987,2.044600009918213],\"view_role\":\"corner_01\"},{\"_key\":\"view_02\",\"camera_pose\":{\"position\":[9.449999809265137,-6.050000190734863,1.35],\"quaternion_xyzw\":[0.6152799720670663,0.3093408839886162,0.3256968182903367,0.6478119758246547],\"target\":[4.0,-2.0,1.0]},\"image_path\":\"view_02.png\",\"preferred_corner_xy\":[9.499600410461426,-6.044600009918213],\"view_role\":\"corner_02\"},{\"_key\":\"view_03\",\"camera_pose\":{\"position\":[9.449999809265137,1.9500000476837158,1.35],\"quaternion_xyzw\":[0.3129295162611788,0.6132786455575048,0.6459970824690868,0.32962431675640214],\"target\":[4.0,-2.0,1.0]},\"image_path\":\"view_03.png\",\"preferred_corner_xy\":[9.499600410461426,2.044600009918213],\"view_role\":\"corner_03\"}]}],\"source_region\":\"bathroom_0\",\"source_room_type\":\"bathroom\",\"source_room_views\":[{\"_key\":\"center_xy\",\"value\":[14.5,-5.0]},{\"_key\":\"corner_render_xy\",\"value\":[[11.850000381469727,-5.950000286102295],[12.050000190734863,-3.450000047683716],[17.149999618530273,-6.150000095367432],[17.149999618530273,-3.8500001430511475]]},{\"_key\":\"room_bbox_world_xy\",\"value\":[11.5,-6.5,17.5,-3.5]},{\"_key\":\"room_instance\",\"value\":\"bathroom_0\"},{\"_key\":\"success\",\"value\":true},{\"_key\":\"views\",\"value\":[{\"_key\":\"view_00\",\"camera_pose\":{\"position\":[11.850000381469727,-5.950000286102295,1.35],\"quaternion_xyzw\":[0.5413982276932897,-0.3810498368104668,-0.4313586760468373,0.6128773723318566],\"target\":[14.5,-5.0,1.0]},\"image_path\":\"view_00.png\",\"preferred_corner_xy\":[11.850000381469727,-6.150000095367432],\"view_role\":\"corner_00\"},{\"_key\":\"view_01\",\"camera_pose\":{\"position\":[12.050000190734863,-3.450000047683716,1.35],\"quaternion_xyzw\":[-0.3199932104658358,0.5810995612999511,0.6554724747452326,-0.3609480294504072],\"target\":[14.5,-5.0,1.0]},\"image_path\":\"view_01.png\",\"preferred_corner_xy\":[11.850000381469727,-3.8499999046325684],\"view_role\":\"corner_01\"},{\"_key\":\"view_02\",\"camera_pose\":{\"position\":[17.149999618530273,-6.150000095367432,1.35],\"quaternion_xyzw\":[0.5545114245338946,0.36383716963574386,0.41057997634728083,0.6257504910709285],\"target\":[14.5,-5.0,1.0]},\"image_path\":\"view_02.png\",\"preferred_corner_xy\":[17.149999618530273,-6.150000095367432],\"view_role\":\"corner_02\"},{\"_key\":\"view_03\",\"camera_pose\":{\"position\":[17.149999618530273,-3.8500001430511475,1.35],\"quaternion_xyzw\":[0.3638371898216955,0.5545114095331697,0.6257504766159159,0.41058000074911455],\"target\":[14.5,-5.0,1.0]},\"image_path\":\"view_03.png\",\"preferred_corner_xy\":[17.149999618530273,-3.8499999046325684],\"view_role\":\"corner_03\"}]}],\"start_xy\":[14.5,-5.0],\"steps\":[{\"step_id\":1,\"step_type\":\"choose_region\",\"text\":\"Choose the next region to explore.\",\"filled_answer\":\"corridor_0\"},{\"answer\":\"grocery_store_0\",\"options\":[\"grocery_store_0\",\"bathroom_0\",\"corridor_0\"],\"placeholder\":\"[please fill in]\",\"step_id\":2,\"step_type\":\"choose_region\",\"text\":\"Choose the next region to explore.\"}],\"structured_answer\":[\"grocery_store_0\"],\"target_region\":\"grocery_store_0\",\"target_room_type\":\"grocery_store\",\"task_type\":\"navigation_regions\"},\"question_id\":\"Long-Horizon Navigation/q_001\",\"question_index\":1,\"seed\":1,\"task_family\":\"Long-Horizon Navigation\",\"task_type\":\"navigation_regions\",\"trav_map_basename\":\"floor_trav_no_door\"}","options_json":"[[\"grocery_store_0\",\"bathroom_0\",\"corridor_0\"]]","question":"You are beginning in the bathroom 0. You want to navigate to the grocery store 0. At each step, choose the next region you should explore. 1. Choose the next region to explore. corridor_0 2. Choose the next region to explore. [please fill in] You have reached the final destination.","room":"full_scene","runner_task":"cognitivemap","scene":"grocery_store_half_stocked","small_task":"Long-Term Navigation"},"observations":[],"question":{"answer_type":"choice","options":[],"original":"You are beginning in the bathroom 0. You want to navigate to the grocery store 0. At each step, choose the next region you should explore. 1. Choose the next region to explore. corridor_0 2. Choose the next region to explore. [please fill in] You have reached the final destination.","text":"You are beginning in the bathroom 0. You want to navigate to the grocery store 0. At each step, choose the next region you should explore. 1. Choose the next region to explore. corridor_0 2. Choose the next region to explore. [please fill in] You have reached the final destination."},"reference_media":["view_00.png","view_01.png","view_02.png","view_03.png","navigation_pair__bathroom_0__grocery_store_0__initial.png","path_view_000.png","path_view_001.png","path_view_002.png","path_view_003.png","path_view_004.png","path_view_005.png","path_view_006.png","path_view_007.png","path_view_008.png","path_view_009.png","path_view_010.png","path_view_011.png","path_view_012.png"],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":31,"stratum_pool":60},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Cognitive Mapping/Long-Term Navigation/grocery_store_half_stocked/full_scene/q_001.json","annotation_sha256":"f478026682c12851f25bd00f14ae053bb7b053e60b57a05d80623150358b2369","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"890a93b7939bcda98952de5e5b2b7fbe1c5211c7d6bf368155f120937786e974","sample_id":"0169","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"grocery_store_0","metric":"official_esi_task","original_answer":"grocery_store_0"},"task":{"category":"Cognitive Mapping","role":"spatial_core","skill_tags":["Cognitive Mapping","Long-Term Navigation"],"stratum":"ESI-Bench/Cognitive Mapping/Long-Term Navigation","subcategory":"Long-Term Navigation"},"transforms":[]}
{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Cognitive Mapping","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"Yes","id":"ec2d911e61567031","metadata":"vendor/ESI-Bench/dataset/json_clean/Cognitive Mapping/Regional Boundary/Benevolence_1_int/full_scene/q_024.json","metadata_sha256":"48c4dca531d99485687d3f773945a1810e5f10db60e656684868f007a29b1133","observation_policy":"runtime camera observations; no oracle poses","question":"Are dishwasher and bottom_cabinet_no_top in the same region?","room":"full_scene","scene":"Benevolence_1_int","subcategory":"Regional Boundary","task":"cognitive_mapping.regional_boundary"},"group":{"id":"ESI-scene/Benevolence_1_int","kind":"scene","room":"full_scene","scene":"Benevolence_1_int"},"id":"496284419755af62ae63","native_annotation":{"answer":"Yes","answer_type":"choice","big_task":"Cognitive Mapping","gt_camera_poses":[{"baseline_selected":true,"camera_pose":{"position":[1.5,7.700000286102295,1.35],"quaternion_xyzw":[0.6532814824381884,-0.2705980500730984,-0.2705980500730984,0.6532814824381883]},"camera_pose_rule":null,"fov_deg":100.0,"group":"region_views","metadata_pointer":"/question_data/gt_region_views/0","original_image_path":"kitchen_0__open_view.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"region_views/kitchen_0__open_view.png"},{"baseline_selected":true,"camera_pose":{"position":[2.6316842079162597,9.192757034301758,1.0048961378589365],"quaternion_xyzw":[0.14644660940672619,0.35355339059327395,0.8535533905932738,0.3535533905932735]},"camera_pose_rule":null,"fov_deg":100.0,"group":"object_views/bottom_cabinet_no_top_spojpj_0","metadata_pointer":"/question_data/object_views/0/views/0","original_image_path":"bottom_cabinet_no_top__closeup.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"object_views/bottom_cabinet_no_top_spojpj_0/bottom_cabinet_no_top__closeup.png"},{"baseline_selected":true,"camera_pose":{"position":[3.276263618469238,8.574943923950196,1.0024057067886087],"quaternion_xyzw":[0.14644660940672619,0.35355339059327395,0.8535533905932738,0.3535533905932735]},"camera_pose_rule":null,"fov_deg":100.0,"group":"object_views/dishwasher_dngvvi_0","metadata_pointer":"/question_data/object_views/1/views/0","original_image_path":"dishwasher__closeup.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"object_views/dishwasher_dngvvi_0/dishwasher__closeup.png"}],"id":"0206","image_paths_json":"[\"kitchen_0__semantic_01.png\",\"view_00.png\",\"view_01.png\",\"view_02.png\",\"view_03.png\",\"kitchen_0__open_view.png\",\"dishwasher__closeup.png\",\"bottom_cabinet_no_top__closeup.png\",\"objects_same_region__dishwasher__bottom_cabinet_no_top.png\"]","metadata_json":"{\"image_paths\":[\"kitchen_0__semantic_01.png\",\"view_00.png\",\"view_01.png\",\"view_02.png\",\"view_03.png\",\"kitchen_0__open_view.png\",\"dishwasher__closeup.png\",\"bottom_cabinet_no_top__closeup.png\",\"kitchen_0__open_view.png\",\"kitchen_0__semantic_01.png\",\"objects_same_region__dishwasher__bottom_cabinet_no_top.png\",\"kitchen_0__semantic_01.png\",\"view_00.png\",\"view_01.png\",\"view_02.png\",\"view_03.png\",\"kitchen_0__open_view.png\",\"dishwasher__closeup.png\",\"bottom_cabinet_no_top__closeup.png\",\"kitchen_0__open_view.png\"],\"question_data\":{\"answer\":\"Yes\",\"answer_bool\":true,\"case_id\":\"objects_same_region__dishwasher__bottom_cabinet_no_top\",\"case_type\":\"objects_same_region\",\"gt_region_views\":[{\"_key\":\"kitchen_0\",\"camera_pose\":{\"position\":[1.5,7.700000286102295,1.35],\"quaternion_xyzw\":[0.6532814824381884,-0.2705980500730984,-0.2705980500730984,0.6532814824381883],\"target\":[2.2071067811865475,8.407107067288843,1.35]},\"image_path\":\"kitchen_0__open_view.png\",\"visible_objects\":[{\"assigned_region\":\"kitchen_0\",\"instance_pixels\":89469,\"object_category\":\"microwave\",\"object_name\":\"microwave_bfbeeb_0\",\"semantic_pixels\":89469},{\"assigned_region\":\"kitchen_0\",\"instance_pixels\":43718,\"object_category\":\"oven\",\"object_name\":\"oven_wuinhm_0\",\"semantic_pixels\":43718},{\"assigned_region\":\"kitchen_0\",\"instance_pixels\":42838,\"object_category\":\"openable_window\",\"object_name\":\"openable_window_ulnafj_3\",\"semantic_pixels\":42838},{\"assigned_region\":\"kitchen_0\",\"instance_pixels\":36149,\"object_category\":\"dishwasher\",\"object_name\":\"dishwasher_dngvvi_0\",\"semantic_pixels\":36149},{\"assigned_region\":\"kitchen_0\",\"instance_pixels\":34091,\"object_category\":\"furniture_sink\",\"object_name\":\"furniture_sink_czyfhq_0\",\"semantic_pixels\":34091},{\"assigned_region\":\"kitchen_0\",\"instance_pixels\":31912,\"object_category\":\"bottom_cabinet_no_top\",\"object_name\":\"bottom_cabinet_no_top_spojpj_0\",\"semantic_pixels\":31912}]}],\"object_instance_names\":[\"dishwasher_dngvvi_0\",\"bottom_cabinet_no_top_spojpj_0\"],\"object_names\":[\"dishwasher\",\"bottom_cabinet_no_top\"],\"object_views\":[{\"_key\":\"bottom_cabinet_no_top_spojpj_0\",\"object_category\":\"bottom_cabinet_no_top\",\"object_name\":\"bottom_cabinet_no_top_spojpj_0\",\"success\":true,\"views\":[{\"_key\":\"view_00\",\"camera_pose\":{\"position\":[2.6316842079162597,9.192757034301758,1.0048961378589365],\"quaternion_xyzw\":[0.14644660940672619,0.35355339059327395,0.8535533905932738,0.3535533905932735],\"target\":[2.2316842079162598,8.792757034301758,0.4392107129096985]},\"distance_m\":0.8,\"downward_angle_deg\":45.0,\"image_path\":\"bottom_cabinet_no_top__closeup.png\"}]},{\"_key\":\"dishwasher_dngvvi_0\",\"object_category\":\"dishwasher\",\"object_name\":\"dishwasher_dngvvi_0\",\"success\":true,\"views\":[{\"_key\":\"view_00\",\"camera_pose\":{\"position\":[3.276263618469238,8.574943923950196,1.0024057067886087],\"quaternion_xyzw\":[0.14644660940672619,0.35355339059327395,0.8535533905932738,0.3535533905932735],\"target\":[2.8762636184692383,8.174943923950195,0.4367202818393707]},\"distance_m\":0.8,\"downward_angle_deg\":45.0,\"image_path\":\"dishwasher__closeup.png\"}]}],\"options\":[\"Yes\",\"No\"],\"overview_view\":{\"camera_pose\":{\"position\":[1.5,7.700000286102295,1.35],\"quaternion_xyzw\":[0.6532814824381884,-0.2705980500730984,-0.2705980500730984,0.6532814824381883],\"target\":[2.2071067811865475,8.407107067288843,1.35]},\"image_path\":\"kitchen_0__semantic_01.png\",\"visible_objects\":[{\"assigned_region\":\"kitchen_0\",\"instance_pixels\":89469,\"object_category\":\"microwave\",\"object_name\":\"microwave_bfbeeb_0\",\"semantic_pixels\":89469},{\"assigned_region\":\"kitchen_0\",\"instance_pixels\":43718,\"object_category\":\"oven\",\"object_name\":\"oven_wuinhm_0\",\"semantic_pixels\":43718},{\"assigned_region\":\"kitchen_0\",\"instance_pixels\":42838,\"object_category\":\"openable_window\",\"object_name\":\"openable_window_ulnafj_3\",\"semantic_pixels\":42838},{\"assigned_region\":\"kitchen_0\",\"instance_pixels\":36149,\"object_category\":\"dishwasher\",\"object_name\":\"dishwasher_dngvvi_0\",\"semantic_pixels\":36149},{\"assigned_region\":\"kitchen_0\",\"instance_pixels\":34091,\"object_category\":\"furniture_sink\",\"object_name\":\"furniture_sink_czyfhq_0\",\"semantic_pixels\":34091},{\"assigned_region\":\"kitchen_0\",\"instance_pixels\":31912,\"object_category\":\"bottom_cabinet_no_top\",\"object_name\":\"bottom_cabinet_no_top_spojpj_0\",\"semantic_pixels\":31912}]},\"question\":\"Are dishwasher and bottom_cabinet_no_top in the same region?\",\"render\":{\"gt_region_views\":[{\"_key\":\"kitchen_0\",\"camera_pose\":{\"position\":[1.5,7.700000286102295,1.35],\"quaternion_xyzw\":[0.6532814824381884,-0.2705980500730984,-0.2705980500730984,0.6532814824381883],\"target\":[2.2071067811865475,8.407107067288843,1.35]},\"image_path\":\"kitchen_0__open_view.png\",\"visible_objects\":[{\"assigned_region\":\"kitchen_0\",\"instance_pixels\":89469,\"object_category\":\"microwave\",\"object_name\":\"microwave_bfbeeb_0\",\"semantic_pixels\":89469},{\"assigned_region\":\"kitchen_0\",\"instance_pixels\":43718,\"object_category\":\"oven\",\"object_name\":\"oven_wuinhm_0\",\"semantic_pixels\":43718},{\"assigned_region\":\"kitchen_0\",\"instance_pixels\":42838,\"object_category\":\"openable_window\",\"object_name\":\"openable_window_ulnafj_3\",\"semantic_pixels\":42838},{\"assigned_region\":\"kitchen_0\",\"instance_pixels\":36149,\"object_category\":\"dishwasher\",\"object_name\":\"dishwasher_dngvvi_0\",\"semantic_pixels\":36149},{\"assigned_region\":\"kitchen_0\",\"instance_pixels\":34091,\"object_category\":\"furniture_sink\",\"object_name\":\"furniture_sink_czyfhq_0\",\"semantic_pixels\":34091},{\"assigned_region\":\"kitchen_0\",\"instance_pixels\":31912,\"object_category\":\"bottom_cabinet_no_top\",\"object_name\":\"bottom_cabinet_no_top_spojpj_0\",\"semantic_pixels\":31912}]}],\"image\":\"kitchen_0__semantic_01.png\",\"kind\":\"semantic_overview_reference\",\"object_views\":[{\"_key\":\"bottom_cabinet_no_top_spojpj_0\",\"object_category\":\"bottom_cabinet_no_top\",\"object_name\":\"bottom_cabinet_no_top_spojpj_0\",\"success\":true,\"views\":[{\"_key\":\"view_00\",\"camera_pose\":{\"position\":[2.6316842079162597,9.192757034301758,1.0048961378589365],\"quaternion_xyzw\":[0.14644660940672619,0.35355339059327395,0.8535533905932738,0.3535533905932735],\"target\":[2.2316842079162598,8.792757034301758,0.4392107129096985]},\"distance_m\":0.8,\"downward_angle_deg\":45.0,\"image_path\":\"bottom_cabinet_no_top__closeup.png\"}]},{\"_key\":\"dishwasher_dngvvi_0\",\"object_category\":\"dishwasher\",\"object_name\":\"dishwasher_dngvvi_0\",\"success\":true,\"views\":[{\"_key\":\"view_00\",\"camera_pose\":{\"position\":[3.276263618469238,8.574943923950196,1.0024057067886087],\"quaternion_xyzw\":[0.14644660940672619,0.35355339059327395,0.8535533905932738,0.3535533905932735],\"target\":[2.8762636184692383,8.174943923950195,0.4367202818393707]},\"distance_m\":0.8,\"downward_angle_deg\":45.0,\"image_path\":\"dishwasher__closeup.png\"}]}],\"overview_view\":{\"camera_pose\":{\"position\":[1.5,7.700000286102295,1.35],\"quaternion_xyzw\":[0.6532814824381884,-0.2705980500730984,-0.2705980500730984,0.6532814824381883],\"target\":[2.2071067811865475,8.407107067288843,1.35]},\"image_path\":\"kitchen_0__semantic_01.png\",\"visible_objects\":[{\"assigned_region\":\"kitchen_0\",\"instance_pixels\":89469,\"object_category\":\"microwave\",\"object_name\":\"microwave_bfbeeb_0\",\"semantic_pixels\":89469},{\"assigned_region\":\"kitchen_0\",\"instance_pixels\":43718,\"object_category\":\"oven\",\"object_name\":\"oven_wuinhm_0\",\"semantic_pixels\":43718},{\"assigned_region\":\"kitchen_0\",\"instance_pixels\":42838,\"object_category\":\"openable_window\",\"object_name\":\"openable_window_ulnafj_3\",\"semantic_pixels\":42838},{\"assigned_region\":\"kitchen_0\",\"instance_pixels\":36149,\"object_category\":\"dishwasher\",\"object_name\":\"dishwasher_dngvvi_0\",\"semantic_pixels\":36149},{\"assigned_region\":\"kitchen_0\",\"instance_pixels\":34091,\"object_category\":\"furniture_sink\",\"object_name\":\"furniture_sink_czyfhq_0\",\"semantic_pixels\":34091},{\"assigned_region\":\"kitchen_0\",\"instance_pixels\":31912,\"object_category\":\"bottom_cabinet_no_top\",\"object_name\":\"bottom_cabinet_no_top_spojpj_0\",\"semantic_pixels\":31912}]},\"room_views\":[{\"_key\":\"kitchen_0\",\"center_xy\":[1.5,7.5],\"corner_render_xy\":[[0.1925,6.825000000000005],[0.1925,8.399999999999993],[2.8600000000000008,6.825000000000005],[2.8600000000000008,8.399999999999993]],\"gt_open_view\":{\"camera_pose\":{\"position\":[1.5,7.700000286102295,1.35],\"quaternion_xyzw\":[0.6532814824381884,-0.2705980500730984,-0.2705980500730984,0.6532814824381883],\"target\":[2.2071067811865475,8.407107067288843,1.35]},\"image_path\":\"kitchen_0__open_view.png\",\"visible_objects\":[{\"assigned_region\":\"kitchen_0\",\"instance_pixels\":89469,\"object_category\":\"microwave\",\"object_name\":\"microwave_bfbeeb_0\",\"semantic_pixels\":89469},{\"assigned_region\":\"kitchen_0\",\"instance_pixels\":43718,\"object_category\":\"oven\",\"object_name\":\"oven_wuinhm_0\",\"semantic_pixels\":43718},{\"assigned_region\":\"kitchen_0\",\"instance_pixels\":42838,\"object_category\":\"openable_window\",\"object_name\":\"openable_window_ulnafj_3\",\"semantic_pixels\":42838},{\"assigned_region\":\"kitchen_0\",\"instance_pixels\":36149,\"object_category\":\"dishwasher\",\"object_name\":\"dishwasher_dngvvi_0\",\"semantic_pixels\":36149},{\"assigned_region\":\"kitchen_0\",\"instance_pixels\":34091,\"object_category\":\"furniture_sink\",\"object_name\":\"furniture_sink_czyfhq_0\",\"semantic_pixels\":34091},{\"assigned_region\":\"kitchen_0\",\"instance_pixels\":31912,\"object_category\":\"bottom_cabinet_no_top\",\"object_name\":\"bottom_cabinet_no_top_spojpj_0\",\"semantic_pixels\":31912}]},\"room_instance\":\"kitchen_0\",\"success\":true,\"views\":[{\"_key\":\"view_00\",\"camera_pose\":{\"position\":[0.1925,6.825000000000005,1.35],\"quaternion_xyzw\":[0.529427540835669,-0.3224974912638436,-0.40820415437480356,0.6701277605683671],\"target\":[1.5,7.5,1.0]},\"corner_xy\":[0.1925,6.825000000000005],\"image_path\":\"view_00.png\",\"view_role\":\"view_00\"},{\"_key\":\"view_01\",\"camera_pose\":{\"position\":[0.1925,8.399999999999993,1.35],\"quaternion_xyzw\":[-0.2914474084059819,0.5544323888762616,0.6900022049313392,-0.3627121330866792],\"target\":[1.5,7.5,1.0]},\"corner_xy\":[0.1925,8.399999999999993],\"image_path\":\"view_01.png\",\"view_role\":\"view_01\"},{\"_key\":\"view_02\",\"camera_pose\":{\"position\":[2.8600000000000008,6.825000000000005,1.35],\"quaternion_xyzw\":[0.5291694813581223,0.3281227207046984,0.41236745502415467,0.6650324970957616],\"target\":[1.5,7.5,1.0]},\"corner_xy\":[2.8600000000000008,6.825000000000005],\"image_path\":\"view_02.png\",\"view_role\":\"view_02\"},{\"_key\":\"view_03\",\"camera_pose\":{\"position\":[2.8600000000000008,8.399999999999993,1.35],\"quaternion_xyzw\":[0.29753078789557846,0.5536759205938543,0.6851105205576463,0.36816026378469346],\"target\":[1.5,7.5,1.0]},\"corner_xy\":[2.8600000000000008,8.399999999999993],\"image_path\":\"view_03.png\",\"view_role\":\"view_03\"}]}],\"topdown_map\":\"objects_same_region__dishwasher__bottom_cabinet_no_top.png\"},\"required_objects\":[\"dishwasher_dngvvi_0\",\"bottom_cabinet_no_top_spojpj_0\"],\"required_regions\":[\"kitchen_0\"],\"room_views\":[{\"_key\":\"kitchen_0\",\"center_xy\":[1.5,7.5],\"corner_render_xy\":[[0.1925,6.825000000000005],[0.1925,8.399999999999993],[2.8600000000000008,6.825000000000005],[2.8600000000000008,8.399999999999993]],\"gt_open_view\":{\"camera_pose\":{\"position\":[1.5,7.700000286102295,1.35],\"quaternion_xyzw\":[0.6532814824381884,-0.2705980500730984,-0.2705980500730984,0.6532814824381883],\"target\":[2.2071067811865475,8.407107067288843,1.35]},\"image_path\":\"kitchen_0__open_view.png\",\"visible_objects\":[{\"assigned_region\":\"kitchen_0\",\"instance_pixels\":89469,\"object_category\":\"microwave\",\"object_name\":\"microwave_bfbeeb_0\",\"semantic_pixels\":89469},{\"assigned_region\":\"kitchen_0\",\"instance_pixels\":43718,\"object_category\":\"oven\",\"object_name\":\"oven_wuinhm_0\",\"semantic_pixels\":43718},{\"assigned_region\":\"kitchen_0\",\"instance_pixels\":42838,\"object_category\":\"openable_window\",\"object_name\":\"openable_window_ulnafj_3\",\"semantic_pixels\":42838},{\"assigned_region\":\"kitchen_0\",\"instance_pixels\":36149,\"object_category\":\"dishwasher\",\"object_name\":\"dishwasher_dngvvi_0\",\"semantic_pixels\":36149},{\"assigned_region\":\"kitchen_0\",\"instance_pixels\":34091,\"object_category\":\"furniture_sink\",\"object_name\":\"furniture_sink_czyfhq_0\",\"semantic_pixels\":34091},{\"assigned_region\":\"kitchen_0\",\"instance_pixels\":31912,\"object_category\":\"bottom_cabinet_no_top\",\"object_name\":\"bottom_cabinet_no_top_spojpj_0\",\"semantic_pixels\":31912}]},\"room_instance\":\"kitchen_0\",\"success\":true,\"views\":[{\"_key\":\"view_00\",\"camera_pose\":{\"position\":[0.1925,6.825000000000005,1.35],\"quaternion_xyzw\":[0.529427540835669,-0.3224974912638436,-0.40820415437480356,0.6701277605683671],\"target\":[1.5,7.5,1.0]},\"corner_xy\":[0.1925,6.825000000000005],\"image_path\":\"view_00.png\",\"view_role\":\"view_00\"},{\"_key\":\"view_01\",\"camera_pose\":{\"position\":[0.1925,8.399999999999993,1.35],\"quaternion_xyzw\":[-0.2914474084059819,0.5544323888762616,0.6900022049313392,-0.3627121330866792],\"target\":[1.5,7.5,1.0]},\"corner_xy\":[0.1925,8.399999999999993],\"image_path\":\"view_01.png\",\"view_role\":\"view_01\"},{\"_key\":\"view_02\",\"camera_pose\":{\"position\":[2.8600000000000008,6.825000000000005,1.35],\"quaternion_xyzw\":[0.5291694813581223,0.3281227207046984,0.41236745502415467,0.6650324970957616],\"target\":[1.5,7.5,1.0]},\"corner_xy\":[2.8600000000000008,6.825000000000005],\"image_path\":\"view_02.png\",\"view_role\":\"view_02\"},{\"_key\":\"view_03\",\"camera_pose\":{\"position\":[2.8600000000000008,8.399999999999993,1.35],\"quaternion_xyzw\":[0.29753078789557846,0.5536759205938543,0.6851105205576463,0.36816026378469346],\"target\":[1.5,7.5,1.0]},\"corner_xy\":[2.8600000000000008,8.399999999999993],\"image_path\":\"view_03.png\",\"view_role\":\"view_03\"}]}],\"source_view\":{\"camera_pose\":{\"position\":[1.5,7.700000286102295,1.35],\"quaternion_xyzw\":[0.6532814824381884,-0.2705980500730984,-0.2705980500730984,0.6532814824381883],\"yaw_rad\":0.7853981633974483},\"render_xy\":[1.5,7.700000286102295],\"room_instance\":\"kitchen_0\",\"score\":[6,278177,278177],\"selection_debug\":{\"center_distance_px\":2.0,\"clearance_px\":7.0,\"room_instance\":\"kitchen_0\",\"selected_by\":\"clearance_and_center\",\"selected_map_rc\":[170,108]},\"view_id\":\"kitchen_0__semantic_01\",\"visible_objects\":[{\"assigned_region\":\"kitchen_0\",\"instance_pixels\":89469,\"object_category\":\"microwave\",\"object_name\":\"microwave_bfbeeb_0\",\"semantic_pixels\":89469},{\"assigned_region\":\"kitchen_0\",\"instance_pixels\":43718,\"object_category\":\"oven\",\"object_name\":\"oven_wuinhm_0\",\"semantic_pixels\":43718},{\"assigned_region\":\"kitchen_0\",\"instance_pixels\":42838,\"object_category\":\"openable_window\",\"object_name\":\"openable_window_ulnafj_3\",\"semantic_pixels\":42838},{\"assigned_region\":\"kitchen_0\",\"instance_pixels\":36149,\"object_category\":\"dishwasher\",\"object_name\":\"dishwasher_dngvvi_0\",\"semantic_pixels\":36149},{\"assigned_region\":\"kitchen_0\",\"instance_pixels\":34091,\"object_category\":\"furniture_sink\",\"object_name\":\"furniture_sink_czyfhq_0\",\"semantic_pixels\":34091},{\"assigned_region\":\"kitchen_0\",\"instance_pixels\":31912,\"object_category\":\"bottom_cabinet_no_top\",\"object_name\":\"bottom_cabinet_no_top_spojpj_0\",\"semantic_pixels\":31912}],\"yaw_index\":1},\"task_type\":\"objects_same_region\",\"verification\":{\"object_a_region\":\"kitchen_0\",\"object_b_region\":\"kitchen_0\"},\"visualization\":{\"map_path\":\"objects_same_region__dishwasher__bottom_cabinet_no_top.png\"}},\"question_id\":\"Regional Boundry/q_024\",\"question_index\":24,\"seed\":1,\"task_family\":\"Regional Boundry\",\"task_type\":\"objects_same_region\",\"trav_map_basename\":\"floor_trav_no_door\"}","options_json":"[\"Yes\",\"No\"]","question":"Are dishwasher and bottom_cabinet_no_top in the same region?","room":"full_scene","runner_task":"cognitivemap","scene":"Benevolence_1_int","small_task":"Regional Boundary"},"observations":[],"question":{"answer_type":"choice","options":[],"original":"Are dishwasher and bottom_cabinet_no_top in the same region?","text":"Are dishwasher and bottom_cabinet_no_top in the same region?"},"reference_media":["kitchen_0__semantic_01.png","view_00.png","view_01.png","view_02.png","view_03.png","kitchen_0__open_view.png","dishwasher__closeup.png","bottom_cabinet_no_top__closeup.png","objects_same_region__dishwasher__bottom_cabinet_no_top.png"],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":45,"stratum_pool":80},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Cognitive Mapping/Regional Boundary/Benevolence_1_int/full_scene/q_024.json","annotation_sha256":"48c4dca531d99485687d3f773945a1810e5f10db60e656684868f007a29b1133","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"97ca689bd0f6911b64d559ce8875a3d600dd549a03e63ffaf5a46e405bd922b4","sample_id":"0206","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"Yes","metric":"official_esi_task","original_answer":"Yes"},"task":{"category":"Cognitive Mapping","role":"spatial_core","skill_tags":["Cognitive Mapping","Regional Boundary"],"stratum":"ESI-Bench/Cognitive Mapping/Regional Boundary","subcategory":"Regional Boundary"},"transforms":[]}
{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Cognitive Mapping","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"bathroom_0","id":"6605f52547c24957","metadata":"vendor/ESI-Bench/dataset/json_clean/Cognitive Mapping/Regional Boundary/Wainscott_0_garden/full_scene/q_046.json","metadata_sha256":"95d95e02d84abe9a278bebfa0eeec94f0b22e6e54b193f8df096febf8839b190","observation_policy":"runtime camera observations; no oracle poses","question":"Which room is pedestal_sink closest to among these options: bedroom_0, storage_room_2, garden_0, bathroom_0?","room":"full_scene","scene":"Wainscott_0_garden","subcategory":"Regional Boundary","task":"cognitive_mapping.regional_boundary"},"group":{"id":"ESI-scene/Wainscott_0_garden","kind":"scene","room":"full_scene","scene":"Wainscott_0_garden"},"id":"f40f89173b92d1d7b12b","native_annotation":{"answer":"bathroom_0","answer_type":"choice","big_task":"Cognitive Mapping","gt_camera_poses":[{"baseline_selected":true,"camera_pose":{"position":[2.6500000953674316,0.8500000238418579,1.35],"quaternion_xyzw":[0.6532814824381882,-0.2705980500730985,-0.2705980500730985,0.6532814824381883]},"camera_pose_rule":null,"fov_deg":100.0,"group":"region_views","metadata_pointer":"/question_data/gt_region_views/0","original_image_path":"bathroom_0__open_view.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"region_views/bathroom_0__open_view.png"},{"baseline_selected":true,"camera_pose":{"position":[8.65000057220459,-6.349999904632568,1.35],"quaternion_xyzw":[0.6532814824381882,0.2705980500730985,0.2705980500730985,0.6532814824381883]},"camera_pose_rule":null,"fov_deg":100.0,"group":"region_views","metadata_pointer":"/question_data/gt_region_views/1","original_image_path":"garden_0__open_view.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"region_views/garden_0__open_view.png"},{"baseline_selected":true,"camera_pose":{"position":[2.304888391494751,1.5355786323547362,1.0916272737041208],"quaternion_xyzw":[0.1464466094067262,0.35355339059327373,0.8535533905932737,0.35355339059327373]},"camera_pose_rule":null,"fov_deg":100.0,"group":"object_views/pedestal_sink_ksecxq_0","metadata_pointer":"/question_data/object_views/0/views/0","original_image_path":"pedestal_sink__closeup.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"object_views/pedestal_sink_ksecxq_0/pedestal_sink__closeup.png"}],"id":"0227","image_paths_json":"[\"bathroom_0__semantic_03.png\",\"view_00.png\",\"view_01.png\",\"view_02.png\",\"view_03.png\",\"garden_0__open_view.png\",\"bathroom_0__open_view.png\",\"pedestal_sink__closeup.png\",\"object_closer_region__pedestal_sink__garden_0__bathroom_0.png\"]","metadata_json":"{\"image_paths\":[\"bathroom_0__semantic_03.png\",\"view_00.png\",\"view_01.png\",\"view_02.png\",\"view_03.png\",\"garden_0__open_view.png\",\"view_00.png\",\"view_01.png\",\"view_02.png\",\"view_03.png\",\"bathroom_0__open_view.png\",\"pedestal_sink__closeup.png\",\"garden_0__open_view.png\",\"bathroom_0__open_view.png\",\"bathroom_0__semantic_03.png\",\"object_closer_region__pedestal_sink__garden_0__bathroom_0.png\",\"bathroom_0__semantic_03.png\",\"view_00.png\",\"view_01.png\",\"view_02.png\",\"view_03.png\",\"garden_0__open_view.png\",\"view_00.png\",\"view_01.png\",\"view_02.png\",\"view_03.png\",\"bathroom_0__open_view.png\",\"pedestal_sink__closeup.png\",\"garden_0__open_view.png\",\"bathroom_0__open_view.png\"],\"question_data\":{\"answer\":\"bathroom_0\",\"answer_region\":\"bathroom_0\",\"case_id\":\"object_closer_region__pedestal_sink__garden_0__bathroom_0\",\"case_type\":\"object_closer_region\",\"gt_region_views\":[{\"_key\":\"bathroom_0\",\"camera_pose\":{\"position\":[2.6500000953674316,0.8500000238418579,1.35],\"quaternion_xyzw\":[0.6532814824381882,-0.2705980500730985,-0.2705980500730985,0.6532814824381883],\"target\":[3.357106876553979,1.5571068050284054,1.35]},\"image_path\":\"bathroom_0__open_view.png\",\"visible_objects\":[{\"assigned_region\":\"living_room_2\",\"instance_pixels\":17138,\"object_category\":\"bottom_cabinet\",\"object_name\":\"bottom_cabinet_jhymlr_0\",\"semantic_pixels\":17138},{\"assigned_region\":\"corridor_0\",\"instance_pixels\":3626,\"object_category\":\"towel_rack\",\"object_name\":\"towel_rack_kqrmrh_1\",\"semantic_pixels\":3626},{\"assigned_region\":\"corridor_0\",\"instance_pixels\":3568,\"object_category\":\"electric_switch\",\"object_name\":\"electric_switch_wseglt_7\",\"semantic_pixels\":3568},{\"assigned_region\":\"garden_0\",\"instance_pixels\":2516,\"object_category\":\"straight_chair\",\"object_name\":\"straight_chair_amgwaw_0\",\"semantic_pixels\":2516},{\"assigned_region\":\"garden_0\",\"instance_pixels\":1068,\"object_category\":\"console_table\",\"object_name\":\"console_table_emeeke_0\",\"semantic_pixels\":1068},{\"assigned_region\":\"garden_0\",\"instance_pixels\":193,\"object_category\":\"table_lamp\",\"object_name\":\"table_lamp_xbfgjc_0\",\"semantic_pixels\":193},{\"assigned_region\":\"garden_0\",\"instance_pixels\":125,\"object_category\":\"low_resolution_tree\",\"object_name\":\"low_resolution_tree_djpxqx_3\",\"semantic_pixels\":125}]},{\"_key\":\"garden_0\",\"camera_pose\":{\"position\":[8.65000057220459,-6.349999904632568,1.35],\"quaternion_xyzw\":[0.6532814824381882,0.2705980500730985,0.2705980500730985,0.6532814824381883],\"target\":[7.942893791018042,-5.6428931234460205,1.35]},\"image_path\":\"garden_0__open_view.png\",\"visible_objects\":[{\"assigned_region\":\"garden_0\",\"instance_pixels\":19742,\"object_category\":\"low_resolution_tree\",\"object_name\":\"low_resolution_tree_djpxqx_1\",\"semantic_pixels\":19742},{\"assigned_region\":\"garden_0\",\"instance_pixels\":1804,\"object_category\":\"pedestal_table\",\"object_name\":\"pedestal_table_djflkd_0\",\"semantic_pixels\":1804},{\"assigned_region\":\"garden_0\",\"instance_pixels\":815,\"object_category\":\"boulder\",\"object_name\":\"boulder_kmzdov_0\",\"semantic_pixels\":815},{\"assigned_region\":\"living_room_2\",\"instance_pixels\":744,\"object_category\":\"bottom_cabinet\",\"object_name\":\"bottom_cabinet_jhymlr_0\",\"semantic_pixels\":744},{\"assigned_region\":\"bathroom_1\",\"instance_pixels\":293,\"object_category\":\"shower_stall\",\"object_name\":\"shower_stall_invgma_0\",\"semantic_pixels\":293},{\"assigned_region\":\"corridor_0\",\"instance_pixels\":214,\"object_category\":\"console_table\",\"object_name\":\"console_table_emeeke_1\",\"semantic_pixels\":214}]}],\"object_instance_name\":\"pedestal_sink_ksecxq_0\",\"object_name\":\"pedestal_sink\",\"object_views\":[{\"_key\":\"pedestal_sink_ksecxq_0\",\"object_category\":\"pedestal_sink\",\"object_name\":\"pedestal_sink_ksecxq_0\",\"success\":true,\"views\":[{\"_key\":\"view_00\",\"camera_pose\":{\"position\":[2.304888391494751,1.5355786323547362,1.0916272737041208],\"quaternion_xyzw\":[0.1464466094067262,0.35355339059327373,0.8535533905932737,0.35355339059327373],\"target\":[1.904888391494751,1.1355786323547363,0.5259418487548828]},\"distance_m\":0.8,\"downward_angle_deg\":45.0,\"image_path\":\"pedestal_sink__closeup.png\"}]}],\"options\":[\"bedroom_0\",\"storage_room_2\",\"garden_0\",\"bathroom_0\"],\"overview_view\":{\"camera_pose\":{\"position\":[2.6500000953674316,0.8500000238418579,1.35],\"quaternion_xyzw\":[0.6532814824381882,0.2705980500730985,0.2705980500730985,0.6532814824381883],\"target\":[1.9428933141808842,1.5571068050284054,1.35]},\"image_path\":\"bathroom_0__semantic_03.png\",\"visible_objects\":[{\"assigned_region\":\"bathroom_0\",\"instance_pixels\":41643,\"object_category\":\"pedestal_sink\",\"object_name\":\"pedestal_sink_ksecxq_0\",\"semantic_pixels\":41643},{\"assigned_region\":\"corridor_0\",\"instance_pixels\":3988,\"object_category\":\"towel_rack\",\"object_name\":\"towel_rack_kqrmrh_1\",\"semantic_pixels\":3988}]},\"question\":\"Which room is pedestal_sink closest to among these options: bedroom_0, storage_room_2, garden_0, bathroom_0?\",\"render\":{\"gt_region_views\":[{\"_key\":\"bathroom_0\",\"camera_pose\":{\"position\":[2.6500000953674316,0.8500000238418579,1.35],\"quaternion_xyzw\":[0.6532814824381882,-0.2705980500730985,-0.2705980500730985,0.6532814824381883],\"target\":[3.357106876553979,1.5571068050284054,1.35]},\"image_path\":\"bathroom_0__open_view.png\",\"visible_objects\":[{\"assigned_region\":\"living_room_2\",\"instance_pixels\":17138,\"object_category\":\"bottom_cabinet\",\"object_name\":\"bottom_cabinet_jhymlr_0\",\"semantic_pixels\":17138},{\"assigned_region\":\"corridor_0\",\"instance_pixels\":3626,\"object_category\":\"towel_rack\",\"object_name\":\"towel_rack_kqrmrh_1\",\"semantic_pixels\":3626},{\"assigned_region\":\"corridor_0\",\"instance_pixels\":3568,\"object_category\":\"electric_switch\",\"object_name\":\"electric_switch_wseglt_7\",\"semantic_pixels\":3568},{\"assigned_region\":\"garden_0\",\"instance_pixels\":2516,\"object_category\":\"straight_chair\",\"object_name\":\"straight_chair_amgwaw_0\",\"semantic_pixels\":2516},{\"assigned_region\":\"garden_0\",\"instance_pixels\":1068,\"object_category\":\"console_table\",\"object_name\":\"console_table_emeeke_0\",\"semantic_pixels\":1068},{\"assigned_region\":\"garden_0\",\"instance_pixels\":193,\"object_category\":\"table_lamp\",\"object_name\":\"table_lamp_xbfgjc_0\",\"semantic_pixels\":193},{\"assigned_region\":\"garden_0\",\"instance_pixels\":125,\"object_category\":\"low_resolution_tree\",\"object_name\":\"low_resolution_tree_djpxqx_3\",\"semantic_pixels\":125}]},{\"_key\":\"garden_0\",\"camera_pose\":{\"position\":[8.65000057220459,-6.349999904632568,1.35],\"quaternion_xyzw\":[0.6532814824381882,0.2705980500730985,0.2705980500730985,0.6532814824381883],\"target\":[7.942893791018042,-5.6428931234460205,1.35]},\"image_path\":\"garden_0__open_view.png\",\"visible_objects\":[{\"assigned_region\":\"garden_0\",\"instance_pixels\":19742,\"object_category\":\"low_resolution_tree\",\"object_name\":\"low_resolution_tree_djpxqx_1\",\"semantic_pixels\":19742},{\"assigned_region\":\"garden_0\",\"instance_pixels\":1804,\"object_category\":\"pedestal_table\",\"object_name\":\"pedestal_table_djflkd_0\",\"semantic_pixels\":1804},{\"assigned_region\":\"garden_0\",\"instance_pixels\":815,\"object_category\":\"boulder\",\"object_name\":\"boulder_kmzdov_0\",\"semantic_pixels\":815},{\"assigned_region\":\"living_room_2\",\"instance_pixels\":744,\"object_category\":\"bottom_cabinet\",\"object_name\":\"bottom_cabinet_jhymlr_0\",\"semantic_pixels\":744},{\"assigned_region\":\"bathroom_1\",\"instance_pixels\":293,\"object_category\":\"shower_stall\",\"object_name\":\"shower_stall_invgma_0\",\"semantic_pixels\":293},{\"assigned_region\":\"corridor_0\",\"instance_pixels\":214,\"object_category\":\"console_table\",\"object_name\":\"console_table_emeeke_1\",\"semantic_pixels\":214}]}],\"image\":\"bathroom_0__semantic_03.png\",\"kind\":\"semantic_overview_reference\",\"object_views\":[{\"_key\":\"pedestal_sink_ksecxq_0\",\"object_category\":\"pedestal_sink\",\"object_name\":\"pedestal_sink_ksecxq_0\",\"success\":true,\"views\":[{\"_key\":\"view_00\",\"camera_pose\":{\"position\":[2.304888391494751,1.5355786323547362,1.0916272737041208],\"quaternion_xyzw\":[0.1464466094067262,0.35355339059327373,0.8535533905932737,0.35355339059327373],\"target\":[1.904888391494751,1.1355786323547363,0.5259418487548828]},\"distance_m\":0.8,\"downward_angle_deg\":45.0,\"image_path\":\"pedestal_sink__closeup.png\"}]}],\"overview_view\":{\"camera_pose\":{\"position\":[2.6500000953674316,0.8500000238418579,1.35],\"quaternion_xyzw\":[0.6532814824381882,0.2705980500730985,0.2705980500730985,0.6532814824381883],\"target\":[1.9428933141808842,1.5571068050284054,1.35]},\"image_path\":\"bathroom_0__semantic_03.png\",\"visible_objects\":[{\"assigned_region\":\"bathroom_0\",\"instance_pixels\":41643,\"object_category\":\"pedestal_sink\",\"object_name\":\"pedestal_sink_ksecxq_0\",\"semantic_pixels\":41643},{\"assigned_region\":\"corridor_0\",\"instance_pixels\":3988,\"object_category\":\"towel_rack\",\"object_name\":\"towel_rack_kqrmrh_1\",\"semantic_pixels\":3988}]},\"room_views\":[{\"_key\":\"bathroom_0\",\"center_xy\":[2.5,0.5],\"corner_render_xy\":[[2.0499999999999994,0.16249999999999995],[2.0499999999999994,1.1750000000000012],[2.725,0.16249999999999995],[2.725,1.1750000000000012]],\"gt_open_view\":{\"camera_pose\":{\"position\":[2.6500000953674316,0.8500000238418579,1.35],\"quaternion_xyzw\":[0.6532814824381882,-0.2705980500730985,-0.2705980500730985,0.6532814824381883],\"target\":[3.357106876553979,1.5571068050284054,1.35]},\"image_path\":\"bathroom_0__open_view.png\",\"visible_objects\":[{\"assigned_region\":\"living_room_2\",\"instance_pixels\":17138,\"object_category\":\"bottom_cabinet\",\"object_name\":\"bottom_cabinet_jhymlr_0\",\"semantic_pixels\":17138},{\"assigned_region\":\"corridor_0\",\"instance_pixels\":3626,\"object_category\":\"towel_rack\",\"object_name\":\"towel_rack_kqrmrh_1\",\"semantic_pixels\":3626},{\"assigned_region\":\"corridor_0\",\"instance_pixels\":3568,\"object_category\":\"electric_switch\",\"object_name\":\"electric_switch_wseglt_7\",\"semantic_pixels\":3568},{\"assigned_region\":\"garden_0\",\"instance_pixels\":2516,\"object_category\":\"straight_chair\",\"object_name\":\"straight_chair_amgwaw_0\",\"semantic_pixels\":2516},{\"assigned_region\":\"garden_0\",\"instance_pixels\":1068,\"object_category\":\"console_table\",\"object_name\":\"console_table_emeeke_0\",\"semantic_pixels\":1068},{\"assigned_region\":\"garden_0\",\"instance_pixels\":193,\"object_category\":\"table_lamp\",\"object_name\":\"table_lamp_xbfgjc_0\",\"semantic_pixels\":193},{\"assigned_region\":\"garden_0\",\"instance_pixels\":125,\"object_category\":\"low_resolution_tree\",\"object_name\":\"low_resolution_tree_djpxqx_3\",\"semantic_pixels\":125}]},\"room_instance\":\"bathroom_0\",\"success\":true,\"views\":[{\"_key\":\"view_00\",\"camera_pose\":{\"position\":[2.0499999999999994,0.16249999999999995,1.35],\"quaternion_xyzw\":[0.4343722427630694,-0.2171861213815349,-0.39093501848676265,0.7818700369735246],\"target\":[2.5,0.5,1.0]},\"corner_xy\":[2.0499999999999994,0.16249999999999995],\"image_path\":\"view_00.png\",\"view_role\":\"view_00\"},{\"_key\":\"view_01\",\"camera_pose\":{\"position\":[2.0499999999999994,1.1750000000000012,1.35],\"quaternion_xyzw\":[-0.15923127627910608,0.5259051800596042,0.7996554812889093,-0.24211619831313458],\"target\":[2.5,0.5,1.0]},\"corner_xy\":[2.0499999999999994,1.1750000000000012],\"image_path\":\"view_01.png\",\"view_role\":\"view_01\"},{\"_key\":\"view_02\",\"camera_pose\":{\"position\":[2.725,0.16249999999999995,1.35],\"quaternion_xyzw\":[0.39849630016236554,0.1206549714155006,0.2634714988453266,0.8701872476230778],\"target\":[2.5,0.5,1.0]},\"corner_xy\":[2.725,0.16249999999999995],\"image_path\":\"view_02.png\",\"view_role\":\"view_02\"},{\"_key\":\"view_03\",\"camera_pose\":{\"position\":[2.725,1.1750000000000012,1.35],\"quaternion_xyzw\":[0.08465471186520303,0.5216658397549322,0.8379775657247861,0.13598503863941247],\"target\":[2.5,0.5,1.0]},\"corner_xy\":[2.725,1.1750000000000012],\"image_path\":\"view_03.png\",\"view_role\":\"view_03\"}]},{\"_key\":\"garden_0\",\"center_xy\":[1.0,-6.5],\"corner_render_xy\":[[-11.6,-28.6],[-11.6,15.6],[13.6,-28.6],[13.6,15.6]],\"gt_open_view\":{\"camera_pose\":{\"position\":[8.65000057220459,-6.349999904632568,1.35],\"quaternion_xyzw\":[0.6532814824381882,0.2705980500730985,0.2705980500730985,0.6532814824381883],\"target\":[7.942893791018042,-5.6428931234460205,1.35]},\"image_path\":\"garden_0__open_view.png\",\"visible_objects\":[{\"assigned_region\":\"garden_0\",\"instance_pixels\":19742,\"object_category\":\"low_resolution_tree\",\"object_name\":\"low_resolution_tree_djpxqx_1\",\"semantic_pixels\":19742},{\"assigned_region\":\"garden_0\",\"instance_pixels\":1804,\"object_category\":\"pedestal_table\",\"object_name\":\"pedestal_table_djflkd_0\",\"semantic_pixels\":1804},{\"assigned_region\":\"garden_0\",\"instance_pixels\":815,\"object_category\":\"boulder\",\"object_name\":\"boulder_kmzdov_0\",\"semantic_pixels\":815},{\"assigned_region\":\"living_room_2\",\"instance_pixels\":744,\"object_category\":\"bottom_cabinet\",\"object_name\":\"bottom_cabinet_jhymlr_0\",\"semantic_pixels\":744},{\"assigned_region\":\"bathroom_1\",\"instance_pixels\":293,\"object_category\":\"shower_stall\",\"object_name\":\"shower_stall_invgma_0\",\"semantic_pixels\":293},{\"assigned_region\":\"corridor_0\",\"instance_pixels\":214,\"object_category\":\"console_table\",\"object_name\":\"console_table_emeeke_1\",\"semantic_pixels\":214}]},\"room_instance\":\"garden_0\",\"success\":true,\"views\":[{\"_key\":\"view_00\",\"camera_pose\":{\"position\":[-11.6,-28.6,1.35],\"quaternion_xyzw\":[0.6787891451332749,-0.17990800751654562,-0.1824002283178112,0.6881922420299976],\"target\":[1.0,-6.5,1.0]},\"corner_xy\":[-11.6,-28.6],\"image_path\":\"view_00.png\",\"view_role\":\"view_00\"},{\"_key\":\"view_01\",\"camera_pose\":{\"position\":[-11.6,15.6,1.35],\"quaternion_xyzw\":[-0.17990800751654562,0.6787891451332749,0.6881922420299976,-0.1824002283178112],\"target\":[1.0,-6.5,1.0]},\"corner_xy\":[-11.6,15.6],\"image_path\":\"view_01.png\",\"view_role\":\"view_01\"},{\"_key\":\"view_02\",\"camera_pose\":{\"position\":[13.6,-28.6,1.35],\"quaternion_xyzw\":[0.6787891451332749,0.17990800751654562,0.1824002283178112,0.6881922420299976],\"target\":[1.0,-6.5,1.0]},\"corner_xy\":[13.6,-28.6],\"image_path\":\"view_02.png\",\"view_role\":\"view_02\"},{\"_key\":\"view_03\",\"camera_pose\":{\"position\":[13.6,15.6,1.35],\"quaternion_xyzw\":[0.17990800751654562,0.6787891451332749,0.6881922420299976,0.1824002283178112],\"target\":[1.0,-6.5,1.0]},\"corner_xy\":[13.6,15.6],\"image_path\":\"view_03.png\",\"view_role\":\"view_03\"}]}],\"topdown_map\":\"object_closer_region__pedestal_sink__garden_0__bathroom_0.png\"},\"required_objects\":[\"pedestal_sink_ksecxq_0\"],\"required_regions\":[\"garden_0\",\"bathroom_0\"],\"room_views\":[{\"_key\":\"bathroom_0\",\"center_xy\":[2.5,0.5],\"corner_render_xy\":[[2.0499999999999994,0.16249999999999995],[2.0499999999999994,1.1750000000000012],[2.725,0.16249999999999995],[2.725,1.1750000000000012]],\"gt_open_view\":{\"camera_pose\":{\"position\":[2.6500000953674316,0.8500000238418579,1.35],\"quaternion_xyzw\":[0.6532814824381882,-0.2705980500730985,-0.2705980500730985,0.6532814824381883],\"target\":[3.357106876553979,1.5571068050284054,1.35]},\"image_path\":\"bathroom_0__open_view.png\",\"visible_objects\":[{\"assigned_region\":\"living_room_2\",\"instance_pixels\":17138,\"object_category\":\"bottom_cabinet\",\"object_name\":\"bottom_cabinet_jhymlr_0\",\"semantic_pixels\":17138},{\"assigned_region\":\"corridor_0\",\"instance_pixels\":3626,\"object_category\":\"towel_rack\",\"object_name\":\"towel_rack_kqrmrh_1\",\"semantic_pixels\":3626},{\"assigned_region\":\"corridor_0\",\"instance_pixels\":3568,\"object_category\":\"electric_switch\",\"object_name\":\"electric_switch_wseglt_7\",\"semantic_pixels\":3568},{\"assigned_region\":\"garden_0\",\"instance_pixels\":2516,\"object_category\":\"straight_chair\",\"object_name\":\"straight_chair_amgwaw_0\",\"semantic_pixels\":2516},{\"assigned_region\":\"garden_0\",\"instance_pixels\":1068,\"object_category\":\"console_table\",\"object_name\":\"console_table_emeeke_0\",\"semantic_pixels\":1068},{\"assigned_region\":\"garden_0\",\"instance_pixels\":193,\"object_category\":\"table_lamp\",\"object_name\":\"table_lamp_xbfgjc_0\",\"semantic_pixels\":193},{\"assigned_region\":\"garden_0\",\"instance_pixels\":125,\"object_category\":\"low_resolution_tree\",\"object_name\":\"low_resolution_tree_djpxqx_3\",\"semantic_pixels\":125}]},\"room_instance\":\"bathroom_0\",\"success\":true,\"views\":[{\"_key\":\"view_00\",\"camera_pose\":{\"position\":[2.0499999999999994,0.16249999999999995,1.35],\"quaternion_xyzw\":[0.4343722427630694,-0.2171861213815349,-0.39093501848676265,0.7818700369735246],\"target\":[2.5,0.5,1.0]},\"corner_xy\":[2.0499999999999994,0.16249999999999995],\"image_path\":\"view_00.png\",\"view_role\":\"view_00\"},{\"_key\":\"view_01\",\"camera_pose\":{\"position\":[2.0499999999999994,1.1750000000000012,1.35],\"quaternion_xyzw\":[-0.15923127627910608,0.5259051800596042,0.7996554812889093,-0.24211619831313458],\"target\":[2.5,0.5,1.0]},\"corner_xy\":[2.0499999999999994,1.1750000000000012],\"image_path\":\"view_01.png\",\"view_role\":\"view_01\"},{\"_key\":\"view_02\",\"camera_pose\":{\"position\":[2.725,0.16249999999999995,1.35],\"quaternion_xyzw\":[0.39849630016236554,0.1206549714155006,0.2634714988453266,0.8701872476230778],\"target\":[2.5,0.5,1.0]},\"corner_xy\":[2.725,0.16249999999999995],\"image_path\":\"view_02.png\",\"view_role\":\"view_02\"},{\"_key\":\"view_03\",\"camera_pose\":{\"position\":[2.725,1.1750000000000012,1.35],\"quaternion_xyzw\":[0.08465471186520303,0.5216658397549322,0.8379775657247861,0.13598503863941247],\"target\":[2.5,0.5,1.0]},\"corner_xy\":[2.725,1.1750000000000012],\"image_path\":\"view_03.png\",\"view_role\":\"view_03\"}]},{\"_key\":\"garden_0\",\"center_xy\":[1.0,-6.5],\"corner_render_xy\":[[-11.6,-28.6],[-11.6,15.6],[13.6,-28.6],[13.6,15.6]],\"gt_open_view\":{\"camera_pose\":{\"position\":[8.65000057220459,-6.349999904632568,1.35],\"quaternion_xyzw\":[0.6532814824381882,0.2705980500730985,0.2705980500730985,0.6532814824381883],\"target\":[7.942893791018042,-5.6428931234460205,1.35]},\"image_path\":\"garden_0__open_view.png\",\"visible_objects\":[{\"assigned_region\":\"garden_0\",\"instance_pixels\":19742,\"object_category\":\"low_resolution_tree\",\"object_name\":\"low_resolution_tree_djpxqx_1\",\"semantic_pixels\":19742},{\"assigned_region\":\"garden_0\",\"instance_pixels\":1804,\"object_category\":\"pedestal_table\",\"object_name\":\"pedestal_table_djflkd_0\",\"semantic_pixels\":1804},{\"assigned_region\":\"garden_0\",\"instance_pixels\":815,\"object_category\":\"boulder\",\"object_name\":\"boulder_kmzdov_0\",\"semantic_pixels\":815},{\"assigned_region\":\"living_room_2\",\"instance_pixels\":744,\"object_category\":\"bottom_cabinet\",\"object_name\":\"bottom_cabinet_jhymlr_0\",\"semantic_pixels\":744},{\"assigned_region\":\"bathroom_1\",\"instance_pixels\":293,\"object_category\":\"shower_stall\",\"object_name\":\"shower_stall_invgma_0\",\"semantic_pixels\":293},{\"assigned_region\":\"corridor_0\",\"instance_pixels\":214,\"object_category\":\"console_table\",\"object_name\":\"console_table_emeeke_1\",\"semantic_pixels\":214}]},\"room_instance\":\"garden_0\",\"success\":true,\"views\":[{\"_key\":\"view_00\",\"camera_pose\":{\"position\":[-11.6,-28.6,1.35],\"quaternion_xyzw\":[0.6787891451332749,-0.17990800751654562,-0.1824002283178112,0.6881922420299976],\"target\":[1.0,-6.5,1.0]},\"corner_xy\":[-11.6,-28.6],\"image_path\":\"view_00.png\",\"view_role\":\"view_00\"},{\"_key\":\"view_01\",\"camera_pose\":{\"position\":[-11.6,15.6,1.35],\"quaternion_xyzw\":[-0.17990800751654562,0.6787891451332749,0.6881922420299976,-0.1824002283178112],\"target\":[1.0,-6.5,1.0]},\"corner_xy\":[-11.6,15.6],\"image_path\":\"view_01.png\",\"view_role\":\"view_01\"},{\"_key\":\"view_02\",\"camera_pose\":{\"position\":[13.6,-28.6,1.35],\"quaternion_xyzw\":[0.6787891451332749,0.17990800751654562,0.1824002283178112,0.6881922420299976],\"target\":[1.0,-6.5,1.0]},\"corner_xy\":[13.6,-28.6],\"image_path\":\"view_02.png\",\"view_role\":\"view_02\"},{\"_key\":\"view_03\",\"camera_pose\":{\"position\":[13.6,15.6,1.35],\"quaternion_xyzw\":[0.17990800751654562,0.6787891451332749,0.6881922420299976,0.1824002283178112],\"target\":[1.0,-6.5,1.0]},\"corner_xy\":[13.6,15.6],\"image_path\":\"view_03.png\",\"view_role\":\"view_03\"}]}],\"source_view\":{\"camera_pose\":{\"position\":[2.6500000953674316,0.8500000238418579,1.35],\"quaternion_xyzw\":[0.6532814824381882,0.2705980500730985,0.2705980500730985,0.6532814824381883],\"yaw_rad\":2.356194490192345},\"render_xy\":[2.6500000953674316,0.8500000238418579],\"room_instance\":\"bathroom_0\",\"score\":[2,45631,45631],\"selection_debug\":{\"center_distance_px\":4.4721360206604,\"clearance_px\":5.793799877166748,\"room_instance\":\"bathroom_0\",\"selected_by\":\"clearance_and_center\",\"selected_map_rc\":[333,351]},\"view_id\":\"bathroom_0__semantic_03\",\"visible_objects\":[{\"assigned_region\":\"bathroom_0\",\"instance_pixels\":41643,\"object_category\":\"pedestal_sink\",\"object_name\":\"pedestal_sink_ksecxq_0\",\"semantic_pixels\":41643},{\"assigned_region\":\"corridor_0\",\"instance_pixels\":3988,\"object_category\":\"towel_rack\",\"object_name\":\"towel_rack_kqrmrh_1\",\"semantic_pixels\":3988}],\"yaw_index\":3},\"task_type\":\"object_closer_region\",\"verification\":{\"distance_to_regions\":{\"bathroom_0\":{\"bbox_distance\":0.0,\"center_distance\":0.8706997326768982},\"garden_0\":{\"bbox_distance\":0.0,\"center_distance\":7.689010602927674}},\"instance_visible_pixels\":41643,\"metric\":\"distance from object XY center to expanded region bbox; center distance used as tiebreaker\",\"semantic_visible_pixels\":41643},\"visualization\":{\"map_path\":\"object_closer_region__pedestal_sink__garden_0__bathroom_0.png\"}},\"question_id\":\"Regional Boundry/q_046\",\"question_index\":46,\"seed\":1,\"task_family\":\"Regional Boundry\",\"task_type\":\"object_closer_region\",\"trav_map_basename\":\"floor_trav_no_door\"}","options_json":"[\"bedroom_0\",\"storage_room_2\",\"garden_0\",\"bathroom_0\"]","question":"Which room is pedestal_sink closest to among these options: bedroom_0, storage_room_2, garden_0, bathroom_0?","room":"full_scene","runner_task":"cognitivemap","scene":"Wainscott_0_garden","small_task":"Regional Boundary"},"observations":[],"question":{"answer_type":"choice","options":[],"original":"Which room is pedestal_sink closest to among these options: bedroom_0, storage_room_2, garden_0, bathroom_0?","text":"Which room is pedestal_sink closest to among these options: bedroom_0, storage_room_2, garden_0, bathroom_0?"},"reference_media":["bathroom_0__semantic_03.png","view_00.png","view_01.png","view_02.png","view_03.png","garden_0__open_view.png","bathroom_0__open_view.png","pedestal_sink__closeup.png","object_closer_region__pedestal_sink__garden_0__bathroom_0.png"],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":45,"stratum_pool":80},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Cognitive Mapping/Regional Boundary/Wainscott_0_garden/full_scene/q_046.json","annotation_sha256":"95d95e02d84abe9a278bebfa0eeec94f0b22e6e54b193f8df096febf8839b190","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"181543aae330052d09d86570e31804cbe0baa662fd6b6109e24fbcb4841a6e12","sample_id":"0227","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"bathroom_0","metric":"official_esi_task","original_answer":"bathroom_0"},"task":{"category":"Cognitive Mapping","role":"spatial_core","skill_tags":["Cognitive Mapping","Regional Boundary"],"stratum":"ESI-Bench/Cognitive Mapping/Regional Boundary","subcategory":"Regional Boundary"},"transforms":[]}
{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Cognitive Mapping","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"corridor 0","id":"fe21f0f436a42c7e","metadata":"vendor/ESI-Bench/dataset/json_clean/Cognitive Mapping/Traversable Passage/Beechwood_0_int/full_scene/q_002.json","metadata_sha256":"ce964f946376509079a6a7a3b230354b2456418da79e6b665e325ca757472b40","observation_policy":"runtime camera observations; no oracle poses","question":"On the shortest path from kitchen 0 to private office 0, which intermediate room do you pass through among these options: storage room 1 (near utility room 0), private office 0, storage room 0 (near kitchen 0), corridor 0?","room":"full_scene","scene":"Beechwood_0_int","subcategory":"Traversable Passage","task":"cognitive_mapping.traversable_passage"},"group":{"id":"ESI-scene/Beechwood_0_int","kind":"scene","room":"full_scene","scene":"Beechwood_0_int"},"id":"9514c53a5a8b8cfbd592","native_annotation":{"answer":"corridor 0","answer_type":"choice","big_task":"Cognitive Mapping","gt_camera_poses":[{"baseline_selected":true,"camera_pose":{"position":[-0.550000011920929,-6.950000286102295,1.35],"quaternion_xyzw":[0.5345941564590633,-0.22143593998213007,-0.31210975123375034,0.7535003089241965]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/0","original_image_path":"path_view_000.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_000.png"},{"baseline_selected":true,"camera_pose":{"position":[0.15710663573654504,-6.242893371386925,1.35],"quaternion_xyzw":[0.5345940296286087,-0.22143624617797605,-0.3121101828109791,0.7535001301590799]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/1","original_image_path":"path_view_001.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_001.png"},{"baseline_selected":true,"camera_pose":{"position":[0.9950577630791151,-5.777471121475069,1.35],"quaternion_xyzw":[0.4922209066951742,-0.30420941249101324,-0.4287773884546372,0.6937760182609906]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/2","original_image_path":"path_view_002.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_002.png"},{"baseline_selected":true,"camera_pose":{"position":[1.25,-4.8942700713814675,1.35],"quaternion_xyzw":[0.5786404649140492,-0.0,-0.0,0.8155827440327885]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/3","original_image_path":"path_view_003.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_003.png"},{"baseline_selected":true,"camera_pose":{"position":[1.7797118942481076,-4.090576306871216,1.35],"quaternion_xyzw":[0.5631612477427359,-0.1329443367608857,-0.18738251738956416,0.7937650814572299]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/4","original_image_path":"path_view_004.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_004.png"},{"baseline_selected":true,"camera_pose":{"position":[2.1631287937287964,-3.2368713016386352,1.35],"quaternion_xyzw":[0.5345940822169053,-0.2214361192186396,-0.31211000386420595,0.7535002042812852]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/5","original_image_path":"path_view_005.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_005.png"},{"baseline_selected":true,"camera_pose":{"position":[2.920695936568257,-2.75,1.35],"quaternion_xyzw":[0.4091605966096607,-0.4091605966096607,-0.576704088924317,0.576704088924317]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/6","original_image_path":"path_view_006.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_006.png"},{"baseline_selected":true,"camera_pose":{"position":[3.9026750506592696,-2.8263376163310348,1.35],"quaternion_xyzw":[-0.30420917778181644,0.4922210517534354,0.6937762227178542,-0.4287770576364825]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/7","original_image_path":"path_view_007.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_007.png"},{"baseline_selected":true,"camera_pose":{"position":[4.349999904632568,-3.049999952316284,1.35],"quaternion_xyzw":[-0.3042092951363955,0.4922209792243361,0.6937761204894665,-0.4287772230455326]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/8","original_image_path":"path_view_008.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_008.png"},{"baseline_selected":true,"camera_pose":{"position":[1.5500000715255737,-2.8500001430511475,1.35],"quaternion_xyzw":[0.7071067811865475,-0.0,0.0,0.7071067811865476]},"camera_pose_rule":null,"fov_deg":100.0,"group":"region_views","metadata_pointer":"/question_data/gt_region_views/0","original_image_path":"corridor_0__open_view.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"region_views/corridor_0__open_view.png"},{"baseline_selected":true,"camera_pose":{"position":[4.150000095367432,-3.1500000953674316,1.35],"quaternion_xyzw":[0.5,0.5,0.5,0.5]},"camera_pose_rule":null,"fov_deg":100.0,"group":"region_views","metadata_pointer":"/question_data/gt_region_views/1","original_image_path":"private_office_0__open_view.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"region_views/private_office_0__open_view.png"},{"baseline_selected":true,"camera_pose":{"position":[-0.550000011920929,-3.25,1.35],"quaternion_xyzw":[-0.5,0.5,0.5,-0.5]},"camera_pose_rule":null,"fov_deg":100.0,"group":"region_views","metadata_pointer":"/question_data/gt_region_views/2","original_image_path":"storage_room_0__open_view.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"region_views/storage_room_0__open_view.png"},{"baseline_selected":true,"camera_pose":{"position":[6.25,0.05000000074505806,1.35],"quaternion_xyzw":[-0.5,0.5,0.5,-0.5]},"camera_pose_rule":null,"fov_deg":100.0,"group":"region_views","metadata_pointer":"/question_data/gt_region_views/3","original_image_path":"storage_room_1__open_view.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"region_views/storage_room_1__open_view.png"}],"id":"0282","image_paths_json":"[\"shortest_path_via_region__kitchen_0__private_office_0__corridor_0__initial.png\",\"shortest_path_via_region__kitchen_0__private_office_0__corridor_0.png\",\"view_00.png\",\"view_01.png\",\"view_02.png\",\"view_03.png\",\"storage_room_1__open_view.png\",\"private_office_0__open_view.png\",\"storage_room_0__open_view.png\",\"corridor_0__open_view.png\",\"path_view_000.png\",\"path_view_001.png\",\"path_view_002.png\",\"path_view_003.png\",\"path_view_004.png\",\"path_view_005.png\",\"path_view_006.png\",\"path_view_007.png\",\"path_view_008.png\"]","metadata_json":"{\"image_paths\":[\"shortest_path_via_region__kitchen_0__private_office_0__corridor_0__initial.png\",\"shortest_path_via_region__kitchen_0__private_office_0__corridor_0.png\",\"shortest_path_via_region__kitchen_0__private_office_0__corridor_0.png\",\"view_00.png\",\"view_01.png\",\"view_02.png\",\"view_03.png\",\"view_00.png\",\"view_01.png\",\"view_02.png\",\"view_03.png\",\"view_00.png\",\"view_01.png\",\"view_02.png\",\"view_03.png\",\"view_00.png\",\"view_01.png\",\"view_02.png\",\"view_03.png\",\"storage_room_1__open_view.png\",\"private_office_0__open_view.png\",\"storage_room_0__open_view.png\",\"corridor_0__open_view.png\",\"path_view_000.png\",\"path_view_001.png\",\"path_view_002.png\",\"path_view_003.png\",\"path_view_004.png\",\"path_view_005.png\",\"path_view_006.png\",\"path_view_007.png\",\"path_view_008.png\"],\"question_data\":{\"answer\":\"corridor 0\",\"answer_bool\":true,\"answer_region\":\"corridor_0\",\"case_id\":\"shortest_path_via_region__kitchen_0__private_office_0__corridor_0\",\"case_type\":\"shortest_path_via_region\",\"correct_region\":\"corridor_0\",\"gt_region_views\":[{\"_key\":\"corridor_0\",\"camera_pose\":{\"position\":[1.5500000715255737,-2.8500001430511475,1.35],\"quaternion_xyzw\":[0.7071067811865475,-0.0,0.0,0.7071067811865476],\"target\":[1.5500000715255737,-1.8500001430511475,1.35]},\"image_path\":\"corridor_0__open_view.png\",\"visible_objects\":[{\"assigned_region\":\"living_room_1\",\"instance_pixels\":13328,\"object_category\":\"openable_window\",\"object_name\":\"openable_window_ulnafj_6\",\"semantic_pixels\":13328},{\"assigned_region\":\"living_room_1\",\"instance_pixels\":6747,\"object_category\":\"ottoman\",\"object_name\":\"ottoman_miftfy_0\",\"semantic_pixels\":6747},{\"assigned_region\":\"living_room_1\",\"instance_pixels\":3687,\"object_category\":\"armchair\",\"object_name\":\"armchair_vzhxuf_0\",\"semantic_pixels\":3687},{\"assigned_region\":\"corridor_0\",\"instance_pixels\":1342,\"object_category\":\"electric_switch\",\"object_name\":\"electric_switch_wseglt_11\",\"semantic_pixels\":1342}]},{\"_key\":\"private_office_0\",\"camera_pose\":{\"position\":[4.150000095367432,-3.1500000953674316,1.35],\"quaternion_xyzw\":[0.5,0.5,0.5,0.5],\"target\":[3.1500000953674316,-3.1500000953674316,1.35]},\"image_path\":\"private_office_0__open_view.png\",\"visible_objects\":[{\"assigned_region\":\"kitchen_0\",\"instance_pixels\":210960,\"object_category\":\"bookcase\",\"object_name\":\"bookcase_njwsoa_0\",\"semantic_pixels\":210960},{\"assigned_region\":\"living_room_1\",\"instance_pixels\":3246,\"object_category\":\"furniture_sink\",\"object_name\":\"furniture_sink_zexzrc_0\",\"semantic_pixels\":3246},{\"assigned_region\":\"living_room_1\",\"instance_pixels\":2468,\"object_category\":\"armchair\",\"object_name\":\"armchair_bslhmj_0\",\"semantic_pixels\":2468},{\"assigned_region\":\"living_room_1\",\"instance_pixels\":2084,\"object_category\":\"openable_window\",\"object_name\":\"openable_window_ulnafj_7\",\"semantic_pixels\":2084},{\"assigned_region\":\"living_room_1\",\"instance_pixels\":214,\"object_category\":\"countertop\",\"object_name\":\"countertop_tpuwys_1\",\"semantic_pixels\":214},{\"assigned_region\":\"dining_room_0\",\"instance_pixels\":172,\"object_category\":\"straight_chair\",\"object_name\":\"straight_chair_amgwaw_0\",\"semantic_pixels\":172}]},{\"_key\":\"storage_room_0\",\"camera_pose\":{\"position\":[-0.550000011920929,-3.25,1.35],\"quaternion_xyzw\":[-0.5,0.5,0.5,-0.5],\"target\":[0.44999998807907104,-3.25,1.35]},\"image_path\":\"storage_room_0__open_view.png\"},{\"_key\":\"storage_room_1\",\"camera_pose\":{\"position\":[6.25,0.05000000074505806,1.35],\"quaternion_xyzw\":[-0.5,0.5,0.5,-0.5],\"target\":[7.25,0.05000000074505806,1.35]},\"image_path\":\"storage_room_1__open_view.png\"}],\"initial_view\":{\"camera_pose\":{\"position\":[1.0500000715255737,-6.75,1.35],\"quaternion_xyzw\":[0.6899527623722878,0.004725486110329982,0.004957456460605549,0.7238219940712715],\"target\":[0.949999988079071,0.550000011920929,1.0]},\"image_path\":\"shortest_path_via_region__kitchen_0__private_office_0__corridor_0__initial.png\",\"ray_debug\":{\"angle_deg\":91.0,\"angle_rad\":1.5882496193148399,\"end_map_rc\":[109,113],\"ray_length_px\":73.00685119628906,\"start_map_rc\":[36,114],\"start_xy\":[1.0500000715255737,-6.75],\"success\":true,\"target_xy\":[0.949999988079071,0.550000011920929]},\"render_xy\":[1.0500000715255737,-6.75],\"room_instance\":\"kitchen_0\",\"selection_debug\":{\"center_distance_px\":16.124515533447266,\"clearance_px\":10.393799781799316,\"room_instance\":\"kitchen_0\",\"selected_by\":\"center_near_free_xy\",\"selected_map_rc\":[36,114]},\"success\":true},\"internal_shortest_path_regions\":[\"corridor_0\"],\"legacy_binary_question\":{\"answer\":\"Yes\",\"answer_bool\":true,\"options\":[\"Yes\",\"No\"],\"question\":\"On the shortest path from kitchen_0 to private_office_0, do you need to pass through corridor_0?\",\"required_regions\":[\"kitchen_0\",\"private_office_0\",\"corridor_0\"],\"via_region\":\"corridor_0\"},\"option_count\":4,\"options\":[\"storage room 1 (near utility room 0)\",\"private office 0\",\"storage room 0 (near kitchen 0)\",\"corridor 0\"],\"path_views\":{\"path_length_m\":7.5,\"path_world_xy\":[[-0.550000011920929,-6.950000286102295],[-0.3499999940395355,-6.75],[-0.15000000596046448,-6.550000190734863],[0.05000000074505806,-6.349999904632568],[0.25,-6.150000095367432],[0.45000001788139343,-5.950000286102295],[0.6500000357627869,-5.849999904632568],[0.8500000238418579,-5.849999904632568],[1.0500000715255737,-5.75],[1.25,-5.550000190734863],[1.25,-5.349999904632568],[1.25,-5.150000095367432],[1.25,-4.950000286102295],[1.25,-4.75],[1.350000023841858,-4.550000190734863],[1.5500000715255737,-4.349999904632568],[1.75,-4.150000095367432],[1.850000023841858,-3.950000047683716],[1.850000023841858,-3.75],[1.850000023841858,-3.549999952316284],[2.049999952316284,-3.3500001430511475],[2.25,-3.1500000953674316],[2.450000047683716,-2.950000047683716],[2.549999952316284,-2.75],[2.75,-2.75],[2.950000047683716,-2.75],[3.1500000953674316,-2.75],[3.3500001430511475,-2.75],[3.549999952316284,-2.75],[3.75,-2.75],[3.950000047683716,-2.8500001430511475],[4.150000095367432,-2.950000047683716],[4.349999904632568,-3.049999952316284]],\"room_sequence\":[\"kitchen_0\",\"corridor_0\",\"private_office_0\"],\"sample_count\":9,\"sample_spacing_m\":1.0,\"selected_target_region\":\"private_office_0\",\"selection_reason\":\"direct_path\",\"success\":true,\"views\":[{\"camera_pose\":{\"position\":[-0.550000011920929,-6.950000286102295,1.35],\"quaternion_xyzw\":[0.5345941564590633,-0.22143593998213007,-0.31210975123375034,0.7535003089241965],\"target\":[0.15710629511377416,-6.242893030764221,1.0]},\"distance_along_path_m\":0.0,\"image_path\":\"path_view_000.png\",\"sample_index\":0,\"yaw_rad\":0.7853988339491924},{\"camera_pose\":{\"position\":[0.15710663573654504,-6.242893371386925,1.35],\"quaternion_xyzw\":[0.5345940296286087,-0.22143624617797605,-0.3121101828109791,0.7535001301590799],\"target\":[0.8642137527808726,-5.535786926058317,1.0]},\"distance_along_path_m\":1.0,\"image_path\":\"path_view_001.png\",\"sample_index\":1,\"yaw_rad\":0.7853976884227079},{\"camera_pose\":{\"position\":[0.9950577630791151,-5.777471121475069,1.35],\"quaternion_xyzw\":[0.4922209066951742,-0.30420941249101324,-0.4287773884546372,0.6937760182609906],\"target\":[1.8894851673269892,-5.330257952471282,1.0]},\"distance_along_path_m\":2.0,\"image_path\":\"path_view_002.png\",\"sample_index\":2,\"yaw_rad\":0.4636471321636479},{\"camera_pose\":{\"position\":[1.25,-4.8942700713814675,1.35],\"quaternion_xyzw\":[0.5786404649140492,-0.0,-0.0,0.8155827440327885],\"target\":[1.25,-3.8942700713814675,1.0]},\"distance_along_path_m\":3.0,\"image_path\":\"path_view_003.png\",\"sample_index\":3,\"yaw_rad\":1.5707963267948966},{\"camera_pose\":{\"position\":[1.7797118942481076,-4.090576306871216,1.35],\"quaternion_xyzw\":[0.5631612477427359,-0.1329443367608857,-0.18738251738956416,0.7937650814572299],\"target\":[2.2269254897480657,-3.1961491158713002,1.0]},\"distance_along_path_m\":4.0,\"image_path\":\"path_view_004.png\",\"sample_index\":4,\"yaw_rad\":1.1071487177940904},{\"camera_pose\":{\"position\":[2.1631287937287964,-3.2368713016386352,1.35],\"quaternion_xyzw\":[0.5345940822169053,-0.2214361192186396,-0.31211000386420595,0.7535002042812852],\"target\":[2.870235574915344,-2.5297645204520878,1.0]},\"distance_along_path_m\":5.0,\"image_path\":\"path_view_005.png\",\"sample_index\":5,\"yaw_rad\":0.7853981633974483},{\"camera_pose\":{\"position\":[2.920695936568257,-2.75,1.35],\"quaternion_xyzw\":[0.4091605966096607,-0.4091605966096607,-0.576704088924317,0.576704088924317],\"target\":[3.920695936568257,-2.75,1.0]},\"distance_along_path_m\":6.0,\"image_path\":\"path_view_006.png\",\"sample_index\":6,\"yaw_rad\":0.0},{\"camera_pose\":{\"position\":[3.9026750506592696,-2.8263376163310348,1.35],\"quaternion_xyzw\":[-0.30420917778181644,0.4922210517534354,0.6937762227178542,-0.4287770576364825],\"target\":[4.797102028411126,-3.2735516383268584,1.0]},\"distance_along_path_m\":7.0,\"image_path\":\"path_view_007.png\",\"sample_index\":7,\"yaw_rad\":-0.4636480858377369},{\"camera_pose\":{\"position\":[4.349999904632568,-3.049999952316284,1.35],\"quaternion_xyzw\":[-0.3042092951363955,0.4922209792243361,0.6937761204894665,-0.4287772230455326],\"target\":[5.244427095632484,-3.497213547816242,1.0]},\"distance_along_path_m\":7.5,\"image_path\":\"path_view_008.png\",\"sample_index\":8,\"yaw_rad\":-0.4636476090008061}]},\"question\":\"On the shortest path from kitchen 0 to private office 0, which intermediate room do you pass through among these options: storage room 1 (near utility room 0), private office 0, storage room 0 (near kitchen 0), corridor 0?\",\"question_format\":\"single_choice_room_mcq\",\"render\":{\"gt_region_views\":[{\"_key\":\"corridor_0\",\"camera_pose\":{\"position\":[1.5500000715255737,-2.8500001430511475,1.35],\"quaternion_xyzw\":[0.7071067811865475,-0.0,0.0,0.7071067811865476],\"target\":[1.5500000715255737,-1.8500001430511475,1.35]},\"image_path\":\"corridor_0__open_view.png\",\"visible_objects\":[{\"assigned_region\":\"living_room_1\",\"instance_pixels\":13328,\"object_category\":\"openable_window\",\"object_name\":\"openable_window_ulnafj_6\",\"semantic_pixels\":13328},{\"assigned_region\":\"living_room_1\",\"instance_pixels\":6747,\"object_category\":\"ottoman\",\"object_name\":\"ottoman_miftfy_0\",\"semantic_pixels\":6747},{\"assigned_region\":\"living_room_1\",\"instance_pixels\":3687,\"object_category\":\"armchair\",\"object_name\":\"armchair_vzhxuf_0\",\"semantic_pixels\":3687},{\"assigned_region\":\"corridor_0\",\"instance_pixels\":1342,\"object_category\":\"electric_switch\",\"object_name\":\"electric_switch_wseglt_11\",\"semantic_pixels\":1342}]},{\"_key\":\"private_office_0\",\"camera_pose\":{\"position\":[4.150000095367432,-3.1500000953674316,1.35],\"quaternion_xyzw\":[0.5,0.5,0.5,0.5],\"target\":[3.1500000953674316,-3.1500000953674316,1.35]},\"image_path\":\"private_office_0__open_view.png\",\"visible_objects\":[{\"assigned_region\":\"kitchen_0\",\"instance_pixels\":210960,\"object_category\":\"bookcase\",\"object_name\":\"bookcase_njwsoa_0\",\"semantic_pixels\":210960},{\"assigned_region\":\"living_room_1\",\"instance_pixels\":3246,\"object_category\":\"furniture_sink\",\"object_name\":\"furniture_sink_zexzrc_0\",\"semantic_pixels\":3246},{\"assigned_region\":\"living_room_1\",\"instance_pixels\":2468,\"object_category\":\"armchair\",\"object_name\":\"armchair_bslhmj_0\",\"semantic_pixels\":2468},{\"assigned_region\":\"living_room_1\",\"instance_pixels\":2084,\"object_category\":\"openable_window\",\"object_name\":\"openable_window_ulnafj_7\",\"semantic_pixels\":2084},{\"assigned_region\":\"living_room_1\",\"instance_pixels\":214,\"object_category\":\"countertop\",\"object_name\":\"countertop_tpuwys_1\",\"semantic_pixels\":214},{\"assigned_region\":\"dining_room_0\",\"instance_pixels\":172,\"object_category\":\"straight_chair\",\"object_name\":\"straight_chair_amgwaw_0\",\"semantic_pixels\":172}]},{\"_key\":\"storage_room_0\",\"camera_pose\":{\"position\":[-0.550000011920929,-3.25,1.35],\"quaternion_xyzw\":[-0.5,0.5,0.5,-0.5],\"target\":[0.44999998807907104,-3.25,1.35]},\"image_path\":\"storage_room_0__open_view.png\"},{\"_key\":\"storage_room_1\",\"camera_pose\":{\"position\":[6.25,0.05000000074505806,1.35],\"quaternion_xyzw\":[-0.5,0.5,0.5,-0.5],\"target\":[7.25,0.05000000074505806,1.35]},\"image_path\":\"storage_room_1__open_view.png\"}],\"image\":\"shortest_path_via_region__kitchen_0__private_office_0__corridor_0__initial.png\",\"initial_view\":{\"camera_pose\":{\"position\":[1.0500000715255737,-6.75,1.35],\"quaternion_xyzw\":[0.6899527623722878,0.004725486110329982,0.004957456460605549,0.7238219940712715],\"target\":[0.949999988079071,0.550000011920929,1.0]},\"image_path\":\"shortest_path_via_region__kitchen_0__private_office_0__corridor_0__initial.png\",\"ray_debug\":{\"angle_deg\":91.0,\"angle_rad\":1.5882496193148399,\"end_map_rc\":[109,113],\"ray_length_px\":73.00685119628906,\"start_map_rc\":[36,114],\"start_xy\":[1.0500000715255737,-6.75],\"success\":true,\"target_xy\":[0.949999988079071,0.550000011920929]},\"render_xy\":[1.0500000715255737,-6.75],\"room_instance\":\"kitchen_0\",\"selection_debug\":{\"center_distance_px\":16.124515533447266,\"clearance_px\":10.393799781799316,\"room_instance\":\"kitchen_0\",\"selected_by\":\"center_near_free_xy\",\"selected_map_rc\":[36,114]},\"success\":true},\"kind\":\"start_room_longest_ray_view\",\"path_views\":{\"path_length_m\":7.5,\"path_world_xy\":[[-0.550000011920929,-6.950000286102295],[-0.3499999940395355,-6.75],[-0.15000000596046448,-6.550000190734863],[0.05000000074505806,-6.349999904632568],[0.25,-6.150000095367432],[0.45000001788139343,-5.950000286102295],[0.6500000357627869,-5.849999904632568],[0.8500000238418579,-5.849999904632568],[1.0500000715255737,-5.75],[1.25,-5.550000190734863],[1.25,-5.349999904632568],[1.25,-5.150000095367432],[1.25,-4.950000286102295],[1.25,-4.75],[1.350000023841858,-4.550000190734863],[1.5500000715255737,-4.349999904632568],[1.75,-4.150000095367432],[1.850000023841858,-3.950000047683716],[1.850000023841858,-3.75],[1.850000023841858,-3.549999952316284],[2.049999952316284,-3.3500001430511475],[2.25,-3.1500000953674316],[2.450000047683716,-2.950000047683716],[2.549999952316284,-2.75],[2.75,-2.75],[2.950000047683716,-2.75],[3.1500000953674316,-2.75],[3.3500001430511475,-2.75],[3.549999952316284,-2.75],[3.75,-2.75],[3.950000047683716,-2.8500001430511475],[4.150000095367432,-2.950000047683716],[4.349999904632568,-3.049999952316284]],\"room_sequence\":[\"kitchen_0\",\"corridor_0\",\"private_office_0\"],\"sample_count\":9,\"sample_spacing_m\":1.0,\"selected_target_region\":\"private_office_0\",\"selection_reason\":\"direct_path\",\"success\":true,\"views\":[{\"camera_pose\":{\"position\":[-0.550000011920929,-6.950000286102295,1.35],\"quaternion_xyzw\":[0.5345941564590633,-0.22143593998213007,-0.31210975123375034,0.7535003089241965],\"target\":[0.15710629511377416,-6.242893030764221,1.0]},\"distance_along_path_m\":0.0,\"image_path\":\"path_view_000.png\",\"sample_index\":0,\"yaw_rad\":0.7853988339491924},{\"camera_pose\":{\"position\":[0.15710663573654504,-6.242893371386925,1.35],\"quaternion_xyzw\":[0.5345940296286087,-0.22143624617797605,-0.3121101828109791,0.7535001301590799],\"target\":[0.8642137527808726,-5.535786926058317,1.0]},\"distance_along_path_m\":1.0,\"image_path\":\"path_view_001.png\",\"sample_index\":1,\"yaw_rad\":0.7853976884227079},{\"camera_pose\":{\"position\":[0.9950577630791151,-5.777471121475069,1.35],\"quaternion_xyzw\":[0.4922209066951742,-0.30420941249101324,-0.4287773884546372,0.6937760182609906],\"target\":[1.8894851673269892,-5.330257952471282,1.0]},\"distance_along_path_m\":2.0,\"image_path\":\"path_view_002.png\",\"sample_index\":2,\"yaw_rad\":0.4636471321636479},{\"camera_pose\":{\"position\":[1.25,-4.8942700713814675,1.35],\"quaternion_xyzw\":[0.5786404649140492,-0.0,-0.0,0.8155827440327885],\"target\":[1.25,-3.8942700713814675,1.0]},\"distance_along_path_m\":3.0,\"image_path\":\"path_view_003.png\",\"sample_index\":3,\"yaw_rad\":1.5707963267948966},{\"camera_pose\":{\"position\":[1.7797118942481076,-4.090576306871216,1.35],\"quaternion_xyzw\":[0.5631612477427359,-0.1329443367608857,-0.18738251738956416,0.7937650814572299],\"target\":[2.2269254897480657,-3.1961491158713002,1.0]},\"distance_along_path_m\":4.0,\"image_path\":\"path_view_004.png\",\"sample_index\":4,\"yaw_rad\":1.1071487177940904},{\"camera_pose\":{\"position\":[2.1631287937287964,-3.2368713016386352,1.35],\"quaternion_xyzw\":[0.5345940822169053,-0.2214361192186396,-0.31211000386420595,0.7535002042812852],\"target\":[2.870235574915344,-2.5297645204520878,1.0]},\"distance_along_path_m\":5.0,\"image_path\":\"path_view_005.png\",\"sample_index\":5,\"yaw_rad\":0.7853981633974483},{\"camera_pose\":{\"position\":[2.920695936568257,-2.75,1.35],\"quaternion_xyzw\":[0.4091605966096607,-0.4091605966096607,-0.576704088924317,0.576704088924317],\"target\":[3.920695936568257,-2.75,1.0]},\"distance_along_path_m\":6.0,\"image_path\":\"path_view_006.png\",\"sample_index\":6,\"yaw_rad\":0.0},{\"camera_pose\":{\"position\":[3.9026750506592696,-2.8263376163310348,1.35],\"quaternion_xyzw\":[-0.30420917778181644,0.4922210517534354,0.6937762227178542,-0.4287770576364825],\"target\":[4.797102028411126,-3.2735516383268584,1.0]},\"distance_along_path_m\":7.0,\"image_path\":\"path_view_007.png\",\"sample_index\":7,\"yaw_rad\":-0.4636480858377369},{\"camera_pose\":{\"position\":[4.349999904632568,-3.049999952316284,1.35],\"quaternion_xyzw\":[-0.3042092951363955,0.4922209792243361,0.6937761204894665,-0.4287772230455326],\"target\":[5.244427095632484,-3.497213547816242,1.0]},\"distance_along_path_m\":7.5,\"image_path\":\"path_view_008.png\",\"sample_index\":8,\"yaw_rad\":-0.4636476090008061}]},\"room_views\":[{\"_key\":\"corridor_0\",\"center_xy\":[2.0,-3.0],\"corner_render_xy\":[[1.35,-3.65],[1.35,-2.35],[2.65,-3.65],[2.65,-2.35]],\"gt_open_view\":{\"camera_pose\":{\"position\":[1.5500000715255737,-2.8500001430511475,1.35],\"quaternion_xyzw\":[0.7071067811865475,-0.0,0.0,0.7071067811865476],\"target\":[1.5500000715255737,-1.8500001430511475,1.35]},\"image_path\":\"corridor_0__open_view.png\",\"visible_objects\":[{\"assigned_region\":\"living_room_1\",\"instance_pixels\":13328,\"object_category\":\"openable_window\",\"object_name\":\"openable_window_ulnafj_6\",\"semantic_pixels\":13328},{\"assigned_region\":\"living_room_1\",\"instance_pixels\":6747,\"object_category\":\"ottoman\",\"object_name\":\"ottoman_miftfy_0\",\"semantic_pixels\":6747},{\"assigned_region\":\"living_room_1\",\"instance_pixels\":3687,\"object_category\":\"armchair\",\"object_name\":\"armchair_vzhxuf_0\",\"semantic_pixels\":3687},{\"assigned_region\":\"corridor_0\",\"instance_pixels\":1342,\"object_category\":\"electric_switch\",\"object_name\":\"electric_switch_wseglt_11\",\"semantic_pixels\":1342}]},\"room_instance\":\"corridor_0\",\"success\":true,\"views\":[{\"_key\":\"view_00\",\"camera_pose\":{\"position\":[1.35,-3.65,1.35],\"quaternion_xyzw\":[0.5243250374534976,-0.2171825416050197,-0.315084675966176,0.7606816980134741],\"target\":[2.0,-3.0,1.0]},\"corner_xy\":[1.35,-3.65],\"image_path\":\"view_00.png\",\"view_role\":\"view_00\"},{\"_key\":\"view_01\",\"camera_pose\":{\"position\":[1.35,-2.35,1.35],\"quaternion_xyzw\":[-0.21718254160501974,0.5243250374534977,0.760681698013474,-0.315084675966176],\"target\":[2.0,-3.0,1.0]},\"corner_xy\":[1.35,-2.35],\"image_path\":\"view_01.png\",\"view_role\":\"view_01\"},{\"_key\":\"view_02\",\"camera_pose\":{\"position\":[2.65,-3.65,1.35],\"quaternion_xyzw\":[0.5243250374534976,0.2171825416050197,0.315084675966176,0.7606816980134741],\"target\":[2.0,-3.0,1.0]},\"corner_xy\":[2.65,-3.65],\"image_path\":\"view_02.png\",\"view_role\":\"view_02\"},{\"_key\":\"view_03\",\"camera_pose\":{\"position\":[2.65,-2.35,1.35],\"quaternion_xyzw\":[0.21718254160501974,0.5243250374534977,0.760681698013474,0.315084675966176],\"target\":[2.0,-3.0,1.0]},\"corner_xy\":[2.65,-2.35],\"image_path\":\"view_03.png\",\"view_role\":\"view_03\"}]},{\"_key\":\"private_office_0\",\"center_xy\":[4.5,-3.0],\"corner_render_xy\":[[3.35,-3.65],[3.35,-2.35],[5.65,-3.65],[5.65,-2.35]],\"gt_open_view\":{\"camera_pose\":{\"position\":[4.150000095367432,-3.1500000953674316,1.35],\"quaternion_xyzw\":[0.5,0.5,0.5,0.5],\"target\":[3.1500000953674316,-3.1500000953674316,1.35]},\"image_path\":\"private_office_0__open_view.png\",\"visible_objects\":[{\"assigned_region\":\"kitchen_0\",\"instance_pixels\":210960,\"object_category\":\"bookcase\",\"object_name\":\"bookcase_njwsoa_0\",\"semantic_pixels\":210960},{\"assigned_region\":\"living_room_1\",\"instance_pixels\":3246,\"object_category\":\"furniture_sink\",\"object_name\":\"furniture_sink_zexzrc_0\",\"semantic_pixels\":3246},{\"assigned_region\":\"living_room_1\",\"instance_pixels\":2468,\"object_category\":\"armchair\",\"object_name\":\"armchair_bslhmj_0\",\"semantic_pixels\":2468},{\"assigned_region\":\"living_room_1\",\"instance_pixels\":2084,\"object_category\":\"openable_window\",\"object_name\":\"openable_window_ulnafj_7\",\"semantic_pixels\":2084},{\"assigned_region\":\"living_room_1\",\"instance_pixels\":214,\"object_category\":\"countertop\",\"object_name\":\"countertop_tpuwys_1\",\"semantic_pixels\":214},{\"assigned_region\":\"dining_room_0\",\"instance_pixels\":172,\"object_category\":\"straight_chair\",\"object_name\":\"straight_chair_amgwaw_0\",\"semantic_pixels\":172}]},\"room_instance\":\"private_office_0\",\"success\":true,\"views\":[{\"_key\":\"view_00\",\"camera_pose\":{\"position\":[3.35,-3.65,1.35],\"quaternion_xyzw\":[0.5267629009273612,-0.30734759293881836,-0.3993855640615511,0.6845067381264717],\"target\":[4.5,-3.0,1.0]},\"corner_xy\":[3.35,-3.65],\"image_path\":\"view_00.png\",\"view_role\":\"view_00\"},{\"_key\":\"view_01\",\"camera_pose\":{\"position\":[3.35,-2.35,1.35],\"quaternion_xyzw\":[-0.30734759293881836,0.5267629009273612,0.6845067381264717,-0.3993855640615511],\"target\":[4.5,-3.0,1.0]},\"corner_xy\":[3.35,-2.35],\"image_path\":\"view_01.png\",\"view_role\":\"view_01\"},{\"_key\":\"view_02\",\"camera_pose\":{\"position\":[5.65,-3.65,1.35],\"quaternion_xyzw\":[0.5267629009273612,0.30734759293881847,0.3993855640615513,0.6845067381264716],\"target\":[4.5,-3.0,1.0]},\"corner_xy\":[5.65,-3.65],\"image_path\":\"view_02.png\",\"view_role\":\"view_02\"},{\"_key\":\"view_03\",\"camera_pose\":{\"position\":[5.65,-2.35,1.35],\"quaternion_xyzw\":[0.30734759293881847,0.5267629009273612,0.6845067381264716,0.3993855640615513],\"target\":[4.5,-3.0,1.0]},\"corner_xy\":[5.65,-2.35],\"image_path\":\"view_03.png\",\"view_role\":\"view_03\"}]},{\"_key\":\"storage_room_0\",\"center_xy\":[-0.5,-4.0],\"corner_render_xy\":[[-1.0250000000000008,-4.400499999999993],[-1.0250000000000008,-4.2745],[0.28749999999999987,-4.400499999999993],[0.28749999999999987,-4.2745]],\"gt_open_view\":{\"camera_pose\":{\"position\":[-0.550000011920929,-3.25,1.35],\"quaternion_xyzw\":[-0.5,0.5,0.5,-0.5],\"target\":[0.44999998807907104,-3.25,1.35]},\"image_path\":\"storage_room_0__open_view.png\"},\"room_instance\":\"storage_room_0\",\"success\":true,\"views\":[{\"_key\":\"view_00\",\"camera_pose\":{\"position\":[-1.0250000000000008,-4.400499999999993,1.35],\"quaternion_xyzw\":[0.46210088406788624,-0.22869335828735535,-0.3800503237911939,0.7679348098667867],\"target\":[-0.5,-4.0,1.0]},\"corner_xy\":[-1.0250000000000008,-4.400499999999993],\"image_path\":\"view_00.png\",\"view_role\":\"view_00\"},{\"_key\":\"view_01\",\"camera_pose\":{\"position\":[-1.0250000000000008,-4.2745,1.35],\"quaternion_xyzw\":[0.4239733953810926,-0.25675153828452485,-0.44989593162258873,0.7429124163096219],\"target\":[-0.5,-4.0,1.0]},\"corner_xy\":[-1.0250000000000008,-4.2745],\"image_path\":\"view_01.png\",\"view_role\":\"view_01\"},{\"_key\":\"view_02\",\"camera_pose\":{\"position\":[0.28749999999999987,-4.400499999999993,1.35],\"quaternion_xyzw\":[0.4790741933559623,0.2938267494393104,0.4324444548865769,0.7050854926972432],\"target\":[-0.5,-4.0,1.0]},\"corner_xy\":[0.28749999999999987,-4.400499999999993],\"image_path\":\"view_02.png\",\"view_role\":\"view_02\"},{\"_key\":\"view_03\",\"camera_pose\":{\"position\":[0.28749999999999987,-4.2745,1.35],\"quaternion_xyzw\":[0.4513294793830135,0.32064184089647085,0.48230136676924157,0.6788784151222528],\"target\":[-0.5,-4.0,1.0]},\"corner_xy\":[0.28749999999999987,-4.2745],\"image_path\":\"view_03.png\",\"view_role\":\"view_03\"}]},{\"_key\":\"storage_room_1\",\"center_xy\":[6.0,0.0],\"corner_render_xy\":[[6.162000000000002,0.01200000000000001],[6.162000000000002,0.3254999999999998],[6.1379999999999955,0.01200000000000001],[6.1379999999999955,0.3254999999999998]],\"gt_open_view\":{\"camera_pose\":{\"position\":[6.25,0.05000000074505806,1.35],\"quaternion_xyzw\":[-0.5,0.5,0.5,-0.5],\"target\":[7.25,0.05000000074505806,1.35]},\"image_path\":\"storage_room_1__open_view.png\"},\"room_instance\":\"storage_room_1\",\"success\":true,\"views\":[{\"_key\":\"view_00\",\"camera_pose\":{\"position\":[6.162000000000002,0.01200000000000001,1.35],\"quaternion_xyzw\":[0.14668857102583943,0.1579562783509097,0.7155317301749695,0.664489744369875],\"target\":[6.0,0.0,1.0]},\"corner_xy\":[6.162000000000002,0.01200000000000001],\"image_path\":\"view_00.png\",\"view_role\":\"view_00\"},{\"_key\":\"view_01\",\"camera_pose\":{\"position\":[6.162000000000002,0.3254999999999998,1.35],\"quaternion_xyzw\":[0.08958742353295315,0.3810702105623267,0.895773903901411,0.2105913133439674],\"target\":[6.0,0.0,1.0]},\"corner_xy\":[6.162000000000002,0.3254999999999998],\"image_path\":\"view_01.png\",\"view_role\":\"view_01\"},{\"_key\":\"view_02\",\"camera_pose\":{\"position\":[6.1379999999999955,0.01200000000000001,1.35],\"quaternion_xyzw\":[0.12658514773363055,0.13807023338449267,0.7240520829578313,0.663823313985606],\"target\":[6.0,0.0,1.0]},\"corner_xy\":[6.1379999999999955,0.01200000000000001],\"image_path\":\"view_02.png\",\"view_role\":\"view_02\"},{\"_key\":\"view_03\",\"camera_pose\":{\"position\":[6.1379999999999955,0.3254999999999998,1.35],\"quaternion_xyzw\":[0.07667683836876632,0.37729741704291225,0.9044245471681478,0.18380304684691054],\"target\":[6.0,0.0,1.0]},\"corner_xy\":[6.1379999999999955,0.3254999999999998],\"image_path\":\"view_03.png\",\"view_role\":\"view_03\"}]}],\"topdown_map\":\"shortest_path_via_region__kitchen_0__private_office_0__corridor_0.png\"},\"required_regions\":[\"storage_room_1\",\"private_office_0\",\"storage_room_0\",\"corridor_0\"],\"room_views\":[{\"_key\":\"corridor_0\",\"center_xy\":[2.0,-3.0],\"corner_render_xy\":[[1.35,-3.65],[1.35,-2.35],[2.65,-3.65],[2.65,-2.35]],\"gt_open_view\":{\"camera_pose\":{\"position\":[1.5500000715255737,-2.8500001430511475,1.35],\"quaternion_xyzw\":[0.7071067811865475,-0.0,0.0,0.7071067811865476],\"target\":[1.5500000715255737,-1.8500001430511475,1.35]},\"image_path\":\"corridor_0__open_view.png\",\"visible_objects\":[{\"assigned_region\":\"living_room_1\",\"instance_pixels\":13328,\"object_category\":\"openable_window\",\"object_name\":\"openable_window_ulnafj_6\",\"semantic_pixels\":13328},{\"assigned_region\":\"living_room_1\",\"instance_pixels\":6747,\"object_category\":\"ottoman\",\"object_name\":\"ottoman_miftfy_0\",\"semantic_pixels\":6747},{\"assigned_region\":\"living_room_1\",\"instance_pixels\":3687,\"object_category\":\"armchair\",\"object_name\":\"armchair_vzhxuf_0\",\"semantic_pixels\":3687},{\"assigned_region\":\"corridor_0\",\"instance_pixels\":1342,\"object_category\":\"electric_switch\",\"object_name\":\"electric_switch_wseglt_11\",\"semantic_pixels\":1342}]},\"room_instance\":\"corridor_0\",\"success\":true,\"views\":[{\"_key\":\"view_00\",\"camera_pose\":{\"position\":[1.35,-3.65,1.35],\"quaternion_xyzw\":[0.5243250374534976,-0.2171825416050197,-0.315084675966176,0.7606816980134741],\"target\":[2.0,-3.0,1.0]},\"corner_xy\":[1.35,-3.65],\"image_path\":\"view_00.png\",\"view_role\":\"view_00\"},{\"_key\":\"view_01\",\"camera_pose\":{\"position\":[1.35,-2.35,1.35],\"quaternion_xyzw\":[-0.21718254160501974,0.5243250374534977,0.760681698013474,-0.315084675966176],\"target\":[2.0,-3.0,1.0]},\"corner_xy\":[1.35,-2.35],\"image_path\":\"view_01.png\",\"view_role\":\"view_01\"},{\"_key\":\"view_02\",\"camera_pose\":{\"position\":[2.65,-3.65,1.35],\"quaternion_xyzw\":[0.5243250374534976,0.2171825416050197,0.315084675966176,0.7606816980134741],\"target\":[2.0,-3.0,1.0]},\"corner_xy\":[2.65,-3.65],\"image_path\":\"view_02.png\",\"view_role\":\"view_02\"},{\"_key\":\"view_03\",\"camera_pose\":{\"position\":[2.65,-2.35,1.35],\"quaternion_xyzw\":[0.21718254160501974,0.5243250374534977,0.760681698013474,0.315084675966176],\"target\":[2.0,-3.0,1.0]},\"corner_xy\":[2.65,-2.35],\"image_path\":\"view_03.png\",\"view_role\":\"view_03\"}]},{\"_key\":\"private_office_0\",\"center_xy\":[4.5,-3.0],\"corner_render_xy\":[[3.35,-3.65],[3.35,-2.35],[5.65,-3.65],[5.65,-2.35]],\"gt_open_view\":{\"camera_pose\":{\"position\":[4.150000095367432,-3.1500000953674316,1.35],\"quaternion_xyzw\":[0.5,0.5,0.5,0.5],\"target\":[3.1500000953674316,-3.1500000953674316,1.35]},\"image_path\":\"private_office_0__open_view.png\",\"visible_objects\":[{\"assigned_region\":\"kitchen_0\",\"instance_pixels\":210960,\"object_category\":\"bookcase\",\"object_name\":\"bookcase_njwsoa_0\",\"semantic_pixels\":210960},{\"assigned_region\":\"living_room_1\",\"instance_pixels\":3246,\"object_category\":\"furniture_sink\",\"object_name\":\"furniture_sink_zexzrc_0\",\"semantic_pixels\":3246},{\"assigned_region\":\"living_room_1\",\"instance_pixels\":2468,\"object_category\":\"armchair\",\"object_name\":\"armchair_bslhmj_0\",\"semantic_pixels\":2468},{\"assigned_region\":\"living_room_1\",\"instance_pixels\":2084,\"object_category\":\"openable_window\",\"object_name\":\"openable_window_ulnafj_7\",\"semantic_pixels\":2084},{\"assigned_region\":\"living_room_1\",\"instance_pixels\":214,\"object_category\":\"countertop\",\"object_name\":\"countertop_tpuwys_1\",\"semantic_pixels\":214},{\"assigned_region\":\"dining_room_0\",\"instance_pixels\":172,\"object_category\":\"straight_chair\",\"object_name\":\"straight_chair_amgwaw_0\",\"semantic_pixels\":172}]},\"room_instance\":\"private_office_0\",\"success\":true,\"views\":[{\"_key\":\"view_00\",\"camera_pose\":{\"position\":[3.35,-3.65,1.35],\"quaternion_xyzw\":[0.5267629009273612,-0.30734759293881836,-0.3993855640615511,0.6845067381264717],\"target\":[4.5,-3.0,1.0]},\"corner_xy\":[3.35,-3.65],\"image_path\":\"view_00.png\",\"view_role\":\"view_00\"},{\"_key\":\"view_01\",\"camera_pose\":{\"position\":[3.35,-2.35,1.35],\"quaternion_xyzw\":[-0.30734759293881836,0.5267629009273612,0.6845067381264717,-0.3993855640615511],\"target\":[4.5,-3.0,1.0]},\"corner_xy\":[3.35,-2.35],\"image_path\":\"view_01.png\",\"view_role\":\"view_01\"},{\"_key\":\"view_02\",\"camera_pose\":{\"position\":[5.65,-3.65,1.35],\"quaternion_xyzw\":[0.5267629009273612,0.30734759293881847,0.3993855640615513,0.6845067381264716],\"target\":[4.5,-3.0,1.0]},\"corner_xy\":[5.65,-3.65],\"image_path\":\"view_02.png\",\"view_role\":\"view_02\"},{\"_key\":\"view_03\",\"camera_pose\":{\"position\":[5.65,-2.35,1.35],\"quaternion_xyzw\":[0.30734759293881847,0.5267629009273612,0.6845067381264716,0.3993855640615513],\"target\":[4.5,-3.0,1.0]},\"corner_xy\":[5.65,-2.35],\"image_path\":\"view_03.png\",\"view_role\":\"view_03\"}]},{\"_key\":\"storage_room_0\",\"center_xy\":[-0.5,-4.0],\"corner_render_xy\":[[-1.0250000000000008,-4.400499999999993],[-1.0250000000000008,-4.2745],[0.28749999999999987,-4.400499999999993],[0.28749999999999987,-4.2745]],\"gt_open_view\":{\"camera_pose\":{\"position\":[-0.550000011920929,-3.25,1.35],\"quaternion_xyzw\":[-0.5,0.5,0.5,-0.5],\"target\":[0.44999998807907104,-3.25,1.35]},\"image_path\":\"storage_room_0__open_view.png\"},\"room_instance\":\"storage_room_0\",\"success\":true,\"views\":[{\"_key\":\"view_00\",\"camera_pose\":{\"position\":[-1.0250000000000008,-4.400499999999993,1.35],\"quaternion_xyzw\":[0.46210088406788624,-0.22869335828735535,-0.3800503237911939,0.7679348098667867],\"target\":[-0.5,-4.0,1.0]},\"corner_xy\":[-1.0250000000000008,-4.400499999999993],\"image_path\":\"view_00.png\",\"view_role\":\"view_00\"},{\"_key\":\"view_01\",\"camera_pose\":{\"position\":[-1.0250000000000008,-4.2745,1.35],\"quaternion_xyzw\":[0.4239733953810926,-0.25675153828452485,-0.44989593162258873,0.7429124163096219],\"target\":[-0.5,-4.0,1.0]},\"corner_xy\":[-1.0250000000000008,-4.2745],\"image_path\":\"view_01.png\",\"view_role\":\"view_01\"},{\"_key\":\"view_02\",\"camera_pose\":{\"position\":[0.28749999999999987,-4.400499999999993,1.35],\"quaternion_xyzw\":[0.4790741933559623,0.2938267494393104,0.4324444548865769,0.7050854926972432],\"target\":[-0.5,-4.0,1.0]},\"corner_xy\":[0.28749999999999987,-4.400499999999993],\"image_path\":\"view_02.png\",\"view_role\":\"view_02\"},{\"_key\":\"view_03\",\"camera_pose\":{\"position\":[0.28749999999999987,-4.2745,1.35],\"quaternion_xyzw\":[0.4513294793830135,0.32064184089647085,0.48230136676924157,0.6788784151222528],\"target\":[-0.5,-4.0,1.0]},\"corner_xy\":[0.28749999999999987,-4.2745],\"image_path\":\"view_03.png\",\"view_role\":\"view_03\"}]},{\"_key\":\"storage_room_1\",\"center_xy\":[6.0,0.0],\"corner_render_xy\":[[6.162000000000002,0.01200000000000001],[6.162000000000002,0.3254999999999998],[6.1379999999999955,0.01200000000000001],[6.1379999999999955,0.3254999999999998]],\"gt_open_view\":{\"camera_pose\":{\"position\":[6.25,0.05000000074505806,1.35],\"quaternion_xyzw\":[-0.5,0.5,0.5,-0.5],\"target\":[7.25,0.05000000074505806,1.35]},\"image_path\":\"storage_room_1__open_view.png\"},\"room_instance\":\"storage_room_1\",\"success\":true,\"views\":[{\"_key\":\"view_00\",\"camera_pose\":{\"position\":[6.162000000000002,0.01200000000000001,1.35],\"quaternion_xyzw\":[0.14668857102583943,0.1579562783509097,0.7155317301749695,0.664489744369875],\"target\":[6.0,0.0,1.0]},\"corner_xy\":[6.162000000000002,0.01200000000000001],\"image_path\":\"view_00.png\",\"view_role\":\"view_00\"},{\"_key\":\"view_01\",\"camera_pose\":{\"position\":[6.162000000000002,0.3254999999999998,1.35],\"quaternion_xyzw\":[0.08958742353295315,0.3810702105623267,0.895773903901411,0.2105913133439674],\"target\":[6.0,0.0,1.0]},\"corner_xy\":[6.162000000000002,0.3254999999999998],\"image_path\":\"view_01.png\",\"view_role\":\"view_01\"},{\"_key\":\"view_02\",\"camera_pose\":{\"position\":[6.1379999999999955,0.01200000000000001,1.35],\"quaternion_xyzw\":[0.12658514773363055,0.13807023338449267,0.7240520829578313,0.663823313985606],\"target\":[6.0,0.0,1.0]},\"corner_xy\":[6.1379999999999955,0.01200000000000001],\"image_path\":\"view_02.png\",\"view_role\":\"view_02\"},{\"_key\":\"view_03\",\"camera_pose\":{\"position\":[6.1379999999999955,0.3254999999999998,1.35],\"quaternion_xyzw\":[0.07667683836876632,0.37729741704291225,0.9044245471681478,0.18380304684691054],\"target\":[6.0,0.0,1.0]},\"corner_xy\":[6.1379999999999955,0.3254999999999998],\"image_path\":\"view_03.png\",\"view_role\":\"view_03\"}]}],\"shortest_path_regions\":[\"kitchen_0\",\"corridor_0\",\"private_office_0\"],\"source_region\":\"kitchen_0\",\"source_room_type\":\"kitchen\",\"target_region\":\"private_office_0\",\"target_room_type\":\"private_office\",\"task_type\":\"shortest_path_via_region\",\"verification\":{\"available_correct_regions\":[\"corridor_0\"],\"mcq_has_unique_correct_option\":true,\"method\":\"scene.get_shortest_path + room_sequence_projection\",\"selected_correct_region\":\"corridor_0\",\"shortest_path_info\":{\"path_distance\":7.742641448974609,\"path_length_steps\":33,\"path_world_xy\":[[-0.550000011920929,-6.950000286102295],[-0.3499999940395355,-6.75],[-0.15000000596046448,-6.550000190734863],[0.05000000074505806,-6.349999904632568],[0.25,-6.150000095367432],[0.45000001788139343,-5.950000286102295],[0.6500000357627869,-5.849999904632568],[0.8500000238418579,-5.849999904632568],[1.0500000715255737,-5.75],[1.25,-5.550000190734863],[1.25,-5.349999904632568],[1.25,-5.150000095367432],[1.25,-4.950000286102295],[1.25,-4.75],[1.350000023841858,-4.550000190734863],[1.5500000715255737,-4.349999904632568],[1.75,-4.150000095367432],[1.850000023841858,-3.950000047683716],[1.850000023841858,-3.75],[1.850000023841858,-3.549999952316284],[2.049999952316284,-3.3500001430511475],[2.25,-3.1500000953674316],[2.450000047683716,-2.950000047683716],[2.549999952316284,-2.75],[2.75,-2.75],[2.950000047683716,-2.75],[3.1500000953674316,-2.75],[3.3500001430511475,-2.75],[3.549999952316284,-2.75],[3.75,-2.75],[3.950000047683716,-2.8500001430511475],[4.150000095367432,-2.950000047683716],[4.349999904632568,-3.049999952316284]],\"room_sequence\":[\"kitchen_0\",\"corridor_0\",\"private_office_0\"],\"source_region\":\"kitchen_0\",\"source_xy\":[-0.550000011920929,-6.950000286102295],\"target_region\":\"private_office_0\",\"target_xy\":[4.5,-3.0]},\"shortest_region_path\":[\"kitchen_0\",\"corridor_0\",\"private_office_0\"],\"via_region_on_shortest_path\":true},\"via_region\":\"corridor_0\",\"via_room_type\":\"corridor\",\"visualization\":{\"map_path\":\"shortest_path_via_region__kitchen_0__private_office_0__corridor_0.png\"},\"room_descriptions\":{\"storage_room_0\":\"near kitchen 0\",\"storage_room_1\":\"near utility room 0\"}},\"question_id\":\"Traversable Passage/q_002\",\"question_index\":2,\"seed\":1,\"task_family\":\"Traversable Passage\",\"task_type\":\"shortest_path_via_region\",\"trav_map_basename\":\"floor_trav_no_door\"}","options_json":"[\"storage room 1 (near utility room 0)\",\"private office 0\",\"storage room 0 (near kitchen 0)\",\"corridor 0\"]","question":"On the shortest path from kitchen 0 to private office 0, which intermediate room do you pass through among these options: storage room 1 (near utility room 0), private office 0, storage room 0 (near kitchen 0), corridor 0?","room":"full_scene","runner_task":"cognitivemap","scene":"Beechwood_0_int","small_task":"Traversable Passage"},"observations":[],"question":{"answer_type":"choice","options":[],"original":"On the shortest path from kitchen 0 to private office 0, which intermediate room do you pass through among these options: storage room 1 (near utility room 0), private office 0, storage room 0 (near kitchen 0), corridor 0?","text":"On the shortest path from kitchen 0 to private office 0, which intermediate room do you pass through among these options: storage room 1 (near utility room 0), private office 0, storage room 0 (near kitchen 0), corridor 0?"},"reference_media":["shortest_path_via_region__kitchen_0__private_office_0__corridor_0__initial.png","shortest_path_via_region__kitchen_0__private_office_0__corridor_0.png","view_00.png","view_01.png","view_02.png","view_03.png","storage_room_1__open_view.png","private_office_0__open_view.png","storage_room_0__open_view.png","corridor_0__open_view.png","path_view_000.png","path_view_001.png","path_view_002.png","path_view_003.png","path_view_004.png","path_view_005.png","path_view_006.png","path_view_007.png","path_view_008.png"],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":35,"stratum_pool":60},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Cognitive Mapping/Traversable Passage/Beechwood_0_int/full_scene/q_002.json","annotation_sha256":"ce964f946376509079a6a7a3b230354b2456418da79e6b665e325ca757472b40","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"30dc44b47e2c3e33c7401010733f877921b8d01bf35c52cd193d37fdb86bfe5c","sample_id":"0282","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"corridor 0","metric":"official_esi_task","original_answer":"corridor 0"},"task":{"category":"Cognitive Mapping","role":"spatial_core","skill_tags":["Cognitive Mapping","Traversable Passage"],"stratum":"ESI-Bench/Cognitive Mapping/Traversable Passage","subcategory":"Traversable Passage"},"transforms":[]}
{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Cognitive Mapping","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"corridor_0","id":"72e8ab827b67f049","metadata":"vendor/ESI-Bench/dataset/json_clean/Cognitive Mapping/Traversable Passage/Pomaria_0_garden/full_scene/q_002.json","metadata_sha256":"5c96e1e4194791294daf4d128dfdd4a408640f5153e9e519689e7cf693d4b9e2","observation_policy":"runtime camera observations; no oracle poses","question":"On the shortest path from private_office_0 to storage_room_0, which intermediate room do you pass through among these options: living_room_0, private_office_0, bedroom_1, corridor_0?","room":"full_scene","scene":"Pomaria_0_garden","subcategory":"Traversable Passage","task":"cognitive_mapping.traversable_passage"},"group":{"id":"ESI-scene/Pomaria_0_garden","kind":"scene","room":"full_scene","scene":"Pomaria_0_garden"},"id":"80860ef2f12094f2e1cc","native_annotation":{"answer":"corridor_0","answer_type":"choice","big_task":"Cognitive Mapping","gt_camera_poses":[{"baseline_selected":true,"camera_pose":{"position":[-1.0500000715255737,6.950000286102295,1.35],"quaternion_xyzw":[0.30420888439529287,0.49222123307606136,0.6937764782886512,0.4287766441137504]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/0","original_image_path":"path_view_000.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_000.png"},{"baseline_selected":true,"camera_pose":{"position":[-1.8827651982340718,6.417235053121362,1.35],"quaternion_xyzw":[0.22143588023656785,0.5345941812064581,0.7535003438051794,0.3121096670235153]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/1","original_image_path":"path_view_001.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_001.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.58987191327099,5.710128205785511,1.35],"quaternion_xyzw":[0.2214362785401387,0.5345940162237518,0.7535001112651888,0.3121102284248326]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/2","original_image_path":"path_view_002.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_002.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.814600638359625,4.7853993432828865,1.35],"quaternion_xyzw":[0.2214362785401387,0.5345940162237518,0.7535001112651888,0.3121102284248326]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/3","original_image_path":"path_view_003.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_003.png"},{"baseline_selected":true,"camera_pose":{"position":[-3.521707500250395,4.078292642800752,1.35],"quaternion_xyzw":[0.22143611921863973,0.5345940822169053,0.7535002042812851,0.31211000386420606]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/4","original_image_path":"path_view_004.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_004.png"},{"baseline_selected":true,"camera_pose":{"position":[-4.486381526201596,3.950000047683716,1.35],"quaternion_xyzw":[0.4091605966096607,0.4091605966096607,0.576704088924317,0.576704088924317]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/5","original_image_path":"path_view_005.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_005.png"},{"baseline_selected":true,"camera_pose":{"position":[-5.099565805579201,3.5491313955461385,1.35],"quaternion_xyzw":[-0.1329442024927775,0.5631612794391198,0.7937651261326808,-0.18738232814121605]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/6","original_image_path":"path_view_006.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_006.png"},{"baseline_selected":true,"camera_pose":{"position":[-4.650000095367432,3.049999952316284,1.35],"quaternion_xyzw":[-0.221435959897121,0.5345941482100113,0.7535002972973145,-0.31210977930355177]},"camera_pose_rule":null,"fov_deg":100.0,"group":"path_views","metadata_pointer":"/question_data/path_views/views/7","original_image_path":"path_view_007.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"path_views/path_view_007.png"},{"baseline_selected":true,"camera_pose":{"position":[-5.050000190734863,6.25,1.35],"quaternion_xyzw":[0.6532814824381882,-0.2705980500730985,-0.2705980500730985,0.6532814824381883]},"camera_pose_rule":null,"fov_deg":100.0,"group":"region_views","metadata_pointer":"/question_data/gt_region_views/0","original_image_path":"bedroom_1__open_view.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"region_views/bedroom_1__open_view.png"},{"baseline_selected":true,"camera_pose":{"position":[-5.25,5.150000095367432,1.35],"quaternion_xyzw":[0.6532814824381882,-0.2705980500730985,-0.2705980500730985,0.6532814824381883]},"camera_pose_rule":null,"fov_deg":100.0,"group":"region_views","metadata_pointer":"/question_data/gt_region_views/1","original_image_path":"corridor_0__open_view.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"region_views/corridor_0__open_view.png"},{"baseline_selected":true,"camera_pose":{"position":[0.05000000074505806,3.8500001430511475,1.35],"quaternion_xyzw":[-0.2705980500730984,0.6532814824381884,0.6532814824381883,-0.2705980500730984]},"camera_pose_rule":null,"fov_deg":100.0,"group":"region_views","metadata_pointer":"/question_data/gt_region_views/2","original_image_path":"living_room_0__open_view.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"region_views/living_room_0__open_view.png"},{"baseline_selected":true,"camera_pose":{"position":[-1.350000023841858,8.15000057220459,1.35],"quaternion_xyzw":[0.6532814824381884,0.2705980500730984,0.2705980500730984,0.6532814824381883]},"camera_pose_rule":null,"fov_deg":100.0,"group":"region_views","metadata_pointer":"/question_data/gt_region_views/3","original_image_path":"private_office_0__open_view.png","phase":null,"pose_source":"saved","render_mode":"static_scene","role":"gt","state_key":null,"view_id":"region_views/private_office_0__open_view.png"}],"id":"0298","image_paths_json":"[\"shortest_path_via_region__private_office_0__storage_room_0__closet_1__initial.png\",\"shortest_path_via_region__private_office_0__storage_room_0__closet_1.png\",\"view_00.png\",\"view_01.png\",\"view_02.png\",\"view_03.png\",\"living_room_0__open_view.png\",\"private_office_0__open_view.png\",\"bedroom_1__open_view.png\",\"corridor_0__open_view.png\",\"path_view_000.png\",\"path_view_001.png\",\"path_view_002.png\",\"path_view_003.png\",\"path_view_004.png\",\"path_view_005.png\",\"path_view_006.png\",\"path_view_007.png\"]","metadata_json":"{\"image_paths\":[\"shortest_path_via_region__private_office_0__storage_room_0__closet_1__initial.png\",\"shortest_path_via_region__private_office_0__storage_room_0__closet_1.png\",\"shortest_path_via_region__private_office_0__storage_room_0__closet_1.png\",\"view_00.png\",\"view_01.png\",\"view_02.png\",\"view_03.png\",\"view_00.png\",\"view_01.png\",\"view_02.png\",\"view_03.png\",\"view_00.png\",\"view_01.png\",\"view_02.png\",\"view_03.png\",\"living_room_0__open_view.png\",\"private_office_0__open_view.png\",\"bedroom_1__open_view.png\",\"corridor_0__open_view.png\",\"path_view_000.png\",\"path_view_001.png\",\"path_view_002.png\",\"path_view_003.png\",\"path_view_004.png\",\"path_view_005.png\",\"path_view_006.png\",\"path_view_007.png\"],\"question_data\":{\"answer\":\"corridor_0\",\"answer_bool\":true,\"answer_region\":\"corridor_0\",\"case_id\":\"shortest_path_via_region__private_office_0__storage_room_0__closet_1\",\"case_type\":\"shortest_path_via_region\",\"correct_region\":\"corridor_0\",\"gt_region_views\":[{\"_key\":\"bedroom_1\",\"camera_pose\":{\"position\":[-5.050000190734863,6.25,1.35],\"quaternion_xyzw\":[0.6532814824381882,-0.2705980500730985,-0.2705980500730985,0.6532814824381883],\"target\":[-4.342893409548315,6.957106781186548,1.35]},\"image_path\":\"bedroom_1__open_view.png\",\"visible_objects\":[{\"assigned_region\":\"bedroom_1\",\"instance_pixels\":145367,\"object_category\":\"bed\",\"object_name\":\"bed_mpgavt_0\",\"semantic_pixels\":145367},{\"assigned_region\":\"garden_0\",\"instance_pixels\":118121,\"object_category\":\"openable_window\",\"object_name\":\"openable_window_agoayg_0\",\"semantic_pixels\":118121},{\"assigned_region\":\"garden_0\",\"instance_pixels\":19297,\"object_category\":\"breakfast_table\",\"object_name\":\"breakfast_table_skczfi_0\",\"semantic_pixels\":19297}]},{\"_key\":\"corridor_0\",\"camera_pose\":{\"position\":[-5.25,5.150000095367432,1.35],\"quaternion_xyzw\":[0.6532814824381882,-0.2705980500730985,-0.2705980500730985,0.6532814824381883],\"target\":[-4.542893218813452,5.8571068765539795,1.35]},\"image_path\":\"corridor_0__open_view.png\",\"visible_objects\":[{\"assigned_region\":\"bedroom_1\",\"instance_pixels\":112182,\"object_category\":\"bed\",\"object_name\":\"bed_mpgavt_0\",\"semantic_pixels\":112182},{\"assigned_region\":\"garden_0\",\"instance_pixels\":61849,\"object_category\":\"openable_window\",\"object_name\":\"openable_window_agoayg_0\",\"semantic_pixels\":61849}]},{\"_key\":\"living_room_0\",\"camera_pose\":{\"position\":[0.05000000074505806,3.8500001430511475,1.35],\"quaternion_xyzw\":[-0.2705980500730984,0.6532814824381884,0.6532814824381883,-0.2705980500730984],\"target\":[0.7571067819316054,3.1428933618645996,1.35]},\"image_path\":\"living_room_0__open_view.png\",\"visible_objects\":[{\"assigned_region\":\"garden_0\",\"instance_pixels\":59944,\"object_category\":\"bookcase\",\"object_name\":\"bookcase_njwsoa_1\",\"semantic_pixels\":59944},{\"assigned_region\":\"garden_0\",\"instance_pixels\":9894,\"object_category\":\"rail_fence\",\"object_name\":\"rail_fence_czawic_0\",\"semantic_pixels\":40924},{\"assigned_region\":\"garden_0\",\"instance_pixels\":1187,\"object_category\":\"lawn\",\"object_name\":\"lawn_goumgk_0\",\"semantic_pixels\":32387},{\"assigned_region\":\"garden_0\",\"instance_pixels\":14313,\"object_category\":\"gate\",\"object_name\":\"gate_flveay_0\",\"semantic_pixels\":14313},{\"assigned_region\":\"living_room_0\",\"instance_pixels\":8400,\"object_category\":\"straight_chair\",\"object_name\":\"straight_chair_vkgbbl_0\",\"semantic_pixels\":8400},{\"assigned_region\":\"living_room_0\",\"instance_pixels\":763,\"object_category\":\"sofa\",\"object_name\":\"sofa_mnfbbh_0\",\"semantic_pixels\":763}]},{\"_key\":\"private_office_0\",\"camera_pose\":{\"position\":[-1.350000023841858,8.15000057220459,1.35],\"quaternion_xyzw\":[0.6532814824381884,0.2705980500730984,0.2705980500730984,0.6532814824381883],\"target\":[-2.0571068050284054,8.857107353391138,1.35]},\"image_path\":\"private_office_0__open_view.png\",\"visible_objects\":[{\"assigned_region\":\"garden_0\",\"instance_pixels\":250972,\"object_category\":\"bookcase\",\"object_name\":\"bookcase_njwsoa_4\",\"semantic_pixels\":250972},{\"assigned_region\":\"garden_0\",\"instance_pixels\":5932,\"object_category\":\"wading_pool\",\"object_name\":\"wading_pool_sbvksi_0\",\"semantic_pixels\":5932},{\"assigned_region\":\"garden_0\",\"instance_pixels\":1814,\"object_category\":\"bottom_cabinet\",\"object_name\":\"bottom_cabinet_jhymlr_0\",\"semantic_pixels\":1814},{\"assigned_region\":\"garden_0\",\"instance_pixels\":1045,\"object_category\":\"sofa\",\"object_name\":\"sofa_rdvxkm_0\",\"semantic_pixels\":1045},{\"assigned_region\":\"garden_0\",\"instance_pixels\":790,\"object_category\":\"openable_window\",\"object_name\":\"openable_window_yorgot_0\",\"semantic_pixels\":790},{\"assigned_region\":\"garden_0\",\"instance_pixels\":686,\"object_category\":\"pillar\",\"object_name\":\"pillar_yrbqij_2\",\"semantic_pixels\":686},{\"assigned_region\":\"garden_0\",\"instance_pixels\":130,\"object_category\":\"shelf\",\"object_name\":\"shelf_xezdng_0\",\"semantic_pixels\":130}]}],\"initial_view\":{\"camera_pose\":{\"position\":[-1.350000023841858,8.15000057220459,1.35],\"quaternion_xyzw\":[0.6806519532207641,0.16425929840513956,0.16748810408500592,0.6940313656126935],\"target\":[-9.550000190734863,24.149999618530273,1.0]},\"image_path\":\"shortest_path_via_region__private_office_0__storage_room_0__closet_1__initial.png\",\"ray_debug\":{\"angle_deg\":117.0,\"angle_rad\":2.0420352248333655,\"end_map_rc\":[488,151],\"ray_length_px\":179.78875732421875,\"start_map_rc\":[328,233],\"start_xy\":[-1.350000023841858,8.15000057220459],\"success\":true,\"target_xy\":[-9.550000190734863,24.149999618530273]},\"render_xy\":[-1.350000023841858,8.15000057220459],\"room_instance\":\"private_office_0\",\"selection_debug\":{\"center_distance_px\":12.369317054748535,\"clearance_px\":11.984498977661133,\"room_instance\":\"private_office_0\",\"selected_by\":\"center_near_free_xy\",\"selected_map_rc\":[328,233]},\"success\":true},\"internal_shortest_path_regions\":[\"closet_1\",\"corridor_0\"],\"legacy_binary_question\":{\"answer\":\"Yes\",\"answer_bool\":true,\"options\":[\"Yes\",\"No\"],\"question\":\"On the shortest path from private_office_0 to storage_room_0, do you need to pass through closet_1?\",\"required_regions\":[\"private_office_0\",\"storage_room_0\",\"closet_1\"],\"via_region\":\"closet_1\"},\"option_count\":4,\"options\":[\"living_room_0\",\"private_office_0\",\"bedroom_1\",\"corridor_0\"],\"path_views\":{\"path_length_m\":6.677,\"path_world_xy\":[[-1.0500000715255737,6.950000286102295],[-1.25,6.849999904632568],[-1.4500000476837158,6.75],[-1.649999976158142,6.650000095367432],[-1.850000023841858,6.450000286102295],[-2.049999952316284,6.25],[-2.25,6.050000190734863],[-2.450000047683716,5.849999904632568],[-2.6500000953674316,5.650000095367432],[-2.6500000953674316,5.450000286102295],[-2.6500000953674316,5.25],[-2.6500000953674316,5.050000190734863],[-2.75,4.849999904632568],[-2.950000047683716,4.650000095367432],[-3.1500000953674316,4.450000286102295],[-3.3500001430511475,4.25],[-3.549999952316284,4.050000190734863],[-3.75,3.950000047683716],[-3.950000047683716,3.950000047683716],[-4.150000095367432,3.950000047683716],[-4.349999904632568,3.950000047683716],[-4.550000190734863,3.950000047683716],[-4.75,3.950000047683716],[-4.950000286102295,3.950000047683716],[-5.150000095367432,3.8500001430511475],[-5.150000095367432,3.6500000953674316],[-5.050000190734863,3.450000047683716],[-4.849999904632568,3.25],[-4.650000095367432,3.049999952316284]],\"room_sequence\":[\"private_office_0\",\"closet_1\",\"corridor_0\",\"storage_room_0\"],\"sample_count\":8,\"sample_spacing_m\":1.0,\"selected_target_region\":\"storage_room_0\",\"selection_reason\":\"direct_path\",\"success\":true,\"views\":[{\"camera_pose\":{\"position\":[-1.0500000715255737,6.950000286102295,1.35],\"quaternion_xyzw\":[0.30420888439529287,0.49222123307606136,0.6937764782886512,0.4287766441137504],\"target\":[-1.9444265161563898,6.502785197867252,1.0]},\"distance_along_path_m\":0.0,\"image_path\":\"path_view_000.png\",\"sample_index\":0,\"yaw_rad\":-2.677943375659729},{\"camera_pose\":{\"position\":[-1.8827651982340718,6.417235053121362,1.35],\"quaternion_xyzw\":[0.22143588023656785,0.5345941812064581,0.7535003438051794,0.3121096670235153],\"target\":[-2.589871347217948,5.7101276397327085,1.0]},\"distance_along_path_m\":1.0,\"image_path\":\"path_view_001.png\",\"sample_index\":1,\"yaw_rad\":-2.356193596123153},{\"camera_pose\":{\"position\":[-2.58987191327099,5.710128205785511,1.35],\"quaternion_xyzw\":[0.2214362785401387,0.5345940162237518,0.7535001112651888,0.3121102284248326],\"target\":[-3.2969791159260478,5.003021846067726,1.0]},\"distance_along_path_m\":2.0,\"image_path\":\"path_view_002.png\",\"sample_index\":2,\"yaw_rad\":-2.3561950862390058},{\"camera_pose\":{\"position\":[-2.814600638359625,4.7853993432828865,1.35],\"quaternion_xyzw\":[0.2214362785401387,0.5345940162237518,0.7535001112651888,0.3121102284248326],\"target\":[-3.521707841014683,4.078292983565101,1.0]},\"distance_along_path_m\":3.0,\"image_path\":\"path_view_003.png\",\"sample_index\":3,\"yaw_rad\":-2.3561950862390058},{\"camera_pose\":{\"position\":[-3.521707500250395,4.078292642800752,1.35],\"quaternion_xyzw\":[0.22143611921863973,0.5345940822169053,0.7535002042812851,0.31211000386420606],\"target\":[-4.228814281436943,3.371185861614205,1.0]},\"distance_along_path_m\":4.0,\"image_path\":\"path_view_004.png\",\"sample_index\":4,\"yaw_rad\":-2.356194490192345},{\"camera_pose\":{\"position\":[-4.486381526201596,3.950000047683716,1.35],\"quaternion_xyzw\":[0.4091605966096607,0.4091605966096607,0.576704088924317,0.576704088924317],\"target\":[-5.486381526201596,3.950000047683716,1.0]},\"distance_along_path_m\":5.0,\"image_path\":\"path_view_005.png\",\"sample_index\":5,\"yaw_rad\":3.141592653589793},{\"camera_pose\":{\"position\":[-5.099565805579201,3.5491313955461385,1.35],\"quaternion_xyzw\":[-0.1329442024927775,0.5631612794391198,0.7937651261326808,-0.18738232814121605],\"target\":[-4.652352636575413,2.6547039912982644,1.0]},\"distance_along_path_m\":6.0,\"image_path\":\"path_view_006.png\",\"sample_index\":6,\"yaw_rad\":-1.1071491946312486},{\"camera_pose\":{\"position\":[-4.650000095367432,3.049999952316284,1.35],\"quaternion_xyzw\":[-0.221435959897121,0.5345941482100113,0.7535002972973145,-0.31210977930355177],\"target\":[-3.9428937356496454,2.3428927496612264,1.0]},\"distance_along_path_m\":6.677,\"image_path\":\"path_view_007.png\",\"sample_index\":7,\"yaw_rad\":-0.7853987594441092}]},\"question\":\"On the shortest path from private_office_0 to storage_room_0, which intermediate room do you pass through among these options: living_room_0, private_office_0, bedroom_1, corridor_0?\",\"question_format\":\"single_choice_room_mcq\",\"render\":{\"gt_region_views\":[{\"_key\":\"bedroom_1\",\"camera_pose\":{\"position\":[-5.050000190734863,6.25,1.35],\"quaternion_xyzw\":[0.6532814824381882,-0.2705980500730985,-0.2705980500730985,0.6532814824381883],\"target\":[-4.342893409548315,6.957106781186548,1.35]},\"image_path\":\"bedroom_1__open_view.png\",\"visible_objects\":[{\"assigned_region\":\"bedroom_1\",\"instance_pixels\":145367,\"object_category\":\"bed\",\"object_name\":\"bed_mpgavt_0\",\"semantic_pixels\":145367},{\"assigned_region\":\"garden_0\",\"instance_pixels\":118121,\"object_category\":\"openable_window\",\"object_name\":\"openable_window_agoayg_0\",\"semantic_pixels\":118121},{\"assigned_region\":\"garden_0\",\"instance_pixels\":19297,\"object_category\":\"breakfast_table\",\"object_name\":\"breakfast_table_skczfi_0\",\"semantic_pixels\":19297}]},{\"_key\":\"corridor_0\",\"camera_pose\":{\"position\":[-5.25,5.150000095367432,1.35],\"quaternion_xyzw\":[0.6532814824381882,-0.2705980500730985,-0.2705980500730985,0.6532814824381883],\"target\":[-4.542893218813452,5.8571068765539795,1.35]},\"image_path\":\"corridor_0__open_view.png\",\"visible_objects\":[{\"assigned_region\":\"bedroom_1\",\"instance_pixels\":112182,\"object_category\":\"bed\",\"object_name\":\"bed_mpgavt_0\",\"semantic_pixels\":112182},{\"assigned_region\":\"garden_0\",\"instance_pixels\":61849,\"object_category\":\"openable_window\",\"object_name\":\"openable_window_agoayg_0\",\"semantic_pixels\":61849}]},{\"_key\":\"living_room_0\",\"camera_pose\":{\"position\":[0.05000000074505806,3.8500001430511475,1.35],\"quaternion_xyzw\":[-0.2705980500730984,0.6532814824381884,0.6532814824381883,-0.2705980500730984],\"target\":[0.7571067819316054,3.1428933618645996,1.35]},\"image_path\":\"living_room_0__open_view.png\",\"visible_objects\":[{\"assigned_region\":\"garden_0\",\"instance_pixels\":59944,\"object_category\":\"bookcase\",\"object_name\":\"bookcase_njwsoa_1\",\"semantic_pixels\":59944},{\"assigned_region\":\"garden_0\",\"instance_pixels\":9894,\"object_category\":\"rail_fence\",\"object_name\":\"rail_fence_czawic_0\",\"semantic_pixels\":40924},{\"assigned_region\":\"garden_0\",\"instance_pixels\":1187,\"object_category\":\"lawn\",\"object_name\":\"lawn_goumgk_0\",\"semantic_pixels\":32387},{\"assigned_region\":\"garden_0\",\"instance_pixels\":14313,\"object_category\":\"gate\",\"object_name\":\"gate_flveay_0\",\"semantic_pixels\":14313},{\"assigned_region\":\"living_room_0\",\"instance_pixels\":8400,\"object_category\":\"straight_chair\",\"object_name\":\"straight_chair_vkgbbl_0\",\"semantic_pixels\":8400},{\"assigned_region\":\"living_room_0\",\"instance_pixels\":763,\"object_category\":\"sofa\",\"object_name\":\"sofa_mnfbbh_0\",\"semantic_pixels\":763}]},{\"_key\":\"private_office_0\",\"camera_pose\":{\"position\":[-1.350000023841858,8.15000057220459,1.35],\"quaternion_xyzw\":[0.6532814824381884,0.2705980500730984,0.2705980500730984,0.6532814824381883],\"target\":[-2.0571068050284054,8.857107353391138,1.35]},\"image_path\":\"private_office_0__open_view.png\",\"visible_objects\":[{\"assigned_region\":\"garden_0\",\"instance_pixels\":250972,\"object_category\":\"bookcase\",\"object_name\":\"bookcase_njwsoa_4\",\"semantic_pixels\":250972},{\"assigned_region\":\"garden_0\",\"instance_pixels\":5932,\"object_category\":\"wading_pool\",\"object_name\":\"wading_pool_sbvksi_0\",\"semantic_pixels\":5932},{\"assigned_region\":\"garden_0\",\"instance_pixels\":1814,\"object_category\":\"bottom_cabinet\",\"object_name\":\"bottom_cabinet_jhymlr_0\",\"semantic_pixels\":1814},{\"assigned_region\":\"garden_0\",\"instance_pixels\":1045,\"object_category\":\"sofa\",\"object_name\":\"sofa_rdvxkm_0\",\"semantic_pixels\":1045},{\"assigned_region\":\"garden_0\",\"instance_pixels\":790,\"object_category\":\"openable_window\",\"object_name\":\"openable_window_yorgot_0\",\"semantic_pixels\":790},{\"assigned_region\":\"garden_0\",\"instance_pixels\":686,\"object_category\":\"pillar\",\"object_name\":\"pillar_yrbqij_2\",\"semantic_pixels\":686},{\"assigned_region\":\"garden_0\",\"instance_pixels\":130,\"object_category\":\"shelf\",\"object_name\":\"shelf_xezdng_0\",\"semantic_pixels\":130}]}],\"image\":\"shortest_path_via_region__private_office_0__storage_room_0__closet_1__initial.png\",\"initial_view\":{\"camera_pose\":{\"position\":[-1.350000023841858,8.15000057220459,1.35],\"quaternion_xyzw\":[0.6806519532207641,0.16425929840513956,0.16748810408500592,0.6940313656126935],\"target\":[-9.550000190734863,24.149999618530273,1.0]},\"image_path\":\"shortest_path_via_region__private_office_0__storage_room_0__closet_1__initial.png\",\"ray_debug\":{\"angle_deg\":117.0,\"angle_rad\":2.0420352248333655,\"end_map_rc\":[488,151],\"ray_length_px\":179.78875732421875,\"start_map_rc\":[328,233],\"start_xy\":[-1.350000023841858,8.15000057220459],\"success\":true,\"target_xy\":[-9.550000190734863,24.149999618530273]},\"render_xy\":[-1.350000023841858,8.15000057220459],\"room_instance\":\"private_office_0\",\"selection_debug\":{\"center_distance_px\":12.369317054748535,\"clearance_px\":11.984498977661133,\"room_instance\":\"private_office_0\",\"selected_by\":\"center_near_free_xy\",\"selected_map_rc\":[328,233]},\"success\":true},\"kind\":\"start_room_longest_ray_view\",\"path_views\":{\"path_length_m\":6.677,\"path_world_xy\":[[-1.0500000715255737,6.950000286102295],[-1.25,6.849999904632568],[-1.4500000476837158,6.75],[-1.649999976158142,6.650000095367432],[-1.850000023841858,6.450000286102295],[-2.049999952316284,6.25],[-2.25,6.050000190734863],[-2.450000047683716,5.849999904632568],[-2.6500000953674316,5.650000095367432],[-2.6500000953674316,5.450000286102295],[-2.6500000953674316,5.25],[-2.6500000953674316,5.050000190734863],[-2.75,4.849999904632568],[-2.950000047683716,4.650000095367432],[-3.1500000953674316,4.450000286102295],[-3.3500001430511475,4.25],[-3.549999952316284,4.050000190734863],[-3.75,3.950000047683716],[-3.950000047683716,3.950000047683716],[-4.150000095367432,3.950000047683716],[-4.349999904632568,3.950000047683716],[-4.550000190734863,3.950000047683716],[-4.75,3.950000047683716],[-4.950000286102295,3.950000047683716],[-5.150000095367432,3.8500001430511475],[-5.150000095367432,3.6500000953674316],[-5.050000190734863,3.450000047683716],[-4.849999904632568,3.25],[-4.650000095367432,3.049999952316284]],\"room_sequence\":[\"private_office_0\",\"closet_1\",\"corridor_0\",\"storage_room_0\"],\"sample_count\":8,\"sample_spacing_m\":1.0,\"selected_target_region\":\"storage_room_0\",\"selection_reason\":\"direct_path\",\"success\":true,\"views\":[{\"camera_pose\":{\"position\":[-1.0500000715255737,6.950000286102295,1.35],\"quaternion_xyzw\":[0.30420888439529287,0.49222123307606136,0.6937764782886512,0.4287766441137504],\"target\":[-1.9444265161563898,6.502785197867252,1.0]},\"distance_along_path_m\":0.0,\"image_path\":\"path_view_000.png\",\"sample_index\":0,\"yaw_rad\":-2.677943375659729},{\"camera_pose\":{\"position\":[-1.8827651982340718,6.417235053121362,1.35],\"quaternion_xyzw\":[0.22143588023656785,0.5345941812064581,0.7535003438051794,0.3121096670235153],\"target\":[-2.589871347217948,5.7101276397327085,1.0]},\"distance_along_path_m\":1.0,\"image_path\":\"path_view_001.png\",\"sample_index\":1,\"yaw_rad\":-2.356193596123153},{\"camera_pose\":{\"position\":[-2.58987191327099,5.710128205785511,1.35],\"quaternion_xyzw\":[0.2214362785401387,0.5345940162237518,0.7535001112651888,0.3121102284248326],\"target\":[-3.2969791159260478,5.003021846067726,1.0]},\"distance_along_path_m\":2.0,\"image_path\":\"path_view_002.png\",\"sample_index\":2,\"yaw_rad\":-2.3561950862390058},{\"camera_pose\":{\"position\":[-2.814600638359625,4.7853993432828865,1.35],\"quaternion_xyzw\":[0.2214362785401387,0.5345940162237518,0.7535001112651888,0.3121102284248326],\"target\":[-3.521707841014683,4.078292983565101,1.0]},\"distance_along_path_m\":3.0,\"image_path\":\"path_view_003.png\",\"sample_index\":3,\"yaw_rad\":-2.3561950862390058},{\"camera_pose\":{\"position\":[-3.521707500250395,4.078292642800752,1.35],\"quaternion_xyzw\":[0.22143611921863973,0.5345940822169053,0.7535002042812851,0.31211000386420606],\"target\":[-4.228814281436943,3.371185861614205,1.0]},\"distance_along_path_m\":4.0,\"image_path\":\"path_view_004.png\",\"sample_index\":4,\"yaw_rad\":-2.356194490192345},{\"camera_pose\":{\"position\":[-4.486381526201596,3.950000047683716,1.35],\"quaternion_xyzw\":[0.4091605966096607,0.4091605966096607,0.576704088924317,0.576704088924317],\"target\":[-5.486381526201596,3.950000047683716,1.0]},\"distance_along_path_m\":5.0,\"image_path\":\"path_view_005.png\",\"sample_index\":5,\"yaw_rad\":3.141592653589793},{\"camera_pose\":{\"position\":[-5.099565805579201,3.5491313955461385,1.35],\"quaternion_xyzw\":[-0.1329442024927775,0.5631612794391198,0.7937651261326808,-0.18738232814121605],\"target\":[-4.652352636575413,2.6547039912982644,1.0]},\"distance_along_path_m\":6.0,\"image_path\":\"path_view_006.png\",\"sample_index\":6,\"yaw_rad\":-1.1071491946312486},{\"camera_pose\":{\"position\":[-4.650000095367432,3.049999952316284,1.35],\"quaternion_xyzw\":[-0.221435959897121,0.5345941482100113,0.7535002972973145,-0.31210977930355177],\"target\":[-3.9428937356496454,2.3428927496612264,1.0]},\"distance_along_path_m\":6.677,\"image_path\":\"path_view_007.png\",\"sample_index\":7,\"yaw_rad\":-0.7853987594441092}]},\"room_views\":[{\"_key\":\"bedroom_1\",\"center_xy\":[-4.5,7.0],\"corner_render_xy\":[[-5.15,5.85],[-5.15,8.15],[-3.85,5.85],[-3.85,8.15]],\"gt_open_view\":{\"camera_pose\":{\"position\":[-5.050000190734863,6.25,1.35],\"quaternion_xyzw\":[0.6532814824381882,-0.2705980500730985,-0.2705980500730985,0.6532814824381883],\"target\":[-4.342893409548315,6.957106781186548,1.35]},\"image_path\":\"bedroom_1__open_view.png\",\"visible_objects\":[{\"assigned_region\":\"bedroom_1\",\"instance_pixels\":145367,\"object_category\":\"bed\",\"object_name\":\"bed_mpgavt_0\",\"semantic_pixels\":145367},{\"assigned_region\":\"garden_0\",\"instance_pixels\":118121,\"object_category\":\"openable_window\",\"object_name\":\"openable_window_agoayg_0\",\"semantic_pixels\":118121},{\"assigned_region\":\"garden_0\",\"instance_pixels\":19297,\"object_category\":\"breakfast_table\",\"object_name\":\"breakfast_table_skczfi_0\",\"semantic_pixels\":19297}]},\"room_instance\":\"bedroom_1\",\"success\":true,\"views\":[{\"_key\":\"view_00\",\"camera_pose\":{\"position\":[-5.15,5.85,1.35],\"quaternion_xyzw\":[0.5898051864716358,-0.15515005217483352,-0.20161111564117523,0.7664275969530495],\"target\":[-4.5,7.0,1.0]},\"corner_xy\":[-5.15,5.85],\"image_path\":\"view_00.png\",\"view_role\":\"view_00\"},{\"_key\":\"view_01\",\"camera_pose\":{\"position\":[-5.15,8.15,1.35],\"quaternion_xyzw\":[-0.15515005217483352,0.5898051864716358,0.7664275969530495,-0.20161111564117523],\"target\":[-4.5,7.0,1.0]},\"corner_xy\":[-5.15,8.15],\"image_path\":\"view_01.png\",\"view_role\":\"view_01\"},{\"_key\":\"view_02\",\"camera_pose\":{\"position\":[-3.85,5.85,1.35],\"quaternion_xyzw\":[0.5898051864716358,0.15515005217483344,0.20161111564117518,0.7664275969530495],\"target\":[-4.5,7.0,1.0]},\"corner_xy\":[-3.85,5.85],\"image_path\":\"view_02.png\",\"view_role\":\"view_02\"},{\"_key\":\"view_03\",\"camera_pose\":{\"position\":[-3.85,8.15,1.35],\"quaternion_xyzw\":[0.15515005217483344,0.5898051864716358,0.7664275969530495,0.20161111564117518],\"target\":[-4.5,7.0,1.0]},\"corner_xy\":[-3.85,8.15],\"image_path\":\"view_03.png\",\"view_role\":\"view_03\"}]},{\"_key\":\"corridor_0\",\"center_xy\":[-4.5,4.5],\"corner_render_xy\":[[-6.500000000000002,4.1745000000000045],[-6.500000000000002,4.300499999999999],[-2.0100000000000007,4.1745000000000045],[-2.0100000000000007,4.300499999999999]],\"gt_open_view\":{\"camera_pose\":{\"position\":[-5.25,5.150000095367432,1.35],\"quaternion_xyzw\":[0.6532814824381882,-0.2705980500730985,-0.2705980500730985,0.6532814824381883],\"target\":[-4.542893218813452,5.8571068765539795,1.35]},\"image_path\":\"corridor_0__open_view.png\",\"visible_objects\":[{\"assigned_region\":\"bedroom_1\",\"instance_pixels\":112182,\"object_category\":\"bed\",\"object_name\":\"bed_mpgavt_0\",\"semantic_pixels\":112182},{\"assigned_region\":\"garden_0\",\"instance_pixels\":61849,\"object_category\":\"openable_window\",\"object_name\":\"openable_window_agoayg_0\",\"semantic_pixels\":61849}]},\"room_instance\":\"corridor_0\",\"success\":true,\"views\":[{\"_key\":\"view_00\",\"camera_pose\":{\"position\":[-6.500000000000002,4.1745000000000045,1.35],\"quaternion_xyzw\":[0.4906852380974961,-0.41728227166207843,-0.4955373556475285,0.5827059567462767],\"target\":[-4.5,4.5,1.0]},\"corner_xy\":[-6.500000000000002,4.1745000000000045],\"image_path\":\"view_00.png\",\"view_role\":\"view_00\"},{\"_key\":\"view_01\",\"camera_pose\":{\"position\":[-6.500000000000002,4.300499999999999,1.35],\"quaternion_xyzw\":[0.47714651656511553,-0.4319190946527446,-0.5136313745281434,0.5674151112760917],\"target\":[-4.5,4.5,1.0]},\"corner_xy\":[-6.500000000000002,4.300499999999999],\"image_path\":\"view_01.png\",\"view_role\":\"view_01\"},{\"_key\":\"view_02\",\"camera_pose\":{\"position\":[-2.0100000000000007,4.1745000000000045,1.35],\"quaternion_xyzw\":[0.4933773816497174,0.43307934005277626,0.4976266131217055,0.5669116319224199],\"target\":[-4.5,4.5,1.0]},\"corner_xy\":[-2.0100000000000007,4.1745000000000045],\"image_path\":\"view_02.png\",\"view_role\":\"view_02\"},{\"_key\":\"view_03\",\"camera_pose\":{\"position\":[-2.0100000000000007,4.300499999999999,1.35],\"quaternion_xyzw\":[0.48218898651445596,0.4451009526223445,0.5118133101512846,0.5544601507870771],\"target\":[-4.5,4.5,1.0]},\"corner_xy\":[-2.0100000000000007,4.300499999999999],\"image_path\":\"view_03.png\",\"view_role\":\"view_03\"}]},{\"_key\":\"living_room_0\",\"center_xy\":[1.5,6.0],\"corner_render_xy\":[[-1.1,3.9],[-1.1,8.1],[4.1,3.9],[4.1,8.1]],\"gt_open_view\":{\"camera_pose\":{\"position\":[0.05000000074505806,3.8500001430511475,1.35],\"quaternion_xyzw\":[-0.2705980500730984,0.6532814824381884,0.6532814824381883,-0.2705980500730984],\"target\":[0.7571067819316054,3.1428933618645996,1.35]},\"image_path\":\"living_room_0__open_view.png\",\"visible_objects\":[{\"assigned_region\":\"garden_0\",\"instance_pixels\":59944,\"object_category\":\"bookcase\",\"object_name\":\"bookcase_njwsoa_1\",\"semantic_pixels\":59944},{\"assigned_region\":\"garden_0\",\"instance_pixels\":9894,\"object_category\":\"rail_fence\",\"object_name\":\"rail_fence_czawic_0\",\"semantic_pixels\":40924},{\"assigned_region\":\"garden_0\",\"instance_pixels\":1187,\"object_category\":\"lawn\",\"object_name\":\"lawn_goumgk_0\",\"semantic_pixels\":32387},{\"assigned_region\":\"garden_0\",\"instance_pixels\":14313,\"object_category\":\"gate\",\"object_name\":\"gate_flveay_0\",\"semantic_pixels\":14313},{\"assigned_region\":\"living_room_0\",\"instance_pixels\":8400,\"object_category\":\"straight_chair\",\"object_name\":\"straight_chair_vkgbbl_0\",\"semantic_pixels\":8400},{\"assigned_region\":\"living_room_0\",\"instance_pixels\":763,\"object_category\":\"sofa\",\"object_name\":\"sofa_mnfbbh_0\",\"semantic_pixels\":763}]},\"room_instance\":\"living_room_0\",\"success\":true,\"views\":[{\"_key\":\"view_00\",\"camera_pose\":{\"position\":[-1.1,3.9,1.35],\"quaternion_xyzw\":[0.6038916375240309,-0.2885103896273998,-0.32030173513928284,0.6704352643412749],\"target\":[1.5,6.0,1.0]},\"corner_xy\":[-1.1,3.9],\"image_path\":\"view_00.png\",\"view_role\":\"view_00\"},{\"_key\":\"view_01\",\"camera_pose\":{\"position\":[-1.1,8.1,1.35],\"quaternion_xyzw\":[-0.28851038962739983,0.6038916375240309,0.6704352643412749,-0.3203017351392829],\"target\":[1.5,6.0,1.0]},\"corner_xy\":[-1.1,8.1],\"image_path\":\"view_01.png\",\"view_role\":\"view_01\"},{\"_key\":\"view_02\",\"camera_pose\":{\"position\":[4.1,3.9,1.35],\"quaternion_xyzw\":[0.6038916375240309,0.2885103896273998,0.32030173513928284,0.6704352643412749],\"target\":[1.5,6.0,1.0]},\"corner_xy\":[4.1,3.9],\"image_path\":\"view_02.png\",\"view_role\":\"view_02\"},{\"_key\":\"view_03\",\"camera_pose\":{\"position\":[4.1,8.1,1.35],\"quaternion_xyzw\":[0.2885103896273998,0.6038916375240309,0.6704352643412749,0.3203017351392829],\"target\":[1.5,6.0,1.0]},\"corner_xy\":[4.1,8.1],\"image_path\":\"view_03.png\",\"view_role\":\"view_03\"}]},{\"_key\":\"private_office_0\",\"center_xy\":[-1.0,7.0],\"corner_render_xy\":[[-2.15,5.85],[-2.15,8.15],[0.15000000000000002,5.85],[0.15000000000000002,8.15]],\"gt_open_view\":{\"camera_pose\":{\"position\":[-1.350000023841858,8.15000057220459,1.35],\"quaternion_xyzw\":[0.6532814824381884,0.2705980500730984,0.2705980500730984,0.6532814824381883],\"target\":[-2.0571068050284054,8.857107353391138,1.35]},\"image_path\":\"private_office_0__open_view.png\",\"visible_objects\":[{\"assigned_region\":\"garden_0\",\"instance_pixels\":250972,\"object_category\":\"bookcase\",\"object_name\":\"bookcase_njwsoa_4\",\"semantic_pixels\":250972},{\"assigned_region\":\"garden_0\",\"instance_pixels\":5932,\"object_category\":\"wading_pool\",\"object_name\":\"wading_pool_sbvksi_0\",\"semantic_pixels\":5932},{\"assigned_region\":\"garden_0\",\"instance_pixels\":1814,\"object_category\":\"bottom_cabinet\",\"object_name\":\"bottom_cabinet_jhymlr_0\",\"semantic_pixels\":1814},{\"assigned_region\":\"garden_0\",\"instance_pixels\":1045,\"object_category\":\"sofa\",\"object_name\":\"sofa_rdvxkm_0\",\"semantic_pixels\":1045},{\"assigned_region\":\"garden_0\",\"instance_pixels\":790,\"object_category\":\"openable_window\",\"object_name\":\"openable_window_yorgot_0\",\"semantic_pixels\":790},{\"assigned_region\":\"garden_0\",\"instance_pixels\":686,\"object_category\":\"pillar\",\"object_name\":\"pillar_yrbqij_2\",\"semantic_pixels\":686},{\"assigned_region\":\"garden_0\",\"instance_pixels\":130,\"object_category\":\"shelf\",\"object_name\":\"shelf_xezdng_0\",\"semantic_pixels\":130}]},\"room_instance\":\"private_office_0\",\"success\":true,\"views\":[{\"_key\":\"view_00\",\"camera_pose\":{\"position\":[-2.15,5.85,1.35],\"quaternion_xyzw\":[0.5805060938632272,-0.24045349711837755,-0.29770576939365573,0.7187253060668811],\"target\":[-1.0,7.0,1.0]},\"corner_xy\":[-2.15,5.85],\"image_path\":\"view_00.png\",\"view_role\":\"view_00\"},{\"_key\":\"view_01\",\"camera_pose\":{\"position\":[-2.15,8.15,1.35],\"quaternion_xyzw\":[-0.24045349711837755,0.5805060938632272,0.7187253060668811,-0.29770576939365573],\"target\":[-1.0,7.0,1.0]},\"corner_xy\":[-2.15,8.15],\"image_path\":\"view_01.png\",\"view_role\":\"view_01\"},{\"_key\":\"view_02\",\"camera_pose\":{\"position\":[0.15000000000000002,5.85,1.35],\"quaternion_xyzw\":[0.5805060938632272,0.24045349711837755,0.29770576939365573,0.7187253060668811],\"target\":[-1.0,7.0,1.0]},\"corner_xy\":[0.15000000000000002,5.85],\"image_path\":\"view_02.png\",\"view_role\":\"view_02\"},{\"_key\":\"view_03\",\"camera_pose\":{\"position\":[0.15000000000000002,8.15,1.35],\"quaternion_xyzw\":[0.24045349711837755,0.5805060938632272,0.7187253060668811,0.29770576939365573],\"target\":[-1.0,7.0,1.0]},\"corner_xy\":[0.15000000000000002,8.15],\"image_path\":\"view_03.png\",\"view_role\":\"view_03\"}]}],\"topdown_map\":\"shortest_path_via_region__private_office_0__storage_room_0__closet_1.png\"},\"required_regions\":[\"living_room_0\",\"private_office_0\",\"bedroom_1\",\"corridor_0\"],\"room_views\":[{\"_key\":\"bedroom_1\",\"center_xy\":[-4.5,7.0],\"corner_render_xy\":[[-5.15,5.85],[-5.15,8.15],[-3.85,5.85],[-3.85,8.15]],\"gt_open_view\":{\"camera_pose\":{\"position\":[-5.050000190734863,6.25,1.35],\"quaternion_xyzw\":[0.6532814824381882,-0.2705980500730985,-0.2705980500730985,0.6532814824381883],\"target\":[-4.342893409548315,6.957106781186548,1.35]},\"image_path\":\"bedroom_1__open_view.png\",\"visible_objects\":[{\"assigned_region\":\"bedroom_1\",\"instance_pixels\":145367,\"object_category\":\"bed\",\"object_name\":\"bed_mpgavt_0\",\"semantic_pixels\":145367},{\"assigned_region\":\"garden_0\",\"instance_pixels\":118121,\"object_category\":\"openable_window\",\"object_name\":\"openable_window_agoayg_0\",\"semantic_pixels\":118121},{\"assigned_region\":\"garden_0\",\"instance_pixels\":19297,\"object_category\":\"breakfast_table\",\"object_name\":\"breakfast_table_skczfi_0\",\"semantic_pixels\":19297}]},\"room_instance\":\"bedroom_1\",\"success\":true,\"views\":[{\"_key\":\"view_00\",\"camera_pose\":{\"position\":[-5.15,5.85,1.35],\"quaternion_xyzw\":[0.5898051864716358,-0.15515005217483352,-0.20161111564117523,0.7664275969530495],\"target\":[-4.5,7.0,1.0]},\"corner_xy\":[-5.15,5.85],\"image_path\":\"view_00.png\",\"view_role\":\"view_00\"},{\"_key\":\"view_01\",\"camera_pose\":{\"position\":[-5.15,8.15,1.35],\"quaternion_xyzw\":[-0.15515005217483352,0.5898051864716358,0.7664275969530495,-0.20161111564117523],\"target\":[-4.5,7.0,1.0]},\"corner_xy\":[-5.15,8.15],\"image_path\":\"view_01.png\",\"view_role\":\"view_01\"},{\"_key\":\"view_02\",\"camera_pose\":{\"position\":[-3.85,5.85,1.35],\"quaternion_xyzw\":[0.5898051864716358,0.15515005217483344,0.20161111564117518,0.7664275969530495],\"target\":[-4.5,7.0,1.0]},\"corner_xy\":[-3.85,5.85],\"image_path\":\"view_02.png\",\"view_role\":\"view_02\"},{\"_key\":\"view_03\",\"camera_pose\":{\"position\":[-3.85,8.15,1.35],\"quaternion_xyzw\":[0.15515005217483344,0.5898051864716358,0.7664275969530495,0.20161111564117518],\"target\":[-4.5,7.0,1.0]},\"corner_xy\":[-3.85,8.15],\"image_path\":\"view_03.png\",\"view_role\":\"view_03\"}]},{\"_key\":\"corridor_0\",\"center_xy\":[-4.5,4.5],\"corner_render_xy\":[[-6.500000000000002,4.1745000000000045],[-6.500000000000002,4.300499999999999],[-2.0100000000000007,4.1745000000000045],[-2.0100000000000007,4.300499999999999]],\"gt_open_view\":{\"camera_pose\":{\"position\":[-5.25,5.150000095367432,1.35],\"quaternion_xyzw\":[0.6532814824381882,-0.2705980500730985,-0.2705980500730985,0.6532814824381883],\"target\":[-4.542893218813452,5.8571068765539795,1.35]},\"image_path\":\"corridor_0__open_view.png\",\"visible_objects\":[{\"assigned_region\":\"bedroom_1\",\"instance_pixels\":112182,\"object_category\":\"bed\",\"object_name\":\"bed_mpgavt_0\",\"semantic_pixels\":112182},{\"assigned_region\":\"garden_0\",\"instance_pixels\":61849,\"object_category\":\"openable_window\",\"object_name\":\"openable_window_agoayg_0\",\"semantic_pixels\":61849}]},\"room_instance\":\"corridor_0\",\"success\":true,\"views\":[{\"_key\":\"view_00\",\"camera_pose\":{\"position\":[-6.500000000000002,4.1745000000000045,1.35],\"quaternion_xyzw\":[0.4906852380974961,-0.41728227166207843,-0.4955373556475285,0.5827059567462767],\"target\":[-4.5,4.5,1.0]},\"corner_xy\":[-6.500000000000002,4.1745000000000045],\"image_path\":\"view_00.png\",\"view_role\":\"view_00\"},{\"_key\":\"view_01\",\"camera_pose\":{\"position\":[-6.500000000000002,4.300499999999999,1.35],\"quaternion_xyzw\":[0.47714651656511553,-0.4319190946527446,-0.5136313745281434,0.5674151112760917],\"target\":[-4.5,4.5,1.0]},\"corner_xy\":[-6.500000000000002,4.300499999999999],\"image_path\":\"view_01.png\",\"view_role\":\"view_01\"},{\"_key\":\"view_02\",\"camera_pose\":{\"position\":[-2.0100000000000007,4.1745000000000045,1.35],\"quaternion_xyzw\":[0.4933773816497174,0.43307934005277626,0.4976266131217055,0.5669116319224199],\"target\":[-4.5,4.5,1.0]},\"corner_xy\":[-2.0100000000000007,4.1745000000000045],\"image_path\":\"view_02.png\",\"view_role\":\"view_02\"},{\"_key\":\"view_03\",\"camera_pose\":{\"position\":[-2.0100000000000007,4.300499999999999,1.35],\"quaternion_xyzw\":[0.48218898651445596,0.4451009526223445,0.5118133101512846,0.5544601507870771],\"target\":[-4.5,4.5,1.0]},\"corner_xy\":[-2.0100000000000007,4.300499999999999],\"image_path\":\"view_03.png\",\"view_role\":\"view_03\"}]},{\"_key\":\"living_room_0\",\"center_xy\":[1.5,6.0],\"corner_render_xy\":[[-1.1,3.9],[-1.1,8.1],[4.1,3.9],[4.1,8.1]],\"gt_open_view\":{\"camera_pose\":{\"position\":[0.05000000074505806,3.8500001430511475,1.35],\"quaternion_xyzw\":[-0.2705980500730984,0.6532814824381884,0.6532814824381883,-0.2705980500730984],\"target\":[0.7571067819316054,3.1428933618645996,1.35]},\"image_path\":\"living_room_0__open_view.png\",\"visible_objects\":[{\"assigned_region\":\"garden_0\",\"instance_pixels\":59944,\"object_category\":\"bookcase\",\"object_name\":\"bookcase_njwsoa_1\",\"semantic_pixels\":59944},{\"assigned_region\":\"garden_0\",\"instance_pixels\":9894,\"object_category\":\"rail_fence\",\"object_name\":\"rail_fence_czawic_0\",\"semantic_pixels\":40924},{\"assigned_region\":\"garden_0\",\"instance_pixels\":1187,\"object_category\":\"lawn\",\"object_name\":\"lawn_goumgk_0\",\"semantic_pixels\":32387},{\"assigned_region\":\"garden_0\",\"instance_pixels\":14313,\"object_category\":\"gate\",\"object_name\":\"gate_flveay_0\",\"semantic_pixels\":14313},{\"assigned_region\":\"living_room_0\",\"instance_pixels\":8400,\"object_category\":\"straight_chair\",\"object_name\":\"straight_chair_vkgbbl_0\",\"semantic_pixels\":8400},{\"assigned_region\":\"living_room_0\",\"instance_pixels\":763,\"object_category\":\"sofa\",\"object_name\":\"sofa_mnfbbh_0\",\"semantic_pixels\":763}]},\"room_instance\":\"living_room_0\",\"success\":true,\"views\":[{\"_key\":\"view_00\",\"camera_pose\":{\"position\":[-1.1,3.9,1.35],\"quaternion_xyzw\":[0.6038916375240309,-0.2885103896273998,-0.32030173513928284,0.6704352643412749],\"target\":[1.5,6.0,1.0]},\"corner_xy\":[-1.1,3.9],\"image_path\":\"view_00.png\",\"view_role\":\"view_00\"},{\"_key\":\"view_01\",\"camera_pose\":{\"position\":[-1.1,8.1,1.35],\"quaternion_xyzw\":[-0.28851038962739983,0.6038916375240309,0.6704352643412749,-0.3203017351392829],\"target\":[1.5,6.0,1.0]},\"corner_xy\":[-1.1,8.1],\"image_path\":\"view_01.png\",\"view_role\":\"view_01\"},{\"_key\":\"view_02\",\"camera_pose\":{\"position\":[4.1,3.9,1.35],\"quaternion_xyzw\":[0.6038916375240309,0.2885103896273998,0.32030173513928284,0.6704352643412749],\"target\":[1.5,6.0,1.0]},\"corner_xy\":[4.1,3.9],\"image_path\":\"view_02.png\",\"view_role\":\"view_02\"},{\"_key\":\"view_03\",\"camera_pose\":{\"position\":[4.1,8.1,1.35],\"quaternion_xyzw\":[0.2885103896273998,0.6038916375240309,0.6704352643412749,0.3203017351392829],\"target\":[1.5,6.0,1.0]},\"corner_xy\":[4.1,8.1],\"image_path\":\"view_03.png\",\"view_role\":\"view_03\"}]},{\"_key\":\"private_office_0\",\"center_xy\":[-1.0,7.0],\"corner_render_xy\":[[-2.15,5.85],[-2.15,8.15],[0.15000000000000002,5.85],[0.15000000000000002,8.15]],\"gt_open_view\":{\"camera_pose\":{\"position\":[-1.350000023841858,8.15000057220459,1.35],\"quaternion_xyzw\":[0.6532814824381884,0.2705980500730984,0.2705980500730984,0.6532814824381883],\"target\":[-2.0571068050284054,8.857107353391138,1.35]},\"image_path\":\"private_office_0__open_view.png\",\"visible_objects\":[{\"assigned_region\":\"garden_0\",\"instance_pixels\":250972,\"object_category\":\"bookcase\",\"object_name\":\"bookcase_njwsoa_4\",\"semantic_pixels\":250972},{\"assigned_region\":\"garden_0\",\"instance_pixels\":5932,\"object_category\":\"wading_pool\",\"object_name\":\"wading_pool_sbvksi_0\",\"semantic_pixels\":5932},{\"assigned_region\":\"garden_0\",\"instance_pixels\":1814,\"object_category\":\"bottom_cabinet\",\"object_name\":\"bottom_cabinet_jhymlr_0\",\"semantic_pixels\":1814},{\"assigned_region\":\"garden_0\",\"instance_pixels\":1045,\"object_category\":\"sofa\",\"object_name\":\"sofa_rdvxkm_0\",\"semantic_pixels\":1045},{\"assigned_region\":\"garden_0\",\"instance_pixels\":790,\"object_category\":\"openable_window\",\"object_name\":\"openable_window_yorgot_0\",\"semantic_pixels\":790},{\"assigned_region\":\"garden_0\",\"instance_pixels\":686,\"object_category\":\"pillar\",\"object_name\":\"pillar_yrbqij_2\",\"semantic_pixels\":686},{\"assigned_region\":\"garden_0\",\"instance_pixels\":130,\"object_category\":\"shelf\",\"object_name\":\"shelf_xezdng_0\",\"semantic_pixels\":130}]},\"room_instance\":\"private_office_0\",\"success\":true,\"views\":[{\"_key\":\"view_00\",\"camera_pose\":{\"position\":[-2.15,5.85,1.35],\"quaternion_xyzw\":[0.5805060938632272,-0.24045349711837755,-0.29770576939365573,0.7187253060668811],\"target\":[-1.0,7.0,1.0]},\"corner_xy\":[-2.15,5.85],\"image_path\":\"view_00.png\",\"view_role\":\"view_00\"},{\"_key\":\"view_01\",\"camera_pose\":{\"position\":[-2.15,8.15,1.35],\"quaternion_xyzw\":[-0.24045349711837755,0.5805060938632272,0.7187253060668811,-0.29770576939365573],\"target\":[-1.0,7.0,1.0]},\"corner_xy\":[-2.15,8.15],\"image_path\":\"view_01.png\",\"view_role\":\"view_01\"},{\"_key\":\"view_02\",\"camera_pose\":{\"position\":[0.15000000000000002,5.85,1.35],\"quaternion_xyzw\":[0.5805060938632272,0.24045349711837755,0.29770576939365573,0.7187253060668811],\"target\":[-1.0,7.0,1.0]},\"corner_xy\":[0.15000000000000002,5.85],\"image_path\":\"view_02.png\",\"view_role\":\"view_02\"},{\"_key\":\"view_03\",\"camera_pose\":{\"position\":[0.15000000000000002,8.15,1.35],\"quaternion_xyzw\":[0.24045349711837755,0.5805060938632272,0.7187253060668811,0.29770576939365573],\"target\":[-1.0,7.0,1.0]},\"corner_xy\":[0.15000000000000002,8.15],\"image_path\":\"view_03.png\",\"view_role\":\"view_03\"}]}],\"shortest_path_regions\":[\"private_office_0\",\"closet_1\",\"corridor_0\",\"storage_room_0\"],\"source_region\":\"private_office_0\",\"source_room_type\":\"private_office\",\"target_region\":\"storage_room_0\",\"target_room_type\":\"storage_room\",\"task_type\":\"shortest_path_via_region\",\"verification\":{\"available_correct_regions\":[\"closet_1\",\"corridor_0\"],\"mcq_has_unique_correct_option\":true,\"method\":\"scene.get_shortest_path + room_sequence_projection\",\"selected_correct_region\":\"corridor_0\",\"shortest_path_info\":{\"path_distance\":6.942640781402588,\"path_length_steps\":29,\"path_world_xy\":[[-1.0500000715255737,6.950000286102295],[-1.25,6.849999904632568],[-1.4500000476837158,6.75],[-1.649999976158142,6.650000095367432],[-1.850000023841858,6.450000286102295],[-2.049999952316284,6.25],[-2.25,6.050000190734863],[-2.450000047683716,5.849999904632568],[-2.6500000953674316,5.650000095367432],[-2.6500000953674316,5.450000286102295],[-2.6500000953674316,5.25],[-2.6500000953674316,5.050000190734863],[-2.75,4.849999904632568],[-2.950000047683716,4.650000095367432],[-3.1500000953674316,4.450000286102295],[-3.3500001430511475,4.25],[-3.549999952316284,4.050000190734863],[-3.75,3.950000047683716],[-3.950000047683716,3.950000047683716],[-4.150000095367432,3.950000047683716],[-4.349999904632568,3.950000047683716],[-4.550000190734863,3.950000047683716],[-4.75,3.950000047683716],[-4.950000286102295,3.950000047683716],[-5.150000095367432,3.8500001430511475],[-5.150000095367432,3.6500000953674316],[-5.050000190734863,3.450000047683716],[-4.849999904632568,3.25],[-4.650000095367432,3.049999952316284]],\"room_sequence\":[\"private_office_0\",\"closet_1\",\"corridor_0\",\"storage_room_0\"],\"source_region\":\"private_office_0\",\"source_xy\":[-1.0,7.0],\"target_region\":\"storage_room_0\",\"target_xy\":[-4.5,3.0]},\"shortest_region_path\":[\"private_office_0\",\"closet_1\",\"corridor_0\",\"storage_room_0\"],\"via_region_on_shortest_path\":true},\"via_region\":\"closet_1\",\"via_room_type\":\"closet\",\"visualization\":{\"map_path\":\"shortest_path_via_region__private_office_0__storage_room_0__closet_1.png\"}},\"question_id\":\"Traversable Passage/q_002\",\"question_index\":2,\"seed\":1,\"task_family\":\"Traversable Passage\",\"task_type\":\"shortest_path_via_region\",\"trav_map_basename\":\"floor_trav_no_door\"}","options_json":"[\"living_room_0\",\"private_office_0\",\"bedroom_1\",\"corridor_0\"]","question":"On the shortest path from private_office_0 to storage_room_0, which intermediate room do you pass through among these options: living_room_0, private_office_0, bedroom_1, corridor_0?","room":"full_scene","runner_task":"cognitivemap","scene":"Pomaria_0_garden","small_task":"Traversable Passage"},"observations":[],"question":{"answer_type":"choice","options":[],"original":"On the shortest path from private_office_0 to storage_room_0, which intermediate room do you pass through among these options: living_room_0, private_office_0, bedroom_1, corridor_0?","text":"On the shortest path from private_office_0 to storage_room_0, which intermediate room do you pass through among these options: living_room_0, private_office_0, bedroom_1, corridor_0?"},"reference_media":["shortest_path_via_region__private_office_0__storage_room_0__closet_1__initial.png","shortest_path_via_region__private_office_0__storage_room_0__closet_1.png","view_00.png","view_01.png","view_02.png","view_03.png","living_room_0__open_view.png","private_office_0__open_view.png","bedroom_1__open_view.png","corridor_0__open_view.png","path_view_000.png","path_view_001.png","path_view_002.png","path_view_003.png","path_view_004.png","path_view_005.png","path_view_006.png","path_view_007.png"],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":35,"stratum_pool":60},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Cognitive Mapping/Traversable Passage/Pomaria_0_garden/full_scene/q_002.json","annotation_sha256":"5c96e1e4194791294daf4d128dfdd4a408640f5153e9e519689e7cf693d4b9e2","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"8f580c19bf9737225258957a20a56b475c2c99e2c58f7c3b5f9b8ddbee46fa0a","sample_id":"0298","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"corridor_0","metric":"official_esi_task","original_answer":"corridor_0"},"task":{"category":"Cognitive Mapping","role":"spatial_core","skill_tags":["Cognitive Mapping","Traversable Passage"],"stratum":"ESI-Bench/Cognitive Mapping/Traversable Passage","subcategory":"Traversable Passage"},"transforms":[]}
{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Enumerative Perception","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"4","id":"520c59bbb1a1521e","metadata":"vendor/ESI-Bench/dataset/json_clean/Enumerative Perception/Category Ambiguity/house_double_floor_lower/garage_0/q_002.json","metadata_sha256":"642afa324e61c6f199633b6d4e628cb8ecc587f9b1133fb477b520a6dfba518d","observation_policy":"runtime camera observations; no oracle poses","question":"Considering both images, how many objects of category \"club_sandwich\" are present in this scene?","room":"garage_0","scene":"house_double_floor_lower","subcategory":"Category Ambiguity","task":"enumerative_perception.category_ambiguity"},"group":{"id":"ESI-scene/house_double_floor_lower","kind":"scene","room":"garage_0","scene":"house_double_floor_lower"},"id":"367415d420a9407c7b1f","native_annotation":{"answer":"4","answer_type":"choice","big_task":"Enumerative Perception","gt_camera_poses":[{"baseline_selected":true,"camera_pose":{"position":[-6.233847455978394,2.9444100856781006,0.12],"quaternion_xyzw":[0.4542053333019233,0.45420533330192325,0.5419386636881418,0.5419386636881417]},"camera_pose_rule":null,"fov_deg":100.0,"group":"target_closeups","metadata_pointer":"/question_data/render/target_closeups/0","original_image_path":"target_closeup_000.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"target_closeups/target_closeup_000.png"},{"baseline_selected":true,"camera_pose":{"position":[-6.233847455978394,3.294410228729248,0.12],"quaternion_xyzw":[0.4542053333019233,0.45420533330192325,0.5419386636881418,0.5419386636881417]},"camera_pose_rule":null,"fov_deg":100.0,"group":"target_closeups","metadata_pointer":"/question_data/render/target_closeups/1","original_image_path":"target_closeup_001.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"target_closeups/target_closeup_001.png"},{"baseline_selected":true,"camera_pose":{"position":[-6.233847455978394,3.6444101333618164,0.12],"quaternion_xyzw":[0.4542053333019233,0.45420533330192325,0.5419386636881418,0.5419386636881417]},"camera_pose_rule":null,"fov_deg":100.0,"group":"target_closeups","metadata_pointer":"/question_data/render/target_closeups/2","original_image_path":"target_closeup_002.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"target_closeups/target_closeup_002.png"},{"baseline_selected":true,"camera_pose":{"position":[-7.633847312927246,4.69441032409668,0.12],"quaternion_xyzw":[0.4542053333019233,0.45420533330192325,0.5419386636881418,0.5419386636881417]},"camera_pose_rule":null,"fov_deg":100.0,"group":"target_closeups","metadata_pointer":"/question_data/render/target_closeups/3","original_image_path":"target_closeup_003.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"target_closeups/target_closeup_003.png"}],"id":"0373","image_paths_json":"[\"q_002.png\",\"q_002_topdown_map.png\",\"corner_00.png\",\"corner_01.png\",\"corner_02.png\",\"corner_03.png\",\"target_closeup_000.png\",\"target_closeup_001.png\",\"target_closeup_002.png\",\"target_closeup_003.png\"]","metadata_json":"{\"camera_poses\":{\"agent_position_policy\":\"sample_free_point_near_short_edge_of_room_bbox\",\"context_image\":\"room_center_single_view\",\"mode\":\"single_agent_view_toward_room_center\",\"pitch_deg\":15.0,\"primary_image\":\"room_center_single_view\",\"topdown_map\":\"floor_trav_with_count_object_annotations\",\"views_per_candidate\":1},\"floor_name\":\"floors_nbxnpk_0\",\"image_paths\":[\"q_002.png\",\"q_002_topdown_map.png\",\"q_002.png\",\"corner_00.png\",\"corner_01.png\",\"corner_02.png\",\"corner_03.png\",\"target_closeup_000.png\",\"target_closeup_001.png\",\"target_closeup_002.png\",\"target_closeup_003.png\"],\"question_data\":{\"answer\":\"4\",\"ball_positions\":[[-6.655000000000001,2.9450000000000003,0.034999970197677616],[-6.655000000000001,3.2950000000000004,0.034999970197677616],[-6.655000000000001,3.6450000000000005,0.034999970197677616],[-8.055,4.695,0.034999970197677616]],\"candidate_index\":2,\"case\":\"semantic_fault\",\"case_metadata\":{\"source_candidates\":4,\"source_entries\":[{\"ball_positions\":[[-6.655000000000001,2.9450000000000003,0.034999970197677616]],\"metadata\":{\"confuser_object\":{\"category\":\"salad\",\"clip_score\":0.8204271793365479,\"position\":[-6.155000000000001,2.9450000000000003,0.034999970197677616],\"source\":\"keys_clip_top3\"}},\"source_index\":0},{\"ball_positions\":[[-6.655000000000001,3.2950000000000004,0.034999970197677616]],\"metadata\":{\"confuser_object\":{\"category\":\"cold_cuts\",\"clip_score\":0.8153139352798462,\"position\":[-6.155000000000001,3.2950000000000004,0.034999970197677616],\"source\":\"keys_clip_top3\"}},\"source_index\":1},{\"ball_positions\":[[-6.655000000000001,3.6450000000000005,0.034999970197677616]],\"metadata\":{\"confuser_object\":{\"category\":\"hamburger\",\"clip_score\":0.8118176460266113,\"position\":[-6.155000000000001,3.6450000000000005,0.034999970197677616],\"source\":\"keys_clip_top3\"}},\"source_index\":3},{\"ball_positions\":[[-8.055,4.695,0.034999970197677616]],\"metadata\":{\"confuser_object\":{\"category\":\"cold_cuts\",\"clip_score\":0.8153139352798462,\"position\":[-7.555,4.695,0.034999970197677616],\"source\":\"keys_clip_top3\"}},\"source_index\":4}]},\"count_object\":{\"category\":\"club_sandwich\",\"display_name\":\"club sandwich\",\"resolved_models\":[\"ablfyd\"],\"resolved_object_count\":4,\"original_requested_category\":\"head_cabbage\",\"original_display_name\":\"head cabbage\",\"normalization_source\":\"render.target_category\"},\"count_target\":\"club_sandwich\",\"count_unit\":\"objects\",\"object_positions\":[[-6.655000000000001,2.9450000000000003,0.034999970197677616],[-6.655000000000001,3.2950000000000004,0.034999970197677616],[-6.655000000000001,3.6450000000000005,0.034999970197677616],[-8.055,4.695,0.034999970197677616]],\"options\":[\"2\",\"3\",\"4\",\"5\"],\"question\":\"Considering both images, how many objects of category \\\"club_sandwich\\\" are present in this scene?\",\"render\":{\"all_images\":[\"q_002.png\"],\"camera_poses\":[{\"_key\":\"q_002.png\",\"look_target\":[-5.0,5.5,0.8999999701976776],\"pitch_deg\":5.050751984044998,\"position\":[-8.15,3.1,1.2499999701976776],\"quaternion_xyzw\":[0.6051136626207468,-0.29969716686285336,-0.3273530212827597,0.6609531473116178],\"view_name\":\"room_center_single_view\"}],\"context_without_mirror\":{\"image\":\"q_002.png\",\"kind\":\"agent_centered_alternate_view\"},\"image\":\"q_002.png\",\"multi_image_input\":{\"room_bbox_world_xy\":[-8.5,2.5,-1.5,8.5],\"room_instance\":\"garage_0\",\"views\":[{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[-8.02,2.98,2.199999970197678],\"quaternion_xyzw\":[0.543199705242836,-0.2542055521504381,-0.3391715396106925,0.7247594664425566]},\"image_path\":\"corner_00.png\",\"is_traversable\":true,\"target\":[-5.0,5.5,1.0499999701976777],\"trav_occluded\":false,\"view_id\":\"corner_00\"},{\"blocker_occluded\":true,\"camera_pose\":{\"position\":[-8.02,8.02,2.199999970197678],\"quaternion_xyzw\":[-0.25420555215043816,0.5431997052428361,0.7247594664425565,-0.3391715396106925]},\"image_path\":\"corner_01.png\",\"is_traversable\":true,\"target\":[-5.0,5.5,1.0499999701976777],\"trav_occluded\":true,\"view_id\":\"corner_01\"},{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[-1.98,2.98,2.199999970197678],\"quaternion_xyzw\":[0.543199705242836,0.25420555215043816,0.3391715396106925,0.7247594664425566]},\"image_path\":\"corner_02.png\",\"is_traversable\":true,\"target\":[-5.0,5.5,1.0499999701976777],\"trav_occluded\":false,\"view_id\":\"corner_02\"},{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[-1.98,8.02,2.199999970197678],\"quaternion_xyzw\":[0.2542055521504382,0.5431997052428361,0.7247594664425565,0.3391715396106925]},\"image_path\":\"corner_03.png\",\"is_traversable\":true,\"target\":[-5.0,5.5,1.0499999701976777],\"trav_occluded\":true,\"view_id\":\"corner_03\"}]},\"render_output_dir\":\"q_002\",\"resolved_objects\":{\"confusers\":[{\"bbox\":[[-6.235820770263672,2.8614559173583984,0.02222435735166073],[-6.0795698165893555,3.031757116317749,0.09043695777654648]],\"category\":\"salad\",\"confuser_pool_seed\":7239734,\"model\":\"nffvob\",\"name\":\"render_confuser_salad_0\",\"position\":[-6.15500020980835,2.944999933242798,0.04410718008875847],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"requested_position\":[-6.155000000000001,2.9450000000000003,0.034999970197677616],\"role\":\"confuser\",\"source_category\":\"salad\",\"source_clip_score\":0.8204271793365479,\"source_entry_case\":\"semantic_fault\",\"source_sampling_source\":\"keys_clip_top3\"},{\"bbox\":[[-6.162349700927734,3.2542672157287598,0.028537947684526443],[-6.148219108581543,3.335094928741455,0.041538164019584656]],\"category\":\"cold_cuts\",\"confuser_pool_seed\":8650417,\"model\":\"zidsvg\",\"name\":\"render_confuser_cold_cuts_0\",\"position\":[-6.15500020980835,3.2950000762939453,0.034999970346689224],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"requested_position\":[-6.155000000000001,3.2950000000000004,0.034999970197677616],\"role\":\"confuser\",\"source_category\":\"cold_cuts\",\"source_clip_score\":0.8153139352798462,\"source_entry_case\":\"semantic_fault\",\"source_sampling_source\":\"keys_clip_top3\"},{\"bbox\":[[-6.208901882171631,3.5946364402770996,0.01448914036154747],[-6.101120471954346,3.695375680923462,0.08458612859249115]],\"category\":\"hamburger\",\"confuser_pool_seed\":6774803,\"model\":\"fyswch\",\"name\":\"render_confuser_hamburger_0\",\"position\":[-6.15500020980835,3.6449999809265137,0.045049410313367844],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"requested_position\":[-6.155000000000001,3.6450000000000005,0.034999970197677616],\"role\":\"confuser\",\"source_category\":\"hamburger\",\"source_clip_score\":0.8118176460266113,\"source_entry_case\":\"semantic_fault\",\"source_sampling_source\":\"keys_clip_top3\"},{\"bbox\":[[-7.562349319458008,4.654267311096191,0.028537947684526443],[-7.548218727111816,4.735095024108887,0.041538164019584656]],\"category\":\"cold_cuts\",\"confuser_pool_seed\":5689424,\"model\":\"zidsvg\",\"name\":\"render_confuser_cold_cuts_1\",\"position\":[-7.554999828338623,4.695000171661377,0.034999970346689224],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"requested_position\":[-7.555,4.695,0.034999970197677616],\"role\":\"confuser\",\"source_category\":\"cold_cuts\",\"source_clip_score\":0.8153139352798462,\"source_entry_case\":\"semantic_fault\",\"source_sampling_source\":\"keys_clip_top3\"}],\"targets\":[{\"bbox\":[[-6.759821891784668,2.8438591957092285,-0.005463451147079468],[-6.547873020172119,3.0449609756469727,0.07937627285718918]],\"category\":\"club_sandwich\",\"model\":\"ablfyd\",\"name\":\"render_count_target_club_sandwich_0\",\"position\":[-6.65500020980835,2.944999933242798,0.034999970346689224],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"requested_position\":[-6.655000000000001,2.9450000000000003,0.034999970197677616],\"role\":\"count_target\",\"source_entry_case\":\"semantic_fault\",\"target_name\":\"render_count_target_club_sandwich_0\"},{\"bbox\":[[-6.759821891784668,3.193859338760376,-0.005463451147079468],[-6.547873020172119,3.39496111869812,0.07937627285718918]],\"category\":\"club_sandwich\",\"model\":\"ablfyd\",\"name\":\"render_count_target_club_sandwich_1\",\"position\":[-6.65500020980835,3.2950000762939453,0.034999970346689224],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"requested_position\":[-6.655000000000001,3.2950000000000004,0.034999970197677616],\"role\":\"count_target\",\"source_entry_case\":\"semantic_fault\",\"target_name\":\"render_count_target_club_sandwich_1\"},{\"bbox\":[[-6.759821891784668,3.5438592433929443,-0.005463451147079468],[-6.547873020172119,3.7449610233306885,0.07937627285718918]],\"category\":\"club_sandwich\",\"model\":\"ablfyd\",\"name\":\"render_count_target_club_sandwich_2\",\"position\":[-6.65500020980835,3.6449999809265137,0.034999970346689224],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"requested_position\":[-6.655000000000001,3.6450000000000005,0.034999970197677616],\"role\":\"count_target\",\"source_entry_case\":\"semantic_fault\",\"target_name\":\"render_count_target_club_sandwich_2\"},{\"bbox\":[[-8.159821510314941,4.593859672546387,-0.005463451147079468],[-7.947873115539551,4.794960975646973,0.07937627285718918]],\"category\":\"club_sandwich\",\"model\":\"ablfyd\",\"name\":\"render_count_target_club_sandwich_3\",\"position\":[-8.055000305175781,4.695000171661377,0.034999970346689224],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"requested_position\":[-8.055,4.695,0.034999970197677616],\"role\":\"count_target\",\"source_entry_case\":\"semantic_fault\",\"target_name\":\"render_count_target_club_sandwich_3\"}]},\"room_bbox\":{\"bbox_area_m2\":42.0,\"bbox_map_rc\":[32,21,38,28],\"bbox_world_xy\":[-8.5,2.5,-1.5,8.5],\"expanded_bbox_area_m2\":42.0,\"expanded_bbox_world_xy\":[-8.5,2.5,-1.5,8.5],\"pixel_count\":56,\"room_id\":4,\"room_instance\":\"garage_0\",\"source\":\"seg_map_expanded_with_walls\"},\"success\":true,\"target_category\":\"club_sandwich\",\"target_closeups\":[{\"best_effort_only\":false,\"camera_pose\":{\"position\":[-6.233847455978394,2.9444100856781006,0.12],\"quaternion_xyzw\":[0.4542053333019233,0.45420533330192325,0.5419386636881418,0.5419386636881417]},\"image_path\":\"target_closeup_000.png\",\"look_target\":[-6.6538474559783936,2.9444100856781006,0.04544038325548172],\"target_name\":\"render_count_target_club_sandwich_0\",\"target_position\":[-6.65500020980835,2.944999933242798,0.034999970346689224],\"visibility\":{\"bbox_xyxy\":[501,312,770,451],\"centered_score\":0.9695,\"is_visible\":true,\"matched_aliases\":[\"render_count_target_club_sandwich_0\",\"club_sandwich\"],\"target_name\":\"render_count_target_club_sandwich_0\",\"visible_pixels\":32881}},{\"best_effort_only\":false,\"camera_pose\":{\"position\":[-6.233847455978394,3.294410228729248,0.12],\"quaternion_xyzw\":[0.4542053333019233,0.45420533330192325,0.5419386636881418,0.5419386636881417]},\"image_path\":\"target_closeup_001.png\",\"look_target\":[-6.6538474559783936,3.294410228729248,0.04544038325548172],\"target_name\":\"render_count_target_club_sandwich_1\",\"target_position\":[-6.65500020980835,3.2950000762939453,0.034999970346689224],\"visibility\":{\"bbox_xyxy\":[501,312,770,451],\"centered_score\":0.9695,\"is_visible\":true,\"matched_aliases\":[\"render_count_target_club_sandwich_1\",\"club_sandwich\"],\"target_name\":\"render_count_target_club_sandwich_1\",\"visible_pixels\":32881}},{\"best_effort_only\":false,\"camera_pose\":{\"position\":[-6.233847455978394,3.6444101333618164,0.12],\"quaternion_xyzw\":[0.4542053333019233,0.45420533330192325,0.5419386636881418,0.5419386636881417]},\"image_path\":\"target_closeup_002.png\",\"look_target\":[-6.6538474559783936,3.6444101333618164,0.04544038325548172],\"target_name\":\"render_count_target_club_sandwich_2\",\"target_position\":[-6.65500020980835,3.6449999809265137,0.034999970346689224],\"visibility\":{\"bbox_xyxy\":[501,312,770,451],\"centered_score\":0.9695,\"is_visible\":true,\"matched_aliases\":[\"render_count_target_club_sandwich_2\",\"club_sandwich\"],\"target_name\":\"render_count_target_club_sandwich_2\",\"visible_pixels\":32881}},{\"best_effort_only\":false,\"camera_pose\":{\"position\":[-7.633847312927246,4.69441032409668,0.12],\"quaternion_xyzw\":[0.4542053333019233,0.45420533330192325,0.5419386636881418,0.5419386636881417]},\"image_path\":\"target_closeup_003.png\",\"look_target\":[-8.053847312927246,4.69441032409668,0.04544038325548172],\"target_name\":\"render_count_target_club_sandwich_3\",\"target_position\":[-8.055000305175781,4.695000171661377,0.034999970346689224],\"visibility\":{\"bbox_xyxy\":[501,312,770,451],\"centered_score\":0.9695,\"is_visible\":true,\"matched_aliases\":[\"render_count_target_club_sandwich_3\",\"club_sandwich\"],\"target_name\":\"render_count_target_club_sandwich_3\",\"visible_pixels\":32881}}],\"target_pool_seed\":3684072,\"topdown_map\":\"q_002_topdown_map.png\"},\"task_type\":\"semantic_fault\"},\"question_id\":\"semantic_fault/q_002\",\"question_index\":2,\"seed\":7,\"task_type\":\"semantic_fault\"}","options_json":"[\"2\",\"3\",\"4\",\"5\"]","question":"Considering both images, how many objects of category \"club_sandwich\" are present in this scene?","room":"garage_0","runner_task":"counting","scene":"house_double_floor_lower","small_task":"Category Ambiguity"},"observations":[],"question":{"answer_type":"choice","options":[],"original":"Considering both images, how many objects of category \"club_sandwich\" are present in this scene?","text":"Considering both images, how many objects of category \"club_sandwich\" are present in this scene?"},"reference_media":["q_002.png","q_002_topdown_map.png","corner_00.png","corner_01.png","corner_02.png","corner_03.png","target_closeup_000.png","target_closeup_001.png","target_closeup_002.png","target_closeup_003.png"],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":22,"stratum_pool":60},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Enumerative Perception/Category Ambiguity/house_double_floor_lower/garage_0/q_002.json","annotation_sha256":"642afa324e61c6f199633b6d4e628cb8ecc587f9b1133fb477b520a6dfba518d","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"d3524ddd7f7a838f53d913ce096dd89e74010ec54229ce21819cd8c216b12dcb","sample_id":"0373","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"4","metric":"official_esi_task","original_answer":"4"},"task":{"category":"Enumerative Perception","role":"spatial_core","skill_tags":["Enumerative Perception","Category Ambiguity"],"stratum":"ESI-Bench/Enumerative Perception/Category Ambiguity","subcategory":"Category Ambiguity"},"transforms":[]}
{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Enumerative Perception","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"3","id":"25fc0eb641094b72","metadata":"vendor/ESI-Bench/dataset/json_clean/Enumerative Perception/Category Ambiguity/Ihlen_0_int/storage_room_0/q_001.json","metadata_sha256":"4f6056006758d2731e0e3bfb3584e7c92b6346c8da803574aa0c303615f29dca","observation_policy":"runtime camera observations; no oracle poses","question":"Considering both images, how many objects of category \"club_sandwich\" are present in this scene?","room":"storage_room_0","scene":"Ihlen_0_int","subcategory":"Category Ambiguity","task":"enumerative_perception.category_ambiguity"},"group":{"id":"ESI-scene/Ihlen_0_int","kind":"scene","room":"storage_room_0","scene":"Ihlen_0_int"},"id":"8b6b34083b771e7026b2","native_annotation":{"answer":"3","answer_type":"choice","big_task":"Enumerative Perception","gt_camera_poses":[{"baseline_selected":true,"camera_pose":{"position":[2.666152639389038,7.69441032409668,0.12],"quaternion_xyzw":[0.45420531466193337,0.45420531466193337,0.5419386793105416,0.5419386793105416]},"camera_pose_rule":null,"fov_deg":100.0,"group":"target_closeups","metadata_pointer":"/question_data/render/target_closeups/0","original_image_path":"target_closeup_000.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"target_closeups/target_closeup_000.png"},{"baseline_selected":true,"camera_pose":{"position":[2.3161527943611144,7.344409942626953,0.12],"quaternion_xyzw":[0.45420531466193337,0.45420531466193337,0.5419386793105416,0.5419386793105416]},"camera_pose_rule":null,"fov_deg":100.0,"group":"target_closeups","metadata_pointer":"/question_data/render/target_closeups/1","original_image_path":"target_closeup_001.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"target_closeups/target_closeup_001.png"},{"baseline_selected":true,"camera_pose":{"position":[3.0161527824401855,8.394410610198975,0.12],"quaternion_xyzw":[0.45420531466193337,0.45420531466193337,0.5419386793105416,0.5419386793105416]},"camera_pose_rule":null,"fov_deg":100.0,"group":"target_closeups","metadata_pointer":"/question_data/render/target_closeups/2","original_image_path":"target_closeup_002.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"target_closeups/target_closeup_002.png"}],"id":"0344","image_paths_json":"[\"q_001.png\",\"q_001_topdown_map.png\",\"corner_00.png\",\"corner_01.png\",\"corner_02.png\",\"corner_03.png\",\"target_closeup_000.png\",\"target_closeup_001.png\",\"target_closeup_002.png\"]","metadata_json":"{\"camera_poses\":{\"agent_position_policy\":\"sample_free_point_near_short_edge_of_room_bbox\",\"context_image\":\"room_center_single_view\",\"mode\":\"single_agent_view_toward_room_center\",\"pitch_deg\":15.0,\"primary_image\":\"room_center_single_view\",\"topdown_map\":\"floor_trav_with_count_object_annotations\",\"views_per_candidate\":1},\"floor_name\":\"floors_qrzmkt_0\",\"image_paths\":[\"q_001.png\",\"q_001_topdown_map.png\",\"q_001.png\",\"corner_00.png\",\"corner_01.png\",\"corner_02.png\",\"corner_03.png\",\"target_closeup_000.png\",\"target_closeup_001.png\",\"target_closeup_002.png\"],\"question_data\":{\"answer\":\"3\",\"ball_positions\":[[2.245,7.694999999999998,0.03499994039535523],[1.895,7.344999999999998,0.03499994039535523],[2.595,8.394999999999998,0.03499994039535523]],\"candidate_index\":1,\"case\":\"semantic_fault\",\"case_metadata\":{\"source_candidates\":3,\"source_entries\":[{\"ball_positions\":[[2.245,7.694999999999998,0.03499994039535523]],\"metadata\":{\"confuser_object\":{\"category\":\"salad\",\"clip_score\":0.8204271793365479,\"position\":[2.745,7.694999999999998,0.03499994039535523],\"source\":\"keys_clip_top3\"}},\"source_index\":0},{\"ball_positions\":[[1.895,7.344999999999998,0.03499994039535523]],\"metadata\":{\"confuser_object\":{\"category\":\"cold_cuts\",\"clip_score\":0.8153139352798462,\"position\":[2.395,7.344999999999998,0.03499994039535523],\"source\":\"keys_clip_top3\"}},\"source_index\":1},{\"ball_positions\":[[2.595,8.394999999999998,0.03499994039535523]],\"metadata\":{\"confuser_object\":{\"category\":\"cold_cuts\",\"clip_score\":0.8153139352798462,\"position\":[3.095,8.394999999999998,0.03499994039535523],\"source\":\"keys_clip_top3\"}},\"source_index\":4}]},\"count_object\":{\"category\":\"club_sandwich\",\"display_name\":\"club sandwich\",\"resolved_models\":[\"ablfyd\"],\"resolved_object_count\":3,\"original_requested_category\":\"boxed_ink_cartridge\",\"original_display_name\":\"boxed ink cartridge\",\"normalization_source\":\"render.target_category\"},\"count_target\":\"club_sandwich\",\"count_unit\":\"objects\",\"object_positions\":[[2.245,7.694999999999998,0.03499994039535523],[1.895,7.344999999999998,0.03499994039535523],[2.595,8.394999999999998,0.03499994039535523]],\"options\":[\"0\",\"2\",\"3\",\"4\"],\"question\":\"Considering both images, how many objects of category \\\"club_sandwich\\\" are present in this scene?\",\"render\":{\"all_images\":[\"q_001.png\"],\"camera_poses\":[{\"_key\":\"q_001.png\",\"look_target\":[0.0,7.5,0.8999999403953552],\"pitch_deg\":12.842814047045803,\"position\":[1.0500000000000012,8.62,1.2499999403953552],\"quaternion_xyzw\":[0.2293169785627396,0.579892375552791,0.7269755393723939,0.2874806450403466],\"view_name\":\"room_center_single_view\"}],\"context_without_mirror\":{\"image\":\"q_001.png\",\"kind\":\"agent_centered_alternate_view\"},\"image\":\"q_001.png\",\"multi_image_input\":{\"room_bbox_world_xy\":[-4.5,5.5,4.5,9.5],\"room_instance\":\"storage_room_0\",\"views\":[{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[-4.15,5.85,2.1999999403953554],\"quaternion_xyzw\":[0.5069420689533826,-0.34398554512372975,-0.4437839094400583,0.6540179853744792]},\"image_path\":\"corner_00.png\",\"is_traversable\":true,\"target\":[0.0,7.5,1.0499999403953553],\"trav_occluded\":true,\"view_id\":\"corner_00\"},{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[-4.15,9.15,2.1999999403953554],\"quaternion_xyzw\":[-0.34398554512372975,0.5069420689533826,0.6540179853744792,-0.4437839094400583]},\"image_path\":\"corner_01.png\",\"is_traversable\":true,\"target\":[0.0,7.5,1.0499999403953553],\"trav_occluded\":false,\"view_id\":\"corner_01\"},{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[4.15,5.85,2.1999999403953554],\"quaternion_xyzw\":[0.5069420689533826,0.34398554512372975,0.4437839094400583,0.6540179853744792]},\"image_path\":\"corner_02.png\",\"is_traversable\":true,\"target\":[0.0,7.5,1.0499999403953553],\"trav_occluded\":true,\"view_id\":\"corner_02\"},{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[4.15,9.15,2.1999999403953554],\"quaternion_xyzw\":[0.34398554512372975,0.5069420689533826,0.6540179853744792,0.4437839094400583]},\"image_path\":\"corner_03.png\",\"is_traversable\":false,\"target\":[0.0,7.5,1.0499999403953553],\"trav_occluded\":true,\"view_id\":\"corner_03\"}]},\"render_output_dir\":\"q_001\",\"resolved_objects\":{\"confusers\":[{\"bbox\":[[2.6641790866851807,7.611455917358398,0.02222432754933834],[2.8204305171966553,7.781757354736328,0.09043692797422409]],\"category\":\"salad\",\"confuser_pool_seed\":358976,\"model\":\"nffvob\",\"name\":\"render_confuser_salad_0\",\"position\":[2.744999885559082,7.695000171661377,0.04410715028643608],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"requested_position\":[2.745,7.694999999999998,0.03499994039535523],\"role\":\"confuser\",\"source_category\":\"salad\",\"source_clip_score\":0.8204271793365479,\"source_entry_case\":\"semantic_fault\",\"source_sampling_source\":\"keys_clip_top3\"},{\"bbox\":[[2.38765025138855,7.304266929626465,0.028537917882204056],[2.4017810821533203,7.38509464263916,0.04153813421726227]],\"category\":\"cold_cuts\",\"confuser_pool_seed\":238956,\"model\":\"zidsvg\",\"name\":\"render_confuser_cold_cuts_0\",\"position\":[2.3949999809265137,7.34499979019165,0.03499994054436684],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"requested_position\":[2.395,7.344999999999998,0.03499994039535523],\"role\":\"confuser\",\"source_category\":\"cold_cuts\",\"source_clip_score\":0.8153139352798462,\"source_entry_case\":\"semantic_fault\",\"source_sampling_source\":\"keys_clip_top3\"},{\"bbox\":[[3.0876502990722656,8.354268074035645,0.028537917882204056],[3.101781129837036,8.43509578704834,0.04153813421726227]],\"category\":\"cold_cuts\",\"confuser_pool_seed\":1724228,\"model\":\"zidsvg\",\"name\":\"render_confuser_cold_cuts_1\",\"position\":[3.0950000286102295,8.395000457763672,0.03499994054436684],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"requested_position\":[3.095,8.394999999999998,0.03499994039535523],\"role\":\"confuser\",\"source_category\":\"cold_cuts\",\"source_clip_score\":0.8153139352798462,\"source_entry_case\":\"semantic_fault\",\"source_sampling_source\":\"keys_clip_top3\"}],\"targets\":[{\"bbox\":[[2.1401782035827637,7.593859672546387,-0.0054634809494018555],[2.3521270751953125,7.794960975646973,0.07937624305486679]],\"category\":\"club_sandwich\",\"model\":\"ablfyd\",\"name\":\"render_count_target_club_sandwich_0\",\"position\":[2.244999885559082,7.695000171661377,0.03499994054436684],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"requested_position\":[2.245,7.694999999999998,0.03499994039535523],\"role\":\"count_target\",\"source_entry_case\":\"semantic_fault\",\"target_name\":\"render_count_target_club_sandwich_0\"},{\"bbox\":[[1.7901784181594849,7.24385929107666,-0.0054634809494018555],[2.002127170562744,7.444960594177246,0.07937624305486679]],\"category\":\"club_sandwich\",\"model\":\"ablfyd\",\"name\":\"render_count_target_club_sandwich_1\",\"position\":[1.8949999809265137,7.34499979019165,0.03499994054436684],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"requested_position\":[1.895,7.344999999999998,0.03499994039535523],\"role\":\"count_target\",\"source_entry_case\":\"semantic_fault\",\"target_name\":\"render_count_target_club_sandwich_1\"},{\"bbox\":[[2.490178346633911,8.293859481811523,-0.0054634809494018555],[2.70212721824646,8.494961738586426,0.07937624305486679]],\"category\":\"club_sandwich\",\"model\":\"ablfyd\",\"name\":\"render_count_target_club_sandwich_2\",\"position\":[2.5950000286102295,8.395000457763672,0.03499994054436684],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"requested_position\":[2.595,8.394999999999998,0.03499994039535523],\"role\":\"count_target\",\"source_entry_case\":\"semantic_fault\",\"target_name\":\"render_count_target_club_sandwich_2\"}]},\"room_bbox\":{\"bbox_area_m2\":36.0,\"bbox_map_rc\":[16,6,20,15],\"bbox_world_xy\":[-4.5,5.5,4.5,9.5],\"expanded_bbox_area_m2\":36.0,\"expanded_bbox_world_xy\":[-4.5,5.5,4.5,9.5],\"pixel_count\":34,\"room_id\":7,\"room_instance\":\"storage_room_0\",\"source\":\"seg_map_expanded_with_walls\"},\"success\":true,\"target_category\":\"club_sandwich\",\"target_closeups\":[{\"best_effort_only\":false,\"camera_pose\":{\"position\":[2.666152639389038,7.69441032409668,0.12],\"quaternion_xyzw\":[0.45420531466193337,0.45420531466193337,0.5419386793105416,0.5419386793105416]},\"image_path\":\"target_closeup_000.png\",\"look_target\":[2.246152639389038,7.69441032409668,0.04544035345315933],\"target_name\":\"render_count_target_club_sandwich_0\",\"target_position\":[2.244999885559082,7.695000171661377,0.03499994054436684],\"visibility\":{\"bbox_xyxy\":[501,312,770,451],\"centered_score\":0.9695,\"is_visible\":true,\"matched_aliases\":[\"render_count_target_club_sandwich_0\",\"club_sandwich\"],\"target_name\":\"render_count_target_club_sandwich_0\",\"visible_pixels\":32881}},{\"best_effort_only\":false,\"camera_pose\":{\"position\":[2.3161527943611144,7.344409942626953,0.12],\"quaternion_xyzw\":[0.45420531466193337,0.45420531466193337,0.5419386793105416,0.5419386793105416]},\"image_path\":\"target_closeup_001.png\",\"look_target\":[1.8961527943611145,7.344409942626953,0.04544035345315933],\"target_name\":\"render_count_target_club_sandwich_1\",\"target_position\":[1.8949999809265137,7.34499979019165,0.03499994054436684],\"visibility\":{\"bbox_xyxy\":[501,312,770,451],\"centered_score\":0.9695,\"is_visible\":true,\"matched_aliases\":[\"render_count_target_club_sandwich_1\",\"club_sandwich\"],\"target_name\":\"render_count_target_club_sandwich_1\",\"visible_pixels\":32881}},{\"best_effort_only\":false,\"camera_pose\":{\"position\":[3.0161527824401855,8.394410610198975,0.12],\"quaternion_xyzw\":[0.45420531466193337,0.45420531466193337,0.5419386793105416,0.5419386793105416]},\"image_path\":\"target_closeup_002.png\",\"look_target\":[2.5961527824401855,8.394410610198975,0.04544035345315933],\"target_name\":\"render_count_target_club_sandwich_2\",\"target_position\":[2.5950000286102295,8.395000457763672,0.03499994054436684],\"visibility\":{\"bbox_xyxy\":[501,312,770,451],\"centered_score\":0.9695,\"is_visible\":true,\"matched_aliases\":[\"render_count_target_club_sandwich_2\",\"club_sandwich\"],\"target_name\":\"render_count_target_club_sandwich_2\",\"visible_pixels\":32880}}],\"target_pool_seed\":2615776,\"topdown_map\":\"q_001_topdown_map.png\"},\"task_type\":\"semantic_fault\"},\"question_id\":\"semantic_fault/q_001\",\"question_index\":1,\"seed\":7,\"task_type\":\"semantic_fault\"}","options_json":"[\"0\",\"2\",\"3\",\"4\"]","question":"Considering both images, how many objects of category \"club_sandwich\" are present in this scene?","room":"storage_room_0","runner_task":"counting","scene":"Ihlen_0_int","small_task":"Category Ambiguity"},"observations":[],"question":{"answer_type":"choice","options":[],"original":"Considering both images, how many objects of category \"club_sandwich\" are present in this scene?","text":"Considering both images, how many objects of category \"club_sandwich\" are present in this scene?"},"reference_media":["q_001.png","q_001_topdown_map.png","corner_00.png","corner_01.png","corner_02.png","corner_03.png","target_closeup_000.png","target_closeup_001.png","target_closeup_002.png"],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":22,"stratum_pool":60},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Enumerative Perception/Category Ambiguity/Ihlen_0_int/storage_room_0/q_001.json","annotation_sha256":"4f6056006758d2731e0e3bfb3584e7c92b6346c8da803574aa0c303615f29dca","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"f6e11616d08d961f02e265218de8f836a536dd585982c9d4d674621cb5fd9044","sample_id":"0344","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"3","metric":"official_esi_task","original_answer":"3"},"task":{"category":"Enumerative Perception","role":"spatial_core","skill_tags":["Enumerative Perception","Category Ambiguity"],"stratum":"ESI-Bench/Enumerative Perception/Category Ambiguity","subcategory":"Category Ambiguity"},"transforms":[]}
{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Enumerative Perception","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"5","id":"0baa33c82ef7d283","metadata":"vendor/ESI-Bench/dataset/json_clean/Enumerative Perception/Counting w Occlusion/house_double_floor_upper/living_room_0/q_004.json","metadata_sha256":"1f9f35cc2146623103df7ed27da3f175d88509147377cf1e0a0d38e5b225c9e2","observation_policy":"runtime camera observations; no oracle poses","question":"Considering both images, how many objects of category \"club_sandwich\" are present in this scene?","room":"living_room_0","scene":"house_double_floor_upper","subcategory":"Counting w Occlusion","task":"enumerative_perception.counting_w_occlusion"},"group":{"id":"ESI-scene/house_double_floor_upper","kind":"scene","room":"living_room_0","scene":"house_double_floor_upper"},"id":"89856a1b58cfb95712da","native_annotation":{"answer":"5","answer_type":"choice","big_task":"Enumerative Perception","gt_camera_poses":[{"baseline_selected":true,"camera_pose":{"position":[-3.2869799900054932,-0.9062354266643524,0.12],"quaternion_xyzw":[0.45420535194191314,0.45420535194191314,0.5419386480657408,0.5419386480657408]},"camera_pose_rule":null,"fov_deg":100.0,"group":"target_closeups","metadata_pointer":"/question_data/render/target_closeups/0","original_image_path":"target_closeup_000.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"target_closeups/target_closeup_000.png"},{"baseline_selected":true,"camera_pose":{"position":[-4.0573499965667725,-0.9090950191020966,0.12],"quaternion_xyzw":[0.45420535194191314,0.45420535194191314,0.5419386480657408,0.5419386480657408]},"camera_pose_rule":null,"fov_deg":100.0,"group":"target_closeups","metadata_pointer":"/question_data/render/target_closeups/1","original_image_path":"target_closeup_001.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"target_closeups/target_closeup_001.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.1844425874488804,-3.0585151540415207,0.12],"quaternion_xyzw":[-0.2966011597727541,0.5697655267623793,0.6798201693747482,-0.3538919804770015]},"camera_pose_rule":null,"fov_deg":100.0,"group":"target_closeups","metadata_pointer":"/question_data/render/target_closeups/2","original_image_path":"target_closeup_002.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"target_closeups/target_closeup_002.png"},{"baseline_selected":true,"camera_pose":{"position":[-1.600088698863983,-3.744790554046631,0.12],"quaternion_xyzw":[0.45420535194191314,-0.45420535194191314,-0.5419386480657408,0.5419386480657408]},"camera_pose_rule":null,"fov_deg":100.0,"group":"target_closeups","metadata_pointer":"/question_data/render/target_closeups/3","original_image_path":"target_closeup_003.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"target_closeups/target_closeup_003.png"},{"baseline_selected":true,"camera_pose":{"position":[-4.830077486038208,-0.8792027235031128,0.12],"quaternion_xyzw":[0.45420535194191314,0.45420535194191314,0.5419386480657408,0.5419386480657408]},"camera_pose_rule":null,"fov_deg":100.0,"group":"target_closeups","metadata_pointer":"/question_data/render/target_closeups/4","original_image_path":"target_closeup_004.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"target_closeups/target_closeup_004.png"}],"id":"0414","image_paths_json":"[\"q_004.png\",\"q_004_topdown_map.png\",\"corner_00.png\",\"corner_01.png\",\"corner_02.png\",\"corner_03.png\",\"target_closeup_000.png\",\"target_closeup_001.png\",\"target_closeup_002.png\",\"target_closeup_003.png\",\"target_closeup_004.png\"]","metadata_json":"{\"camera_poses\":{\"agent_position_policy\":\"sample_free_point_near_short_edge_of_room_bbox\",\"context_image\":\"room_center_single_view\",\"mode\":\"single_agent_view_toward_room_center\",\"pitch_deg\":15.0,\"primary_image\":\"room_center_single_view\",\"topdown_map\":\"floor_trav_with_count_object_annotations\",\"views_per_candidate\":1},\"floor_name\":\"floors_rfqizg_0\",\"image_paths\":[\"q_004.png\",\"q_004_topdown_map.png\",\"q_004.png\",\"corner_00.png\",\"corner_01.png\",\"corner_02.png\",\"corner_03.png\",\"target_closeup_000.png\",\"target_closeup_001.png\",\"target_closeup_002.png\",\"target_closeup_003.png\",\"target_closeup_004.png\"],\"question_data\":{\"answer\":\"5\",\"ball_positions\":[[-3.708132791553555,-0.9056456170677752,0.035],[-4.478502621047598,-0.9085051890680104,0.035],[-1.8415515957659279,-3.298827491774058,0.035],[-1.1812414566051783,-3.7442007154728754,0.035],[-5.251230364100685,-0.8786128523026755,0.035]],\"candidate_index\":4,\"case\":\"hidden_by_others\",\"case_metadata\":{\"source_candidates\":5,\"source_entries\":[{\"ball_positions\":[[-3.708132791553555,-0.9056456170677752,0.035]],\"metadata\":{\"anchor_object\":{\"bbox\":[[-3.675591468811035,-0.8166540861129761,0.002166271209716797],[-2.9065768718719482,-0.5060914158821106,1.0595605373382568]],\"category\":\"bookcase\",\"has_open_state\":false,\"in_rooms\":[\"living_room_0\"],\"name\":\"bookcase_otwukr_2\"},\"visibility\":{\"occluded_from_agent\":true,\"occlusion_test\":\"agent_to_ball_segment_intersects_anchor_bbox_xy\"}},\"source_index\":0},{\"ball_positions\":[[-4.478502621047598,-0.9085051890680104,0.035]],\"metadata\":{\"anchor_object\":{\"bbox\":[[-4.437255382537842,-0.8166541457176208,0.002166271209716797],[-3.668240785598755,-0.5060914754867554,1.0595605373382568]],\"category\":\"bookcase\",\"has_open_state\":false,\"in_rooms\":[\"living_room_0\"],\"name\":\"bookcase_otwukr_1\"},\"visibility\":{\"occluded_from_agent\":true,\"occlusion_test\":\"agent_to_ball_segment_intersects_anchor_bbox_xy\"}},\"source_index\":1},{\"ball_positions\":[[-1.8415515957659279,-3.298827491774058,0.035]],\"metadata\":{\"anchor_object\":{\"bbox\":[[-2.098877191543579,-3.226660966873169,-0.0023551583290100098],[-1.5643129348754883,-2.653477668762207,0.7724990844726562]],\"category\":\"armchair\",\"has_open_state\":false,\"in_rooms\":[\"living_room_0\"],\"name\":\"armchair_axcwcm_0\"},\"visibility\":{\"occluded_from_agent\":true,\"occlusion_test\":\"agent_to_ball_segment_intersects_anchor_bbox_xy\"}},\"source_index\":2},{\"ball_positions\":[[-1.1812414566051783,-3.7442007154728754,0.035]],\"metadata\":{\"anchor_object\":{\"bbox\":[[-1.5721710920333862,-3.6557016372680664,-0.003340303897857666],[-1.0314531326293945,-2.245239734649658,0.7351288199424744]],\"category\":\"desk\",\"has_open_state\":false,\"in_rooms\":[\"living_room_0\"],\"name\":\"desk_iotfzl_0\"},\"visibility\":{\"occluded_from_agent\":true,\"occlusion_test\":\"agent_to_ball_segment_intersects_anchor_bbox_xy\"}},\"source_index\":3},{\"ball_positions\":[[-5.251230364100685,-0.8786128523026755,0.035]],\"metadata\":{\"anchor_object\":{\"bbox\":[[-5.198108673095703,-0.8166540861129761,0.002166271209716797],[-4.429094314575195,-0.5060914158821106,1.0595605373382568]],\"category\":\"bookcase\",\"has_open_state\":false,\"in_rooms\":[\"living_room_0\"],\"name\":\"bookcase_otwukr_3\"},\"visibility\":{\"occluded_from_agent\":true,\"occlusion_test\":\"agent_to_ball_segment_intersects_anchor_bbox_xy\"}},\"source_index\":4}]},\"count_object\":{\"category\":\"club_sandwich\",\"display_name\":\"club sandwich\",\"resolved_models\":[\"ablfyd\"],\"resolved_object_count\":5,\"original_requested_category\":\"hammer\",\"original_display_name\":\"hammer\",\"normalization_source\":\"render.target_category\"},\"count_target\":\"club_sandwich\",\"count_unit\":\"objects\",\"object_positions\":[[-3.708132791553555,-0.9056456170677752,0.035],[-4.478502621047598,-0.9085051890680104,0.035],[-1.8415515957659279,-3.298827491774058,0.035],[-1.1812414566051783,-3.7442007154728754,0.035],[-5.251230364100685,-0.8786128523026755,0.035]],\"options\":[\"2\",\"3\",\"4\",\"5\"],\"question\":\"Considering both images, how many objects of category \\\"club_sandwich\\\" are present in this scene?\",\"render\":{\"all_images\":[\"q_004.png\"],\"camera_poses\":[{\"_key\":\"q_004.png\",\"look_target\":[-2.0,-2.0,0.9],\"pitch_deg\":9.851101187140925,\"position\":[-1.7499999999999978,0.0,1.25],\"quaternion_xyzw\":[0.04000299468244837,0.6425384112932964,0.7637298791912757,0.04754810258677259],\"view_name\":\"room_center_single_view\"}],\"context_without_mirror\":{\"image\":\"q_004.png\",\"kind\":\"agent_centered_alternate_view\"},\"image\":\"q_004.png\",\"multi_image_input\":{\"room_bbox_world_xy\":[-5.5,-4.5,1.5,0.5],\"room_instance\":\"living_room_0\",\"views\":[{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[-5.1,-4.1,2.2],\"quaternion_xyzw\":[0.5250213693305671,-0.2784864151709944,-0.37685706040944883,0.7104763432592347]},\"image_path\":\"corner_00.png\",\"is_traversable\":false,\"target\":[-2.0,-2.0,1.05],\"trav_occluded\":true,\"view_id\":\"corner_00\"},{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[-5.1,0.09999999999999998,2.2],\"quaternion_xyzw\":[-0.2784864151709943,0.5250213693305671,0.7104763432592347,-0.3768570604094487]},\"image_path\":\"corner_01.png\",\"is_traversable\":false,\"target\":[-2.0,-2.0,1.05],\"trav_occluded\":true,\"view_id\":\"corner_01\"},{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[1.1,-4.1,2.2],\"quaternion_xyzw\":[0.5250213693305671,0.2784864151709944,0.37685706040944883,0.7104763432592347]},\"image_path\":\"corner_02.png\",\"is_traversable\":false,\"target\":[-2.0,-2.0,1.05],\"trav_occluded\":true,\"view_id\":\"corner_02\"},{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[1.1,0.09999999999999998,2.2],\"quaternion_xyzw\":[0.2784864151709944,0.5250213693305672,0.7104763432592346,0.3768570604094489]},\"image_path\":\"corner_03.png\",\"is_traversable\":true,\"target\":[-2.0,-2.0,1.05],\"trav_occluded\":true,\"view_id\":\"corner_03\"}]},\"render_output_dir\":\"q_004\",\"resolved_objects\":{\"targets\":[{\"bbox\":[[-3.8129544258117676,-1.0067862272262573,-0.00546342134475708],[-3.6010055541992188,-0.8056846261024475,0.07937630265951157]],\"category\":\"club_sandwich\",\"model\":\"ablfyd\",\"name\":\"render_count_target_club_sandwich_0\",\"position\":[-3.708132743835449,-0.9056456089019775,0.03500000014901161],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"requested_position\":[-3.708132791553555,-0.9056456170677752,0.035],\"role\":\"count_target\",\"source_entry_case\":\"hidden_by_others\",\"target_name\":\"render_count_target_club_sandwich_0\"},{\"bbox\":[[-4.583324432373047,-1.0096458196640015,-0.00546342134475708],[-4.371375560760498,-0.8085442185401917,0.07937630265951157]],\"category\":\"club_sandwich\",\"model\":\"ablfyd\",\"name\":\"render_count_target_club_sandwich_1\",\"position\":[-4.4785027503967285,-0.9085052013397217,0.03500000014901161],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"requested_position\":[-4.478502621047598,-0.9085051890680104,0.035],\"role\":\"count_target\",\"source_entry_case\":\"hidden_by_others\",\"target_name\":\"render_count_target_club_sandwich_1\"},{\"bbox\":[[-1.9463731050491333,-3.399968147277832,-0.00546342134475708],[-1.734424352645874,-3.198866367340088,0.07937630265951157]],\"category\":\"club_sandwich\",\"model\":\"ablfyd\",\"name\":\"render_count_target_club_sandwich_2\",\"position\":[-1.8415515422821045,-3.2988274097442627,0.03500000014901161],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"requested_position\":[-1.8415515957659279,-3.298827491774058,0.035],\"role\":\"count_target\",\"source_entry_case\":\"hidden_by_others\",\"target_name\":\"render_count_target_club_sandwich_2\"},{\"bbox\":[[-1.2860630750656128,-3.845341444015503,-0.00546342134475708],[-1.0741143226623535,-3.644239664077759,0.07937630265951157]],\"category\":\"club_sandwich\",\"model\":\"ablfyd\",\"name\":\"render_count_target_club_sandwich_3\",\"position\":[-1.181241512298584,-3.7442007064819336,0.03500000014901161],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"requested_position\":[-1.1812414566051783,-3.7442007154728754,0.035],\"role\":\"count_target\",\"source_entry_case\":\"hidden_by_others\",\"target_name\":\"render_count_target_club_sandwich_3\"},{\"bbox\":[[-5.356051921844482,-0.9797535538673401,-0.00546342134475708],[-5.144103050231934,-0.7786518931388855,0.07937630265951157]],\"category\":\"club_sandwich\",\"model\":\"ablfyd\",\"name\":\"render_count_target_club_sandwich_4\",\"position\":[-5.251230239868164,-0.8786128759384155,0.03500000014901161],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"requested_position\":[-5.251230364100685,-0.8786128523026755,0.035],\"role\":\"count_target\",\"source_entry_case\":\"hidden_by_others\",\"target_name\":\"render_count_target_club_sandwich_4\"}]},\"room_bbox\":{\"bbox_area_m2\":35.0,\"bbox_map_rc\":[2,1,7,8],\"bbox_world_xy\":[-5.5,-4.5,1.5,0.5],\"expanded_bbox_area_m2\":35.0,\"expanded_bbox_world_xy\":[-5.5,-4.5,1.5,0.5],\"pixel_count\":44,\"room_id\":7,\"room_instance\":\"living_room_0\",\"source\":\"seg_map_expanded_with_walls\"},\"success\":true,\"target_category\":\"club_sandwich\",\"target_closeups\":[{\"best_effort_only\":false,\"camera_pose\":{\"position\":[-3.2869799900054932,-0.9062354266643524,0.12],\"quaternion_xyzw\":[0.45420535194191314,0.45420535194191314,0.5419386480657408,0.5419386480657408]},\"image_path\":\"target_closeup_000.png\",\"look_target\":[-3.706979990005493,-0.9062354266643524,0.04544041305780411],\"target_name\":\"render_count_target_club_sandwich_0\",\"target_position\":[-3.708132743835449,-0.9056456089019775,0.03500000014901161],\"visibility\":{\"bbox_xyxy\":[501,312,770,451],\"centered_score\":0.9693,\"is_visible\":true,\"matched_aliases\":[\"render_count_target_club_sandwich_0\",\"club_sandwich\"],\"target_name\":\"render_count_target_club_sandwich_0\",\"visible_pixels\":32714}},{\"best_effort_only\":false,\"camera_pose\":{\"position\":[-4.0573499965667725,-0.9090950191020966,0.12],\"quaternion_xyzw\":[0.45420535194191314,0.45420535194191314,0.5419386480657408,0.5419386480657408]},\"image_path\":\"target_closeup_001.png\",\"look_target\":[-4.4773499965667725,-0.9090950191020966,0.04544041305780411],\"target_name\":\"render_count_target_club_sandwich_1\",\"target_position\":[-4.4785027503967285,-0.9085052013397217,0.03500000014901161],\"visibility\":{\"bbox_xyxy\":[501,312,770,451],\"centered_score\":0.9694,\"is_visible\":true,\"matched_aliases\":[\"render_count_target_club_sandwich_1\",\"club_sandwich\"],\"target_name\":\"render_count_target_club_sandwich_1\",\"visible_pixels\":32831}},{\"best_effort_only\":false,\"camera_pose\":{\"position\":[-2.1844425874488804,-3.0585151540415207,0.12],\"quaternion_xyzw\":[-0.2966011597727541,0.5697655267623793,0.6798201693747482,-0.3538919804770015]},\"image_path\":\"target_closeup_002.png\",\"look_target\":[-1.8403987288475037,-3.29941725730896,0.04544041305780411],\"target_name\":\"render_count_target_club_sandwich_2\",\"target_position\":[-1.8415515422821045,-3.2988274097442627,0.03500000014901161],\"visibility\":{\"bbox_xyxy\":[503,312,785,465],\"centered_score\":0.971,\"is_visible\":true,\"matched_aliases\":[\"render_count_target_club_sandwich_2\",\"club_sandwich\"],\"target_name\":\"render_count_target_club_sandwich_2\",\"visible_pixels\":34589}},{\"best_effort_only\":false,\"camera_pose\":{\"position\":[-1.600088698863983,-3.744790554046631,0.12],\"quaternion_xyzw\":[0.45420535194191314,-0.45420535194191314,-0.5419386480657408,0.5419386480657408]},\"image_path\":\"target_closeup_003.png\",\"look_target\":[-1.1800886988639832,-3.744790554046631,0.04544041305780411],\"target_name\":\"render_count_target_club_sandwich_3\",\"target_position\":[-1.181241512298584,-3.7442007064819336,0.03500000014901161],\"visibility\":{\"bbox_xyxy\":[496,310,773,452],\"centered_score\":0.969,\"is_visible\":true,\"matched_aliases\":[\"render_count_target_club_sandwich_3\",\"club_sandwich\"],\"target_name\":\"render_count_target_club_sandwich_3\",\"visible_pixels\":33874}},{\"best_effort_only\":false,\"camera_pose\":{\"position\":[-4.830077486038208,-0.8792027235031128,0.12],\"quaternion_xyzw\":[0.45420535194191314,0.45420535194191314,0.5419386480657408,0.5419386480657408]},\"image_path\":\"target_closeup_004.png\",\"look_target\":[-5.250077486038208,-0.8792027235031128,0.04544041305780411],\"target_name\":\"render_count_target_club_sandwich_4\",\"target_position\":[-5.251230239868164,-0.8786128759384155,0.03500000014901161],\"visibility\":{\"bbox_xyxy\":[501,312,746,451],\"centered_score\":0.9675,\"is_visible\":true,\"matched_aliases\":[\"render_count_target_club_sandwich_4\",\"club_sandwich\"],\"target_name\":\"render_count_target_club_sandwich_4\",\"visible_pixels\":30053}}],\"target_pool_seed\":8696448,\"topdown_map\":\"q_004_topdown_map.png\"},\"task_type\":\"hidden_by_others\"},\"question_id\":\"hidden_by_others/q_004\",\"question_index\":4,\"seed\":7,\"task_type\":\"hidden_by_others\"}","options_json":"[\"2\",\"3\",\"4\",\"5\"]","question":"Considering both images, how many objects of category \"club_sandwich\" are present in this scene?","room":"living_room_0","runner_task":"counting","scene":"house_double_floor_upper","small_task":"Counting w Occlusion"},"observations":[],"question":{"answer_type":"choice","options":[],"original":"Considering both images, how many objects of category \"club_sandwich\" are present in this scene?","text":"Considering both images, how many objects of category \"club_sandwich\" are present in this scene?"},"reference_media":["q_004.png","q_004_topdown_map.png","corner_00.png","corner_01.png","corner_02.png","corner_03.png","target_closeup_000.png","target_closeup_001.png","target_closeup_002.png","target_closeup_003.png","target_closeup_004.png"],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":14,"stratum_pool":30},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Enumerative Perception/Counting w Occlusion/house_double_floor_upper/living_room_0/q_004.json","annotation_sha256":"1f9f35cc2146623103df7ed27da3f175d88509147377cf1e0a0d38e5b225c9e2","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"86beb8064e39a67898f653e95cf6fa190400505bac24529f27bcd23e252aac82","sample_id":"0414","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"5","metric":"official_esi_task","original_answer":"5"},"task":{"category":"Enumerative Perception","role":"spatial_core","skill_tags":["Enumerative Perception","Counting w Occlusion"],"stratum":"ESI-Bench/Enumerative Perception/Counting w Occlusion","subcategory":"Counting w Occlusion"},"transforms":[]}
{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Enumerative Perception","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"3","id":"ec7586f745262898","metadata":"vendor/ESI-Bench/dataset/json_clean/Enumerative Perception/Counting w Occlusion/Beechwood_0_int/living_room_1/q_004.json","metadata_sha256":"f0d23f8a105a1623212adc32e9d65158652d865f68a534f226c49719e24a5072","observation_policy":"runtime camera observations; no oracle poses","question":"Considering both images, how many objects of category \"club_sandwich\" are present in this scene?","room":"living_room_1","scene":"Beechwood_0_int","subcategory":"Counting w Occlusion","task":"enumerative_perception.counting_w_occlusion"},"group":{"id":"ESI-scene/Beechwood_0_int","kind":"scene","room":"living_room_1","scene":"Beechwood_0_int"},"id":"712327fa3a8f64627b9b","native_annotation":{"answer":"3","answer_type":"choice","big_task":"Enumerative Perception","gt_camera_poses":[{"baseline_selected":true,"camera_pose":{"position":[-1.2444607186317445,1.461837649345398,0.12],"quaternion_xyzw":[0.45420505370206593,0.45420505370206593,0.5419388980240333,0.5419388980240332]},"camera_pose_rule":null,"fov_deg":100.0,"group":"target_closeups","metadata_pointer":"/question_data/render/target_closeups/0","original_image_path":"target_closeup_000.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"target_closeups/target_closeup_000.png"},{"baseline_selected":true,"camera_pose":{"position":[-3.1711679774063084,1.6012410295827468,0.12],"quaternion_xyzw":[-0.2966009650188081,0.56976515264353,0.6798204829281167,-0.35389214370255384]},"camera_pose_rule":null,"fov_deg":100.0,"group":"target_closeups","metadata_pointer":"/question_data/render/target_closeups/1","original_image_path":"target_closeup_001.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"target_closeups/target_closeup_001.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.8462141829269383,1.6919602977411665,0.12],"quaternion_xyzw":[0.56976515264353,-0.29660096501880795,-0.35389214370255356,0.6798204829281169]},"camera_pose_rule":null,"fov_deg":100.0,"group":"target_closeups","metadata_pointer":"/question_data/render/target_closeups/2","original_image_path":"target_closeup_002.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"target_closeups/target_closeup_002.png"}],"id":"0402","image_paths_json":"[\"q_004.png\",\"q_004_topdown_map.png\",\"corner_00.png\",\"corner_01.png\",\"corner_02.png\",\"corner_03.png\",\"target_closeup_000.png\",\"target_closeup_001.png\",\"target_closeup_002.png\"]","metadata_json":"{\"camera_poses\":{\"agent_position_policy\":\"sample_free_point_near_short_edge_of_room_bbox\",\"context_image\":\"room_center_single_view\",\"mode\":\"single_agent_view_toward_room_center\",\"pitch_deg\":15.0,\"primary_image\":\"room_center_single_view\",\"topdown_map\":\"floor_trav_with_count_object_annotations\",\"views_per_candidate\":1},\"floor_name\":\"floors_gjpvfd_0\",\"image_paths\":[\"q_004.png\",\"q_004_topdown_map.png\",\"q_004.png\",\"corner_00.png\",\"corner_01.png\",\"corner_02.png\",\"corner_03.png\",\"target_closeup_000.png\",\"target_closeup_001.png\",\"target_closeup_002.png\"],\"question_data\":{\"answer\":\"3\",\"ball_positions\":[[-1.665613584060644,1.4624274765113527,0.0349995231628418],[-2.828276865954291,1.3609288323683442,0.0349995231628418],[-2.503323193379844,1.9334521970498586,0.0349995231628418]],\"candidate_index\":4,\"case\":\"hidden_by_others\",\"case_metadata\":{\"source_candidates\":3,\"source_entries\":[{\"ball_positions\":[[-1.665613584060644,1.4624274765113527,0.0349995231628418]],\"metadata\":{\"anchor_object\":{\"bbox\":[[-1.7934945821762085,0.8896089196205139,-3.2782554626464844e-07],[-1.328883171081543,1.3283170461654663,0.5058445930480957]],\"category\":\"breakfast_table\",\"has_open_state\":false,\"in_rooms\":[\"living_room_1\"],\"name\":\"breakfast_table_skczfi_2\"},\"visibility\":{\"occluded_from_agent\":true,\"occlusion_test\":\"agent_to_ball_segment_intersects_anchor_bbox_xy\"}},\"source_index\":0},{\"ball_positions\":[[-2.828276865954291,1.3609288323683442,0.0349995231628418]],\"metadata\":{\"anchor_object\":{\"bbox\":[[-2.817197561264038,0.5905715823173523,-4.470348358154297e-07],[-2.101905345916748,1.2843873500823975,0.3986600637435913]],\"category\":\"ottoman\",\"has_open_state\":false,\"in_rooms\":[\"living_room_1\"],\"name\":\"ottoman_miftfy_0\"},\"visibility\":{\"occluded_from_agent\":true,\"occlusion_test\":\"agent_to_ball_segment_intersects_anchor_bbox_xy\"}},\"source_index\":1},{\"ball_positions\":[[-2.503323193379844,1.9334521970498586,0.0349995231628418]],\"metadata\":{\"anchor_object\":{\"bbox\":[[-2.575885772705078,0.9938545227050781,-0.004365861415863037],[-1.7528963088989258,1.8100860118865967,0.8473657369613647]],\"category\":\"armchair\",\"has_open_state\":false,\"in_rooms\":[\"living_room_1\"],\"name\":\"armchair_vzhxuf_0\"},\"visibility\":{\"occluded_from_agent\":true,\"occlusion_test\":\"agent_to_ball_segment_intersects_anchor_bbox_xy\"}},\"source_index\":2}]},\"count_object\":{\"category\":\"club_sandwich\",\"display_name\":\"club sandwich\",\"resolved_models\":[\"ablfyd\"],\"resolved_object_count\":3,\"original_requested_category\":\"hammer\",\"original_display_name\":\"hammer\",\"normalization_source\":\"render.target_category\"},\"count_target\":\"club_sandwich\",\"count_unit\":\"objects\",\"object_positions\":[[-1.665613584060644,1.4624274765113527,0.0349995231628418],[-2.828276865954291,1.3609288323683442,0.0349995231628418],[-2.503323193379844,1.9334521970498586,0.0349995231628418]],\"options\":[\"0\",\"1\",\"2\",\"3\"],\"question\":\"Considering both images, how many objects of category \\\"club_sandwich\\\" are present in this scene?\",\"render\":{\"all_images\":[\"q_004.png\"],\"camera_poses\":[{\"_key\":\"q_004.png\",\"look_target\":[-2.0,0.0,0.8999995231628418],\"pitch_deg\":8.396557631869495,\"position\":[-0.24999999999999833,-1.6,1.2499995231628418],\"quaternion_xyzw\":[0.597957645861764,0.2635049480984877,0.3052548812961812,0.6926985300460258],\"view_name\":\"room_center_single_view\"}],\"context_without_mirror\":{\"image\":\"q_004.png\",\"kind\":\"agent_centered_alternate_view\"},\"image\":\"q_004.png\",\"multi_image_input\":{\"room_bbox_world_xy\":[-5.0,-2.0,1.0,2.0],\"room_instance\":\"living_room_1\",\"views\":[{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[-4.65,-1.65,2.199999523162842],\"quaternion_xyzw\":[0.5000419483321753,-0.2777022125155061,-0.3982489859265088,0.7171033930199063]},\"image_path\":\"corner_00.png\",\"is_traversable\":true,\"target\":[-2.0,0.0,1.0499995231628418],\"trav_occluded\":false,\"view_id\":\"corner_00\"},{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[-4.65,1.65,2.199999523162842],\"quaternion_xyzw\":[-0.2777022125155061,0.5000419483321753,0.7171033930199063,-0.3982489859265088]},\"image_path\":\"corner_01.png\",\"is_traversable\":true,\"target\":[-2.0,0.0,1.0499995231628418],\"trav_occluded\":false,\"view_id\":\"corner_01\"},{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[0.65,-1.65,2.199999523162842],\"quaternion_xyzw\":[0.5000419483321753,0.277702212515506,0.3982489859265087,0.7171033930199064]},\"image_path\":\"corner_02.png\",\"is_traversable\":true,\"target\":[-2.0,0.0,1.0499995231628418],\"trav_occluded\":false,\"view_id\":\"corner_02\"},{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[0.65,1.65,2.199999523162842],\"quaternion_xyzw\":[0.277702212515506,0.5000419483321753,0.7171033930199064,0.3982489859265087]},\"image_path\":\"corner_03.png\",\"is_traversable\":true,\"target\":[-2.0,0.0,1.0499995231628418],\"trav_occluded\":true,\"view_id\":\"corner_03\"}]},\"render_output_dir\":\"q_004\",\"resolved_objects\":{\"targets\":[{\"bbox\":[[-1.770435094833374,1.3612868785858154,-0.005463898181915283],[-1.5584863424301147,1.5623884201049805,0.07937582582235336]],\"category\":\"club_sandwich\",\"model\":\"ablfyd\",\"name\":\"render_count_target_club_sandwich_0\",\"position\":[-1.6656135320663452,1.4624274969100952,0.03499952331185341],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"requested_position\":[-1.665613584060644,1.4624274765113527,0.0349995231628418],\"role\":\"count_target\",\"source_entry_case\":\"hidden_by_others\",\"target_name\":\"render_count_target_club_sandwich_0\"},{\"bbox\":[[-2.933098554611206,1.259788155555725,-0.005463898181915283],[-2.7211496829986572,1.4608896970748901,0.07937582582235336]],\"category\":\"club_sandwich\",\"model\":\"ablfyd\",\"name\":\"render_count_target_club_sandwich_1\",\"position\":[-2.8282768726348877,1.3609287738800049,0.03499952331185341],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"requested_position\":[-2.828276865954291,1.3609288323683442,0.0349995231628418],\"role\":\"count_target\",\"source_entry_case\":\"hidden_by_others\",\"target_name\":\"render_count_target_club_sandwich_1\"},{\"bbox\":[[-2.608144760131836,1.8323116302490234,-0.005463898181915283],[-2.396195888519287,2.0334131717681885,0.07937582582235336]],\"category\":\"club_sandwich\",\"model\":\"ablfyd\",\"name\":\"render_count_target_club_sandwich_2\",\"position\":[-2.5033230781555176,1.9334522485733032,0.03499952331185341],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"requested_position\":[-2.503323193379844,1.9334521970498586,0.0349995231628418],\"role\":\"count_target\",\"source_entry_case\":\"hidden_by_others\",\"target_name\":\"render_count_target_club_sandwich_2\"}]},\"room_bbox\":{\"bbox_area_m2\":24.0,\"bbox_map_rc\":[8,5,12,11],\"bbox_world_xy\":[-5.0,-2.0,1.0,2.0],\"expanded_bbox_area_m2\":24.0,\"expanded_bbox_world_xy\":[-5.0,-2.0,1.0,2.0],\"pixel_count\":28,\"room_id\":7,\"room_instance\":\"living_room_1\",\"source\":\"seg_map_expanded_with_walls\"},\"success\":true,\"target_category\":\"club_sandwich\",\"target_closeups\":[{\"best_effort_only\":false,\"camera_pose\":{\"position\":[-1.2444607186317445,1.461837649345398,0.12],\"quaternion_xyzw\":[0.45420505370206593,0.45420505370206593,0.5419388980240333,0.5419388980240332]},\"image_path\":\"target_closeup_000.png\",\"look_target\":[-1.6644607186317444,1.461837649345398,0.045439936220645905],\"target_name\":\"render_count_target_club_sandwich_0\",\"target_position\":[-1.6656135320663452,1.4624274969100952,0.03499952331185341],\"visibility\":{\"bbox_xyxy\":[501,312,723,450],\"centered_score\":0.9324,\"is_visible\":true,\"matched_aliases\":[\"render_count_target_club_sandwich_0\",\"club_sandwich\"],\"target_name\":\"render_count_target_club_sandwich_0\",\"visible_pixels\":17148}},{\"best_effort_only\":false,\"camera_pose\":{\"position\":[-3.1711679774063084,1.6012410295827468,0.12],\"quaternion_xyzw\":[-0.2966009650188081,0.56976515264353,0.6798204829281167,-0.35389214370255384]},\"image_path\":\"target_closeup_001.png\",\"look_target\":[-2.8271241188049316,1.3603389263153076,0.045439936220645905],\"target_name\":\"render_count_target_club_sandwich_1\",\"target_position\":[-2.8282768726348877,1.3609287738800049,0.03499952331185341],\"visibility\":{\"bbox_xyxy\":[502,312,785,465],\"centered_score\":0.9709,\"is_visible\":true,\"matched_aliases\":[\"render_count_target_club_sandwich_1\",\"club_sandwich\"],\"target_name\":\"render_count_target_club_sandwich_1\",\"visible_pixels\":34669}},{\"best_effort_only\":false,\"camera_pose\":{\"position\":[-2.8462141829269383,1.6919602977411665,0.12],\"quaternion_xyzw\":[0.56976515264353,-0.29660096501880795,-0.35389214370255356,0.6798204829281169]},\"image_path\":\"target_closeup_002.png\",\"look_target\":[-2.5021703243255615,1.932862401008606,0.045439936220645905],\"target_name\":\"render_count_target_club_sandwich_2\",\"target_position\":[-2.5033230781555176,1.9334522485733032,0.03499952331185341],\"visibility\":{\"bbox_xyxy\":[482,309,781,459],\"centered_score\":0.9704,\"is_visible\":true,\"matched_aliases\":[\"render_count_target_club_sandwich_2\",\"club_sandwich\"],\"target_name\":\"render_count_target_club_sandwich_2\",\"visible_pixels\":34871}}],\"target_pool_seed\":4169042,\"topdown_map\":\"q_004_topdown_map.png\"},\"task_type\":\"hidden_by_others\"},\"question_id\":\"hidden_by_others/q_004\",\"question_index\":4,\"seed\":7,\"task_type\":\"hidden_by_others\"}","options_json":"[\"0\",\"1\",\"2\",\"3\"]","question":"Considering both images, how many objects of category \"club_sandwich\" are present in this scene?","room":"living_room_1","runner_task":"counting","scene":"Beechwood_0_int","small_task":"Counting w Occlusion"},"observations":[],"question":{"answer_type":"choice","options":[],"original":"Considering both images, how many objects of category \"club_sandwich\" are present in this scene?","text":"Considering both images, how many objects of category \"club_sandwich\" are present in this scene?"},"reference_media":["q_004.png","q_004_topdown_map.png","corner_00.png","corner_01.png","corner_02.png","corner_03.png","target_closeup_000.png","target_closeup_001.png","target_closeup_002.png"],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":14,"stratum_pool":30},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Enumerative Perception/Counting w Occlusion/Beechwood_0_int/living_room_1/q_004.json","annotation_sha256":"f0d23f8a105a1623212adc32e9d65158652d865f68a534f226c49719e24a5072","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"f7cb71ff3be273a29c077e51e44932dfce0a3266be206019e87a82b8bd04379a","sample_id":"0402","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"3","metric":"official_esi_task","original_answer":"3"},"task":{"category":"Enumerative Perception","role":"spatial_core","skill_tags":["Enumerative Perception","Counting w Occlusion"],"stratum":"ESI-Bench/Enumerative Perception/Counting w Occlusion","subcategory":"Counting w Occlusion"},"transforms":[]}
{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Enumerative Perception","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"3","id":"c7540c3408706bd3","metadata":"vendor/ESI-Bench/dataset/json_clean/Enumerative Perception/Illumination Variability/Ihlen_1_int/living_room_0/q_001.json","metadata_sha256":"47d1b287c2e29398753382bcdd34cdc73b292e09748df0baad809f32e5bfff6e","observation_policy":"runtime camera observations; no oracle poses","question":"Considering both images, how many objects of category \"club_sandwich\" are present in this scene?","room":"living_room_0","scene":"Ihlen_1_int","subcategory":"Illumination Variability","task":"enumerative_perception.illumination_variability"},"group":{"id":"ESI-scene/Ihlen_1_int","kind":"scene","room":"living_room_0","scene":"Ihlen_1_int"},"id":"aca535618f28dbd3d5ec","native_annotation":{"answer":"3","answer_type":"choice","big_task":"Enumerative Perception","gt_camera_poses":[{"baseline_selected":true,"camera_pose":{"position":[0.7161528152227401,0.34441015124320984,0.12],"quaternion_xyzw":[0.454205473101845,0.454205473101845,0.5419385465201096,0.5419385465201098]},"camera_pose_rule":null,"fov_deg":100.0,"group":"target_closeups","metadata_pointer":"/question_data/render/target_closeups/0","original_image_path":"target_closeup_000.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"target_closeups/target_closeup_000.png"},{"baseline_selected":true,"camera_pose":{"position":[0.01615281224250792,-0.0055898502469062805,0.12],"quaternion_xyzw":[0.45420547310184506,0.454205473101845,0.5419385465201096,0.5419385465201098]},"camera_pose_rule":null,"fov_deg":100.0,"group":"target_closeups","metadata_pointer":"/question_data/render/target_closeups/1","original_image_path":"target_closeup_001.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"target_closeups/target_closeup_001.png"},{"baseline_selected":true,"camera_pose":{"position":[-0.3338471817970276,-0.0055898502469062805,0.12],"quaternion_xyzw":[0.45420547310184506,0.454205473101845,0.5419385465201096,0.5419385465201098]},"camera_pose_rule":null,"fov_deg":100.0,"group":"target_closeups","metadata_pointer":"/question_data/render/target_closeups/2","original_image_path":"target_closeup_002.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"target_closeups/target_closeup_002.png"}],"id":"0436","image_paths_json":"[\"q_001_normal.png\",\"q_001_topdown_map.png\",\"q_001_changed.png\",\"corner_00.png\",\"corner_01.png\",\"corner_02.png\",\"corner_03.png\",\"target_closeup_000.png\",\"target_closeup_001.png\",\"target_closeup_002.png\"]","metadata_json":"{\"camera_poses\":{\"agent_position_policy\":\"sample_free_point_near_short_edge_of_room_bbox\",\"context_image\":\"room_center_single_view\",\"mode\":\"single_agent_view_toward_room_center\",\"pitch_deg\":15.0,\"primary_image\":\"room_center_single_view\",\"topdown_map\":\"floor_trav_with_count_object_annotations\",\"views_per_candidate\":1},\"floor_name\":\"floors_mcivwr_0\",\"image_paths\":[\"q_001_normal.png\",\"q_001_topdown_map.png\",\"q_001_changed.png\",\"corner_00.png\",\"corner_01.png\",\"corner_02.png\",\"corner_03.png\",\"target_closeup_000.png\",\"target_closeup_001.png\",\"target_closeup_002.png\"],\"question_data\":{\"answer\":\"3\",\"ball_positions\":[[0.2949999999999998,0.34499999999999975,0.03500019371509552],[-0.40500000000000014,-0.0050000000000002265,0.03500019371509552],[-0.7550000000000001,-0.0050000000000002265,0.03500019371509552]],\"candidate_index\":1,\"case\":\"light_change\",\"case_metadata\":{\"source_candidates\":3,\"source_entries\":[{\"ball_positions\":[[0.2949999999999998,0.34499999999999975,0.03500019371509552]],\"metadata\":{\"lighting\":{\"render_behavior\":\"first_four_views_normal_then_random_large_light_change_for_last_four_views\",\"target_lights\":[{\"bbox\":[[4.124630928039551,1.9354500770568848,-5.960464477539063e-08],[4.8220624923706055,2.4812965393066406,1.643090844154358]],\"category\":\"floor_lamp\",\"has_open_state\":false,\"in_rooms\":[\"living_room_0\"],\"name\":\"floor_lamp_jqsuky_0\"},{\"bbox\":[[2.0803141593933105,-1.5400232076644897,0.7807170152664185],[2.7215511798858643,-1.26278817653656,0.9853762984275818]],\"category\":\"table_lamp\",\"has_open_state\":false,\"in_rooms\":[\"living_room_0\"],\"name\":\"table_lamp_xbfgjc_6\"}]}},\"source_index\":0},{\"ball_positions\":[[-0.40500000000000014,-0.0050000000000002265,0.03500019371509552]],\"metadata\":{\"lighting\":{\"render_behavior\":\"first_four_views_normal_then_random_large_light_change_for_last_four_views\",\"target_lights\":[{\"bbox\":[[4.124630928039551,1.9354500770568848,-5.960464477539063e-08],[4.8220624923706055,2.4812965393066406,1.643090844154358]],\"category\":\"floor_lamp\",\"has_open_state\":false,\"in_rooms\":[\"living_room_0\"],\"name\":\"floor_lamp_jqsuky_0\"},{\"bbox\":[[2.0803141593933105,-1.5400232076644897,0.7807170152664185],[2.7215511798858643,-1.26278817653656,0.9853762984275818]],\"category\":\"table_lamp\",\"has_open_state\":false,\"in_rooms\":[\"living_room_0\"],\"name\":\"table_lamp_xbfgjc_6\"}]}},\"source_index\":2},{\"ball_positions\":[[-0.7550000000000001,-0.0050000000000002265,0.03500019371509552]],\"metadata\":{\"lighting\":{\"render_behavior\":\"first_four_views_normal_then_random_large_light_change_for_last_four_views\",\"target_lights\":[{\"bbox\":[[4.124630928039551,1.9354500770568848,-5.960464477539063e-08],[4.8220624923706055,2.4812965393066406,1.643090844154358]],\"category\":\"floor_lamp\",\"has_open_state\":false,\"in_rooms\":[\"living_room_0\"],\"name\":\"floor_lamp_jqsuky_0\"},{\"bbox\":[[2.0803141593933105,-1.5400232076644897,0.7807170152664185],[2.7215511798858643,-1.26278817653656,0.9853762984275818]],\"category\":\"table_lamp\",\"has_open_state\":false,\"in_rooms\":[\"living_room_0\"],\"name\":\"table_lamp_xbfgjc_6\"}]}},\"source_index\":3}]},\"count_object\":{\"category\":\"club_sandwich\",\"display_name\":\"club sandwich\",\"resolved_models\":[\"ablfyd\"],\"resolved_object_count\":3,\"original_requested_category\":\"boxed_ink_cartridge\",\"original_display_name\":\"boxed ink cartridge\",\"normalization_source\":\"render.target_category\"},\"count_target\":\"club_sandwich\",\"count_unit\":\"objects\",\"object_positions\":[[0.2949999999999998,0.34499999999999975,0.03500019371509552],[-0.40500000000000014,-0.0050000000000002265,0.03500019371509552],[-0.7550000000000001,-0.0050000000000002265,0.03500019371509552]],\"options\":[\"0\",\"1\",\"2\",\"3\"],\"question\":\"Considering both images, how many objects of category \\\"club_sandwich\\\" are present in this scene?\",\"render\":{\"all_images\":[\"q_001_normal.png\",\"q_001_changed.png\"],\"camera_poses\":[{\"_key\":\"q_001_changed.png\",\"lighting_phase\":\"changed\",\"look_target\":[2.000000000000001,0.5,0.9000001937150955],\"pitch_deg\":7.280917899702151,\"position\":[-0.5000000000000001,1.62,1.2500001937150955],\"quaternion_xyzw\":[-0.3592472358662191,0.5545938114708867,0.6299593932045604,-0.40806652731389],\"view_name\":\"room_center_single_view_changed\"},{\"_key\":\"q_001_normal.png\",\"lighting_phase\":\"normal\",\"look_target\":[2.000000000000001,0.5,0.9000001937150955],\"pitch_deg\":7.280917899702151,\"position\":[-0.5000000000000001,1.62,1.2500001937150955],\"quaternion_xyzw\":[-0.3592472358662191,0.5545938114708867,0.6299593932045604,-0.40806652731389],\"view_name\":\"room_center_single_view_normal\"}],\"context_without_mirror\":{\"image\":\"q_001_changed.png\",\"kind\":\"agent_centered_alternate_view\"},\"image\":\"q_001_normal.png\",\"multi_image_input\":{\"room_bbox_world_xy\":[-0.8500000000000001,-1.5,4.850000000000001,2.5],\"room_instance\":\"living_room_0\",\"views\":[{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[-0.5000000000000001,-1.15,2.2000001937150957],\"quaternion_xyzw\":[0.4987481913657186,-0.26840895210578575,-0.39055797298749995,0.7257212590070611]},\"image_path\":\"corner_00.png\",\"is_traversable\":true,\"target\":[2.000000000000001,0.5,1.0500001937150956],\"trav_occluded\":false,\"view_id\":\"corner_00\"},{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[-0.5000000000000001,2.15,2.2000001937150957],\"quaternion_xyzw\":[-0.26840895210578575,0.4987481913657186,0.7257212590070611,-0.39055797298749995]},\"image_path\":\"corner_01.png\",\"is_traversable\":true,\"target\":[2.000000000000001,0.5,1.0500001937150956],\"trav_occluded\":true,\"view_id\":\"corner_01\"},{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[4.500000000000002,-1.15,2.2000001937150957],\"quaternion_xyzw\":[0.4987481913657186,0.26840895210578575,0.39055797298749995,0.7257212590070611]},\"image_path\":\"corner_02.png\",\"is_traversable\":true,\"target\":[2.000000000000001,0.5,1.0500001937150956],\"trav_occluded\":false,\"view_id\":\"corner_02\"},{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[4.500000000000002,2.15,2.2000001937150957],\"quaternion_xyzw\":[0.26840895210578575,0.4987481913657186,0.7257212590070611,0.39055797298749995]},\"image_path\":\"corner_03.png\",\"is_traversable\":false,\"target\":[2.000000000000001,0.5,1.0500001937150956],\"trav_occluded\":true,\"view_id\":\"corner_03\"}]},\"render_output_dir\":\"q_001\",\"resolved_objects\":{\"targets\":[{\"bbox\":[[0.19017842411994934,0.24385932087898254,-0.00546322762966156],[0.402127206325531,0.44496098160743713,0.07937649637460709]],\"category\":\"club_sandwich\",\"model\":\"ablfyd\",\"name\":\"render_count_target_club_sandwich_0\",\"position\":[0.29499998688697815,0.3449999988079071,0.03500019386410713],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"requested_position\":[0.2949999999999998,0.34499999999999975,0.03500019371509552],\"role\":\"count_target\",\"source_entry_case\":\"light_change\",\"target_name\":\"render_count_target_club_sandwich_0\"},{\"bbox\":[[-0.5098215937614441,-0.10614067316055298,-0.00546322762966156],[-0.29787278175354004,0.09496097266674042,0.07937649637460709]],\"category\":\"club_sandwich\",\"model\":\"ablfyd\",\"name\":\"render_count_target_club_sandwich_1\",\"position\":[-0.4050000011920929,-0.004999999888241291,0.03500019386410713],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"requested_position\":[-0.40500000000000014,-0.0050000000000002265,0.03500019371509552],\"role\":\"count_target\",\"source_entry_case\":\"light_change\",\"target_name\":\"render_count_target_club_sandwich_1\"},{\"bbox\":[[-0.8598215579986572,-0.10614067316055298,-0.00546322762966156],[-0.647872805595398,0.09496097266674042,0.07937649637460709]],\"category\":\"club_sandwich\",\"model\":\"ablfyd\",\"name\":\"render_count_target_club_sandwich_2\",\"position\":[-0.7549999952316284,-0.004999999888241291,0.03500019386410713],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"requested_position\":[-0.7550000000000001,-0.0050000000000002265,0.03500019371509552],\"role\":\"count_target\",\"source_entry_case\":\"light_change\",\"target_name\":\"render_count_target_club_sandwich_2\"}]},\"room_bbox\":{\"bbox_area_m2\":20.0,\"bbox_map_rc\":[9,10,13,15],\"bbox_world_xy\":[-0.5,-1.5,4.5,2.5],\"expanded_bbox_area_m2\":22.800000000000004,\"expanded_bbox_world_xy\":[-0.8500000000000001,-1.5,4.850000000000001,2.5],\"pixel_count\":30,\"room_id\":10,\"room_instance\":\"living_room_0\",\"source\":\"seg_map_expanded_with_walls\"},\"success\":true,\"target_category\":\"club_sandwich\",\"target_closeups\":[{\"best_effort_only\":false,\"camera_pose\":{\"position\":[0.7161528152227401,0.34441015124320984,0.12],\"quaternion_xyzw\":[0.454205473101845,0.454205473101845,0.5419385465201096,0.5419385465201098]},\"image_path\":\"target_closeup_000.png\",\"look_target\":[0.2961528152227402,0.34441015124320984,0.04544060677289963],\"target_name\":\"render_count_target_club_sandwich_0\",\"target_position\":[0.29499998688697815,0.3449999988079071,0.03500019386410713],\"visibility\":{\"bbox_xyxy\":[501,312,770,451],\"centered_score\":0.9695,\"is_visible\":true,\"matched_aliases\":[\"render_count_target_club_sandwich_0\",\"club_sandwich\"],\"target_name\":\"render_count_target_club_sandwich_0\",\"visible_pixels\":32881}},{\"best_effort_only\":false,\"camera_pose\":{\"position\":[0.01615281224250792,-0.0055898502469062805,0.12],\"quaternion_xyzw\":[0.45420547310184506,0.454205473101845,0.5419385465201096,0.5419385465201098]},\"image_path\":\"target_closeup_001.png\",\"look_target\":[-0.40384718775749207,-0.0055898502469062805,0.04544060677289963],\"target_name\":\"render_count_target_club_sandwich_1\",\"target_position\":[-0.4050000011920929,-0.004999999888241291,0.03500019386410713],\"visibility\":{\"bbox_xyxy\":[501,312,770,451],\"centered_score\":0.9695,\"is_visible\":true,\"matched_aliases\":[\"render_count_target_club_sandwich_1\",\"club_sandwich\"],\"target_name\":\"render_count_target_club_sandwich_1\",\"visible_pixels\":32881}},{\"best_effort_only\":false,\"camera_pose\":{\"position\":[-0.3338471817970276,-0.0055898502469062805,0.12],\"quaternion_xyzw\":[0.45420547310184506,0.454205473101845,0.5419385465201096,0.5419385465201098]},\"image_path\":\"target_closeup_002.png\",\"look_target\":[-0.7538471817970276,-0.0055898502469062805,0.04544060677289963],\"target_name\":\"render_count_target_club_sandwich_2\",\"target_position\":[-0.7549999952316284,-0.004999999888241291,0.03500019386410713],\"visibility\":{\"bbox_xyxy\":[501,312,770,420],\"centered_score\":0.9928,\"is_visible\":true,\"matched_aliases\":[\"render_count_target_club_sandwich_2\",\"club_sandwich\"],\"target_name\":\"render_count_target_club_sandwich_2\",\"visible_pixels\":24505}}],\"target_pool_seed\":6681641,\"topdown_map\":\"q_001_topdown_map.png\"},\"task_type\":\"light_change\"},\"question_id\":\"light_change/q_001\",\"question_index\":1,\"seed\":7,\"task_type\":\"light_change\"}","options_json":"[\"0\",\"1\",\"2\",\"3\"]","question":"Considering both images, how many objects of category \"club_sandwich\" are present in this scene?","room":"living_room_0","runner_task":"counting","scene":"Ihlen_1_int","small_task":"Illumination Variability"},"observations":[],"question":{"answer_type":"choice","options":[],"original":"Considering both images, how many objects of category \"club_sandwich\" are present in this scene?","text":"Considering both images, how many objects of category \"club_sandwich\" are present in this scene?"},"reference_media":["q_001_normal.png","q_001_topdown_map.png","q_001_changed.png","corner_00.png","corner_01.png","corner_02.png","corner_03.png","target_closeup_000.png","target_closeup_001.png","target_closeup_002.png"],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":20,"stratum_pool":50},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Enumerative Perception/Illumination Variability/Ihlen_1_int/living_room_0/q_001.json","annotation_sha256":"47d1b287c2e29398753382bcdd34cdc73b292e09748df0baad809f32e5bfff6e","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"50f1d56102350867dbbf5fe140666da97ca54a13110e786ab3517700f50c8256","sample_id":"0436","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"3","metric":"official_esi_task","original_answer":"3"},"task":{"category":"Enumerative Perception","role":"spatial_core","skill_tags":["Enumerative Perception","Illumination Variability"],"stratum":"ESI-Bench/Enumerative Perception/Illumination Variability","subcategory":"Illumination Variability"},"transforms":[]}
{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Enumerative Perception","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"5","id":"6f7a13c427262103","metadata":"vendor/ESI-Bench/dataset/json_clean/Enumerative Perception/Illumination Variability/house_double_floor_upper/living_room_0/q_001.json","metadata_sha256":"b9c55938ab51a5b3a994578ac93b563785249dcba111905719ac4a84134472b4","observation_policy":"runtime camera observations; no oracle poses","question":"Considering both images, how many objects of category \"club_sandwich\" are present in this scene?","room":"living_room_0","scene":"house_double_floor_upper","subcategory":"Illumination Variability","task":"enumerative_perception.illumination_variability"},"group":{"id":"ESI-scene/house_double_floor_upper","kind":"scene","room":"living_room_0","scene":"house_double_floor_upper"},"id":"2a0d15a0c8578ea16502","native_annotation":{"answer":"5","answer_type":"choice","big_task":"Enumerative Perception","gt_camera_poses":[{"baseline_selected":true,"camera_pose":{"position":[-2.1838472652435303,-1.2555898427963257,0.12],"quaternion_xyzw":[0.45420535194191314,0.45420535194191314,0.5419386480657408,0.5419386480657408]},"camera_pose_rule":null,"fov_deg":100.0,"group":"target_closeups","metadata_pointer":"/question_data/render/target_closeups/0","original_image_path":"target_closeup_000.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"target_closeups/target_closeup_000.png"},{"baseline_selected":true,"camera_pose":{"position":[-0.08384716689586641,-0.9055897891521454,0.12],"quaternion_xyzw":[0.45420535194191314,0.45420535194191314,0.5419386480657408,0.5419386480657408]},"camera_pose_rule":null,"fov_deg":100.0,"group":"target_closeups","metadata_pointer":"/question_data/render/target_closeups/1","original_image_path":"target_closeup_001.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"target_closeups/target_closeup_001.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.883847312927246,0.1444101445376873,0.12],"quaternion_xyzw":[0.45420535194191314,0.45420535194191314,0.5419386480657408,0.5419386480657408]},"camera_pose_rule":null,"fov_deg":100.0,"group":"target_closeups","metadata_pointer":"/question_data/render/target_closeups/2","original_image_path":"target_closeup_002.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"target_closeups/target_closeup_002.png"},{"baseline_selected":true,"camera_pose":{"position":[-3.160198852730465,0.18908105867881386,0.12],"quaternion_xyzw":[0.11154175543180392,0.6325847297086343,0.7547733899207154,0.13308691296381273]},"camera_pose_rule":null,"fov_deg":100.0,"group":"target_closeups","metadata_pointer":"/question_data/render/target_closeups/3","original_image_path":"target_closeup_003.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"target_closeups/target_closeup_003.png"},{"baseline_selected":true,"camera_pose":{"position":[0.2661528271436691,0.1444101445376873,0.12],"quaternion_xyzw":[0.45420535194191314,0.45420535194191314,0.5419386480657408,0.5419386480657408]},"camera_pose_rule":null,"fov_deg":100.0,"group":"target_closeups","metadata_pointer":"/question_data/render/target_closeups/4","original_image_path":"target_closeup_004.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"target_closeups/target_closeup_004.png"}],"id":"0458","image_paths_json":"[\"q_001_normal.png\",\"q_001_topdown_map.png\",\"q_001_changed.png\",\"corner_00.png\",\"corner_01.png\",\"corner_02.png\",\"corner_03.png\",\"target_closeup_000.png\",\"target_closeup_001.png\",\"target_closeup_002.png\",\"target_closeup_003.png\",\"target_closeup_004.png\"]","metadata_json":"{\"camera_poses\":{\"agent_position_policy\":\"sample_free_point_near_short_edge_of_room_bbox\",\"context_image\":\"room_center_single_view\",\"mode\":\"single_agent_view_toward_room_center\",\"pitch_deg\":15.0,\"primary_image\":\"room_center_single_view\",\"topdown_map\":\"floor_trav_with_count_object_annotations\",\"views_per_candidate\":1},\"floor_name\":\"floors_rfqizg_0\",\"image_paths\":[\"q_001_normal.png\",\"q_001_topdown_map.png\",\"q_001_changed.png\",\"corner_00.png\",\"corner_01.png\",\"corner_02.png\",\"corner_03.png\",\"target_closeup_000.png\",\"target_closeup_001.png\",\"target_closeup_002.png\",\"target_closeup_003.png\",\"target_closeup_004.png\"],\"question_data\":{\"answer\":\"5\",\"ball_positions\":[[-2.6050000000000013,-1.255,0.035],[-0.505000000000001,-0.9049999999999999,0.035],[-3.3050000000000015,0.14500000000000002,0.035],[-3.3050000000000015,-0.20499999999999996,0.035],[-0.15500000000000103,0.14500000000000002,0.035]],\"candidate_index\":1,\"case\":\"light_change\",\"case_metadata\":{\"source_candidates\":5,\"source_entries\":[{\"ball_positions\":[[-2.6050000000000013,-1.255,0.035]],\"metadata\":{\"lighting\":{\"render_behavior\":\"first_four_views_normal_then_random_large_light_change_for_last_four_views\",\"target_lights\":[{\"bbox\":[[-0.0362468957901001,-2.758291482925415,2.43477201461792],[0.21675242483615875,-2.1136913299560547,2.531479597091675]],\"category\":\"downlight\",\"has_open_state\":false,\"in_rooms\":[\"living_room_0\"],\"name\":\"downlight_fisfbn_0\"},{\"bbox\":[[-2.4777538776397705,-2.758291482925415,2.43477201461792],[-2.224754571914673,-2.1136913299560547,2.531479597091675]],\"category\":\"downlight\",\"has_open_state\":false,\"in_rooms\":[\"living_room_0\"],\"name\":\"downlight_fisfbn_1\"},{\"bbox\":[[-4.995960235595703,-2.758291482925415,2.43477201461792],[-4.7429609298706055,-2.1136913299560547,2.531479597091675]],\"category\":\"downlight\",\"has_open_state\":false,\"in_rooms\":[\"living_room_0\"],\"name\":\"downlight_fisfbn_2\"},{\"bbox\":[[-0.03624696284532547,-0.866301417350769,2.43477201461792],[0.21675235033035278,-0.2217012345790863,2.531479597091675]],\"category\":\"downlight\",\"has_open_state\":false,\"in_rooms\":[\"living_room_0\"],\"name\":\"downlight_fisfbn_3\"},{\"bbox\":[[-1.2961941957473755,-2.754598617553711,0.735090970993042],[-1.1635074615478516,-2.407536268234253,1.2080209255218506]],\"category\":\"table_lamp\",\"has_open_state\":false,\"in_rooms\":[\"living_room_0\"],\"name\":\"table_lamp_lshxmu_0\"}]}},\"source_index\":0},{\"ball_positions\":[[-0.505000000000001,-0.9049999999999999,0.035]],\"metadata\":{\"lighting\":{\"render_behavior\":\"first_four_views_normal_then_random_large_light_change_for_last_four_views\",\"target_lights\":[{\"bbox\":[[-0.0362468957901001,-2.758291482925415,2.43477201461792],[0.21675242483615875,-2.1136913299560547,2.531479597091675]],\"category\":\"downlight\",\"has_open_state\":false,\"in_rooms\":[\"living_room_0\"],\"name\":\"downlight_fisfbn_0\"},{\"bbox\":[[-2.4777538776397705,-2.758291482925415,2.43477201461792],[-2.224754571914673,-2.1136913299560547,2.531479597091675]],\"category\":\"downlight\",\"has_open_state\":false,\"in_rooms\":[\"living_room_0\"],\"name\":\"downlight_fisfbn_1\"},{\"bbox\":[[-4.995960235595703,-2.758291482925415,2.43477201461792],[-4.7429609298706055,-2.1136913299560547,2.531479597091675]],\"category\":\"downlight\",\"has_open_state\":false,\"in_rooms\":[\"living_room_0\"],\"name\":\"downlight_fisfbn_2\"},{\"bbox\":[[-0.03624696284532547,-0.866301417350769,2.43477201461792],[0.21675235033035278,-0.2217012345790863,2.531479597091675]],\"category\":\"downlight\",\"has_open_state\":false,\"in_rooms\":[\"living_room_0\"],\"name\":\"downlight_fisfbn_3\"},{\"bbox\":[[-1.2961941957473755,-2.754598617553711,0.735090970993042],[-1.1635074615478516,-2.407536268234253,1.2080209255218506]],\"category\":\"table_lamp\",\"has_open_state\":false,\"in_rooms\":[\"living_room_0\"],\"name\":\"table_lamp_lshxmu_0\"}]}},\"source_index\":1},{\"ball_positions\":[[-3.3050000000000015,0.14500000000000002,0.035]],\"metadata\":{\"lighting\":{\"render_behavior\":\"first_four_views_normal_then_random_large_light_change_for_last_four_views\",\"target_lights\":[{\"bbox\":[[-0.0362468957901001,-2.758291482925415,2.43477201461792],[0.21675242483615875,-2.1136913299560547,2.531479597091675]],\"category\":\"downlight\",\"has_open_state\":false,\"in_rooms\":[\"living_room_0\"],\"name\":\"downlight_fisfbn_0\"},{\"bbox\":[[-2.4777538776397705,-2.758291482925415,2.43477201461792],[-2.224754571914673,-2.1136913299560547,2.531479597091675]],\"category\":\"downlight\",\"has_open_state\":false,\"in_rooms\":[\"living_room_0\"],\"name\":\"downlight_fisfbn_1\"},{\"bbox\":[[-4.995960235595703,-2.758291482925415,2.43477201461792],[-4.7429609298706055,-2.1136913299560547,2.531479597091675]],\"category\":\"downlight\",\"has_open_state\":false,\"in_rooms\":[\"living_room_0\"],\"name\":\"downlight_fisfbn_2\"},{\"bbox\":[[-0.03624696284532547,-0.866301417350769,2.43477201461792],[0.21675235033035278,-0.2217012345790863,2.531479597091675]],\"category\":\"downlight\",\"has_open_state\":false,\"in_rooms\":[\"living_room_0\"],\"name\":\"downlight_fisfbn_3\"},{\"bbox\":[[-1.2961941957473755,-2.754598617553711,0.735090970993042],[-1.1635074615478516,-2.407536268234253,1.2080209255218506]],\"category\":\"table_lamp\",\"has_open_state\":false,\"in_rooms\":[\"living_room_0\"],\"name\":\"table_lamp_lshxmu_0\"}]}},\"source_index\":2},{\"ball_positions\":[[-3.3050000000000015,-0.20499999999999996,0.035]],\"metadata\":{\"lighting\":{\"render_behavior\":\"first_four_views_normal_then_random_large_light_change_for_last_four_views\",\"target_lights\":[{\"bbox\":[[-0.0362468957901001,-2.758291482925415,2.43477201461792],[0.21675242483615875,-2.1136913299560547,2.531479597091675]],\"category\":\"downlight\",\"has_open_state\":false,\"in_rooms\":[\"living_room_0\"],\"name\":\"downlight_fisfbn_0\"},{\"bbox\":[[-2.4777538776397705,-2.758291482925415,2.43477201461792],[-2.224754571914673,-2.1136913299560547,2.531479597091675]],\"category\":\"downlight\",\"has_open_state\":false,\"in_rooms\":[\"living_room_0\"],\"name\":\"downlight_fisfbn_1\"},{\"bbox\":[[-4.995960235595703,-2.758291482925415,2.43477201461792],[-4.7429609298706055,-2.1136913299560547,2.531479597091675]],\"category\":\"downlight\",\"has_open_state\":false,\"in_rooms\":[\"living_room_0\"],\"name\":\"downlight_fisfbn_2\"},{\"bbox\":[[-0.03624696284532547,-0.866301417350769,2.43477201461792],[0.21675235033035278,-0.2217012345790863,2.531479597091675]],\"category\":\"downlight\",\"has_open_state\":false,\"in_rooms\":[\"living_room_0\"],\"name\":\"downlight_fisfbn_3\"},{\"bbox\":[[-1.2961941957473755,-2.754598617553711,0.735090970993042],[-1.1635074615478516,-2.407536268234253,1.2080209255218506]],\"category\":\"table_lamp\",\"has_open_state\":false,\"in_rooms\":[\"living_room_0\"],\"name\":\"table_lamp_lshxmu_0\"}]}},\"source_index\":3},{\"ball_positions\":[[-0.15500000000000103,0.14500000000000002,0.035]],\"metadata\":{\"lighting\":{\"render_behavior\":\"first_four_views_normal_then_random_large_light_change_for_last_four_views\",\"target_lights\":[{\"bbox\":[[-0.0362468957901001,-2.758291482925415,2.43477201461792],[0.21675242483615875,-2.1136913299560547,2.531479597091675]],\"category\":\"downlight\",\"has_open_state\":false,\"in_rooms\":[\"living_room_0\"],\"name\":\"downlight_fisfbn_0\"},{\"bbox\":[[-2.4777538776397705,-2.758291482925415,2.43477201461792],[-2.224754571914673,-2.1136913299560547,2.531479597091675]],\"category\":\"downlight\",\"has_open_state\":false,\"in_rooms\":[\"living_room_0\"],\"name\":\"downlight_fisfbn_1\"},{\"bbox\":[[-4.995960235595703,-2.758291482925415,2.43477201461792],[-4.7429609298706055,-2.1136913299560547,2.531479597091675]],\"category\":\"downlight\",\"has_open_state\":false,\"in_rooms\":[\"living_room_0\"],\"name\":\"downlight_fisfbn_2\"},{\"bbox\":[[-0.03624696284532547,-0.866301417350769,2.43477201461792],[0.21675235033035278,-0.2217012345790863,2.531479597091675]],\"category\":\"downlight\",\"has_open_state\":false,\"in_rooms\":[\"living_room_0\"],\"name\":\"downlight_fisfbn_3\"},{\"bbox\":[[-1.2961941957473755,-2.754598617553711,0.735090970993042],[-1.1635074615478516,-2.407536268234253,1.2080209255218506]],\"category\":\"table_lamp\",\"has_open_state\":false,\"in_rooms\":[\"living_room_0\"],\"name\":\"table_lamp_lshxmu_0\"}]}},\"source_index\":4}]},\"count_object\":{\"category\":\"club_sandwich\",\"display_name\":\"club sandwich\",\"resolved_models\":[\"ablfyd\"],\"resolved_object_count\":5,\"original_requested_category\":\"boxed_ink_cartridge\",\"original_display_name\":\"boxed ink cartridge\",\"normalization_source\":\"render.target_category\"},\"count_target\":\"club_sandwich\",\"count_unit\":\"objects\",\"object_positions\":[[-2.6050000000000013,-1.255,0.035],[-0.505000000000001,-0.9049999999999999,0.035],[-3.3050000000000015,0.14500000000000002,0.035],[-3.3050000000000015,-0.20499999999999996,0.035],[-0.15500000000000103,0.14500000000000002,0.035]],\"options\":[\"0\",\"3\",\"4\",\"5\"],\"question\":\"Considering both images, how many objects of category \\\"club_sandwich\\\" are present in this scene?\",\"render\":{\"all_images\":[\"q_001_normal.png\",\"q_001_changed.png\"],\"camera_poses\":[{\"_key\":\"q_001_changed.png\",\"lighting_phase\":\"changed\",\"look_target\":[-2.0,-2.0,0.9],\"pitch_deg\":9.851101187140925,\"position\":[-1.7499999999999978,0.0,1.25],\"quaternion_xyzw\":[0.04000299468244837,0.6425384112932964,0.7637298791912757,0.04754810258677259],\"view_name\":\"room_center_single_view_changed\"},{\"_key\":\"q_001_normal.png\",\"lighting_phase\":\"normal\",\"look_target\":[-2.0,-2.0,0.9],\"pitch_deg\":9.851101187140925,\"position\":[-1.7499999999999978,0.0,1.25],\"quaternion_xyzw\":[0.04000299468244837,0.6425384112932964,0.7637298791912757,0.04754810258677259],\"view_name\":\"room_center_single_view_normal\"}],\"context_without_mirror\":{\"image\":\"q_001_changed.png\",\"kind\":\"agent_centered_alternate_view\"},\"image\":\"q_001_normal.png\",\"multi_image_input\":{\"room_bbox_world_xy\":[-5.5,-4.5,1.5,0.5],\"room_instance\":\"living_room_0\",\"views\":[{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[-5.1,-4.1,2.2],\"quaternion_xyzw\":[0.5250213693305671,-0.2784864151709944,-0.37685706040944883,0.7104763432592347]},\"image_path\":\"corner_00.png\",\"is_traversable\":false,\"target\":[-2.0,-2.0,1.05],\"trav_occluded\":true,\"view_id\":\"corner_00\"},{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[-5.1,0.09999999999999998,2.2],\"quaternion_xyzw\":[-0.2784864151709943,0.5250213693305671,0.7104763432592347,-0.3768570604094487]},\"image_path\":\"corner_01.png\",\"is_traversable\":false,\"target\":[-2.0,-2.0,1.05],\"trav_occluded\":true,\"view_id\":\"corner_01\"},{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[1.1,-4.1,2.2],\"quaternion_xyzw\":[0.5250213693305671,0.2784864151709944,0.37685706040944883,0.7104763432592347]},\"image_path\":\"corner_02.png\",\"is_traversable\":false,\"target\":[-2.0,-2.0,1.05],\"trav_occluded\":true,\"view_id\":\"corner_02\"},{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[1.1,0.09999999999999998,2.2],\"quaternion_xyzw\":[0.2784864151709944,0.5250213693305672,0.7104763432592346,0.3768570604094489]},\"image_path\":\"corner_03.png\",\"is_traversable\":true,\"target\":[-2.0,-2.0,1.05],\"trav_occluded\":true,\"view_id\":\"corner_03\"}]},\"render_output_dir\":\"q_001\",\"resolved_objects\":{\"targets\":[{\"bbox\":[[-2.7098217010498047,-1.3561406135559082,-0.00546342134475708],[-2.497872829437256,-1.1550390720367432,0.07937630265951157]],\"category\":\"club_sandwich\",\"model\":\"ablfyd\",\"name\":\"render_count_target_club_sandwich_0\",\"position\":[-2.6050000190734863,-1.2549999952316284,0.03500000014901161],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"requested_position\":[-2.6050000000000013,-1.255,0.035],\"role\":\"count_target\",\"source_entry_case\":\"light_change\",\"target_name\":\"render_count_target_club_sandwich_0\"},{\"bbox\":[[-0.6098215579986572,-1.0061405897140503,-0.00546342134475708],[-0.39787277579307556,-0.8050389885902405,0.07937630265951157]],\"category\":\"club_sandwich\",\"model\":\"ablfyd\",\"name\":\"render_count_target_club_sandwich_1\",\"position\":[-0.5049999952316284,-0.9049999713897705,0.03500000014901161],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"requested_position\":[-0.505000000000001,-0.9049999999999999,0.035],\"role\":\"count_target\",\"source_entry_case\":\"light_change\",\"target_name\":\"render_count_target_club_sandwich_1\"},{\"bbox\":[[-3.4098217487335205,0.0438593253493309,-0.00546342134475708],[-3.1978728771209717,0.2449609637260437,0.07937630265951157]],\"category\":\"club_sandwich\",\"model\":\"ablfyd\",\"name\":\"render_count_target_club_sandwich_2\",\"position\":[-3.305000066757202,0.14499999582767487,0.03500000014901161],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"requested_position\":[-3.3050000000000015,0.14500000000000002,0.035],\"role\":\"count_target\",\"source_entry_case\":\"light_change\",\"target_name\":\"render_count_target_club_sandwich_2\"},{\"bbox\":[[-3.4098217487335205,-0.306140661239624,-0.00546342134475708],[-3.1978728771209717,-0.10503902286291122,0.07937630265951157]],\"category\":\"club_sandwich\",\"model\":\"ablfyd\",\"name\":\"render_count_target_club_sandwich_3\",\"position\":[-3.305000066757202,-0.20499999821186066,0.03500000014901161],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"requested_position\":[-3.3050000000000015,-0.20499999999999996,0.035],\"role\":\"count_target\",\"source_entry_case\":\"light_change\",\"target_name\":\"render_count_target_club_sandwich_3\"},{\"bbox\":[[-0.2598215639591217,0.0438593253493309,-0.00546342134475708],[-0.04787278175354004,0.2449609637260437,0.07937630265951157]],\"category\":\"club_sandwich\",\"model\":\"ablfyd\",\"name\":\"render_count_target_club_sandwich_4\",\"position\":[-0.1550000011920929,0.14499999582767487,0.03500000014901161],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"requested_position\":[-0.15500000000000103,0.14500000000000002,0.035],\"role\":\"count_target\",\"source_entry_case\":\"light_change\",\"target_name\":\"render_count_target_club_sandwich_4\"}]},\"room_bbox\":{\"bbox_area_m2\":35.0,\"bbox_map_rc\":[2,1,7,8],\"bbox_world_xy\":[-5.5,-4.5,1.5,0.5],\"expanded_bbox_area_m2\":35.0,\"expanded_bbox_world_xy\":[-5.5,-4.5,1.5,0.5],\"pixel_count\":44,\"room_id\":7,\"room_instance\":\"living_room_0\",\"source\":\"seg_map_expanded_with_walls\"},\"success\":true,\"target_category\":\"club_sandwich\",\"target_closeups\":[{\"best_effort_only\":false,\"camera_pose\":{\"position\":[-2.1838472652435303,-1.2555898427963257,0.12],\"quaternion_xyzw\":[0.45420535194191314,0.45420535194191314,0.5419386480657408,0.5419386480657408]},\"image_path\":\"target_closeup_000.png\",\"look_target\":[-2.6038472652435303,-1.2555898427963257,0.04544041305780411],\"target_name\":\"render_count_target_club_sandwich_0\",\"target_position\":[-2.6050000190734863,-1.2549999952316284,0.03500000014901161],\"visibility\":{\"bbox_xyxy\":[501,312,770,451],\"centered_score\":0.9695,\"is_visible\":true,\"matched_aliases\":[\"render_count_target_club_sandwich_0\",\"club_sandwich\"],\"target_name\":\"render_count_target_club_sandwich_0\",\"visible_pixels\":32881}},{\"best_effort_only\":false,\"camera_pose\":{\"position\":[-0.08384716689586641,-0.9055897891521454,0.12],\"quaternion_xyzw\":[0.45420535194191314,0.45420535194191314,0.5419386480657408,0.5419386480657408]},\"image_path\":\"target_closeup_001.png\",\"look_target\":[-0.5038471668958664,-0.9055897891521454,0.04544041305780411],\"target_name\":\"render_count_target_club_sandwich_1\",\"target_position\":[-0.5049999952316284,-0.9049999713897705,0.03500000014901161],\"visibility\":{\"bbox_xyxy\":[501,312,770,451],\"centered_score\":0.9695,\"is_visible\":true,\"matched_aliases\":[\"render_count_target_club_sandwich_1\",\"club_sandwich\"],\"target_name\":\"render_count_target_club_sandwich_1\",\"visible_pixels\":32881}},{\"best_effort_only\":false,\"camera_pose\":{\"position\":[-2.883847312927246,0.1444101445376873,0.12],\"quaternion_xyzw\":[0.45420535194191314,0.45420535194191314,0.5419386480657408,0.5419386480657408]},\"image_path\":\"target_closeup_002.png\",\"look_target\":[-3.303847312927246,0.1444101445376873,0.04544041305780411],\"target_name\":\"render_count_target_club_sandwich_2\",\"target_position\":[-3.305000066757202,0.14499999582767487,0.03500000014901161],\"visibility\":{\"bbox_xyxy\":[501,312,770,451],\"centered_score\":0.9695,\"is_visible\":true,\"matched_aliases\":[\"render_count_target_club_sandwich_2\",\"club_sandwich\"],\"target_name\":\"render_count_target_club_sandwich_2\",\"visible_pixels\":32881}},{\"best_effort_only\":false,\"camera_pose\":{\"position\":[-3.160198852730465,0.18908105867881386,0.12],\"quaternion_xyzw\":[0.11154175543180392,0.6325847297086343,0.7547733899207154,0.13308691296381273]},\"image_path\":\"target_closeup_003.png\",\"look_target\":[-3.303847312927246,-0.20558984205126762,0.04544041305780411],\"target_name\":\"render_count_target_club_sandwich_3\",\"target_position\":[-3.305000066757202,-0.20499999821186066,0.03500000014901161],\"visibility\":{\"bbox_xyxy\":[529,310,784,356],\"centered_score\":0.9636,\"is_visible\":true,\"matched_aliases\":[\"render_count_target_club_sandwich_3\",\"club_sandwich\"],\"target_name\":\"render_count_target_club_sandwich_3\",\"visible_pixels\":9615}},{\"best_effort_only\":false,\"camera_pose\":{\"position\":[0.2661528271436691,0.1444101445376873,0.12],\"quaternion_xyzw\":[0.45420535194191314,0.45420535194191314,0.5419386480657408,0.5419386480657408]},\"image_path\":\"target_closeup_004.png\",\"look_target\":[-0.15384717285633087,0.1444101445376873,0.04544041305780411],\"target_name\":\"render_count_target_club_sandwich_4\",\"target_position\":[-0.1550000011920929,0.14499999582767487,0.03500000014901161],\"visibility\":{\"bbox_xyxy\":[501,312,770,451],\"centered_score\":0.9695,\"is_visible\":true,\"matched_aliases\":[\"render_count_target_club_sandwich_4\",\"club_sandwich\"],\"target_name\":\"render_count_target_club_sandwich_4\",\"visible_pixels\":32881}}],\"target_pool_seed\":9318768,\"topdown_map\":\"q_001_topdown_map.png\"},\"task_type\":\"light_change\"},\"question_id\":\"light_change/q_001\",\"question_index\":1,\"seed\":7,\"task_type\":\"light_change\"}","options_json":"[\"0\",\"3\",\"4\",\"5\"]","question":"Considering both images, how many objects of category \"club_sandwich\" are present in this scene?","room":"living_room_0","runner_task":"counting","scene":"house_double_floor_upper","small_task":"Illumination Variability"},"observations":[],"question":{"answer_type":"choice","options":[],"original":"Considering both images, how many objects of category \"club_sandwich\" are present in this scene?","text":"Considering both images, how many objects of category \"club_sandwich\" are present in this scene?"},"reference_media":["q_001_normal.png","q_001_topdown_map.png","q_001_changed.png","corner_00.png","corner_01.png","corner_02.png","corner_03.png","target_closeup_000.png","target_closeup_001.png","target_closeup_002.png","target_closeup_003.png","target_closeup_004.png"],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":20,"stratum_pool":50},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Enumerative Perception/Illumination Variability/house_double_floor_upper/living_room_0/q_001.json","annotation_sha256":"b9c55938ab51a5b3a994578ac93b563785249dcba111905719ac4a84134472b4","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"50791794ec01693dbc768473cbb1b0642b8355f4d66c325e646bfe6f843938cc","sample_id":"0458","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"5","metric":"official_esi_task","original_answer":"5"},"task":{"category":"Enumerative Perception","role":"spatial_core","skill_tags":["Enumerative Perception","Illumination Variability"],"stratum":"ESI-Bench/Enumerative Perception/Illumination Variability","subcategory":"Illumination Variability"},"transforms":[]}
{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Enumerative Perception","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"5","id":"079db9decf8ad489","metadata":"vendor/ESI-Bench/dataset/json_clean/Enumerative Perception/Merged Observation/hotel_gym_spa/bathroom_0/q_001.json","metadata_sha256":"b6ac9746abd99efc92bd30d7415bfc0f006f10dc5296d88961e10c221a81d998","observation_policy":"runtime camera observations; no oracle poses","question":"Considering both images, how many objects of category \"club_sandwich\" are present in this scene?","room":"bathroom_0","scene":"hotel_gym_spa","subcategory":"Merged Observation","task":"enumerative_perception.merged_observation"},"group":{"id":"ESI-scene/hotel_gym_spa","kind":"scene","room":"bathroom_0","scene":"hotel_gym_spa"},"id":"ac37236d9ca261a9c450","native_annotation":{"answer":"5","answer_type":"choice","big_task":"Enumerative Perception","gt_camera_poses":[{"baseline_selected":true,"camera_pose":{"position":[-9.483846740722656,-23.20559024810791,0.12],"quaternion_xyzw":[0.45420474148220324,0.45420474148220324,0.54193915969884,0.5419391596988401]},"camera_pose_rule":null,"fov_deg":100.0,"group":"target_closeups","metadata_pointer":"/question_data/render/target_closeups/0","original_image_path":"target_closeup_000.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"target_closeups/target_closeup_000.png"},{"baseline_selected":true,"camera_pose":{"position":[-9.42875202178955,-23.292445182800293,0.12],"quaternion_xyzw":[0.45420474148220324,0.45420474148220324,0.54193915969884,0.5419391596988401]},"camera_pose_rule":null,"fov_deg":100.0,"group":"target_closeups","metadata_pointer":"/question_data/render/target_closeups/1","original_image_path":"target_closeup_001.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"target_closeups/target_closeup_001.png"},{"baseline_selected":true,"camera_pose":{"position":[-9.397123413085938,-23.170830726623535,0.12],"quaternion_xyzw":[0.45420474148220324,0.45420474148220324,0.54193915969884,0.5419391596988401]},"camera_pose_rule":null,"fov_deg":100.0,"group":"target_closeups","metadata_pointer":"/question_data/render/target_closeups/2","original_image_path":"target_closeup_002.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"target_closeups/target_closeup_002.png"},{"baseline_selected":true,"camera_pose":{"position":[-9.363380508422852,-23.24034595489502,0.12],"quaternion_xyzw":[0.45420474148220324,0.45420474148220324,0.54193915969884,0.5419391596988401]},"camera_pose_rule":null,"fov_deg":100.0,"group":"target_closeups","metadata_pointer":"/question_data/render/target_closeups/3","original_image_path":"target_closeup_003.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"target_closeups/target_closeup_003.png"},{"baseline_selected":true,"camera_pose":{"position":[-9.511864738464356,-23.26496982574463,0.12],"quaternion_xyzw":[0.45420474148220324,0.45420474148220324,0.54193915969884,0.5419391596988401]},"camera_pose_rule":null,"fov_deg":100.0,"group":"target_closeups","metadata_pointer":"/question_data/render/target_closeups/4","original_image_path":"target_closeup_004.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"target_closeups/target_closeup_004.png"}],"id":"0513","image_paths_json":"[\"q_001.png\",\"q_001_topdown_map.png\",\"corner_00.png\",\"corner_01.png\",\"corner_02.png\",\"corner_03.png\",\"target_closeup_000.png\",\"target_closeup_001.png\",\"target_closeup_002.png\",\"target_closeup_003.png\",\"target_closeup_004.png\"]","metadata_json":"{\"camera_poses\":{\"agent_position_policy\":\"sample_free_point_near_short_edge_of_room_bbox\",\"context_image\":\"room_center_single_view\",\"mode\":\"single_agent_view_toward_room_center\",\"pitch_deg\":15.0,\"primary_image\":\"room_center_single_view\",\"topdown_map\":\"floor_trav_with_count_object_annotations\",\"views_per_candidate\":1},\"floor_name\":\"floors_rphmwm_0\",\"image_paths\":[\"q_001.png\",\"q_001_topdown_map.png\",\"q_001.png\",\"corner_00.png\",\"corner_01.png\",\"corner_02.png\",\"corner_03.png\",\"target_closeup_000.png\",\"target_closeup_001.png\",\"target_closeup_002.png\",\"target_closeup_003.png\",\"target_closeup_004.png\"],\"question_data\":{\"answer\":\"5\",\"ball_positions\":[[-9.905,-23.205,0.034999023973941806],[-9.849904667239649,-23.291855212711177,0.034999023973941806],[-9.818276573407164,-23.1702411082861,0.034999023973941806],[-9.784533081789748,-23.23975493631717,0.034999023973941806],[-9.933017432081057,-23.264380305228737,0.034999023973941806]],\"candidate_index\":1,\"case\":\"observation_merged\",\"case_metadata\":{\"source_candidates\":1,\"source_entries\":[{\"ball_positions\":[[-9.905,-23.205,0.034999023973941806],[-9.849904667239649,-23.291855212711177,0.034999023973941806],[-9.818276573407164,-23.1702411082861,0.034999023973941806],[-9.784533081789748,-23.23975493631717,0.034999023973941806],[-9.933017432081057,-23.264380305228737,0.034999023973941806]],\"metadata\":{\"count_object\":{\"category\":\"boxed_ink_cartridge\",\"characteristic_size_m\":0.057466251698532346,\"display_name\":\"boxed ink cartridge\",\"estimated_volume\":0.00018977483046488455,\"sampling_source\":\"keys_json_filtered_by_estimated_size_and_local_models\"},\"merge_pattern\":\"random_compact_cluster\"},\"source_index\":0}]},\"count_object\":{\"category\":\"club_sandwich\",\"display_name\":\"club sandwich\",\"resolved_models\":[\"ablfyd\"],\"resolved_object_count\":5,\"original_requested_category\":\"boxed_ink_cartridge\",\"original_display_name\":\"boxed ink cartridge\",\"normalization_source\":\"render.target_category\"},\"count_target\":\"club_sandwich\",\"count_unit\":\"objects\",\"object_positions\":[[-9.905,-23.205,0.034999023973941806],[-9.849904667239649,-23.291855212711177,0.034999023973941806],[-9.818276573407164,-23.1702411082861,0.034999023973941806],[-9.784533081789748,-23.23975493631717,0.034999023973941806],[-9.933017432081057,-23.264380305228737,0.034999023973941806]],\"options\":[\"0\",\"1\",\"4\",\"5\"],\"question\":\"Considering both images, how many objects of category \\\"club_sandwich\\\" are present in this scene?\",\"render\":{\"all_images\":[\"q_001.png\"],\"camera_poses\":[{\"_key\":\"q_001.png\",\"look_target\":[-9.0,-21.5,0.8999990239739418],\"pitch_deg\":22.192666605369993,\"position\":[-9.56,-20.85000000000001,1.2499990239739418],\"quaternion_xyzw\":[-0.19418722376513492,0.5229055194044016,0.7780579432196878,-0.2889411305016154],\"view_name\":\"room_center_single_view\"}],\"context_without_mirror\":{\"image\":\"q_001.png\",\"kind\":\"agent_centered_alternate_view\"},\"image\":\"q_001.png\",\"multi_image_input\":{\"room_bbox_world_xy\":[-10.0,-24.0,-8.0,-19.0],\"room_instance\":\"bathroom_0\",\"views\":[{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[-9.65,-23.65,2.199999023973942],\"quaternion_xyzw\":[0.5160522415742352,-0.07630248768157863,-0.1247886882866311,0.8439761830854657]},\"image_path\":\"corner_00.png\",\"is_traversable\":true,\"target\":[-9.0,-21.5,1.0499990239739418],\"trav_occluded\":false,\"view_id\":\"corner_00\"},{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[-9.65,-19.35,2.199999023973942],\"quaternion_xyzw\":[-0.07630248768157863,0.5160522415742352,0.8439761830854657,-0.1247886882866311]},\"image_path\":\"corner_01.png\",\"is_traversable\":true,\"target\":[-9.0,-21.5,1.0499990239739418],\"trav_occluded\":false,\"view_id\":\"corner_01\"},{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[-8.35,-23.65,2.199999023973942],\"quaternion_xyzw\":[0.5160522415742352,0.07630248768157863,0.1247886882866311,0.8439761830854657]},\"image_path\":\"corner_02.png\",\"is_traversable\":true,\"target\":[-9.0,-21.5,1.0499990239739418],\"trav_occluded\":false,\"view_id\":\"corner_02\"},{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[-8.35,-19.35,2.199999023973942],\"quaternion_xyzw\":[0.07630248768157863,0.5160522415742352,0.8439761830854657,0.1247886882866311]},\"image_path\":\"corner_03.png\",\"is_traversable\":false,\"target\":[-9.0,-21.5,1.0499990239739418],\"trav_occluded\":true,\"view_id\":\"corner_03\"}]},\"render_output_dir\":\"q_001\",\"resolved_objects\":{\"targets\":[{\"bbox\":[[-10.009820938110352,-23.306140899658203,-0.005464397370815277],[-9.797872543334961,-23.105039596557617,0.07937532663345337]],\"category\":\"club_sandwich\",\"model\":\"ablfyd\",\"name\":\"render_count_target_club_sandwich_0\",\"position\":[-9.904999732971191,-23.204999923706055,0.034999024122953415],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"requested_position\":[-9.905,-23.205,0.034999023973941806],\"role\":\"count_target\",\"source_category\":\"boxed_ink_cartridge\",\"source_entry_case\":\"observation_merged\",\"source_sampling_source\":\"keys_json_filtered_by_estimated_size_and_local_models\",\"target_name\":\"render_count_target_club_sandwich_0\"},{\"bbox\":[[-9.954726219177246,-23.392995834350586,-0.005464397370815277],[-9.742777824401855,-23.19189453125,0.07937532663345337]],\"category\":\"club_sandwich\",\"model\":\"ablfyd\",\"name\":\"render_count_target_club_sandwich_1\",\"position\":[-9.849905014038086,-23.291854858398438,0.034999024122953415],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"requested_position\":[-9.849904667239649,-23.291855212711177,0.034999023973941806],\"role\":\"count_target\",\"source_category\":\"boxed_ink_cartridge\",\"source_entry_case\":\"observation_merged\",\"source_sampling_source\":\"keys_json_filtered_by_estimated_size_and_local_models\",\"target_name\":\"render_count_target_club_sandwich_1\"},{\"bbox\":[[-9.923097610473633,-23.271381378173828,-0.005464397370815277],[-9.711149215698242,-23.070280075073242,0.07937532663345337]],\"category\":\"club_sandwich\",\"model\":\"ablfyd\",\"name\":\"render_count_target_club_sandwich_2\",\"position\":[-9.818276405334473,-23.17024040222168,0.034999024122953415],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"requested_position\":[-9.818276573407164,-23.1702411082861,0.034999023973941806],\"role\":\"count_target\",\"source_category\":\"boxed_ink_cartridge\",\"source_entry_case\":\"observation_merged\",\"source_sampling_source\":\"keys_json_filtered_by_estimated_size_and_local_models\",\"target_name\":\"render_count_target_club_sandwich_2\"},{\"bbox\":[[-9.889354705810547,-23.340896606445312,-0.005464397370815277],[-9.677406311035156,-23.139795303344727,0.07937532663345337]],\"category\":\"club_sandwich\",\"model\":\"ablfyd\",\"name\":\"render_count_target_club_sandwich_3\",\"position\":[-9.784533500671387,-23.239755630493164,0.034999024122953415],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"requested_position\":[-9.784533081789748,-23.23975493631717,0.034999023973941806],\"role\":\"count_target\",\"source_category\":\"boxed_ink_cartridge\",\"source_entry_case\":\"observation_merged\",\"source_sampling_source\":\"keys_json_filtered_by_estimated_size_and_local_models\",\"target_name\":\"render_count_target_club_sandwich_3\"},{\"bbox\":[[-10.03783893585205,-23.365520477294922,-0.005464397370815277],[-9.82589054107666,-23.164419174194336,0.07937532663345337]],\"category\":\"club_sandwich\",\"model\":\"ablfyd\",\"name\":\"render_count_target_club_sandwich_4\",\"position\":[-9.93301773071289,-23.264379501342773,0.034999024122953415],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"requested_position\":[-9.933017432081057,-23.264380305228737,0.034999023973941806],\"role\":\"count_target\",\"source_category\":\"boxed_ink_cartridge\",\"source_entry_case\":\"observation_merged\",\"source_sampling_source\":\"keys_json_filtered_by_estimated_size_and_local_models\",\"target_name\":\"render_count_target_club_sandwich_4\"}]},\"room_bbox\":{\"bbox_area_m2\":10.0,\"bbox_map_rc\":[3,17,8,19],\"bbox_world_xy\":[-10.0,-24.0,-8.0,-19.0],\"expanded_bbox_area_m2\":10.0,\"expanded_bbox_world_xy\":[-10.0,-24.0,-8.0,-19.0],\"pixel_count\":18,\"room_id\":2,\"room_instance\":\"bathroom_0\",\"source\":\"seg_map_expanded_with_walls\"},\"success\":true,\"target_category\":\"club_sandwich\",\"target_closeups\":[{\"best_effort_only\":false,\"camera_pose\":{\"position\":[-9.483846740722656,-23.20559024810791,0.12],\"quaternion_xyzw\":[0.45420474148220324,0.45420474148220324,0.54193915969884,0.5419391596988401]},\"image_path\":\"target_closeup_000.png\",\"look_target\":[-9.903846740722656,-23.20559024810791,0.04543943703174591],\"target_name\":\"render_count_target_club_sandwich_0\",\"target_position\":[-9.904999732971191,-23.204999923706055,0.034999024122953415],\"visibility\":{\"bbox_xyxy\":[541,312,753,329],\"centered_score\":0.9306,\"is_visible\":true,\"matched_aliases\":[\"render_count_target_club_sandwich_0\",\"club_sandwich\"],\"target_name\":\"render_count_target_club_sandwich_0\",\"visible_pixels\":1729}},{\"best_effort_only\":false,\"camera_pose\":{\"position\":[-9.42875202178955,-23.292445182800293,0.12],\"quaternion_xyzw\":[0.45420474148220324,0.45420474148220324,0.54193915969884,0.5419391596988401]},\"image_path\":\"target_closeup_001.png\",\"look_target\":[-9.84875202178955,-23.292445182800293,0.04543943703174591],\"target_name\":\"render_count_target_club_sandwich_1\",\"target_position\":[-9.849905014038086,-23.291854858398438,0.034999024122953415],\"visibility\":{\"bbox_xyxy\":[501,314,706,448],\"centered_score\":0.8931,\"is_visible\":true,\"matched_aliases\":[\"render_count_target_club_sandwich_1\",\"club_sandwich\"],\"target_name\":\"render_count_target_club_sandwich_1\",\"visible_pixels\":9346}},{\"best_effort_only\":false,\"camera_pose\":{\"position\":[-9.397123413085938,-23.170830726623535,0.12],\"quaternion_xyzw\":[0.45420474148220324,0.45420474148220324,0.54193915969884,0.5419391596988401]},\"image_path\":\"target_closeup_002.png\",\"look_target\":[-9.817123413085938,-23.170830726623535,0.04543943703174591],\"target_name\":\"render_count_target_club_sandwich_2\",\"target_position\":[-9.818276405334473,-23.17024040222168,0.034999024122953415],\"visibility\":{\"bbox_xyxy\":[541,314,770,451],\"centered_score\":0.9108,\"is_visible\":true,\"matched_aliases\":[\"render_count_target_club_sandwich_2\",\"club_sandwich\"],\"target_name\":\"render_count_target_club_sandwich_2\",\"visible_pixels\":15370}},{\"best_effort_only\":false,\"camera_pose\":{\"position\":[-9.363380508422852,-23.24034595489502,0.12],\"quaternion_xyzw\":[0.45420474148220324,0.45420474148220324,0.54193915969884,0.5419391596988401]},\"image_path\":\"target_closeup_003.png\",\"look_target\":[-9.783380508422852,-23.24034595489502,0.04543943703174591],\"target_name\":\"render_count_target_club_sandwich_3\",\"target_position\":[-9.784533500671387,-23.239755630493164,0.034999024122953415],\"visibility\":{\"bbox_xyxy\":[501,315,770,451],\"centered_score\":0.9669,\"is_visible\":true,\"matched_aliases\":[\"render_count_target_club_sandwich_3\",\"club_sandwich\"],\"target_name\":\"render_count_target_club_sandwich_3\",\"visible_pixels\":31048}},{\"best_effort_only\":false,\"camera_pose\":{\"position\":[-9.511864738464356,-23.26496982574463,0.12],\"quaternion_xyzw\":[0.45420474148220324,0.45420474148220324,0.54193915969884,0.5419391596988401]},\"image_path\":\"target_closeup_004.png\",\"look_target\":[-9.931864738464355,-23.26496982574463,0.04543943703174591],\"target_name\":\"render_count_target_club_sandwich_4\",\"target_position\":[-9.93301773071289,-23.264379501342773,0.034999024122953415],\"visibility\":{\"bbox_xyxy\":[524,312,721,331],\"centered_score\":0.9437,\"is_visible\":true,\"matched_aliases\":[\"render_count_target_club_sandwich_4\",\"club_sandwich\"],\"target_name\":\"render_count_target_club_sandwich_4\",\"visible_pixels\":2319}}],\"target_pool_seed\":7847305,\"topdown_map\":\"q_001_topdown_map.png\"},\"task_type\":\"observation_merged\"},\"question_id\":\"observation_merged/q_001\",\"question_index\":1,\"seed\":7,\"task_type\":\"observation_merged\"}","options_json":"[\"0\",\"1\",\"4\",\"5\"]","question":"Considering both images, how many objects of category \"club_sandwich\" are present in this scene?","room":"bathroom_0","runner_task":"counting","scene":"hotel_gym_spa","small_task":"Merged Observation"},"observations":[],"question":{"answer_type":"choice","options":[],"original":"Considering both images, how many objects of category \"club_sandwich\" are present in this scene?","text":"Considering both images, how many objects of category \"club_sandwich\" are present in this scene?"},"reference_media":["q_001.png","q_001_topdown_map.png","corner_00.png","corner_01.png","corner_02.png","corner_03.png","target_closeup_000.png","target_closeup_001.png","target_closeup_002.png","target_closeup_003.png","target_closeup_004.png"],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":32,"stratum_pool":60},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Enumerative Perception/Merged Observation/hotel_gym_spa/bathroom_0/q_001.json","annotation_sha256":"b6ac9746abd99efc92bd30d7415bfc0f006f10dc5296d88961e10c221a81d998","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"89035e3d9ff5bccb1721814db48db1a9c783ed0fd119602ba901d57757a41815","sample_id":"0513","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"5","metric":"official_esi_task","original_answer":"5"},"task":{"category":"Enumerative Perception","role":"spatial_core","skill_tags":["Enumerative Perception","Merged Observation"],"stratum":"ESI-Bench/Enumerative Perception/Merged Observation","subcategory":"Merged Observation"},"transforms":[]}
{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Enumerative Perception","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"6","id":"c8ea84c3b67740d6","metadata":"vendor/ESI-Bench/dataset/json_clean/Enumerative Perception/Merged Observation/Ihlen_0_int/garage_0/q_002.json","metadata_sha256":"0c6aff2e4cdc7c9ee5afc6a4042e4cdb530e32c7930d671f761bfdb1ad269cea","observation_policy":"runtime camera observations; no oracle poses","question":"Considering both images, how many objects of category \"club_sandwich\" are present in this scene?","room":"garage_0","scene":"Ihlen_0_int","subcategory":"Merged Observation","task":"enumerative_perception.merged_observation"},"group":{"id":"ESI-scene/Ihlen_0_int","kind":"scene","room":"garage_0","scene":"Ihlen_0_int"},"id":"0936aef0f927a0a9bbf5","native_annotation":{"answer":"6","answer_type":"choice","big_task":"Enumerative Perception","gt_camera_poses":[{"baseline_selected":true,"camera_pose":{"position":[4.063652677536011,-0.5805898308753967,0.12],"quaternion_xyzw":[0.45420535194191314,0.45420535194191314,0.5419386480657408,0.5419386480657408]},"camera_pose_rule":null,"fov_deg":100.0,"group":"target_closeups","metadata_pointer":"/question_data/render/target_closeups/0","original_image_path":"target_closeup_000.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"target_closeups/target_closeup_000.png"},{"baseline_selected":true,"camera_pose":{"position":[3.9933227729797363,-0.5413171052932739,0.12],"quaternion_xyzw":[0.45420535194191314,0.45420535194191314,0.5419386480657408,0.5419386480657408]},"camera_pose_rule":null,"fov_deg":100.0,"group":"target_closeups","metadata_pointer":"/question_data/render/target_closeups/1","original_image_path":"target_closeup_001.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"target_closeups/target_closeup_001.png"},{"baseline_selected":true,"camera_pose":{"position":[4.032161636352539,-0.6608536839485168,0.12],"quaternion_xyzw":[0.45420535194191314,0.45420535194191314,0.5419386480657408,0.5419386480657408]},"camera_pose_rule":null,"fov_deg":100.0,"group":"target_closeups","metadata_pointer":"/question_data/render/target_closeups/2","original_image_path":"target_closeup_002.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"target_closeups/target_closeup_002.png"},{"baseline_selected":true,"camera_pose":{"position":[4.056973857879639,-0.5150700211524963,0.12],"quaternion_xyzw":[0.45420535194191314,0.45420535194191314,0.5419386480657408,0.5419386480657408]},"camera_pose_rule":null,"fov_deg":100.0,"group":"target_closeups","metadata_pointer":"/question_data/render/target_closeups/3","original_image_path":"target_closeup_003.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"target_closeups/target_closeup_003.png"},{"baseline_selected":true,"camera_pose":{"position":[4.056973857879639,-0.5150700211524963,0.1494],"quaternion_xyzw":[0.48188391561838106,0.48188391561838106,0.5174822623706992,0.517482262370699]},"camera_pose_rule":null,"fov_deg":100.0,"group":"target_closeups","metadata_pointer":"/question_data/render/target_closeups/4","original_image_path":"target_closeup_004.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"target_closeups/target_closeup_004.png"},{"baseline_selected":true,"camera_pose":{"position":[4.097767753601074,-0.45797301828861237,0.12],"quaternion_xyzw":[0.45420535194191314,0.45420535194191314,0.5419386480657408,0.5419386480657408]},"camera_pose_rule":null,"fov_deg":100.0,"group":"target_closeups","metadata_pointer":"/question_data/render/target_closeups/5","original_image_path":"target_closeup_005.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"target_closeups/target_closeup_005.png"}],"id":"0488","image_paths_json":"[\"q_002.png\",\"q_002_topdown_map.png\",\"corner_00.png\",\"corner_01.png\",\"corner_02.png\",\"corner_03.png\",\"target_closeup_000.png\",\"target_closeup_001.png\",\"target_closeup_002.png\",\"target_closeup_003.png\",\"target_closeup_004.png\",\"target_closeup_005.png\"]","metadata_json":"{\"camera_poses\":{\"agent_position_policy\":\"sample_free_point_near_short_edge_of_room_bbox\",\"context_image\":\"room_center_single_view\",\"mode\":\"single_agent_view_toward_room_center\",\"pitch_deg\":15.0,\"primary_image\":\"room_center_single_view\",\"topdown_map\":\"floor_trav_with_count_object_annotations\",\"views_per_candidate\":1},\"floor_name\":\"floors_bryjan_0\",\"image_paths\":[\"q_002.png\",\"q_002_topdown_map.png\",\"q_002.png\",\"corner_00.png\",\"corner_01.png\",\"corner_02.png\",\"corner_03.png\",\"target_closeup_000.png\",\"target_closeup_001.png\",\"target_closeup_002.png\",\"target_closeup_003.png\",\"target_closeup_004.png\",\"target_closeup_005.png\"],\"question_data\":{\"answer\":\"6\",\"ball_positions\":[[3.6425000000000005,-0.5799999999999998,0.035],[3.5721699255804955,-0.5407272538483643,0.035],[3.611008941689247,-0.6602638080983398,0.035],[3.635821062978318,-0.5144801700966058,0.035],[3.635821062978318,-0.5144801700966058,0.10900000000000001],[3.6766150733965697,-0.45738319288876683,0.035]],\"candidate_index\":2,\"case\":\"observation_merged\",\"case_metadata\":{\"source_candidates\":1,\"source_entries\":[{\"ball_positions\":[[3.6425000000000005,-0.5799999999999998,0.035],[3.5721699255804955,-0.5407272538483643,0.035],[3.611008941689247,-0.6602638080983398,0.035],[3.635821062978318,-0.5144801700966058,0.035],[3.635821062978318,-0.5144801700966058,0.10900000000000001],[3.6766150733965697,-0.45738319288876683,0.035]],\"metadata\":{\"count_object\":{\"category\":\"head_cabbage\",\"characteristic_size_m\":0.1214537468967268,\"display_name\":\"head cabbage\",\"estimated_volume\":0.0017915657550725793,\"sampling_source\":\"keys_json_filtered_by_estimated_size_and_local_models\"},\"merge_pattern\":\"random_compact_stacked_cluster\"},\"source_index\":0}]},\"count_object\":{\"category\":\"club_sandwich\",\"display_name\":\"club sandwich\",\"resolved_models\":[\"ablfyd\"],\"resolved_object_count\":6,\"original_requested_category\":\"head_cabbage\",\"original_display_name\":\"head cabbage\",\"normalization_source\":\"render.target_category\"},\"count_target\":\"club_sandwich\",\"count_unit\":\"objects\",\"object_positions\":[[3.6425000000000005,-0.5799999999999998,0.035],[3.5721699255804955,-0.5407272538483643,0.035],[3.611008941689247,-0.6602638080983398,0.035],[3.635821062978318,-0.5144801700966058,0.035],[3.635821062978318,-0.5144801700966058,0.10900000000000001],[3.6766150733965697,-0.45738319288876683,0.035]],\"options\":[\"0\",\"4\",\"5\",\"6\"],\"question\":\"Considering both images, how many objects of category \\\"club_sandwich\\\" are present in this scene?\",\"render\":{\"all_images\":[\"q_002.png\"],\"camera_poses\":[{\"_key\":\"q_002.png\",\"look_target\":[3.1050000000000004,1.9125000000000014,0.9],\"pitch_deg\":6.347568774163561,\"position\":[1.9779000000000002,-1.025,1.25],\"quaternion_xyzw\":[0.655715657905432,-0.12147934156524214,-0.13574220223315778,0.7327030777084359],\"view_name\":\"room_center_single_view\"}],\"context_without_mirror\":{\"image\":\"q_002.png\",\"kind\":\"agent_centered_alternate_view\"},\"image\":\"q_002.png\",\"multi_image_input\":{\"room_bbox_world_xy\":[1.4475,-1.3749999999999998,4.762500000000001,5.200000000000003],\"room_instance\":\"garage_0\",\"views\":[{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[1.7974999999999999,-1.025,2.2],\"quaternion_xyzw\":[0.5632833158379728,-0.1196995180635504,-0.1699368716083463,0.7996908097145426]},\"image_path\":\"corner_00.png\",\"is_traversable\":true,\"target\":[3.1050000000000004,1.9125000000000014,1.05],\"trav_occluded\":false,\"view_id\":\"corner_00\"},{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[1.7974999999999999,4.850000000000003,2.2],\"quaternion_xyzw\":[-0.1196995180635504,0.5632833158379728,0.7996908097145426,-0.16993687160834625]},\"image_path\":\"corner_01.png\",\"is_traversable\":true,\"target\":[3.1050000000000004,1.9125000000000014,1.05],\"trav_occluded\":false,\"view_id\":\"corner_01\"},{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[4.412500000000001,-1.025,2.2],\"quaternion_xyzw\":[0.5632833158379729,0.11969951806355048,0.16993687160834636,0.7996908097145425]},\"image_path\":\"corner_02.png\",\"is_traversable\":true,\"target\":[3.1050000000000004,1.9125000000000014,1.05],\"trav_occluded\":false,\"view_id\":\"corner_02\"},{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[4.412500000000001,4.850000000000003,2.2],\"quaternion_xyzw\":[0.11969951806355046,0.5632833158379729,0.7996908097145425,0.16993687160834636]},\"image_path\":\"corner_03.png\",\"is_traversable\":true,\"target\":[3.1050000000000004,1.9125000000000014,1.05],\"trav_occluded\":false,\"view_id\":\"corner_03\"}]},\"render_output_dir\":\"q_002\",\"resolved_objects\":{\"targets\":[{\"bbox\":[[3.5376782417297363,-0.681140661239624,-0.00546342134475708],[3.749627113342285,-0.48003900051116943,0.07937630265951157]],\"category\":\"club_sandwich\",\"model\":\"ablfyd\",\"name\":\"render_count_target_club_sandwich_0\",\"position\":[3.6424999237060547,-0.5799999833106995,0.03500000014901161],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"requested_position\":[3.6425000000000005,-0.5799999999999998,0.035],\"role\":\"count_target\",\"source_category\":\"head_cabbage\",\"source_entry_case\":\"observation_merged\",\"source_sampling_source\":\"keys_json_filtered_by_estimated_size_and_local_models\",\"target_name\":\"render_count_target_club_sandwich_0\"},{\"bbox\":[[3.467348337173462,-0.6418679356575012,-0.00546342134475708],[3.6792972087860107,-0.44076627492904663,0.07937630265951157]],\"category\":\"club_sandwich\",\"model\":\"ablfyd\",\"name\":\"render_count_target_club_sandwich_1\",\"position\":[3.5721700191497803,-0.5407272577285767,0.03500000014901161],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"requested_position\":[3.5721699255804955,-0.5407272538483643,0.035],\"role\":\"count_target\",\"source_category\":\"head_cabbage\",\"source_entry_case\":\"observation_merged\",\"source_sampling_source\":\"keys_json_filtered_by_estimated_size_and_local_models\",\"target_name\":\"render_count_target_club_sandwich_1\"},{\"bbox\":[[3.5061872005462646,-0.7614045143127441,-0.00546342134475708],[3.7181360721588135,-0.5603028535842896,0.07937630265951157]],\"category\":\"club_sandwich\",\"model\":\"ablfyd\",\"name\":\"render_count_target_club_sandwich_2\",\"position\":[3.611008882522583,-0.6602638363838196,0.03500000014901161],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"requested_position\":[3.611008941689247,-0.6602638080983398,0.035],\"role\":\"count_target\",\"source_category\":\"head_cabbage\",\"source_entry_case\":\"observation_merged\",\"source_sampling_source\":\"keys_json_filtered_by_estimated_size_and_local_models\",\"target_name\":\"render_count_target_club_sandwich_2\"},{\"bbox\":[[3.5309994220733643,-0.6156208515167236,-0.00546342134475708],[3.742948293685913,-0.41451919078826904,0.07937630265951157]],\"category\":\"club_sandwich\",\"model\":\"ablfyd\",\"name\":\"render_count_target_club_sandwich_3\",\"position\":[3.6358211040496826,-0.5144801735877991,0.03500000014901161],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"requested_position\":[3.635821062978318,-0.5144801700966058,0.035],\"role\":\"count_target\",\"source_category\":\"head_cabbage\",\"source_entry_case\":\"observation_merged\",\"source_sampling_source\":\"keys_json_filtered_by_estimated_size_and_local_models\",\"target_name\":\"render_count_target_club_sandwich_3\"},{\"bbox\":[[3.5309994220733643,-0.6156208515167236,0.06853657960891724],[3.742948293685913,-0.41451919078826904,0.15337629616260529]],\"category\":\"club_sandwich\",\"model\":\"ablfyd\",\"name\":\"render_count_target_club_sandwich_4\",\"position\":[3.6358211040496826,-0.5144801735877991,0.10899999737739563],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"requested_position\":[3.635821062978318,-0.5144801700966058,0.10900000000000001],\"role\":\"count_target\",\"source_category\":\"head_cabbage\",\"source_entry_case\":\"observation_merged\",\"source_sampling_source\":\"keys_json_filtered_by_estimated_size_and_local_models\",\"target_name\":\"render_count_target_club_sandwich_4\"},{\"bbox\":[[3.5717933177948,-0.5585238337516785,-0.00546342134475708],[3.7837421894073486,-0.35742220282554626,0.07937630265951157]],\"category\":\"club_sandwich\",\"model\":\"ablfyd\",\"name\":\"render_count_target_club_sandwich_5\",\"position\":[3.676614999771118,-0.4573831856250763,0.03500000014901161],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"requested_position\":[3.6766150733965697,-0.45738319288876683,0.035],\"role\":\"count_target\",\"source_category\":\"head_cabbage\",\"source_entry_case\":\"observation_merged\",\"source_sampling_source\":\"keys_json_filtered_by_estimated_size_and_local_models\",\"target_name\":\"render_count_target_club_sandwich_5\"}]},\"room_bbox\":{\"bbox_area_m2\":15.0,\"bbox_map_rc\":[10,12,15,15],\"bbox_world_xy\":[1.5,-0.5,4.5,4.5],\"expanded_bbox_area_m2\":21.796125000000018,\"expanded_bbox_world_xy\":[1.4475,-1.3749999999999998,4.762500000000001,5.200000000000003],\"pixel_count\":24,\"room_id\":5,\"room_instance\":\"garage_0\",\"source\":\"seg_map_expanded_with_walls\"},\"success\":true,\"target_category\":\"club_sandwich\",\"target_closeups\":[{\"best_effort_only\":false,\"camera_pose\":{\"position\":[4.063652677536011,-0.5805898308753967,0.12],\"quaternion_xyzw\":[0.45420535194191314,0.45420535194191314,0.5419386480657408,0.5419386480657408]},\"image_path\":\"target_closeup_000.png\",\"look_target\":[3.6436526775360107,-0.5805898308753967,0.04544041305780411],\"target_name\":\"render_count_target_club_sandwich_0\",\"target_position\":[3.6424999237060547,-0.5799999833106995,0.03500000014901161],\"visibility\":{\"bbox_xyxy\":[503,315,757,451],\"centered_score\":0.9511,\"is_visible\":true,\"matched_aliases\":[\"render_count_target_club_sandwich_0\",\"club_sandwich\"],\"target_name\":\"render_count_target_club_sandwich_0\",\"visible_pixels\":21572}},{\"best_effort_only\":false,\"camera_pose\":{\"position\":[3.9933227729797363,-0.5413171052932739,0.12],\"quaternion_xyzw\":[0.45420535194191314,0.45420535194191314,0.5419386480657408,0.5419386480657408]},\"image_path\":\"target_closeup_001.png\",\"look_target\":[3.5733227729797363,-0.5413171052932739,0.04544041305780411],\"target_name\":\"render_count_target_club_sandwich_1\",\"target_position\":[3.5721700191497803,-0.5407272577285767,0.03500000014901161],\"visibility\":{\"bbox_xyxy\":[527,315,541,322],\"centered_score\":0.8477,\"is_visible\":true,\"matched_aliases\":[\"render_count_target_club_sandwich_1\",\"club_sandwich\"],\"target_name\":\"render_count_target_club_sandwich_1\",\"visible_pixels\":65}},{\"best_effort_only\":false,\"camera_pose\":{\"position\":[4.032161636352539,-0.6608536839485168,0.12],\"quaternion_xyzw\":[0.45420535194191314,0.45420535194191314,0.5419386480657408,0.5419386480657408]},\"image_path\":\"target_closeup_002.png\",\"look_target\":[3.612161636352539,-0.6608536839485168,0.04544041305780411],\"target_name\":\"render_count_target_club_sandwich_2\",\"target_position\":[3.611008882522583,-0.6602638363838196,0.03500000014901161],\"visibility\":{\"bbox_xyxy\":[501,312,748,451],\"centered_score\":0.9304,\"is_visible\":true,\"matched_aliases\":[\"render_count_target_club_sandwich_2\",\"club_sandwich\"],\"target_name\":\"render_count_target_club_sandwich_2\",\"visible_pixels\":18395}},{\"best_effort_only\":false,\"camera_pose\":{\"position\":[4.056973857879639,-0.5150700211524963,0.12],\"quaternion_xyzw\":[0.45420535194191314,0.45420535194191314,0.5419386480657408,0.5419386480657408]},\"image_path\":\"target_closeup_003.png\",\"look_target\":[3.6369738578796387,-0.5150700211524963,0.04544041305780411],\"target_name\":\"render_count_target_club_sandwich_3\",\"target_position\":[3.6358211040496826,-0.5144801735877991,0.03500000014901161],\"visibility\":{\"bbox_xyxy\":[546,334,709,430],\"centered_score\":0.9461,\"is_visible\":true,\"matched_aliases\":[\"render_count_target_club_sandwich_3\",\"club_sandwich\"],\"target_name\":\"render_count_target_club_sandwich_3\",\"visible_pixels\":597}},{\"best_effort_only\":false,\"camera_pose\":{\"position\":[4.056973857879639,-0.5150700211524963,0.1494],\"quaternion_xyzw\":[0.48188391561838106,0.48188391561838106,0.5174822623706992,0.517482262370699]},\"image_path\":\"target_closeup_004.png\",\"look_target\":[3.6369738578796387,-0.5150700211524963,0.11944040954113005],\"target_name\":\"render_count_target_club_sandwich_4\",\"target_position\":[3.6358211040496826,-0.5144801735877991,0.10899999737739563],\"visibility\":{\"bbox_xyxy\":[499,316,773,436],\"centered_score\":0.9781,\"is_visible\":true,\"matched_aliases\":[\"render_count_target_club_sandwich_4\",\"club_sandwich\"],\"target_name\":\"render_count_target_club_sandwich_4\",\"visible_pixels\":29033}},{\"best_effort_only\":false,\"camera_pose\":{\"position\":[4.097767753601074,-0.45797301828861237,0.12],\"quaternion_xyzw\":[0.45420535194191314,0.45420535194191314,0.5419386480657408,0.5419386480657408]},\"image_path\":\"target_closeup_005.png\",\"look_target\":[3.677767753601074,-0.45797301828861237,0.04544041305780411],\"target_name\":\"render_count_target_club_sandwich_5\",\"target_position\":[3.676614999771118,-0.4573831856250763,0.03500000014901161],\"visibility\":{\"bbox_xyxy\":[501,314,770,451],\"centered_score\":0.9618,\"is_visible\":true,\"matched_aliases\":[\"render_count_target_club_sandwich_5\",\"club_sandwich\"],\"target_name\":\"render_count_target_club_sandwich_5\",\"visible_pixels\":29888}}],\"target_pool_seed\":2665162,\"topdown_map\":\"q_002_topdown_map.png\"},\"task_type\":\"observation_merged\"},\"question_id\":\"observation_merged/q_002\",\"question_index\":2,\"seed\":7,\"task_type\":\"observation_merged\"}","options_json":"[\"0\",\"4\",\"5\",\"6\"]","question":"Considering both images, how many objects of category \"club_sandwich\" are present in this scene?","room":"garage_0","runner_task":"counting","scene":"Ihlen_0_int","small_task":"Merged Observation"},"observations":[],"question":{"answer_type":"choice","options":[],"original":"Considering both images, how many objects of category \"club_sandwich\" are present in this scene?","text":"Considering both images, how many objects of category \"club_sandwich\" are present in this scene?"},"reference_media":["q_002.png","q_002_topdown_map.png","corner_00.png","corner_01.png","corner_02.png","corner_03.png","target_closeup_000.png","target_closeup_001.png","target_closeup_002.png","target_closeup_003.png","target_closeup_004.png","target_closeup_005.png"],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":32,"stratum_pool":60},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Enumerative Perception/Merged Observation/Ihlen_0_int/garage_0/q_002.json","annotation_sha256":"0c6aff2e4cdc7c9ee5afc6a4042e4cdb530e32c7930d671f761bfdb1ad269cea","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"60f78dd41187e203c7b9dadce5ab6b11ec0cef18db4c521ed3f4a8c230e7ad78","sample_id":"0488","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"6","metric":"official_esi_task","original_answer":"6"},"task":{"category":"Enumerative Perception","role":"spatial_core","skill_tags":["Enumerative Perception","Merged Observation"],"stratum":"ESI-Bench/Enumerative Perception/Merged Observation","subcategory":"Merged Observation"},"transforms":[]}
{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Enumerative Perception","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"4","id":"fec4f1de35269ee5","metadata":"vendor/ESI-Bench/dataset/json_clean/Enumerative Perception/Spatial Segmentation/house_double_floor_lower/kitchen_0/q_002.json","metadata_sha256":"0c7455be994cdddcab139ba53d87c4f00024c0c7192ed6bf6f33efc9331c013d","observation_policy":"runtime camera observations; no oracle poses","question":"Considering both images, how many objects of category \"club_sandwich\" are present in this scene?","room":"kitchen_0","scene":"house_double_floor_lower","subcategory":"Spatial Segmentation","task":"enumerative_perception.spatial_segmentation"},"group":{"id":"ESI-scene/house_double_floor_lower","kind":"scene","room":"kitchen_0","scene":"house_double_floor_lower"},"id":"3b853a61a186561b2172","native_annotation":{"answer":"4","answer_type":"choice","big_task":"Enumerative Perception","gt_camera_poses":[{"baseline_selected":true,"camera_pose":{"position":[5.266053838729858,1.792379379272461,0.12],"quaternion_xyzw":[0.45420531466193337,0.45420531466193337,0.5419386793105416,0.5419386793105416]},"camera_pose_rule":null,"fov_deg":100.0,"group":"target_closeups","metadata_pointer":"/question_data/render/target_closeups/0","original_image_path":"target_closeup_000.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"target_closeups/target_closeup_000.png"},{"baseline_selected":true,"camera_pose":{"position":[5.2671200466156005,1.1104469299316406,0.12],"quaternion_xyzw":[0.45420531466193337,0.45420531466193337,0.5419386793105416,0.5419386793105416]},"camera_pose_rule":null,"fov_deg":100.0,"group":"target_closeups","metadata_pointer":"/question_data/render/target_closeups/1","original_image_path":"target_closeup_001.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"target_closeups/target_closeup_001.png"},{"baseline_selected":true,"camera_pose":{"position":[3.5878018590933802,2.184031900791117,0.12],"quaternion_xyzw":[-0.11154174627675019,0.6325846777877449,0.7547734334362394,-0.1330869206367736]},"camera_pose_rule":null,"fov_deg":100.0,"group":"target_closeups","metadata_pointer":"/question_data/render/target_closeups/2","original_image_path":"target_closeup_002.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"target_closeups/target_closeup_002.png"},{"baseline_selected":true,"camera_pose":{"position":[3.688178613471317,1.4526106387652835,0.12],"quaternion_xyzw":[0.11154174627675024,0.6325846777877449,0.7547734334362394,0.13308692063677371]},"camera_pose_rule":null,"fov_deg":100.0,"group":"target_closeups","metadata_pointer":"/question_data/render/target_closeups/3","original_image_path":"target_closeup_003.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"target_closeups/target_closeup_003.png"}],"id":"0559","image_paths_json":"[\"q_002.png\",\"q_002_topdown_map.png\",\"corner_00.png\",\"corner_01.png\",\"corner_02.png\",\"corner_03.png\",\"target_closeup_000.png\",\"target_closeup_001.png\",\"target_closeup_002.png\",\"target_closeup_003.png\"]","metadata_json":"{\"camera_poses\":{\"agent_position_policy\":\"sample_free_point_near_short_edge_of_room_bbox\",\"context_image\":\"room_center_single_view\",\"mode\":\"single_agent_view_toward_room_center\",\"pitch_deg\":15.0,\"primary_image\":\"room_center_single_view\",\"topdown_map\":\"floor_trav_with_count_object_annotations\",\"views_per_candidate\":1},\"floor_name\":\"floors_zqjkvm_0\",\"image_paths\":[\"q_002.png\",\"q_002_topdown_map.png\",\"q_002.png\",\"corner_00.png\",\"corner_01.png\",\"corner_02.png\",\"corner_03.png\",\"target_closeup_000.png\",\"target_closeup_001.png\",\"target_closeup_002.png\",\"target_closeup_003.png\"],\"question_data\":{\"answer\":\"4\",\"ball_positions\":[[4.8449013233184814,1.7929692268371582,0.03499994039535523],[4.845967531204224,1.1110367178916931,0.03499994039535523],[3.7302976846694946,1.7899509072303772,0.03499994039535523],[3.5433772802352905,1.0585296750068665,0.03499994039535523]],\"candidate_index\":2,\"case\":\"observation_divided\",\"case_metadata\":{\"source_candidates\":4,\"source_entries\":[{\"ball_positions\":[[4.8449013233184814,1.7929692268371582,0.03499994039535523]],\"metadata\":{\"anchor_object\":{\"bbox\":[[4.5626630783081055,1.5291378498077393,-0.003103911876678467],[5.127139568328857,2.056800603866577,0.8292138576507568]],\"category\":\"straight_chair\",\"has_open_state\":false,\"in_rooms\":[\"kitchen_0\"],\"name\":\"straight_chair_hgunnf_0\"},\"visibility\":{\"placement\":\"ball_center_aligned_with_chair_bbox_center_xy\",\"support\":\"placed_on_floor_below_chair\"}},\"source_index\":0},{\"ball_positions\":[[4.845967531204224,1.1110367178916931,0.03499994039535523]],\"metadata\":{\"anchor_object\":{\"bbox\":[[4.564483642578125,0.8452723026275635,-2.086162567138672e-07],[5.127451419830322,1.3768011331558228,0.8301199674606323]],\"category\":\"straight_chair\",\"has_open_state\":false,\"in_rooms\":[\"kitchen_0\"],\"name\":\"straight_chair_zdhnyg_0\"},\"visibility\":{\"placement\":\"ball_center_aligned_with_chair_bbox_center_xy\",\"support\":\"placed_on_floor_below_chair\"}},\"source_index\":1},{\"ball_positions\":[[3.7302976846694946,1.7899509072303772,0.03499994039535523]],\"metadata\":{\"anchor_object\":{\"bbox\":[[3.443007707595825,1.523711085319519,1.4901161193847656e-07],[4.017587661743164,2.0561907291412354,0.8296017050743103]],\"category\":\"straight_chair\",\"has_open_state\":false,\"in_rooms\":[\"kitchen_0\"],\"name\":\"straight_chair_uofiqj_1\"},\"visibility\":{\"placement\":\"ball_center_aligned_with_chair_bbox_center_xy\",\"support\":\"placed_on_floor_below_chair\"}},\"source_index\":2},{\"ball_positions\":[[3.5433772802352905,1.0585296750068665,0.03499994039535523]],\"metadata\":{\"anchor_object\":{\"bbox\":[[3.1807589530944824,0.7075227499008179,-1.1920928955078125e-07],[3.9059956073760986,1.409536600112915,0.8296012878417969]],\"category\":\"straight_chair\",\"has_open_state\":false,\"in_rooms\":[\"kitchen_0\"],\"name\":\"straight_chair_uofiqj_0\"},\"visibility\":{\"placement\":\"ball_center_aligned_with_chair_bbox_center_xy\",\"support\":\"placed_on_floor_below_chair\"}},\"source_index\":3}]},\"count_object\":{\"category\":\"club_sandwich\",\"display_name\":\"club sandwich\",\"resolved_models\":[\"ablfyd\"],\"resolved_object_count\":4,\"original_requested_category\":\"head_cabbage\",\"original_display_name\":\"head cabbage\",\"normalization_source\":\"render.target_category\"},\"count_target\":\"club_sandwich\",\"count_unit\":\"objects\",\"object_positions\":[[4.8449013233184814,1.7929692268371582,0.03499994039535523],[4.845967531204224,1.1110367178916931,0.03499994039535523],[3.7302976846694946,1.7899509072303772,0.03499994039535523],[3.5433772802352905,1.0585296750068665,0.03499994039535523]],\"options\":[\"0\",\"1\",\"3\",\"4\"],\"question\":\"Considering both images, how many objects of category \\\"club_sandwich\\\" are present in this scene?\",\"render\":{\"all_images\":[\"q_002.png\"],\"camera_poses\":[{\"_key\":\"q_002.png\",\"look_target\":[5.0,1.5,0.8999999403953552],\"pitch_deg\":6.324532510084339,\"position\":[7.850000000000005,2.86,1.2499999403953552],\"quaternion_xyzw\":[0.3558833411129786,0.564151666973927,0.6301336210349959,0.3975066839816995],\"view_name\":\"room_center_single_view\"}],\"context_without_mirror\":{\"image\":\"q_002.png\",\"kind\":\"agent_centered_alternate_view\"},\"image\":\"q_002.png\",\"multi_image_input\":{\"room_bbox_world_xy\":[1.5,-0.5,8.5,3.5],\"room_instance\":\"kitchen_0\",\"views\":[{\"blocker_occluded\":true,\"camera_pose\":{\"position\":[1.85,-0.15000000000000002,2.1999999403953554],\"quaternion_xyzw\":[0.5033688081807858,-0.30457502306077944,-0.41860549207129005,0.6918260910705335]},\"image_path\":\"corner_00.png\",\"is_traversable\":false,\"target\":[5.0,1.5,1.0499999403953553],\"trav_occluded\":true,\"view_id\":\"corner_00\"},{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[1.85,3.15,2.1999999403953554],\"quaternion_xyzw\":[-0.30457502306077944,0.5033688081807858,0.6918260910705335,-0.41860549207129005]},\"image_path\":\"corner_01.png\",\"is_traversable\":true,\"target\":[5.0,1.5,1.0499999403953553],\"trav_occluded\":true,\"view_id\":\"corner_01\"},{\"blocker_occluded\":true,\"camera_pose\":{\"position\":[8.15,-0.15000000000000002,2.1999999403953554],\"quaternion_xyzw\":[0.5033688081807858,0.30457502306077944,0.41860549207129016,0.6918260910705335]},\"image_path\":\"corner_02.png\",\"is_traversable\":false,\"target\":[5.0,1.5,1.0499999403953553],\"trav_occluded\":true,\"view_id\":\"corner_02\"},{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[8.15,3.15,2.1999999403953554],\"quaternion_xyzw\":[0.30457502306077944,0.5033688081807858,0.6918260910705335,0.41860549207129016]},\"image_path\":\"corner_03.png\",\"is_traversable\":true,\"target\":[5.0,1.5,1.0499999403953553],\"trav_occluded\":true,\"view_id\":\"corner_03\"}]},\"render_output_dir\":\"q_002\",\"resolved_objects\":{\"targets\":[{\"bbox\":[[4.740079402923584,1.6918286085128784,-0.0054634809494018555],[4.952028274536133,1.8929301500320435,0.07937624305486679]],\"category\":\"club_sandwich\",\"model\":\"ablfyd\",\"name\":\"render_count_target_club_sandwich_0\",\"position\":[4.844901084899902,1.7929692268371582,0.03499994054436684],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"requested_position\":[4.8449013233184814,1.7929692268371582,0.03499994039535523],\"role\":\"count_target\",\"source_entry_case\":\"observation_divided\",\"target_name\":\"render_count_target_club_sandwich_0\"},{\"bbox\":[[4.741145610809326,1.009896159172058,-0.0054634809494018555],[4.953094482421875,1.2109977006912231,0.07937624305486679]],\"category\":\"club_sandwich\",\"model\":\"ablfyd\",\"name\":\"render_count_target_club_sandwich_1\",\"position\":[4.8459672927856445,1.111036777496338,0.03499994054436684],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"requested_position\":[4.845967531204224,1.1110367178916931,0.03499994039535523],\"role\":\"count_target\",\"source_entry_case\":\"observation_divided\",\"target_name\":\"render_count_target_club_sandwich_1\"},{\"bbox\":[[3.6254758834838867,1.6888102293014526,-0.0054634809494018555],[3.8374247550964355,1.8899117708206177,0.07937624305486679]],\"category\":\"club_sandwich\",\"model\":\"ablfyd\",\"name\":\"render_count_target_club_sandwich_2\",\"position\":[3.730297565460205,1.7899508476257324,0.03499994054436684],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"requested_position\":[3.7302976846694946,1.7899509072303772,0.03499994039535523],\"role\":\"count_target\",\"source_entry_case\":\"observation_divided\",\"target_name\":\"render_count_target_club_sandwich_2\"},{\"bbox\":[[3.4385557174682617,0.9573889374732971,-0.0054634809494018555],[3.6505045890808105,1.158490538597107,0.07937624305486679]],\"category\":\"club_sandwich\",\"model\":\"ablfyd\",\"name\":\"render_count_target_club_sandwich_3\",\"position\":[3.54337739944458,1.0585296154022217,0.03499994054436684],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"requested_position\":[3.5433772802352905,1.0585296750068665,0.03499994039535523],\"role\":\"count_target\",\"source_entry_case\":\"observation_divided\",\"target_name\":\"render_count_target_club_sandwich_3\"}]},\"room_bbox\":{\"bbox_area_m2\":28.0,\"bbox_map_rc\":[29,31,33,38],\"bbox_world_xy\":[1.5,-0.5,8.5,3.5],\"expanded_bbox_area_m2\":28.0,\"expanded_bbox_world_xy\":[1.5,-0.5,8.5,3.5],\"pixel_count\":40,\"room_id\":6,\"room_instance\":\"kitchen_0\",\"source\":\"seg_map_expanded_with_walls\"},\"success\":true,\"target_category\":\"club_sandwich\",\"target_closeups\":[{\"best_effort_only\":false,\"camera_pose\":{\"position\":[5.266053838729858,1.792379379272461,0.12],\"quaternion_xyzw\":[0.45420531466193337,0.45420531466193337,0.5419386793105416,0.5419386793105416]},\"image_path\":\"target_closeup_000.png\",\"look_target\":[4.846053838729858,1.792379379272461,0.04544035345315933],\"target_name\":\"render_count_target_club_sandwich_0\",\"target_position\":[4.844901084899902,1.7929692268371582,0.03499994054436684],\"visibility\":{\"bbox_xyxy\":[501,312,770,451],\"centered_score\":0.9695,\"is_visible\":true,\"matched_aliases\":[\"render_count_target_club_sandwich_0\",\"club_sandwich\"],\"target_name\":\"render_count_target_club_sandwich_0\",\"visible_pixels\":32881}},{\"best_effort_only\":false,\"camera_pose\":{\"position\":[5.2671200466156005,1.1104469299316406,0.12],\"quaternion_xyzw\":[0.45420531466193337,0.45420531466193337,0.5419386793105416,0.5419386793105416]},\"image_path\":\"target_closeup_001.png\",\"look_target\":[4.847120046615601,1.1104469299316406,0.04544035345315933],\"target_name\":\"render_count_target_club_sandwich_1\",\"target_position\":[4.8459672927856445,1.111036777496338,0.03499994054436684],\"visibility\":{\"bbox_xyxy\":[501,312,770,451],\"centered_score\":0.9695,\"is_visible\":true,\"matched_aliases\":[\"render_count_target_club_sandwich_1\",\"club_sandwich\"],\"target_name\":\"render_count_target_club_sandwich_1\",\"visible_pixels\":32881}},{\"best_effort_only\":false,\"camera_pose\":{\"position\":[3.5878018590933802,2.184031900791117,0.12],\"quaternion_xyzw\":[-0.11154174627675019,0.6325846777877449,0.7547734334362394,-0.1330869206367736]},\"image_path\":\"target_closeup_002.png\",\"look_target\":[3.731450319290161,1.7893610000610352,0.04544035345315933],\"target_name\":\"render_count_target_club_sandwich_2\",\"target_position\":[3.730297565460205,1.7899508476257324,0.03499994054436684],\"visibility\":{\"bbox_xyxy\":[494,311,777,460],\"centered_score\":0.9696,\"is_visible\":true,\"matched_aliases\":[\"render_count_target_club_sandwich_2\",\"club_sandwich\"],\"target_name\":\"render_count_target_club_sandwich_2\",\"visible_pixels\":35644}},{\"best_effort_only\":false,\"camera_pose\":{\"position\":[3.688178613471317,1.4526106387652835,0.12],\"quaternion_xyzw\":[0.11154174627675024,0.6325846777877449,0.7547734334362394,0.13308692063677371]},\"image_path\":\"target_closeup_003.png\",\"look_target\":[3.544530153274536,1.057939738035202,0.04544035345315933],\"target_name\":\"render_count_target_club_sandwich_3\",\"target_position\":[3.54337739944458,1.0585296154022217,0.03499994054436684],\"visibility\":{\"bbox_xyxy\":[507,310,743,460],\"centered_score\":0.9671,\"is_visible\":true,\"matched_aliases\":[\"render_count_target_club_sandwich_3\",\"club_sandwich\"],\"target_name\":\"render_count_target_club_sandwich_3\",\"visible_pixels\":30251}}],\"target_pool_seed\":7847305,\"topdown_map\":\"q_002_topdown_map.png\"},\"task_type\":\"observation_divided\"},\"question_id\":\"observation_divided/q_002\",\"question_index\":2,\"seed\":7,\"task_type\":\"observation_divided\"}","options_json":"[\"0\",\"1\",\"3\",\"4\"]","question":"Considering both images, how many objects of category \"club_sandwich\" are present in this scene?","room":"kitchen_0","runner_task":"counting","scene":"house_double_floor_lower","small_task":"Spatial Segmentation"},"observations":[],"question":{"answer_type":"choice","options":[],"original":"Considering both images, how many objects of category \"club_sandwich\" are present in this scene?","text":"Considering both images, how many objects of category \"club_sandwich\" are present in this scene?"},"reference_media":["q_002.png","q_002_topdown_map.png","corner_00.png","corner_01.png","corner_02.png","corner_03.png","target_closeup_000.png","target_closeup_001.png","target_closeup_002.png","target_closeup_003.png"],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":13,"stratum_pool":30},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Enumerative Perception/Spatial Segmentation/house_double_floor_lower/kitchen_0/q_002.json","annotation_sha256":"0c7455be994cdddcab139ba53d87c4f00024c0c7192ed6bf6f33efc9331c013d","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"75e414733a80f645e729471be5e1a70c60e5bd4fe94b112b31e10afed5fae116","sample_id":"0559","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"4","metric":"official_esi_task","original_answer":"4"},"task":{"category":"Enumerative Perception","role":"spatial_core","skill_tags":["Enumerative Perception","Spatial Segmentation"],"stratum":"ESI-Bench/Enumerative Perception/Spatial Segmentation","subcategory":"Spatial Segmentation"},"transforms":[]}
{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Enumerative Perception","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"3","id":"0f08176fb1a39905","metadata":"vendor/ESI-Bench/dataset/json_clean/Enumerative Perception/Spatial Segmentation/Beechwood_1_int/playroom_0/q_001.json","metadata_sha256":"f0609655acce0e0fe7953e236b15b91356340d112566400ecc5c1e3aac8ceaf8","observation_policy":"runtime camera observations; no oracle poses","question":"Considering both images, how many objects of category \"club_sandwich\" are present in this scene?","room":"playroom_0","scene":"Beechwood_1_int","subcategory":"Spatial Segmentation","task":"enumerative_perception.spatial_segmentation"},"group":{"id":"ESI-scene/Beechwood_1_int","kind":"scene","room":"playroom_0","scene":"Beechwood_1_int"},"id":"eea6399956f588b0129d","native_annotation":{"answer":"3","answer_type":"choice","big_task":"Enumerative Perception","gt_camera_poses":[{"baseline_selected":true,"camera_pose":{"position":[2.7977029933847843,7.844755940314046,0.122],"quaternion_xyzw":[0.6504573149954231,-0.11469317443287773,-0.1303808473110802,0.7394265289816827]},"camera_pose_rule":null,"fov_deg":100.0,"group":"target_closeups","metadata_pointer":"/question_data/render/target_closeups/0","original_image_path":"target_closeup_000.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"target_closeups/target_closeup_000.png"},{"baseline_selected":true,"camera_pose":{"position":[2.197702850333637,7.834759526129476,0.122],"quaternion_xyzw":[0.6504573149954231,-0.11469317443287773,-0.1303808473110802,0.7394265289816827]},"camera_pose_rule":null,"fov_deg":100.0,"group":"target_closeups","metadata_pointer":"/question_data/render/target_closeups/1","original_image_path":"target_closeup_001.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"target_closeups/target_closeup_001.png"},{"baseline_selected":true,"camera_pose":{"position":[0.06231262358133621,7.9007484231114615,0.122],"quaternion_xyzw":[0.5858632643337922,-0.3049811115408603,-0.3466962697056002,0.6659973375920328]},"camera_pose_rule":null,"fov_deg":100.0,"group":"target_closeups","metadata_pointer":"/question_data/render/target_closeups/2","original_image_path":"target_closeup_002.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"target_closeups/target_closeup_002.png"}],"id":"0540","image_paths_json":"[\"q_001.png\",\"q_001_topdown_map.png\",\"corner_00.png\",\"corner_01.png\",\"corner_02.png\",\"corner_03.png\",\"target_closeup_000.png\",\"target_closeup_001.png\",\"target_closeup_002.png\"]","metadata_json":"{\"camera_poses\":{\"agent_position_policy\":\"sample_free_point_near_short_edge_of_room_bbox\",\"context_image\":\"room_center_single_view\",\"mode\":\"single_agent_view_toward_room_center\",\"pitch_deg\":15.0,\"primary_image\":\"room_center_single_view\",\"topdown_map\":\"floor_trav_with_count_object_annotations\",\"views_per_candidate\":1},\"floor_name\":\"floors_vlwrdh_0\",\"image_paths\":[\"q_001.png\",\"q_001_topdown_map.png\",\"q_001.png\",\"corner_00.png\",\"corner_01.png\",\"corner_02.png\",\"corner_03.png\",\"target_closeup_000.png\",\"target_closeup_001.png\",\"target_closeup_002.png\"],\"question_data\":{\"answer\":\"3\",\"ball_positions\":[[2.994921922683716,8.39036750793457,0.037000182867050174],[2.394921660423279,8.38037109375,0.037000182867050174],[0.5362680107355118,8.234012603759766,0.037000182867050174]],\"candidate_index\":1,\"case\":\"observation_divided\",\"case_metadata\":{\"source_candidates\":3,\"source_entries\":[{\"ball_positions\":[[2.994921922683716,8.39036750793457,0.037000182867050174]],\"metadata\":{\"anchor_object\":{\"bbox\":[[2.7821764945983887,8.238970756530762,-5.836784839630127e-05],[3.207667350769043,8.541764259338379,0.40076953172683716]],\"category\":\"armchair\",\"has_open_state\":false,\"in_rooms\":[\"playroom_0\"],\"name\":\"armchair_vzhxuf_1\"},\"visibility\":{\"placement\":\"ball_center_aligned_with_chair_bbox_center_xy\",\"support\":\"placed_on_floor_below_chair\"}},\"source_index\":0},{\"ball_positions\":[[2.394921660423279,8.38037109375,0.037000182867050174]],\"metadata\":{\"anchor_object\":{\"bbox\":[[2.182176351547241,8.228974342346191,-5.8397650718688965e-05],[2.6076669692993164,8.531767845153809,0.4007696211338043]],\"category\":\"armchair\",\"has_open_state\":false,\"in_rooms\":[\"playroom_0\"],\"name\":\"armchair_vzhxuf_3\"},\"visibility\":{\"placement\":\"ball_center_aligned_with_chair_bbox_center_xy\",\"support\":\"placed_on_floor_below_chair\"}},\"source_index\":1},{\"ball_positions\":[[0.5362680107355118,8.234012603759766,0.037000182867050174]],\"metadata\":{\"anchor_object\":{\"bbox\":[[0.29569211602211,8.024397850036621,4.41819429397583e-05],[0.7768439054489136,8.44362735748291,0.380861759185791]],\"category\":\"armchair\",\"has_open_state\":false,\"in_rooms\":[\"playroom_0\"],\"name\":\"armchair_vzhxuf_0\"},\"visibility\":{\"placement\":\"ball_center_aligned_with_chair_bbox_center_xy\",\"support\":\"placed_on_floor_below_chair\"}},\"source_index\":3}]},\"count_object\":{\"category\":\"club_sandwich\",\"display_name\":\"club sandwich\",\"resolved_models\":[\"ablfyd\"],\"resolved_object_count\":3,\"original_requested_category\":\"boxed_ink_cartridge\",\"original_display_name\":\"boxed ink cartridge\",\"normalization_source\":\"render.target_category\"},\"count_target\":\"club_sandwich\",\"count_unit\":\"objects\",\"object_positions\":[[2.994921922683716,8.39036750793457,0.037000182867050174],[2.394921660423279,8.38037109375,0.037000182867050174],[0.5362680107355118,8.234012603759766,0.037000182867050174]],\"options\":[\"0\",\"2\",\"3\",\"4\"],\"question\":\"Considering both images, how many objects of category \\\"club_sandwich\\\" are present in this scene?\",\"render\":{\"all_images\":[\"q_001.png\"],\"camera_poses\":[{\"_key\":\"q_001.png\",\"look_target\":[2.5,7.0,0.9020001828670502],\"pitch_deg\":11.35772539396506,\"position\":[4.150000000000001,6.44,1.2520001828670502],\"quaternion_xyzw\":[0.5150635781468018,0.369110423054757,0.45062553409658473,0.6288112865392282],\"view_name\":\"room_center_single_view\"}],\"context_without_mirror\":{\"image\":\"q_001.png\",\"kind\":\"agent_centered_alternate_view\"},\"image\":\"q_001.png\",\"multi_image_input\":{\"room_bbox_world_xy\":[0.0,6.0,5.0,8.0],\"room_instance\":\"playroom_0\",\"views\":[{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[0.35,6.35,2.2020001828670503],\"quaternion_xyzw\":[0.4188580459247075,-0.310950033002613,-0.508542354516821,0.6850202099225231]},\"image_path\":\"corner_00.png\",\"is_traversable\":true,\"target\":[2.5,7.0,1.0520001828670502],\"trav_occluded\":false,\"view_id\":\"corner_00\"},{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[0.35,7.65,2.2020001828670503],\"quaternion_xyzw\":[0.31095003300261304,-0.4188580459247075,-0.6850202099225232,0.5085423545168208]},\"image_path\":\"corner_01.png\",\"is_traversable\":true,\"target\":[2.5,7.0,1.0520001828670502],\"trav_occluded\":true,\"view_id\":\"corner_01\"},{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[4.65,6.35,2.2020001828670503],\"quaternion_xyzw\":[0.4188580459247075,0.31095003300261304,0.508542354516821,0.6850202099225231]},\"image_path\":\"corner_02.png\",\"is_traversable\":false,\"target\":[2.5,7.0,1.0520001828670502],\"trav_occluded\":false,\"view_id\":\"corner_02\"},{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[4.65,7.65,2.2020001828670503],\"quaternion_xyzw\":[0.31095003300261315,0.4188580459247076,0.6850202099225232,0.5085423545168208]},\"image_path\":\"corner_03.png\",\"is_traversable\":false,\"target\":[2.5,7.0,1.0520001828670502],\"trav_occluded\":false,\"view_id\":\"corner_03\"}]},\"render_output_dir\":\"q_001\",\"resolved_objects\":{\"targets\":[{\"bbox\":[[2.8901002407073975,8.289226531982422,-0.003463238477706909],[3.1020491123199463,8.490328788757324,0.08137648552656174]],\"category\":\"club_sandwich\",\"model\":\"ablfyd\",\"name\":\"render_count_target_club_sandwich_0\",\"position\":[2.994921922683716,8.39036750793457,0.03700018301606178],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"requested_position\":[2.994921922683716,8.39036750793457,0.037000182867050174],\"role\":\"count_target\",\"source_entry_case\":\"observation_divided\",\"target_name\":\"render_count_target_club_sandwich_0\"},{\"bbox\":[[2.29010009765625,8.279230117797852,-0.003463238477706909],[2.502048969268799,8.480332374572754,0.08137648552656174]],\"category\":\"club_sandwich\",\"model\":\"ablfyd\",\"name\":\"render_count_target_club_sandwich_1\",\"position\":[2.3949217796325684,8.38037109375,0.03700018301606178],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"requested_position\":[2.394921660423279,8.38037109375,0.037000182867050174],\"role\":\"count_target\",\"source_entry_case\":\"observation_divided\",\"target_name\":\"render_count_target_club_sandwich_1\"},{\"bbox\":[[0.4314464330673218,8.132871627807617,-0.003463238477706909],[0.643395185470581,8.33397388458252,0.08137648552656174]],\"category\":\"club_sandwich\",\"model\":\"ablfyd\",\"name\":\"render_count_target_club_sandwich_2\",\"position\":[0.5362679958343506,8.234012603759766,0.03700018301606178],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"requested_position\":[0.5362680107355118,8.234012603759766,0.037000182867050174],\"role\":\"count_target\",\"source_entry_case\":\"observation_divided\",\"target_name\":\"render_count_target_club_sandwich_2\"}]},\"room_bbox\":{\"bbox_area_m2\":10.0,\"bbox_map_rc\":[15,9,17,14],\"bbox_world_xy\":[0.0,6.0,5.0,8.0],\"expanded_bbox_area_m2\":10.0,\"expanded_bbox_world_xy\":[0.0,6.0,5.0,8.0],\"pixel_count\":15,\"room_id\":11,\"room_instance\":\"playroom_0\",\"source\":\"seg_map_expanded_with_walls\"},\"success\":true,\"target_category\":\"club_sandwich\",\"target_closeups\":[{\"best_effort_only\":false,\"camera_pose\":{\"position\":[2.7977029933847843,7.844755940314046,0.122],\"quaternion_xyzw\":[0.6504573149954231,-0.11469317443287773,-0.1303808473110802,0.7394265289816827]},\"image_path\":\"target_closeup_000.png\",\"look_target\":[2.996074676513672,8.389777660369873,0.04744059592485428],\"target_name\":\"render_count_target_club_sandwich_0\",\"target_position\":[2.994921922683716,8.39036750793457,0.03700018301606178],\"visibility\":{\"bbox_xyxy\":[538,325,738,420],\"centered_score\":0.9827,\"is_visible\":true,\"matched_aliases\":[\"render_count_target_club_sandwich_0\",\"club_sandwich\"],\"target_name\":\"render_count_target_club_sandwich_0\",\"visible_pixels\":16273}},{\"best_effort_only\":false,\"camera_pose\":{\"position\":[2.197702850333637,7.834759526129476,0.122],\"quaternion_xyzw\":[0.6504573149954231,-0.11469317443287773,-0.1303808473110802,0.7394265289816827]},\"image_path\":\"target_closeup_001.png\",\"look_target\":[2.3960745334625244,8.379781246185303,0.04744059592485428],\"target_name\":\"render_count_target_club_sandwich_1\",\"target_position\":[2.3949217796325684,8.38037109375,0.03700018301606178],\"visibility\":{\"bbox_xyxy\":[538,325,738,420],\"centered_score\":0.9827,\"is_visible\":true,\"matched_aliases\":[\"render_count_target_club_sandwich_1\",\"club_sandwich\"],\"target_name\":\"render_count_target_club_sandwich_1\",\"visible_pixels\":16273}},{\"best_effort_only\":false,\"camera_pose\":{\"position\":[0.06231262358133621,7.9007484231114615,0.122],\"quaternion_xyzw\":[0.5858632643337922,-0.3049811115408603,-0.3466962697056002,0.6659973375920328]},\"image_path\":\"target_closeup_002.png\",\"look_target\":[0.5374208092689514,8.233422756195068,0.04744059592485428],\"target_name\":\"render_count_target_club_sandwich_2\",\"target_position\":[0.5362679958343506,8.234012603759766,0.03700018301606178],\"visibility\":{\"bbox_xyxy\":[526,324,742,421],\"centered_score\":0.9827,\"is_visible\":true,\"matched_aliases\":[\"render_count_target_club_sandwich_2\",\"club_sandwich\"],\"target_name\":\"render_count_target_club_sandwich_2\",\"visible_pixels\":16551}}],\"target_pool_seed\":1579162,\"topdown_map\":\"q_001_topdown_map.png\"},\"task_type\":\"observation_divided\"},\"question_id\":\"observation_divided/q_001\",\"question_index\":1,\"seed\":7,\"task_type\":\"observation_divided\"}","options_json":"[\"0\",\"2\",\"3\",\"4\"]","question":"Considering both images, how many objects of category \"club_sandwich\" are present in this scene?","room":"playroom_0","runner_task":"counting","scene":"Beechwood_1_int","small_task":"Spatial Segmentation"},"observations":[],"question":{"answer_type":"choice","options":[],"original":"Considering both images, how many objects of category \"club_sandwich\" are present in this scene?","text":"Considering both images, how many objects of category \"club_sandwich\" are present in this scene?"},"reference_media":["q_001.png","q_001_topdown_map.png","corner_00.png","corner_01.png","corner_02.png","corner_03.png","target_closeup_000.png","target_closeup_001.png","target_closeup_002.png"],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":13,"stratum_pool":30},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Enumerative Perception/Spatial Segmentation/Beechwood_1_int/playroom_0/q_001.json","annotation_sha256":"f0609655acce0e0fe7953e236b15b91356340d112566400ecc5c1e3aac8ceaf8","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"73d2f065c3ddf21d4c8279e4e57b80fa11dae24eff1a05fc63cacb1587394890","sample_id":"0540","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"3","metric":"official_esi_task","original_answer":"3"},"task":{"category":"Enumerative Perception","role":"spatial_core","skill_tags":["Enumerative Perception","Spatial Segmentation"],"stratum":"ESI-Bench/Enumerative Perception/Spatial Segmentation","subcategory":"Spatial Segmentation"},"transforms":[]}
{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Enumerative Perception","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"3","id":"917558441498add7","metadata":"vendor/ESI-Bench/dataset/json_clean/Enumerative Perception/Structural Enclosure/Ihlen_0_int/living_room_0/q_000.json","metadata_sha256":"a47e84901e4cadb178fcf14c8f8d9d8776de2d984f3ed4485bd140a01abd0131","observation_policy":"runtime camera observations; no oracle poses","question":"Considering both images, how many objects of category \"club_sandwich\" are present in this scene?","room":"living_room_0","scene":"Ihlen_0_int","subcategory":"Structural Enclosure","task":"enumerative_perception.structural_enclosure"},"group":{"id":"ESI-scene/Ihlen_0_int","kind":"scene","room":"living_room_0","scene":"Ihlen_0_int"},"id":"919a240330f8b5ccc833","native_annotation":{"answer":"3","answer_type":"choice","big_task":"Enumerative Perception","gt_camera_poses":[{"baseline_selected":true,"camera_pose":{"position":[-1.1225965070724486,3.4700757265090942,0.3464],"quaternion_xyzw":[0.22108555997981877,0.22187095634052953,0.6727156538595189,0.6703343217778042]},"camera_pose_rule":null,"fov_deg":55.0,"group":"target_closeups","metadata_pointer":"/question_data/render/target_closeups/0","original_image_path":"target_closeup_000.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"target_closeups/target_closeup_000.png"},{"baseline_selected":true,"camera_pose":{"position":[0.4544576358795166,-0.3860466778278351,0.3609],"quaternion_xyzw":[0.30814770053506646,0.29805179969296647,0.6281045480200788,0.6493803170032392]},"camera_pose_rule":null,"fov_deg":55.0,"group":"target_closeups","metadata_pointer":"/question_data/render/target_closeups/1","original_image_path":"target_closeup_001.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"target_closeups/target_closeup_001.png"},{"baseline_selected":true,"camera_pose":{"position":[-0.9399260330200195,4.162912487983704,0.3609],"quaternion_xyzw":[0.3067386806414238,0.29544590966512047,0.6276665528294503,0.6516577281976351]},"camera_pose_rule":null,"fov_deg":55.0,"group":"target_closeups","metadata_pointer":"/question_data/render/target_closeups/2","original_image_path":"target_closeup_002.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"target_closeups/target_closeup_002.png"}],"id":"0575","image_paths_json":"[\"q_000.png\",\"q_000_topdown_map.png\",\"corner_00.png\",\"corner_01.png\",\"corner_02.png\",\"corner_03.png\",\"target_closeup_000.png\",\"target_closeup_001.png\",\"target_closeup_002.png\"]","metadata_json":"{\"camera_poses\":{\"agent_position_policy\":\"sample_free_point_near_short_edge_of_room_bbox\",\"context_image\":\"room_center_single_view\",\"mode\":\"single_agent_view_toward_room_center\",\"pitch_deg\":15.0,\"primary_image\":\"room_center_single_view\",\"topdown_map\":\"floor_trav_with_count_object_annotations\",\"views_per_candidate\":1},\"floor_name\":\"floors_lwmene_0\",\"image_paths\":[\"q_000.png\",\"q_000_topdown_map.png\",\"q_000.png\",\"corner_00.png\",\"corner_01.png\",\"corner_02.png\",\"corner_03.png\",\"target_closeup_000.png\",\"target_closeup_001.png\",\"target_closeup_002.png\"],\"question_data\":{\"answer\":\"3\",\"ball_positions\":[[-1.2901167273521423,3.4700757265090942,0.1111791491508484],[0.17362181842327118,-0.3761383444070816,0.12199390888214112],[-1.2171819806098938,4.173861622810364,0.12199390888214112]],\"candidate_index\":0,\"case\":\"hidden_in_box\",\"case_metadata\":{\"source_candidates\":5,\"source_entries\":[{\"metadata\":{\"container_spec\":{\"category\":\"microwave\",\"model\":\"snsqrt\",\"name\":\"render_hidden_box_0_microwave\",\"orientation\":[0.0,0.0,0.0,1.0],\"placement\":{\"placement_type\":\"floor\",\"position\":[-1.3126448440551757,3.4734460296630867,0.16099120330810546]},\"size_class\":\"large\"},\"container_state\":{\"open\":false},\"contains_ball\":true,\"count_object\":{\"category\":\"club_sandwich\",\"characteristic_size_m\":0.13935686679793463,\"display_name\":\"club sandwich\",\"estimated_volume\":0.0027063572222381484,\"sampling_source\":\"keys_json_filtered_by_estimated_size_and_local_models\"}},\"source_index\":0},{\"metadata\":{\"container_spec\":{\"category\":\"microwave\",\"model\":\"bfbeeb\",\"name\":\"render_hidden_box_1_microwave\",\"orientation\":[0.0,0.0,0.0,1.0],\"placement\":{\"placement_type\":\"floor\",\"position\":[-0.2793519325256347,-1.0765546112060544,0.16307418060302736]},\"size_class\":\"large\"},\"container_state\":{\"open\":false},\"contains_ball\":false,\"count_object\":{\"category\":\"club_sandwich\",\"characteristic_size_m\":0.13935686679793463,\"display_name\":\"club sandwich\",\"estimated_volume\":0.0027063572222381484,\"sampling_source\":\"keys_json_filtered_by_estimated_size_and_local_models\"}},\"source_index\":1},{\"metadata\":{\"container_spec\":{\"category\":\"microwave\",\"model\":\"abzvij\",\"name\":\"render_hidden_box_2_microwave\",\"orientation\":[0.0,0.0,0.0,1.0],\"placement\":{\"placement_type\":\"floor\",\"position\":[0.1511828155517576,-0.3862354354858397,0.16686989593505858]},\"size_class\":\"large\"},\"container_state\":{\"open\":false},\"contains_ball\":true,\"count_object\":{\"category\":\"club_sandwich\",\"characteristic_size_m\":0.13935686679793463,\"display_name\":\"club sandwich\",\"estimated_volume\":0.0027063572222381484,\"sampling_source\":\"keys_json_filtered_by_estimated_size_and_local_models\"}},\"source_index\":2},{\"metadata\":{\"container_spec\":{\"category\":\"microwave\",\"model\":\"vuezel\",\"name\":\"render_hidden_box_3_microwave\",\"orientation\":[0.0,0.0,1.0,6.123233995736766e-17],\"placement\":{\"placement_type\":\"floor\",\"position\":[0.8426957550048828,0.965377456665039,0.15039571380615235]},\"size_class\":\"large\"},\"container_state\":{\"open\":false},\"contains_ball\":false,\"count_object\":{\"category\":\"club_sandwich\",\"characteristic_size_m\":0.13935686679793463,\"display_name\":\"club sandwich\",\"estimated_volume\":0.0027063572222381484,\"sampling_source\":\"keys_json_filtered_by_estimated_size_and_local_models\"}},\"source_index\":3},{\"metadata\":{\"container_spec\":{\"category\":\"microwave\",\"model\":\"abzvij\",\"name\":\"render_hidden_box_4_microwave\",\"orientation\":[0.0,0.0,0.0,1.0],\"placement\":{\"placement_type\":\"floor\",\"position\":[-1.2488171844482423,4.16376456451416,0.16686989593505858]},\"size_class\":\"large\"},\"container_state\":{\"open\":false},\"contains_ball\":true,\"count_object\":{\"category\":\"club_sandwich\",\"characteristic_size_m\":0.13935686679793463,\"display_name\":\"club sandwich\",\"estimated_volume\":0.0027063572222381484,\"sampling_source\":\"keys_json_filtered_by_estimated_size_and_local_models\"}},\"source_index\":4}]},\"count_object\":{\"category\":\"club_sandwich\",\"characteristic_size_m\":0.13935686679793463,\"display_name\":\"club sandwich\",\"estimated_volume\":0.0027063572222381484,\"resolved_models\":[\"ablfyd\"],\"resolved_object_count\":3,\"sampling_source\":\"keys_json_filtered_by_estimated_size_and_local_models\"},\"count_target\":\"club_sandwich\",\"count_unit\":\"objects\",\"options\":[\"1\",\"2\",\"3\",\"4\"],\"question\":\"Considering both images, how many objects of category \\\"club_sandwich\\\" are present in this scene?\",\"render\":{\"all_images\":[\"q_000.png\"],\"camera_poses\":[{\"_key\":\"q_000.png\",\"look_target\":[-0.12499999999999989,1.6500000000000004,0.9],\"pitch_deg\":21.149382595957544,\"position\":[-0.895,1.175,1.25],\"quaternion_xyzw\":[0.49365802462647795,-0.27550202616905034,-0.401979542981486,0.7202866341415946],\"view_name\":\"room_center_single_view\"}],\"context_without_mirror\":{\"image\":\"q_000.png\",\"kind\":\"agent_centered_alternate_view\"},\"image\":\"q_000.png\",\"multi_image_input\":{\"room_bbox_world_xy\":[-1.5,-1.3749999999999998,1.2500000000000002,4.675000000000001],\"room_instance\":\"living_room_0\",\"views\":[{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[-1.15,-1.025,2.2],\"quaternion_xyzw\":[0.5507647601915646,-0.1019077629215798,-0.15072308089251804,0.8145891846039418]},\"image_path\":\"corner_00.png\",\"is_traversable\":false,\"target\":[-0.12499999999999989,1.6500000000000004,1.05],\"trav_occluded\":true,\"view_id\":\"corner_00\"},{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[-1.15,4.325000000000001,2.2],\"quaternion_xyzw\":[-0.10190776292157978,0.5507647601915646,0.8145891846039418,-0.150723080892518]},\"image_path\":\"corner_01.png\",\"is_traversable\":true,\"target\":[-0.12499999999999989,1.6500000000000004,1.05],\"trav_occluded\":true,\"view_id\":\"corner_01\"},{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[0.9000000000000002,-1.025,2.2],\"quaternion_xyzw\":[0.5507647601915646,0.10190776292157981,0.15072308089251807,0.8145891846039418]},\"image_path\":\"corner_02.png\",\"is_traversable\":false,\"target\":[-0.12499999999999989,1.6500000000000004,1.05],\"trav_occluded\":true,\"view_id\":\"corner_02\"},{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[0.9000000000000002,4.325000000000001,2.2],\"quaternion_xyzw\":[0.1019077629215798,0.5507647601915646,0.8145891846039418,0.15072308089251804]},\"image_path\":\"corner_03.png\",\"is_traversable\":true,\"target\":[-0.12499999999999989,1.6500000000000004,1.05],\"trav_occluded\":true,\"view_id\":\"corner_03\"}]},\"render_output_dir\":\"q_000\",\"resolved_objects\":{\"containers\":[{\"bbox\":[[-1.4452791213989258,3.2087855339050293,0.008765429258346558],[-1.1349543333053589,3.731365919113159,0.30643266439437866]],\"category\":\"microwave\",\"contains_ball\":true,\"model\":\"snsqrt\",\"name\":\"render_hidden_box_0_microwave\",\"open_state\":false,\"position\":[-1.3126448392868042,3.4734461307525635,0.16099116206169128],\"quaternion_xyzw\":[9.313225746154785e-10,-1.4901161193847656e-08,3.725290298461914e-09,0.9999998807907104],\"role\":\"container\",\"source_category\":\"microwave\",\"source_entry_case\":\"hidden_in_box\",\"source_model\":\"snsqrt\"},{\"bbox\":[[-0.3949245512485504,-1.3350170850753784,0.006247997283935547],[-0.12906676530838013,-0.8181198835372925,0.30239635705947876]],\"category\":\"microwave\",\"contains_ball\":false,\"model\":\"bfbeeb\",\"name\":\"render_hidden_box_1_microwave\",\"open_state\":false,\"position\":[-0.2793519198894501,-1.0765546560287476,0.16307418048381805],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"role\":\"container\",\"source_category\":\"microwave\",\"source_entry_case\":\"hidden_in_box\",\"source_model\":\"bfbeeb\"},{\"bbox\":[[-0.040759310126304626,-0.6275148391723633,0.011877074837684631],[0.3880029618740082,-0.12476193904876709,0.32087242603302]],\"category\":\"microwave\",\"contains_ball\":true,\"model\":\"abzvij\",\"name\":\"render_hidden_box_2_microwave\",\"open_state\":false,\"position\":[0.15118281543254852,-0.38623544573783875,0.1668699085712433],\"quaternion_xyzw\":[-7.450580596923828e-09,-1.4901161193847656e-08,1.4901161193847656e-08,1.000000238418579],\"role\":\"container\",\"source_category\":\"microwave\",\"source_entry_case\":\"hidden_in_box\",\"source_model\":\"abzvij\"},{\"bbox\":[[0.617976188659668,0.7664949893951416,0.013554036617279053],[1.043542504310608,1.170802354812622,0.2876148223876953]],\"category\":\"microwave\",\"contains_ball\":false,\"model\":\"vuezel\",\"name\":\"render_hidden_box_3_microwave\",\"open_state\":false,\"position\":[0.8426957726478577,0.9653775095939636,0.1503957211971283],\"quaternion_xyzw\":[0.0,2.9103830456733704e-11,1.0000004768371582,-2.9802322387695312e-08],\"role\":\"container\",\"source_category\":\"microwave\",\"source_entry_case\":\"hidden_in_box\",\"source_model\":\"vuezel\"},{\"bbox\":[[-1.440759301185608,3.922485113143921,0.011877074837684631],[-0.9936047792434692,4.425238132476807,0.32087242603302]],\"category\":\"microwave\",\"contains_ball\":true,\"model\":\"abzvij\",\"name\":\"render_hidden_box_4_microwave\",\"open_state\":false,\"position\":[-1.2488173246383667,4.163764476776123,0.1668698936700821],\"quaternion_xyzw\":[-3.725290298461914e-09,-7.450580596923828e-09,7.450580596923828e-09,1.0000001192092896],\"role\":\"container\",\"source_category\":\"microwave\",\"source_entry_case\":\"hidden_in_box\",\"source_model\":\"abzvij\"}],\"targets\":[{\"bbox\":[[-1.394938349723816,3.3689348697662354,0.07071572542190552],[-1.1829895973205566,3.5700366497039795,0.15555545687675476]],\"category\":\"club_sandwich\",\"container_name\":\"render_hidden_box_0_microwave\",\"model\":\"ablfyd\",\"name\":\"render_count_target_club_sandwich_0\",\"position\":[-1.290116786956787,3.4700756072998047,0.11117915064096451],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"requested_position\":[-1.2901167273521423,3.4700757265090942,0.1111791491508484],\"role\":\"count_target\",\"source_category\":\"club_sandwich\",\"source_entry_case\":\"hidden_in_box\",\"source_sampling_source\":\"keys_json_filtered_by_estimated_size_and_local_models\",\"target_name\":\"render_count_target_club_sandwich_0\"},{\"bbox\":[[0.06880024820566177,-0.47727900743484497,0.08153048157691956],[0.28074902296066284,-0.2761773467063904,0.1663702130317688]],\"category\":\"club_sandwich\",\"container_name\":\"render_hidden_box_2_microwave\",\"model\":\"ablfyd\",\"name\":\"render_count_target_club_sandwich_1\",\"position\":[0.17362181842327118,-0.3761383295059204,0.12199390679597855],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"requested_position\":[0.17362181842327118,-0.3761383444070816,0.12199390888214112],\"role\":\"count_target\",\"source_category\":\"club_sandwich\",\"source_entry_case\":\"hidden_in_box\",\"source_sampling_source\":\"keys_json_filtered_by_estimated_size_and_local_models\",\"target_name\":\"render_count_target_club_sandwich_1\"},{\"bbox\":[[-1.3220034837722778,4.072721004486084,0.08153048157691956],[-1.1100547313690186,4.27382230758667,0.1663702130317688]],\"category\":\"club_sandwich\",\"container_name\":\"render_hidden_box_4_microwave\",\"model\":\"ablfyd\",\"name\":\"render_count_target_club_sandwich_2\",\"position\":[-1.217181921005249,4.173861503601074,0.12199390679597855],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"requested_position\":[-1.2171819806098938,4.173861622810364,0.12199390888214112],\"role\":\"count_target\",\"source_category\":\"club_sandwich\",\"source_entry_case\":\"hidden_in_box\",\"source_sampling_source\":\"keys_json_filtered_by_estimated_size_and_local_models\",\"target_name\":\"render_count_target_club_sandwich_2\"}]},\"room_bbox\":{\"bbox_area_m2\":10.0,\"bbox_map_rc\":[10,9,15,11],\"bbox_world_xy\":[-1.5,-0.5,0.5,4.5],\"expanded_bbox_area_m2\":16.637500000000003,\"expanded_bbox_world_xy\":[-1.5,-1.3749999999999998,1.2500000000000002,4.675000000000001],\"pixel_count\":18,\"room_id\":6,\"room_instance\":\"living_room_0\",\"source\":\"seg_map_expanded_with_walls\"},\"success\":true,\"target_category\":\"club_sandwich\",\"target_closeups\":[{\"best_effort_only\":false,\"camera_pose\":{\"position\":[-1.1225965070724486,3.4700757265090942,0.3464],\"quaternion_xyzw\":[0.22108555997981877,0.22187095634052953,0.6727156538595189,0.6703343217778042]},\"container_name\":\"render_hidden_box_0_microwave\",\"image_path\":\"target_closeup_000.png\",\"look_target\":[-1.2889639735221863,3.4694857597351074,0.12161956429481506],\"target_name\":\"render_count_target_club_sandwich_0\",\"target_position\":[-1.290116786956787,3.4700756072998047,0.11117915064096451],\"visibility\":{\"bbox_xyxy\":[425,422,838,586],\"centered_score\":0.8239,\"is_visible\":true,\"matched_aliases\":[\"render_count_target_club_sandwich_0\",\"club_sandwich\"],\"target_name\":\"render_count_target_club_sandwich_0\",\"visible_pixels\":49735}},{\"best_effort_only\":false,\"camera_pose\":{\"position\":[0.4544576358795166,-0.3860466778278351,0.3609],\"quaternion_xyzw\":[0.30814770053506646,0.29805179969296647,0.6281045480200788,0.6493803170032392]},\"container_name\":\"render_hidden_box_2_microwave\",\"image_path\":\"target_closeup_001.png\",\"look_target\":[0.1747746355831623,-0.3767281770706177,0.1324343204498291],\"target_name\":\"render_count_target_club_sandwich_1\",\"target_position\":[0.17362181842327118,-0.3761383295059204,0.12199390679597855],\"visibility\":{\"bbox_xyxy\":[477,261,794,516],\"centered_score\":0.9629,\"is_visible\":true,\"matched_aliases\":[\"render_count_target_club_sandwich_1\",\"club_sandwich\"],\"target_name\":\"render_count_target_club_sandwich_1\",\"visible_pixels\":67390}},{\"best_effort_only\":false,\"camera_pose\":{\"position\":[-0.9399260330200195,4.162912487983704,0.3609],\"quaternion_xyzw\":[0.3067386806414238,0.29544590966512047,0.6276665528294503,0.6516577281976351]},\"container_name\":\"render_hidden_box_4_microwave\",\"image_path\":\"target_closeup_002.png\",\"look_target\":[-1.2160291075706482,4.173271656036377,0.1324343204498291],\"target_name\":\"render_count_target_club_sandwich_2\",\"target_position\":[-1.217181921005249,4.173861503601074,0.12199390679597855],\"visibility\":{\"bbox_xyxy\":[476,255,795,518],\"centered_score\":0.9642,\"is_visible\":true,\"matched_aliases\":[\"render_count_target_club_sandwich_2\",\"club_sandwich\"],\"target_name\":\"render_count_target_club_sandwich_2\",\"visible_pixels\":69304}}],\"target_pool_seed\":9318768,\"topdown_map\":\"q_000_topdown_map.png\"},\"task_type\":\"hidden_in_box\"},\"question_id\":\"hidden_in_box/q_000\",\"question_index\":0,\"seed\":7,\"task_type\":\"hidden_in_box\"}","options_json":"[\"1\",\"2\",\"3\",\"4\"]","question":"Considering both images, how many objects of category \"club_sandwich\" are present in this scene?","room":"living_room_0","runner_task":"counting","scene":"Ihlen_0_int","small_task":"Structural Enclosure"},"observations":[],"question":{"answer_type":"choice","options":[],"original":"Considering both images, how many objects of category \"club_sandwich\" are present in this scene?","text":"Considering both images, how many objects of category \"club_sandwich\" are present in this scene?"},"reference_media":["q_000.png","q_000_topdown_map.png","corner_00.png","corner_01.png","corner_02.png","corner_03.png","target_closeup_000.png","target_closeup_001.png","target_closeup_002.png"],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":19,"stratum_pool":40},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Enumerative Perception/Structural Enclosure/Ihlen_0_int/living_room_0/q_000.json","annotation_sha256":"a47e84901e4cadb178fcf14c8f8d9d8776de2d984f3ed4485bd140a01abd0131","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"3a3a064c3f66e1b566618fb02de646db60a17ce63d5a0c1f71e01379cf9d3698","sample_id":"0575","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"3","metric":"official_esi_task","original_answer":"3"},"task":{"category":"Enumerative Perception","role":"spatial_core","skill_tags":["Enumerative Perception","Structural Enclosure"],"stratum":"ESI-Bench/Enumerative Perception/Structural Enclosure","subcategory":"Structural Enclosure"},"transforms":[]}
{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Enumerative Perception","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"5","id":"67e02a6f9d116c00","metadata":"vendor/ESI-Bench/dataset/json_clean/Enumerative Perception/Structural Enclosure/Beechwood_1_int/television_room_0/q_000.json","metadata_sha256":"9dac47ad9144f2f782c12e7a3d5ee68a414357c74b22466208c0ec8f82701f14","observation_policy":"runtime camera observations; no oracle poses","question":"Considering both images, how many objects of category \"club_sandwich\" are present in this scene?","room":"television_room_0","scene":"Beechwood_1_int","subcategory":"Structural Enclosure","task":"enumerative_perception.structural_enclosure"},"group":{"id":"ESI-scene/Beechwood_1_int","kind":"scene","room":"television_room_0","scene":"Beechwood_1_int"},"id":"e59a57d3d3ff04719303","native_annotation":{"answer":"5","answer_type":"choice","big_task":"Enumerative Perception","gt_camera_poses":[{"baseline_selected":true,"camera_pose":{"position":[2.683876509666443,-4.934924125671387,0.3484],"quaternion_xyzw":[0.19964346834442684,0.20045590755114753,0.6795940069569384,0.6768396415573386]},"camera_pose_rule":null,"fov_deg":55.0,"group":"target_closeups","metadata_pointer":"/question_data/render/target_closeups/0","original_image_path":"target_closeup_000.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"target_closeups/target_closeup_000.png"},{"baseline_selected":true,"camera_pose":{"position":[3.1442652893066407,-5.3454365730285645,0.3296],"quaternion_xyzw":[0.26753730289591976,0.26498371839532386,0.651911393288089,0.6581937069326531]},"camera_pose_rule":null,"fov_deg":55.0,"group":"target_closeups","metadata_pointer":"/question_data/render/target_closeups/1","original_image_path":"target_closeup_001.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"target_closeups/target_closeup_001.png"},{"baseline_selected":true,"camera_pose":{"position":[2.7175816249847413,-2.8148380517959595,0.3345],"quaternion_xyzw":[0.20059154101800072,0.2014362864160976,0.6793560366247899,0.6765070817725213]},"camera_pose_rule":null,"fov_deg":55.0,"group":"target_closeups","metadata_pointer":"/question_data/render/target_closeups/2","original_image_path":"target_closeup_002.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"target_closeups/target_closeup_002.png"},{"baseline_selected":true,"camera_pose":{"position":[3.1083146286010743,-6.31483793258667,0.3345],"quaternion_xyzw":[0.2353974512826804,0.23619440350966314,0.6677590271425075,0.665505916840733]},"camera_pose_rule":null,"fov_deg":55.0,"group":"target_closeups","metadata_pointer":"/question_data/render/target_closeups/3","original_image_path":"target_closeup_003.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"target_closeups/target_closeup_003.png"},{"baseline_selected":true,"camera_pose":{"position":[3.091390552520752,-4.701683725791779,0.1684],"quaternion_xyzw":[0.5611992565536006,-0.3090761331872523,-0.3704037085270742,0.6725536640648775]},"camera_pose_rule":null,"fov_deg":55.0,"group":"target_closeups","metadata_pointer":"/question_data/render/target_closeups/4","original_image_path":"target_closeup_004.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"target_closeups/target_closeup_004.png"}],"id":"0570","image_paths_json":"[\"q_000.png\",\"q_000_topdown_map.png\",\"corner_00.png\",\"corner_01.png\",\"corner_02.png\",\"corner_03.png\",\"target_closeup_000.png\",\"target_closeup_001.png\",\"target_closeup_002.png\",\"target_closeup_003.png\",\"target_closeup_004.png\"]","metadata_json":"{\"camera_poses\":{\"agent_position_policy\":\"sample_free_point_near_short_edge_of_room_bbox\",\"context_image\":\"room_center_single_view\",\"mode\":\"single_agent_view_toward_room_center\",\"pitch_deg\":15.0,\"primary_image\":\"room_center_single_view\",\"topdown_map\":\"floor_trav_with_count_object_annotations\",\"views_per_candidate\":1},\"floor_name\":\"floors_esoefs_0\",\"image_paths\":[\"q_000.png\",\"q_000_topdown_map.png\",\"q_000.png\",\"corner_00.png\",\"corner_01.png\",\"corner_02.png\",\"corner_03.png\",\"target_closeup_000.png\",\"target_closeup_001.png\",\"target_closeup_002.png\",\"target_closeup_003.png\",\"target_closeup_004.png\"],\"question_data\":{\"answer\":\"5\",\"ball_positions\":[[2.537484049797058,-4.934924125671387,0.11317931175231935],[2.93156099319458,-5.342817783355713,0.1019155538082123],[2.576098918914795,-2.8148380517959595,0.10822672367095948],[2.932642936706543,-6.31483793258667,0.10822672367095948],[3.2479645013809204,-4.601332902908325,0.12399407148361208]],\"candidate_index\":0,\"case\":\"hidden_in_box\",\"case_metadata\":{\"source_candidates\":5,\"source_entries\":[{\"metadata\":{\"container_spec\":{\"category\":\"microwave\",\"model\":\"snsqrt\",\"name\":\"render_hidden_box_0_microwave\",\"orientation\":[0.0,0.0,0.0,1.0],\"placement\":{\"placement_type\":\"floor\",\"position\":[2.5173551559448244,-4.9315539703369184,0.16299138617515563]},\"size_class\":\"large\"},\"container_state\":{\"open\":false},\"contains_ball\":true,\"count_object\":{\"category\":\"club_sandwich\",\"characteristic_size_m\":0.13935686679793463,\"display_name\":\"club sandwich\",\"estimated_volume\":0.0027063572222381484,\"sampling_source\":\"keys_json_filtered_by_estimated_size_and_local_models\"}},\"source_index\":0},{\"metadata\":{\"container_spec\":{\"category\":\"microwave\",\"model\":\"vuezel\",\"name\":\"render_hidden_box_1_microwave\",\"orientation\":[0.0,0.0,0.0,1.0],\"placement\":{\"placement_type\":\"floor\",\"position\":[2.922695755004883,-5.339622543334965,0.15239589667320252]},\"size_class\":\"large\"},\"container_state\":{\"open\":false},\"contains_ball\":true,\"count_object\":{\"category\":\"club_sandwich\",\"characteristic_size_m\":0.13935686679793463,\"display_name\":\"club sandwich\",\"estimated_volume\":0.0027063572222381484,\"sampling_source\":\"keys_json_filtered_by_estimated_size_and_local_models\"}},\"source_index\":1},{\"metadata\":{\"container_spec\":{\"category\":\"microwave\",\"model\":\"hjjxmi\",\"name\":\"render_hidden_box_2_microwave\",\"orientation\":[0.0,0.0,0.0,1.0],\"placement\":{\"placement_type\":\"floor\",\"position\":[2.5417171783447268,-2.8315547943115273,0.14897207617759706]},\"size_class\":\"large\"},\"container_state\":{\"open\":false},\"contains_ball\":true,\"count_object\":{\"category\":\"club_sandwich\",\"characteristic_size_m\":0.13935686679793463,\"display_name\":\"club sandwich\",\"estimated_volume\":0.0027063572222381484,\"sampling_source\":\"keys_json_filtered_by_estimated_size_and_local_models\"}},\"source_index\":2},{\"metadata\":{\"container_spec\":{\"category\":\"microwave\",\"model\":\"hjjxmi\",\"name\":\"render_hidden_box_3_microwave\",\"orientation\":[0.0,0.0,0.0,1.0],\"placement\":{\"placement_type\":\"floor\",\"position\":[2.891717178344727,-6.331554794311526,0.14897207617759706]},\"size_class\":\"large\"},\"container_state\":{\"open\":false},\"contains_ball\":true,\"count_object\":{\"category\":\"club_sandwich\",\"characteristic_size_m\":0.13935686679793463,\"display_name\":\"club sandwich\",\"estimated_volume\":0.0027063572222381484,\"sampling_source\":\"keys_json_filtered_by_estimated_size_and_local_models\"}},\"source_index\":3},{\"metadata\":{\"container_spec\":{\"category\":\"microwave\",\"model\":\"abzvij\",\"name\":\"render_hidden_box_4_microwave\",\"orientation\":[0.0,0.0,1.0,6.123233995736766e-17],\"placement\":{\"placement_type\":\"floor\",\"position\":[3.2811828155517584,-4.591235435485844,0.16887007880210875]},\"size_class\":\"large\"},\"container_state\":{\"open\":false},\"contains_ball\":true,\"count_object\":{\"category\":\"club_sandwich\",\"characteristic_size_m\":0.13935686679793463,\"display_name\":\"club sandwich\",\"estimated_volume\":0.0027063572222381484,\"sampling_source\":\"keys_json_filtered_by_estimated_size_and_local_models\"}},\"source_index\":4}]},\"count_object\":{\"category\":\"club_sandwich\",\"characteristic_size_m\":0.13935686679793463,\"display_name\":\"club sandwich\",\"estimated_volume\":0.0027063572222381484,\"resolved_models\":[\"ablfyd\"],\"resolved_object_count\":5,\"sampling_source\":\"keys_json_filtered_by_estimated_size_and_local_models\"},\"count_target\":\"club_sandwich\",\"count_unit\":\"objects\",\"options\":[\"0\",\"3\",\"4\",\"5\"],\"question\":\"Considering both images, how many objects of category \\\"club_sandwich\\\" are present in this scene?\",\"render\":{\"all_images\":[\"q_000.png\"],\"camera_poses\":[{\"_key\":\"q_000.png\",\"look_target\":[2.29,-4.395,0.9020001828670502],\"pitch_deg\":9.399513050741342,\"position\":[1.3324,-6.280000000000003,1.2520001828670502],\"quaternion_xyzw\":[0.6290128118372235,-0.15061239590413097,-0.17759451143196336,0.7417000594943277],\"view_name\":\"room_center_single_view\"}],\"context_without_mirror\":{\"image\":\"q_000.png\",\"kind\":\"agent_centered_alternate_view\"},\"image\":\"q_000.png\",\"multi_image_input\":{\"room_bbox_world_xy\":[0.5800000000000001,-6.630000000000003,4.0,-2.1599999999999966],\"room_instance\":\"television_room_0\",\"views\":[{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[0.93,-6.280000000000003,2.2020001828670503],\"quaternion_xyzw\":[0.5019705441991088,-0.16217995475226737,-0.2611824825264573,0.8083977646272409]},\"image_path\":\"corner_00.png\",\"is_traversable\":true,\"target\":[2.29,-4.395,1.0520001828670502],\"trav_occluded\":true,\"view_id\":\"corner_00\"},{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[0.93,-2.5099999999999967,2.2020001828670503],\"quaternion_xyzw\":[-0.16217995475226743,0.5019705441991089,0.8083977646272408,-0.26118248252645737]},\"image_path\":\"corner_01.png\",\"is_traversable\":true,\"target\":[2.29,-4.395,1.0520001828670502],\"trav_occluded\":false,\"view_id\":\"corner_01\"},{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[3.65,-6.280000000000003,2.2020001828670503],\"quaternion_xyzw\":[0.5019705441991088,0.16217995475226737,0.2611824825264573,0.8083977646272409]},\"image_path\":\"corner_02.png\",\"is_traversable\":true,\"target\":[2.29,-4.395,1.0520001828670502],\"trav_occluded\":false,\"view_id\":\"corner_02\"},{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[3.65,-2.5099999999999967,2.2020001828670503],\"quaternion_xyzw\":[0.16217995475226743,0.5019705441991089,0.8083977646272408,0.26118248252645737]},\"image_path\":\"corner_03.png\",\"is_traversable\":true,\"target\":[2.29,-4.395,1.0520001828670502],\"trav_occluded\":false,\"view_id\":\"corner_03\"}]},\"render_output_dir\":\"q_000\",\"resolved_objects\":{\"containers\":[{\"bbox\":[[2.384720802307129,-5.196214199066162,0.010765612125396729],[2.6902472972869873,-4.673634052276611,0.30843281745910645]],\"category\":\"microwave\",\"contains_ball\":true,\"model\":\"snsqrt\",\"name\":\"render_hidden_box_0_microwave\",\"open_state\":false,\"position\":[2.51735520362854,-4.931553840637207,0.16299134492874146],\"quaternion_xyzw\":[8.149072527885437e-10,-2.2337189875543118e-08,3.7834979593753815e-09,0.9999997615814209],\"role\":\"container\",\"source_category\":\"microwave\",\"source_entry_case\":\"hidden_in_box\",\"source_model\":\"snsqrt\"},{\"bbox\":[[2.721848964691162,-5.544895648956299,0.015554219484329224],[3.141273021697998,-5.140739917755127,0.2896150052547455]],\"category\":\"microwave\",\"contains_ball\":true,\"model\":\"vuezel\",\"name\":\"render_hidden_box_1_microwave\",\"open_state\":false,\"position\":[2.9226956367492676,-5.339622497558594,0.15239590406417847],\"quaternion_xyzw\":[0.0,4.0745362639427185e-10,4.470439307624474e-08,1.0000004768371582],\"role\":\"container\",\"source_category\":\"microwave\",\"source_entry_case\":\"hidden_in_box\",\"source_model\":\"vuezel\"},{\"bbox\":[[2.3972387313842773,-3.076127290725708,0.024867527186870575],[2.7549591064453125,-2.553548812866211,0.29451340436935425]],\"category\":\"microwave\",\"contains_ball\":true,\"model\":\"hjjxmi\",\"name\":\"render_hidden_box_2_microwave\",\"open_state\":false,\"position\":[2.541717290878296,-2.831554889678955,0.14897207915782928],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"role\":\"container\",\"source_category\":\"microwave\",\"source_entry_case\":\"hidden_in_box\",\"source_model\":\"hjjxmi\"},{\"bbox\":[[2.7472386360168457,-6.576127052307129,0.024867527186870575],[3.1180472373962402,-6.053548812866211,0.29451340436935425]],\"category\":\"microwave\",\"contains_ball\":true,\"model\":\"hjjxmi\",\"name\":\"render_hidden_box_3_microwave\",\"open_state\":false,\"position\":[2.8917171955108643,-6.331554889678955,0.14897207915782928],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"role\":\"container\",\"source_category\":\"microwave\",\"source_entry_case\":\"hidden_in_box\",\"source_model\":\"hjjxmi\"},{\"bbox\":[[3.022804021835327,-4.8527092933654785,0.013877302408218384],[3.4731249809265137,-4.349956512451172,0.3228726387023926]],\"category\":\"microwave\",\"contains_ball\":true,\"model\":\"abzvij\",\"name\":\"render_hidden_box_4_microwave\",\"open_state\":false,\"position\":[3.2811827659606934,-4.591235637664795,0.16887009143829346],\"quaternion_xyzw\":[1.4901161193847656e-08,-1.1175870895385742e-08,1.0000001192092896,-1.4901161193847656e-08],\"role\":\"container\",\"source_category\":\"microwave\",\"source_entry_case\":\"hidden_in_box\",\"source_model\":\"abzvij\"}],\"targets\":[{\"bbox\":[[2.4326624870300293,-5.036064624786377,0.0727158933877945],[2.644611358642578,-4.834963321685791,0.15755560994148254]],\"category\":\"club_sandwich\",\"container_name\":\"render_hidden_box_0_microwave\",\"model\":\"ablfyd\",\"name\":\"render_count_target_club_sandwich_0\",\"position\":[2.5374841690063477,-4.934924125671387,0.11317931115627289],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"requested_position\":[2.537484049797058,-4.934924125671387,0.11317931175231935],\"role\":\"count_target\",\"source_category\":\"club_sandwich\",\"source_entry_case\":\"hidden_in_box\",\"source_sampling_source\":\"keys_json_filtered_by_estimated_size_and_local_models\",\"target_name\":\"render_count_target_club_sandwich_0\"},{\"bbox\":[[2.8267393112182617,-5.443958282470703,0.06145213171839714],[3.0386881828308105,-5.242856979370117,0.1462918519973755]],\"category\":\"club_sandwich\",\"container_name\":\"render_hidden_box_1_microwave\",\"model\":\"ablfyd\",\"name\":\"render_count_target_club_sandwich_1\",\"position\":[2.93156099319458,-5.342817783355713,0.10191555321216583],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"requested_position\":[2.93156099319458,-5.342817783355713,0.1019155538082123],\"role\":\"count_target\",\"source_category\":\"club_sandwich\",\"source_entry_case\":\"hidden_in_box\",\"source_sampling_source\":\"keys_json_filtered_by_estimated_size_and_local_models\",\"target_name\":\"render_count_target_club_sandwich_1\"},{\"bbox\":[[2.4712772369384766,-2.9159786701202393,0.0677632987499237],[2.6832261085510254,-2.714876890182495,0.15260303020477295]],\"category\":\"club_sandwich\",\"container_name\":\"render_hidden_box_2_microwave\",\"model\":\"ablfyd\",\"name\":\"render_count_target_club_sandwich_2\",\"position\":[2.576098918914795,-2.81483793258667,0.1082267239689827],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"requested_position\":[2.576098918914795,-2.8148380517959595,0.10822672367095948],\"role\":\"count_target\",\"source_category\":\"club_sandwich\",\"source_entry_case\":\"hidden_in_box\",\"source_sampling_source\":\"keys_json_filtered_by_estimated_size_and_local_models\",\"target_name\":\"render_count_target_club_sandwich_2\"},{\"bbox\":[[2.8278212547302246,-6.41597843170166,0.0677632987499237],[3.0397701263427734,-6.214877128601074,0.15260303020477295]],\"category\":\"club_sandwich\",\"container_name\":\"render_hidden_box_3_microwave\",\"model\":\"ablfyd\",\"name\":\"render_count_target_club_sandwich_3\",\"position\":[2.932642936706543,-6.31483793258667,0.1082267239689827],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"requested_position\":[2.932642936706543,-6.31483793258667,0.10822672367095948],\"role\":\"count_target\",\"source_category\":\"club_sandwich\",\"source_entry_case\":\"hidden_in_box\",\"source_sampling_source\":\"keys_json_filtered_by_estimated_size_and_local_models\",\"target_name\":\"render_count_target_club_sandwich_3\"},{\"bbox\":[[3.1431427001953125,-4.702473163604736,0.08353064954280853],[3.3550915718078613,-4.50137186050415,0.16837038099765778]],\"category\":\"club_sandwich\",\"container_name\":\"render_hidden_box_4_microwave\",\"model\":\"ablfyd\",\"name\":\"render_count_target_club_sandwich_4\",\"position\":[3.247964382171631,-4.601332664489746,0.12399407476186752],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"requested_position\":[3.2479645013809204,-4.601332902908325,0.12399407148361208],\"role\":\"count_target\",\"source_category\":\"club_sandwich\",\"source_entry_case\":\"hidden_in_box\",\"source_sampling_source\":\"keys_json_filtered_by_estimated_size_and_local_models\",\"target_name\":\"render_count_target_club_sandwich_4\"}]},\"room_bbox\":{\"bbox_area_m2\":9.0,\"bbox_map_rc\":[3,10,6,13],\"bbox_world_xy\":[1.0,-6.0,4.0,-3.0],\"expanded_bbox_area_m2\":15.28740000000002,\"expanded_bbox_world_xy\":[0.5800000000000001,-6.630000000000003,4.0,-2.1599999999999966],\"pixel_count\":16,\"room_id\":15,\"room_instance\":\"television_room_0\",\"source\":\"seg_map_expanded_with_walls\"},\"success\":true,\"target_category\":\"club_sandwich\",\"target_closeups\":[{\"best_effort_only\":false,\"camera_pose\":{\"position\":[2.683876509666443,-4.934924125671387,0.3484],\"quaternion_xyzw\":[0.19964346834442684,0.20045590755114753,0.6795940069569384,0.6768396415573386]},\"container_name\":\"render_hidden_box_0_microwave\",\"image_path\":\"target_closeup_000.png\",\"look_target\":[2.5386369228363037,-4.935513973236084,0.12361972332000731],\"target_name\":\"render_count_target_club_sandwich_0\",\"target_position\":[2.5374841690063477,-4.934924125671387,0.11317931115627289],\"visibility\":{\"bbox_xyxy\":[472,508,829,597],\"centered_score\":0.7513,\"is_visible\":true,\"matched_aliases\":[\"render_count_target_club_sandwich_0\",\"club_sandwich\"],\"target_name\":\"render_count_target_club_sandwich_0\",\"visible_pixels\":20675}},{\"best_effort_only\":false,\"camera_pose\":{\"position\":[3.1442652893066407,-5.3454365730285645,0.3296],\"quaternion_xyzw\":[0.26753730289591976,0.26498371839532386,0.651911393288089,0.6581937069326531]},\"container_name\":\"render_hidden_box_1_microwave\",\"image_path\":\"target_closeup_001.png\",\"look_target\":[2.932713747024536,-5.34340763092041,0.11235596388578414],\"target_name\":\"render_count_target_club_sandwich_1\",\"target_position\":[2.93156099319458,-5.342817783355713,0.10191555321216583],\"visibility\":{\"bbox_xyxy\":[441,418,824,562],\"centered_score\":0.838,\"is_visible\":true,\"matched_aliases\":[\"render_count_target_club_sandwich_1\",\"club_sandwich\"],\"target_name\":\"render_count_target_club_sandwich_1\",\"visible_pixels\":40832}},{\"best_effort_only\":false,\"camera_pose\":{\"position\":[2.7175816249847413,-2.8148380517959595,0.3345],\"quaternion_xyzw\":[0.20059154101800072,0.2014362864160976,0.6793560366247899,0.6765070817725213]},\"container_name\":\"render_hidden_box_2_microwave\",\"image_path\":\"target_closeup_002.png\",\"look_target\":[2.577251672744751,-2.815427780151367,0.11866713762283325],\"target_name\":\"render_count_target_club_sandwich_2\",\"target_position\":[2.576098918914795,-2.81483793258667,0.1082267239689827],\"visibility\":{\"bbox_xyxy\":[541,569,770,608],\"centered_score\":0.6948,\"is_visible\":true,\"matched_aliases\":[\"render_count_target_club_sandwich_2\",\"club_sandwich\"],\"target_name\":\"render_count_target_club_sandwich_2\",\"visible_pixels\":4935}},{\"best_effort_only\":false,\"camera_pose\":{\"position\":[3.1083146286010743,-6.31483793258667,0.3345],\"quaternion_xyzw\":[0.2353974512826804,0.23619440350966314,0.6677590271425075,0.665505916840733]},\"container_name\":\"render_hidden_box_3_microwave\",\"image_path\":\"target_closeup_003.png\",\"look_target\":[2.933795690536499,-6.315427780151367,0.11866713762283325],\"target_name\":\"render_count_target_club_sandwich_3\",\"target_position\":[2.932642936706543,-6.31483793258667,0.1082267239689827],\"visibility\":{\"bbox_xyxy\":[422,333,843,587],\"centered_score\":0.8851,\"is_visible\":true,\"matched_aliases\":[\"render_count_target_club_sandwich_3\",\"club_sandwich\"],\"target_name\":\"render_count_target_club_sandwich_3\",\"visible_pixels\":86696}},{\"best_effort_only\":false,\"camera_pose\":{\"position\":[3.091390552520752,-4.701683725791779,0.1684],\"quaternion_xyzw\":[0.5611992565536006,-0.3090761331872523,-0.3704037085270742,0.6725536640648775]},\"container_name\":\"render_hidden_box_4_microwave\",\"image_path\":\"target_closeup_004.png\",\"look_target\":[3.249117136001587,-4.601922512054443,0.1344344884157181],\"target_name\":\"render_count_target_club_sandwich_4\",\"target_position\":[3.247964382171631,-4.601332664489746,0.12399407476186752],\"visibility\":{\"bbox_xyxy\":[223,262,979,717],\"centered_score\":0.8656,\"is_visible\":true,\"matched_aliases\":[\"render_count_target_club_sandwich_4\",\"club_sandwich\"],\"target_name\":\"render_count_target_club_sandwich_4\",\"visible_pixels\":242188}}],\"target_pool_seed\":5469193,\"topdown_map\":\"q_000_topdown_map.png\"},\"task_type\":\"hidden_in_box\"},\"question_id\":\"hidden_in_box/q_000\",\"question_index\":0,\"seed\":7,\"task_type\":\"hidden_in_box\"}","options_json":"[\"0\",\"3\",\"4\",\"5\"]","question":"Considering both images, how many objects of category \"club_sandwich\" are present in this scene?","room":"television_room_0","runner_task":"counting","scene":"Beechwood_1_int","small_task":"Structural Enclosure"},"observations":[],"question":{"answer_type":"choice","options":[],"original":"Considering both images, how many objects of category \"club_sandwich\" are present in this scene?","text":"Considering both images, how many objects of category \"club_sandwich\" are present in this scene?"},"reference_media":["q_000.png","q_000_topdown_map.png","corner_00.png","corner_01.png","corner_02.png","corner_03.png","target_closeup_000.png","target_closeup_001.png","target_closeup_002.png","target_closeup_003.png","target_closeup_004.png"],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":19,"stratum_pool":40},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Enumerative Perception/Structural Enclosure/Beechwood_1_int/television_room_0/q_000.json","annotation_sha256":"9dac47ad9144f2f782c12e7a3d5ee68a414357c74b22466208c0ec8f82701f14","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"1f0495c921de77a94558907920dde05965e6e5d535a7d05efcfacb91b52d65e0","sample_id":"0570","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"5","metric":"official_esi_task","original_answer":"5"},"task":{"category":"Enumerative Perception","role":"spatial_core","skill_tags":["Enumerative Perception","Structural Enclosure"],"stratum":"ESI-Bench/Enumerative Perception/Structural Enclosure","subcategory":"Structural Enclosure"},"transforms":[]}
{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Metric Comparison","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"near the crystal","id":"d2bcc4999a03b98c","metadata":"vendor/ESI-Bench/dataset/json_clean/Metric Comparison/Dimensional Size/house_double_floor_lower/kitchen_0/house_double_floor_lower__kitchen_0_3.json","metadata_sha256":"1b74ee9035d3f003fe19bd3c1dad7c648f4b3523b406c8566adeb9e6b7f640ed","observation_policy":"runtime camera observations; no oracle poses","question":"Which guitar is larger: the one near the teddy bear, or the one near the crystal?","room":"kitchen_0","scene":"house_double_floor_lower","subcategory":"Dimensional Size","task":"metric_comparison.dimensional_size"},"group":{"id":"ESI-scene/house_double_floor_lower","kind":"scene","room":"kitchen_0","scene":"house_double_floor_lower"},"id":"63c7fb999f71de9213b8","native_annotation":{"answer":"near the crystal","answer_type":"choice","big_task":"Metric Comparison","gt_camera_poses":[{"baseline_selected":true,"camera_pose":{"position":[4.431445711601917,3.206760814212437,0.05],"quaternion_xyzw":[0.1849141925124365,0.6739023498109732,0.6898086075482812,0.18927876077104847]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/0","original_image_path":"1.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/1.png"},{"baseline_selected":true,"camera_pose":{"position":[2.5967126545463426,3.385470648672128,0.05],"quaternion_xyzw":[0.0031142830169272806,0.7035589679296386,0.7106230965769356,0.003145552173996523]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/1","original_image_path":"10.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/10.png"},{"baseline_selected":true,"camera_pose":{"position":[1.8806330871308794,2.9804516451224403,0.05],"quaternion_xyzw":[-0.3490824357575858,0.6108570807958918,0.6169904302385871,-0.3525874201968574]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/2","original_image_path":"11.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/11.png"},{"baseline_selected":true,"camera_pose":{"position":[1.8733500495126374,2.157799046834833,0.05],"quaternion_xyzw":[0.6077427977789647,-0.3544765321720527,-0.35803567638007805,0.6138448780645905]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/3","original_image_path":"12.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/12.png"},{"baseline_selected":true,"camera_pose":{"position":[2.5894296169281006,2.5628180503845215,1.5],"quaternion_xyzw":[0.0,0.0,0.7071067811865475,-0.7071067811865475]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/4","original_image_path":"13.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/13.png"},{"baseline_selected":true,"camera_pose":{"position":[4.759371747527636,2.32734473420525,0.05],"quaternion_xyzw":[0.5252881974314315,0.47136982230956215,0.47314816732552645,0.5272699612263009]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/5","original_image_path":"14.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/14.png"},{"baseline_selected":true,"camera_pose":{"position":[4.7145003495068405,2.0646504939132333,0.05],"quaternion_xyzw":[0.5530848682894114,0.4384225452850196,0.4400765895436739,0.5551715010613368]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/6","original_image_path":"16.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/16.png"},{"baseline_selected":true,"camera_pose":{"position":[4.6788786344157405,3.1939276574285373,0.05],"quaternion_xyzw":[0.4207668538883447,0.5666325567895081,0.5687703011582768,0.42235428821714643]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/7","original_image_path":"17.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/17.png"},{"baseline_selected":true,"camera_pose":{"position":[4.809079931150359,2.32195060372153,0.05],"quaternion_xyzw":[0.5253104289277861,0.4713897718317113,0.47312829192959865,0.527247812369035]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/8","original_image_path":"18.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/18.png"},{"baseline_selected":true,"camera_pose":{"position":[3.737260623786845,3.2150949863580953,0.05],"quaternion_xyzw":[-0.17681078666943023,0.6760736508625483,0.6920311582715057,-0.18098408854957504]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/9","original_image_path":"2.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/2.png"},{"baseline_selected":true,"camera_pose":{"position":[4.7631806367263625,2.053238666760202,0.05],"quaternion_xyzw":[0.5531082762087356,0.4384411003969045,0.4400581033747544,0.5551481801522603]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/10","original_image_path":"20.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/20.png"},{"baseline_selected":true,"camera_pose":{"position":[4.726742913387884,3.2083848688201764,0.05],"quaternion_xyzw":[0.42078466178581986,0.5666565380666148,0.5687464089948702,0.4223365465213642]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/11","original_image_path":"21.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/21.png"},{"baseline_selected":true,"camera_pose":{"position":[4.858788114773084,2.316556473237809,0.05],"quaternion_xyzw":[0.5253316856431863,0.4714088466302713,0.47310928643951283,0.5272266329224091]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/12","original_image_path":"22.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/22.png"},{"baseline_selected":true,"camera_pose":{"position":[4.838755905222648,2.951616204838857,0.05],"quaternion_xyzw":[0.4546117627850889,0.5399331678637906,0.5418807847987047,0.456251613086404]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/13","original_image_path":"23.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/23.png"},{"baseline_selected":true,"camera_pose":{"position":[4.8118609239458845,2.04182683960717,0.05],"quaternion_xyzw":[0.5531306577646707,0.4384588419256897,0.4400404263080234,0.5551258799521591]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/14","original_image_path":"24.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/24.png"},{"baseline_selected":true,"camera_pose":{"position":[4.77460719236003,3.2228420802118145,0.05],"quaternion_xyzw":[0.4208016888631912,0.5666794678404011,0.5687235625430859,0.42231958134368647]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/15","original_image_path":"25.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/25.png"},{"baseline_selected":true,"camera_pose":{"position":[4.908496298395807,2.31116234275409,0.05],"quaternion_xyzw":[0.5253520303135024,0.47142710300152707,0.47309109496759927,0.5272063606060027]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/16","original_image_path":"26.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/26.png"},{"baseline_selected":true,"camera_pose":{"position":[4.888025301977305,2.960132466118198,0.05],"quaternion_xyzw":[0.4546293686666721,0.539954077996152,0.5418599490038073,0.45623406982234443]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/17","original_image_path":"27.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/27.png"},{"baseline_selected":true,"camera_pose":{"position":[4.8605412111654065,2.0304150124541396,0.05],"quaternion_xyzw":[0.553152079012878,0.43847582223272275,0.44002350636218157,0.5551045348849168]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/18","original_image_path":"28.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/28.png"},{"baseline_selected":true,"camera_pose":{"position":[4.8224714713321735,3.237299291603454,0.05],"quaternion_xyzw":[0.4208179853732142,0.5667014137845087,0.5687016946204964,0.42230334279619935]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/19","original_image_path":"29.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/29.png"},{"baseline_selected":true,"camera_pose":{"position":[3.382950475081656,2.6180801514547403,0.05],"quaternion_xyzw":[-0.4911594583501117,0.497091563141543,0.5088245189987061,-0.5027523975004573]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/20","original_image_path":"3.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/3.png"},{"baseline_selected":true,"camera_pose":{"position":[1.7794933852703734,2.859076786674673,0.05],"quaternion_xyzw":[-0.4706020778574957,0.5244326333700255,0.5281209288300732,-0.4739117870494982]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/21","original_image_path":"30.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/30.png"},{"baseline_selected":true,"camera_pose":{"position":[1.799775262106237,2.2161021195924597,0.05],"quaternion_xyzw":[0.5390091266164719,-0.4538337405387133,-0.457025519269356,0.5427999374625642]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/22","original_image_path":"31.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/31.png"},{"baseline_selected":true,"camera_pose":{"position":[1.8270054434292224,3.13723045621272,0.05],"quaternion_xyzw":[-0.4377084637675442,0.5521840303499083,0.5560674993079001,-0.44078683463352963]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/23","original_image_path":"32.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/32.png"},{"baseline_selected":true,"camera_pose":{"position":[1.729785201647649,2.864470917158393,0.05],"quaternion_xyzw":[-0.47063724178239325,0.5244718195905808,0.5280820134044386,-0.47387686609658475]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/24","original_image_path":"34.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/34.png"},{"baseline_selected":true,"camera_pose":{"position":[1.7505058653515797,2.2075858583131196,0.05],"quaternion_xyzw":[0.5390494019962992,-0.45386765152919395,-0.4569918426232741,0.5427599403775034]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/25","original_image_path":"35.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/35.png"},{"baseline_selected":true,"camera_pose":{"position":[1.7783251562097004,3.1486422833657515,0.05],"quaternion_xyzw":[-0.43774116984309874,0.5522252901865226,0.5560265245942044,-0.4407543545451331]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/26","original_image_path":"36.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/36.png"},{"baseline_selected":true,"camera_pose":{"position":[1.6800770180249258,2.8698650476421133,0.05],"quaternion_xyzw":[-0.47067094494239997,0.5245093779537439,0.5280447091659101,-0.4738433909505273]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/27","original_image_path":"38.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/38.png"},{"baseline_selected":true,"camera_pose":{"position":[1.7012364685969223,2.1990695970337795,0.05],"quaternion_xyzw":[0.5390880042733378,-0.4539001538036582,-0.45695956026691253,0.5427215992627111]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/28","original_image_path":"39.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/39.png"},{"baseline_selected":true,"camera_pose":{"position":[3.7228254141915396,2.012731144405727,0.05],"quaternion_xyzw":[0.6739023498109731,-0.18491419251243663,-0.18927876077104863,0.6898086075482811]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/29","original_image_path":"4.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/4.png"},{"baseline_selected":true,"camera_pose":{"position":[1.7296448689901784,3.160054110518783,0.05],"quaternion_xyzw":[-0.43777251725669974,0.5522648360244635,0.5559872463268231,-0.4407232192062514]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/30","original_image_path":"40.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/40.png"},{"baseline_selected":true,"camera_pose":{"position":[1.6303688344022018,2.8752591781258334,0.05],"quaternion_xyzw":[-0.47070327650738725,0.5245454078292593,0.5280089180854914,-0.47381127364451225]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/31","original_image_path":"42.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/42.png"},{"baseline_selected":true,"camera_pose":{"position":[1.6519670718422654,2.19055333575444,0.05],"quaternion_xyzw":[0.5391250355792601,-0.4539313333547438,-0.4569285873679007,0.542684813364462]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/32","original_image_path":"43.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/43.png"},{"baseline_selected":true,"camera_pose":{"position":[1.6809645817706569,3.1714659376718144,0.05],"quaternion_xyzw":[-0.43780258894552115,0.5523027724918216,0.555949561289358,-0.4406933467986743]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/33","original_image_path":"44.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/44.png"},{"baseline_selected":true,"camera_pose":{"position":[2.5821465793098586,1.7401654520969148,0.05],"quaternion_xyzw":[0.7035589679296387,-0.003114283016927281,-0.0031455521739965236,0.7106230965769357]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/34","original_image_path":"7.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/7.png"},{"baseline_selected":true,"camera_pose":{"position":[3.2982261467253218,2.145184455646603,0.05],"quaternion_xyzw":[0.610857080795892,0.349082435757586,0.35258742019685757,0.616990430238587]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/35","original_image_path":"8.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/8.png"},{"baseline_selected":true,"camera_pose":{"position":[3.3055091843435638,2.9678370539342094,0.05],"quaternion_xyzw":[0.3544765321720529,0.6077427977789647,0.6138448780645906,0.3580356763800782]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/36","original_image_path":"9.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/9.png"}],"id":"0701","image_paths_json":"[]","metadata_json":"{\"answer\":\"task_obj2\",\"camera_poses\":[{\"_key\":\"0.png\",\"azimuth_deg\":359.3121575820625,\"height\":0.05,\"position\":[4.771320650711801,2.601411807163424,0.05],\"quaternion_xyzw\":[0.497091563141543,0.4911594583501117,0.5027523975004573,0.5088245189987061],\"type\":\"side\"},{\"_key\":\"1.png\",\"azimuth_deg\":59.31215758206252,\"height\":0.05,\"position\":[4.431445711601917,3.206760814212437,0.05],\"quaternion_xyzw\":[0.1849141925124365,0.6739023498109732,0.6898086075482812,0.18927876077104847],\"type\":\"side\"},{\"_key\":\"10.png\",\"azimuth_deg\":89.49276715718918,\"height\":0.05,\"position\":[2.5967126545463426,3.385470648672128,0.05],\"quaternion_xyzw\":[0.0031142830169272806,0.7035589679296386,0.7106230965769356,0.003145552173996523],\"type\":\"side\"},{\"_key\":\"11.png\",\"azimuth_deg\":149.49276715718915,\"height\":0.05,\"position\":[1.8806330871308794,2.9804516451224403,0.05],\"quaternion_xyzw\":[-0.3490824357575858,0.6108570807958918,0.6169904302385871,-0.3525874201968574],\"type\":\"side\"},{\"_key\":\"12.png\",\"azimuth_deg\":209.49276715718918,\"height\":0.05,\"position\":[1.8733500495126374,2.157799046834833,0.05],\"quaternion_xyzw\":[0.6077427977789647,-0.3544765321720527,-0.35803567638007805,0.6138448780645905],\"type\":\"side\"},{\"_key\":\"13.png\",\"height\":1.5,\"position\":[2.5894296169281006,2.5628180503845215,1.5],\"quaternion_xyzw\":[0.0,0.0,0.7071067811865475,-0.7071067811865475],\"type\":\"top_down\"},{\"_key\":\"14.png\",\"description\":\"14_behind_obj1→obj2_standoff0.15m_tilt-8deg\",\"height\":0.05,\"position\":[4.759371747527636,2.32734473420525,0.05],\"quaternion_xyzw\":[0.5252881974314315,0.47136982230956215,0.47314816732552645,0.5272699612263009],\"standoff_m\":0.15,\"tilt_deg\":-8,\"type\":\"cross_view\"},{\"_key\":\"15.png\",\"description\":\"15_behind_obj1→obj2_standoff0.15m_tilt+8deg\",\"height\":0.05,\"position\":[4.740217111713333,2.934583682280177,0.05],\"quaternion_xyzw\":[0.45457412893334753,0.5398884709358028,0.5419253174330203,0.4562891085487461],\"standoff_m\":0.15,\"tilt_deg\":8,\"type\":\"cross_view\"},{\"_key\":\"16.png\",\"description\":\"16_behind_obj1→obj2_standoff0.15m_tilt-15deg\",\"height\":0.05,\"position\":[4.7145003495068405,2.0646504939132333,0.05],\"quaternion_xyzw\":[0.5530848682894114,0.4384225452850196,0.4400765895436739,0.5551715010613368],\"standoff_m\":0.15,\"tilt_deg\":-15,\"type\":\"cross_view\"},{\"_key\":\"17.png\",\"description\":\"17_behind_obj1→obj2_standoff0.15m_tilt+15deg\",\"height\":0.05,\"position\":[4.6788786344157405,3.1939276574285373,0.05],\"quaternion_xyzw\":[0.4207668538883447,0.5666325567895081,0.5687703011582768,0.42235428821714643],\"standoff_m\":0.15,\"tilt_deg\":15,\"type\":\"cross_view\"},{\"_key\":\"18.png\",\"description\":\"18_behind_obj1→obj2_standoff0.2m_tilt-8deg\",\"height\":0.05,\"position\":[4.809079931150359,2.32195060372153,0.05],\"quaternion_xyzw\":[0.5253104289277861,0.4713897718317113,0.47312829192959865,0.527247812369035],\"standoff_m\":0.2,\"tilt_deg\":-8,\"type\":\"cross_view\"},{\"_key\":\"19.png\",\"description\":\"19_behind_obj1→obj2_standoff0.2m_tilt+8deg\",\"height\":0.05,\"position\":[4.7894865084679905,2.9430999435595173,0.05],\"quaternion_xyzw\":[0.4545933676374476,0.5399113203368604,0.5419025529379309,0.45626994136312043],\"standoff_m\":0.2,\"tilt_deg\":8,\"type\":\"cross_view\"},{\"_key\":\"2.png\",\"azimuth_deg\":119.31215758206251,\"height\":0.05,\"position\":[3.737260623786845,3.2150949863580953,0.05],\"quaternion_xyzw\":[-0.17681078666943023,0.6760736508625483,0.6920311582715057,-0.18098408854957504],\"type\":\"side\"},{\"_key\":\"20.png\",\"description\":\"20_behind_obj1→obj2_standoff0.2m_tilt-15deg\",\"height\":0.05,\"position\":[4.7631806367263625,2.053238666760202,0.05],\"quaternion_xyzw\":[0.5531082762087356,0.4384411003969045,0.4400581033747544,0.5551481801522603],\"standoff_m\":0.2,\"tilt_deg\":-15,\"type\":\"cross_view\"},{\"_key\":\"21.png\",\"description\":\"21_behind_obj1→obj2_standoff0.2m_tilt+15deg\",\"height\":0.05,\"position\":[4.726742913387884,3.2083848688201764,0.05],\"quaternion_xyzw\":[0.42078466178581986,0.5666565380666148,0.5687464089948702,0.4223365465213642],\"standoff_m\":0.2,\"tilt_deg\":15,\"type\":\"cross_view\"},{\"_key\":\"22.png\",\"description\":\"22_behind_obj1→obj2_standoff0.25m_tilt-8deg\",\"height\":0.05,\"position\":[4.858788114773084,2.316556473237809,0.05],\"quaternion_xyzw\":[0.5253316856431863,0.4714088466302713,0.47310928643951283,0.5272266329224091],\"standoff_m\":0.25,\"tilt_deg\":-8,\"type\":\"cross_view\"},{\"_key\":\"23.png\",\"description\":\"23_behind_obj1→obj2_standoff0.25m_tilt+8deg\",\"height\":0.05,\"position\":[4.838755905222648,2.951616204838857,0.05],\"quaternion_xyzw\":[0.4546117627850889,0.5399331678637906,0.5418807847987047,0.456251613086404],\"standoff_m\":0.25,\"tilt_deg\":8,\"type\":\"cross_view\"},{\"_key\":\"24.png\",\"description\":\"24_behind_obj1→obj2_standoff0.25m_tilt-15deg\",\"height\":0.05,\"position\":[4.8118609239458845,2.04182683960717,0.05],\"quaternion_xyzw\":[0.5531306577646707,0.4384588419256897,0.4400404263080234,0.5551258799521591],\"standoff_m\":0.25,\"tilt_deg\":-15,\"type\":\"cross_view\"},{\"_key\":\"25.png\",\"description\":\"25_behind_obj1→obj2_standoff0.25m_tilt+15deg\",\"height\":0.05,\"position\":[4.77460719236003,3.2228420802118145,0.05],\"quaternion_xyzw\":[0.4208016888631912,0.5666794678404011,0.5687235625430859,0.42231958134368647],\"standoff_m\":0.25,\"tilt_deg\":15,\"type\":\"cross_view\"},{\"_key\":\"26.png\",\"description\":\"26_behind_obj1→obj2_standoff0.3m_tilt-8deg\",\"height\":0.05,\"position\":[4.908496298395807,2.31116234275409,0.05],\"quaternion_xyzw\":[0.5253520303135024,0.47142710300152707,0.47309109496759927,0.5272063606060027],\"standoff_m\":0.3,\"tilt_deg\":-8,\"type\":\"cross_view\"},{\"_key\":\"27.png\",\"description\":\"27_behind_obj1→obj2_standoff0.3m_tilt+8deg\",\"height\":0.05,\"position\":[4.888025301977305,2.960132466118198,0.05],\"quaternion_xyzw\":[0.4546293686666721,0.539954077996152,0.5418599490038073,0.45623406982234443],\"standoff_m\":0.3,\"tilt_deg\":8,\"type\":\"cross_view\"},{\"_key\":\"28.png\",\"description\":\"28_behind_obj1→obj2_standoff0.3m_tilt-15deg\",\"height\":0.05,\"position\":[4.8605412111654065,2.0304150124541396,0.05],\"quaternion_xyzw\":[0.553152079012878,0.43847582223272275,0.44002350636218157,0.5551045348849168],\"standoff_m\":0.3,\"tilt_deg\":-15,\"type\":\"cross_view\"},{\"_key\":\"29.png\",\"description\":\"29_behind_obj1→obj2_standoff0.3m_tilt+15deg\",\"height\":0.05,\"position\":[4.8224714713321735,3.237299291603454,0.05],\"quaternion_xyzw\":[0.4208179853732142,0.5667014137845087,0.5687016946204964,0.42230334279619935],\"standoff_m\":0.3,\"tilt_deg\":15,\"type\":\"cross_view\"},{\"_key\":\"3.png\",\"azimuth_deg\":179.31215758206253,\"height\":0.05,\"position\":[3.382950475081656,2.6180801514547403,0.05],\"quaternion_xyzw\":[-0.4911594583501117,0.497091563141543,0.5088245189987061,-0.5027523975004573],\"type\":\"side\"},{\"_key\":\"30.png\",\"description\":\"30_behind_obj2→obj1_standoff0.15m_tilt-8deg\",\"height\":0.05,\"position\":[1.7794933852703734,2.859076786674673,0.05],\"quaternion_xyzw\":[-0.4706020778574957,0.5244326333700255,0.5281209288300732,-0.4739117870494982],\"standoff_m\":0.15,\"tilt_deg\":-8,\"type\":\"cross_view\"},{\"_key\":\"31.png\",\"description\":\"31_behind_obj2→obj1_standoff0.15m_tilt+8deg\",\"height\":0.05,\"position\":[1.799775262106237,2.2161021195924597,0.05],\"quaternion_xyzw\":[0.5390091266164719,-0.4538337405387133,-0.457025519269356,0.5427999374625642],\"standoff_m\":0.15,\"tilt_deg\":8,\"type\":\"cross_view\"},{\"_key\":\"32.png\",\"description\":\"32_behind_obj2→obj1_standoff0.15m_tilt-15deg\",\"height\":0.05,\"position\":[1.8270054434292224,3.13723045621272,0.05],\"quaternion_xyzw\":[-0.4377084637675442,0.5521840303499083,0.5560674993079001,-0.44078683463352963],\"standoff_m\":0.15,\"tilt_deg\":-15,\"type\":\"cross_view\"},{\"_key\":\"33.png\",\"description\":\"33_behind_obj2→obj1_standoff0.15m_tilt+15deg\",\"height\":0.05,\"position\":[1.8647234791655354,1.9414958766758257,0.05],\"quaternion_xyzw\":[0.5657096529944083,-0.4200815291537561,-0.4230359311078666,0.5696882466441523],\"standoff_m\":0.15,\"tilt_deg\":15,\"type\":\"cross_view\"},{\"_key\":\"34.png\",\"description\":\"34_behind_obj2→obj1_standoff0.2m_tilt-8deg\",\"height\":0.05,\"position\":[1.729785201647649,2.864470917158393,0.05],\"quaternion_xyzw\":[-0.47063724178239325,0.5244718195905808,0.5280820134044386,-0.47387686609658475],\"standoff_m\":0.2,\"tilt_deg\":-8,\"type\":\"cross_view\"},{\"_key\":\"35.png\",\"description\":\"35_behind_obj2→obj1_standoff0.2m_tilt+8deg\",\"height\":0.05,\"position\":[1.7505058653515797,2.2075858583131196,0.05],\"quaternion_xyzw\":[0.5390494019962992,-0.45386765152919395,-0.4569918426232741,0.5427599403775034],\"standoff_m\":0.2,\"tilt_deg\":8,\"type\":\"cross_view\"},{\"_key\":\"36.png\",\"description\":\"36_behind_obj2→obj1_standoff0.2m_tilt-15deg\",\"height\":0.05,\"position\":[1.7783251562097004,3.1486422833657515,0.05],\"quaternion_xyzw\":[-0.43774116984309874,0.5522252901865226,0.5560265245942044,-0.4407543545451331],\"standoff_m\":0.2,\"tilt_deg\":-15,\"type\":\"cross_view\"},{\"_key\":\"37.png\",\"description\":\"37_behind_obj2→obj1_standoff0.2m_tilt+15deg\",\"height\":0.05,\"position\":[1.8168592001933903,1.9270386652841869,0.05],\"quaternion_xyzw\":[0.5657519234689767,-0.4201129181402862,-0.4230047590391467,0.569646268251658],\"standoff_m\":0.2,\"tilt_deg\":15,\"type\":\"cross_view\"},{\"_key\":\"38.png\",\"description\":\"38_behind_obj2→obj1_standoff0.25m_tilt-8deg\",\"height\":0.05,\"position\":[1.6800770180249258,2.8698650476421133,0.05],\"quaternion_xyzw\":[-0.47067094494239997,0.5245093779537439,0.5280447091659101,-0.4738433909505273],\"standoff_m\":0.25,\"tilt_deg\":-8,\"type\":\"cross_view\"},{\"_key\":\"39.png\",\"description\":\"39_behind_obj2→obj1_standoff0.25m_tilt+8deg\",\"height\":0.05,\"position\":[1.7012364685969223,2.1990695970337795,0.05],\"quaternion_xyzw\":[0.5390880042733378,-0.4539001538036582,-0.45695956026691253,0.5427215992627111],\"standoff_m\":0.25,\"tilt_deg\":8,\"type\":\"cross_view\"},{\"_key\":\"4.png\",\"azimuth_deg\":239.3121575820625,\"height\":0.05,\"position\":[3.7228254141915396,2.012731144405727,0.05],\"quaternion_xyzw\":[0.6739023498109731,-0.18491419251243663,-0.18927876077104863,0.6898086075482811],\"type\":\"side\"},{\"_key\":\"40.png\",\"description\":\"40_behind_obj2→obj1_standoff0.25m_tilt-15deg\",\"height\":0.05,\"position\":[1.7296448689901784,3.160054110518783,0.05],\"quaternion_xyzw\":[-0.43777251725669974,0.5522648360244635,0.5559872463268231,-0.4407232192062514],\"standoff_m\":0.25,\"tilt_deg\":-15,\"type\":\"cross_view\"},{\"_key\":\"41.png\",\"description\":\"41_behind_obj2→obj1_standoff0.25m_tilt+15deg\",\"height\":0.05,\"position\":[1.7689949212212461,1.9125814538925483,0.05],\"quaternion_xyzw\":[0.5657924379613749,-0.42014300317882086,-0.42297487756494934,0.5696060278600649],\"standoff_m\":0.25,\"tilt_deg\":15,\"type\":\"cross_view\"},{\"_key\":\"42.png\",\"description\":\"42_behind_obj2→obj1_standoff0.3m_tilt-8deg\",\"height\":0.05,\"position\":[1.6303688344022018,2.8752591781258334,0.05],\"quaternion_xyzw\":[-0.47070327650738725,0.5245454078292593,0.5280089180854914,-0.47381127364451225],\"standoff_m\":0.3,\"tilt_deg\":-8,\"type\":\"cross_view\"},{\"_key\":\"43.png\",\"description\":\"43_behind_obj2→obj1_standoff0.3m_tilt+8deg\",\"height\":0.05,\"position\":[1.6519670718422654,2.19055333575444,0.05],\"quaternion_xyzw\":[0.5391250355792601,-0.4539313333547438,-0.4569285873679007,0.542684813364462],\"standoff_m\":0.3,\"tilt_deg\":8,\"type\":\"cross_view\"},{\"_key\":\"44.png\",\"description\":\"44_behind_obj2→obj1_standoff0.3m_tilt-15deg\",\"height\":0.05,\"position\":[1.6809645817706569,3.1714659376718144,0.05],\"quaternion_xyzw\":[-0.43780258894552115,0.5523027724918216,0.555949561289358,-0.4406933467986743],\"standoff_m\":0.3,\"tilt_deg\":-15,\"type\":\"cross_view\"},{\"_key\":\"45.png\",\"description\":\"45_behind_obj2→obj1_standoff0.3m_tilt+15deg\",\"height\":0.05,\"position\":[1.7211306422491015,1.8981242425009097,0.05],\"quaternion_xyzw\":[0.5658313036625039,-0.42017186386661487,-0.4229462081620013,0.5695674197246814],\"standoff_m\":0.3,\"tilt_deg\":15,\"type\":\"cross_view\"},{\"_key\":\"5.png\",\"azimuth_deg\":299.3121575820625,\"height\":0.05,\"position\":[4.417010502006613,2.0043969722600687,0.05],\"quaternion_xyzw\":[0.6760736508625482,0.17681078666943045,0.18098408854957523,0.6920311582715057],\"type\":\"side\"},{\"_key\":\"6.png\",\"height\":1.5,\"position\":[4.0771355628967285,2.609745979309082,1.5],\"quaternion_xyzw\":[0.0,0.0,0.7071067811865475,-0.7071067811865475],\"type\":\"top_down\"},{\"_key\":\"7.png\",\"azimuth_deg\":269.4927671571892,\"height\":0.05,\"position\":[2.5821465793098586,1.7401654520969148,0.05],\"quaternion_xyzw\":[0.7035589679296387,-0.003114283016927281,-0.0031455521739965236,0.7106230965769357],\"type\":\"side\"},{\"_key\":\"8.png\",\"azimuth_deg\":329.4927671571892,\"height\":0.05,\"position\":[3.2982261467253218,2.145184455646603,0.05],\"quaternion_xyzw\":[0.610857080795892,0.349082435757586,0.35258742019685757,0.616990430238587],\"type\":\"side\"},{\"_key\":\"9.png\",\"azimuth_deg\":29.492767157189167,\"height\":0.05,\"position\":[3.3055091843435638,2.9678370539342094,0.05],\"quaternion_xyzw\":[0.3544765321720529,0.6077427977789647,0.6138448780645906,0.3580356763800782],\"type\":\"side\"}],\"exist_ref_obj\":[{\"_indices\":[1,0],\"_key\":\"exist_ref_obj1_0\",\"value\":true},{\"_indices\":[1,1],\"_key\":\"exist_ref_obj1_1\",\"value\":false},{\"_indices\":[1,2],\"_key\":\"exist_ref_obj1_2\",\"value\":true},{\"_indices\":[1,3],\"_key\":\"exist_ref_obj1_3\",\"value\":true},{\"_indices\":[1,4],\"_key\":\"exist_ref_obj1_4\",\"value\":true},{\"_indices\":[1,5],\"_key\":\"exist_ref_obj1_5\",\"value\":false},{\"_indices\":[1,6],\"_key\":\"exist_ref_obj1_6\",\"value\":false},{\"_indices\":[1,7],\"_key\":\"exist_ref_obj1_7\",\"value\":false},{\"_indices\":[1,8],\"_key\":\"exist_ref_obj1_8\",\"value\":false},{\"_indices\":[1,9],\"_key\":\"exist_ref_obj1_9\",\"value\":false},{\"_indices\":[1,10],\"_key\":\"exist_ref_obj1_10\",\"value\":false},{\"_indices\":[1,11],\"_key\":\"exist_ref_obj1_11\",\"value\":true},{\"_indices\":[1,12],\"_key\":\"exist_ref_obj1_12\",\"value\":true},{\"_indices\":[1,13],\"_key\":\"exist_ref_obj1_13\",\"value\":false},{\"_indices\":[1,14],\"_key\":\"exist_ref_obj1_14\",\"value\":false},{\"_indices\":[1,15],\"_key\":\"exist_ref_obj1_15\",\"value\":false},{\"_indices\":[1,16],\"_key\":\"exist_ref_obj1_16\",\"value\":false},{\"_indices\":[1,17],\"_key\":\"exist_ref_obj1_17\",\"value\":false},{\"_indices\":[1,18],\"_key\":\"exist_ref_obj1_18\",\"value\":false},{\"_indices\":[1,19],\"_key\":\"exist_ref_obj1_19\",\"value\":false},{\"_indices\":[1,20],\"_key\":\"exist_ref_obj1_20\",\"value\":false},{\"_indices\":[1,21],\"_key\":\"exist_ref_obj1_21\",\"value\":false},{\"_indices\":[1,22],\"_key\":\"exist_ref_obj1_22\",\"value\":true},{\"_indices\":[1,23],\"_key\":\"exist_ref_obj1_23\",\"value\":false},{\"_indices\":[1,24],\"_key\":\"exist_ref_obj1_24\",\"value\":false},{\"_indices\":[1,25],\"_key\":\"exist_ref_obj1_25\",\"value\":false},{\"_indices\":[1,26],\"_key\":\"exist_ref_obj1_26\",\"value\":true},{\"_indices\":[1,27],\"_key\":\"exist_ref_obj1_27\",\"value\":true},{\"_indices\":[1,28],\"_key\":\"exist_ref_obj1_28\",\"value\":false},{\"_indices\":[1,29],\"_key\":\"exist_ref_obj1_29\",\"value\":false},{\"_indices\":[1,30],\"_key\":\"exist_ref_obj1_30\",\"value\":true},{\"_indices\":[1,31],\"_key\":\"exist_ref_obj1_31\",\"value\":true},{\"_indices\":[1,32],\"_key\":\"exist_ref_obj1_32\",\"value\":true},{\"_indices\":[1,33],\"_key\":\"exist_ref_obj1_33\",\"value\":false},{\"_indices\":[1,34],\"_key\":\"exist_ref_obj1_34\",\"value\":true},{\"_indices\":[1,35],\"_key\":\"exist_ref_obj1_35\",\"value\":true},{\"_indices\":[1,36],\"_key\":\"exist_ref_obj1_36\",\"value\":true},{\"_indices\":[1,37],\"_key\":\"exist_ref_obj1_37\",\"value\":false},{\"_indices\":[1,38],\"_key\":\"exist_ref_obj1_38\",\"value\":true},{\"_indices\":[1,39],\"_key\":\"exist_ref_obj1_39\",\"value\":true},{\"_indices\":[1,40],\"_key\":\"exist_ref_obj1_40\",\"value\":true},{\"_indices\":[1,41],\"_key\":\"exist_ref_obj1_41\",\"value\":false},{\"_indices\":[1,42],\"_key\":\"exist_ref_obj1_42\",\"value\":true},{\"_indices\":[1,43],\"_key\":\"exist_ref_obj1_43\",\"value\":true},{\"_indices\":[1,44],\"_key\":\"exist_ref_obj1_44\",\"value\":true},{\"_indices\":[1,45],\"_key\":\"exist_ref_obj1_45\",\"value\":false},{\"_indices\":[2,0],\"_key\":\"exist_ref_obj2_0\",\"value\":false},{\"_indices\":[2,1],\"_key\":\"exist_ref_obj2_1\",\"value\":true},{\"_indices\":[2,2],\"_key\":\"exist_ref_obj2_2\",\"value\":false},{\"_indices\":[2,3],\"_key\":\"exist_ref_obj2_3\",\"value\":false},{\"_indices\":[2,4],\"_key\":\"exist_ref_obj2_4\",\"value\":false},{\"_indices\":[2,5],\"_key\":\"exist_ref_obj2_5\",\"value\":false},{\"_indices\":[2,6],\"_key\":\"exist_ref_obj2_6\",\"value\":false},{\"_indices\":[2,7],\"_key\":\"exist_ref_obj2_7\",\"value\":true},{\"_indices\":[2,8],\"_key\":\"exist_ref_obj2_8\",\"value\":true},{\"_indices\":[2,9],\"_key\":\"exist_ref_obj2_9\",\"value\":true},{\"_indices\":[2,10],\"_key\":\"exist_ref_obj2_10\",\"value\":true},{\"_indices\":[2,11],\"_key\":\"exist_ref_obj2_11\",\"value\":true},{\"_indices\":[2,12],\"_key\":\"exist_ref_obj2_12\",\"value\":true},{\"_indices\":[2,13],\"_key\":\"exist_ref_obj2_13\",\"value\":true},{\"_indices\":[2,14],\"_key\":\"exist_ref_obj2_14\",\"value\":true},{\"_indices\":[2,15],\"_key\":\"exist_ref_obj2_15\",\"value\":false},{\"_indices\":[2,16],\"_key\":\"exist_ref_obj2_16\",\"value\":true},{\"_indices\":[2,17],\"_key\":\"exist_ref_obj2_17\",\"value\":true},{\"_indices\":[2,18],\"_key\":\"exist_ref_obj2_18\",\"value\":true},{\"_indices\":[2,19],\"_key\":\"exist_ref_obj2_19\",\"value\":false},{\"_indices\":[2,20],\"_key\":\"exist_ref_obj2_20\",\"value\":true},{\"_indices\":[2,21],\"_key\":\"exist_ref_obj2_21\",\"value\":true},{\"_indices\":[2,22],\"_key\":\"exist_ref_obj2_22\",\"value\":true},{\"_indices\":[2,23],\"_key\":\"exist_ref_obj2_23\",\"value\":true},{\"_indices\":[2,24],\"_key\":\"exist_ref_obj2_24\",\"value\":true},{\"_indices\":[2,25],\"_key\":\"exist_ref_obj2_25\",\"value\":true},{\"_indices\":[2,26],\"_key\":\"exist_ref_obj2_26\",\"value\":true},{\"_indices\":[2,27],\"_key\":\"exist_ref_obj2_27\",\"value\":true},{\"_indices\":[2,28],\"_key\":\"exist_ref_obj2_28\",\"value\":true},{\"_indices\":[2,29],\"_key\":\"exist_ref_obj2_29\",\"value\":true},{\"_indices\":[2,30],\"_key\":\"exist_ref_obj2_30\",\"value\":true},{\"_indices\":[2,31],\"_key\":\"exist_ref_obj2_31\",\"value\":true},{\"_indices\":[2,32],\"_key\":\"exist_ref_obj2_32\",\"value\":false},{\"_indices\":[2,33],\"_key\":\"exist_ref_obj2_33\",\"value\":false},{\"_indices\":[2,34],\"_key\":\"exist_ref_obj2_34\",\"value\":true},{\"_indices\":[2,35],\"_key\":\"exist_ref_obj2_35\",\"value\":true},{\"_indices\":[2,36],\"_key\":\"exist_ref_obj2_36\",\"value\":true},{\"_indices\":[2,37],\"_key\":\"exist_ref_obj2_37\",\"value\":false},{\"_indices\":[2,38],\"_key\":\"exist_ref_obj2_38\",\"value\":true},{\"_indices\":[2,39],\"_key\":\"exist_ref_obj2_39\",\"value\":true},{\"_indices\":[2,40],\"_key\":\"exist_ref_obj2_40\",\"value\":true},{\"_indices\":[2,41],\"_key\":\"exist_ref_obj2_41\",\"value\":false},{\"_indices\":[2,42],\"_key\":\"exist_ref_obj2_42\",\"value\":false},{\"_indices\":[2,43],\"_key\":\"exist_ref_obj2_43\",\"value\":true},{\"_indices\":[2,44],\"_key\":\"exist_ref_obj2_44\",\"value\":true},{\"_indices\":[2,45],\"_key\":\"exist_ref_obj2_45\",\"value\":false}],\"exist_task_obj\":[{\"_indices\":[1,0],\"_key\":\"exist_task_obj1_0\",\"value\":false},{\"_indices\":[1,1],\"_key\":\"exist_task_obj1_1\",\"value\":true},{\"_indices\":[1,2],\"_key\":\"exist_task_obj1_2\",\"value\":true},{\"_indices\":[1,3],\"_key\":\"exist_task_obj1_3\",\"value\":true},{\"_indices\":[1,4],\"_key\":\"exist_task_obj1_4\",\"value\":true},{\"_indices\":[1,5],\"_key\":\"exist_task_obj1_5\",\"value\":true},{\"_indices\":[1,6],\"_key\":\"exist_task_obj1_6\",\"value\":true},{\"_indices\":[1,7],\"_key\":\"exist_task_obj1_7\",\"value\":false},{\"_indices\":[1,8],\"_key\":\"exist_task_obj1_8\",\"value\":false},{\"_indices\":[1,9],\"_key\":\"exist_task_obj1_9\",\"value\":false},{\"_indices\":[1,10],\"_key\":\"exist_task_obj1_10\",\"value\":false},{\"_indices\":[1,11],\"_key\":\"exist_task_obj1_11\",\"value\":true},{\"_indices\":[1,12],\"_key\":\"exist_task_obj1_12\",\"value\":true},{\"_indices\":[1,13],\"_key\":\"exist_task_obj1_13\",\"value\":false},{\"_indices\":[1,14],\"_key\":\"exist_task_obj1_14\",\"value\":true},{\"_indices\":[1,15],\"_key\":\"exist_task_obj1_15\",\"value\":true},{\"_indices\":[1,16],\"_key\":\"exist_task_obj1_16\",\"value\":true},{\"_indices\":[1,17],\"_key\":\"exist_task_obj1_17\",\"value\":true},{\"_indices\":[1,18],\"_key\":\"exist_task_obj1_18\",\"value\":true},{\"_indices\":[1,19],\"_key\":\"exist_task_obj1_19\",\"value\":true},{\"_indices\":[1,20],\"_key\":\"exist_task_obj1_20\",\"value\":true},{\"_indices\":[1,21],\"_key\":\"exist_task_obj1_21\",\"value\":true},{\"_indices\":[1,22],\"_key\":\"exist_task_obj1_22\",\"value\":true},{\"_indices\":[1,23],\"_key\":\"exist_task_obj1_23\",\"value\":true},{\"_indices\":[1,24],\"_key\":\"exist_task_obj1_24\",\"value\":true},{\"_indices\":[1,25],\"_key\":\"exist_task_obj1_25\",\"value\":true},{\"_indices\":[1,26],\"_key\":\"exist_task_obj1_26\",\"value\":true},{\"_indices\":[1,27],\"_key\":\"exist_task_obj1_27\",\"value\":true},{\"_indices\":[1,28],\"_key\":\"exist_task_obj1_28\",\"value\":true},{\"_indices\":[1,29],\"_key\":\"exist_task_obj1_29\",\"value\":true},{\"_indices\":[1,30],\"_key\":\"exist_task_obj1_30\",\"value\":true},{\"_indices\":[1,31],\"_key\":\"exist_task_obj1_31\",\"value\":true},{\"_indices\":[1,32],\"_key\":\"exist_task_obj1_32\",\"value\":true},{\"_indices\":[1,33],\"_key\":\"exist_task_obj1_33\",\"value\":false},{\"_indices\":[1,34],\"_key\":\"exist_task_obj1_34\",\"value\":true},{\"_indices\":[1,35],\"_key\":\"exist_task_obj1_35\",\"value\":true},{\"_indices\":[1,36],\"_key\":\"exist_task_obj1_36\",\"value\":true},{\"_indices\":[1,37],\"_key\":\"exist_task_obj1_37\",\"value\":false},{\"_indices\":[1,38],\"_key\":\"exist_task_obj1_38\",\"value\":true},{\"_indices\":[1,39],\"_key\":\"exist_task_obj1_39\",\"value\":true},{\"_indices\":[1,40],\"_key\":\"exist_task_obj1_40\",\"value\":true},{\"_indices\":[1,41],\"_key\":\"exist_task_obj1_41\",\"value\":false},{\"_indices\":[1,42],\"_key\":\"exist_task_obj1_42\",\"value\":true},{\"_indices\":[1,43],\"_key\":\"exist_task_obj1_43\",\"value\":true},{\"_indices\":[1,44],\"_key\":\"exist_task_obj1_44\",\"value\":true},{\"_indices\":[1,45],\"_key\":\"exist_task_obj1_45\",\"value\":false},{\"_indices\":[2,0],\"_key\":\"exist_task_obj2_0\",\"value\":false},{\"_indices\":[2,1],\"_key\":\"exist_task_obj2_1\",\"value\":true},{\"_indices\":[2,2],\"_key\":\"exist_task_obj2_2\",\"value\":false},{\"_indices\":[2,3],\"_key\":\"exist_task_obj2_3\",\"value\":false},{\"_indices\":[2,4],\"_key\":\"exist_task_obj2_4\",\"value\":false},{\"_indices\":[2,5],\"_key\":\"exist_task_obj2_5\",\"value\":true},{\"_indices\":[2,6],\"_key\":\"exist_task_obj2_6\",\"value\":false},{\"_indices\":[2,7],\"_key\":\"exist_task_obj2_7\",\"value\":true},{\"_indices\":[2,8],\"_key\":\"exist_task_obj2_8\",\"value\":true},{\"_indices\":[2,9],\"_key\":\"exist_task_obj2_9\",\"value\":true},{\"_indices\":[2,10],\"_key\":\"exist_task_obj2_10\",\"value\":true},{\"_indices\":[2,11],\"_key\":\"exist_task_obj2_11\",\"value\":true},{\"_indices\":[2,12],\"_key\":\"exist_task_obj2_12\",\"value\":true},{\"_indices\":[2,13],\"_key\":\"exist_task_obj2_13\",\"value\":true},{\"_indices\":[2,14],\"_key\":\"exist_task_obj2_14\",\"value\":true},{\"_indices\":[2,15],\"_key\":\"exist_task_obj2_15\",\"value\":true},{\"_indices\":[2,16],\"_key\":\"exist_task_obj2_16\",\"value\":true},{\"_indices\":[2,17],\"_key\":\"exist_task_obj2_17\",\"value\":true},{\"_indices\":[2,18],\"_key\":\"exist_task_obj2_18\",\"value\":true},{\"_indices\":[2,19],\"_key\":\"exist_task_obj2_19\",\"value\":true},{\"_indices\":[2,20],\"_key\":\"exist_task_obj2_20\",\"value\":true},{\"_indices\":[2,21],\"_key\":\"exist_task_obj2_21\",\"value\":true},{\"_indices\":[2,22],\"_key\":\"exist_task_obj2_22\",\"value\":true},{\"_indices\":[2,23],\"_key\":\"exist_task_obj2_23\",\"value\":true},{\"_indices\":[2,24],\"_key\":\"exist_task_obj2_24\",\"value\":true},{\"_indices\":[2,25],\"_key\":\"exist_task_obj2_25\",\"value\":true},{\"_indices\":[2,26],\"_key\":\"exist_task_obj2_26\",\"value\":true},{\"_indices\":[2,27],\"_key\":\"exist_task_obj2_27\",\"value\":true},{\"_indices\":[2,28],\"_key\":\"exist_task_obj2_28\",\"value\":true},{\"_indices\":[2,29],\"_key\":\"exist_task_obj2_29\",\"value\":true},{\"_indices\":[2,30],\"_key\":\"exist_task_obj2_30\",\"value\":true},{\"_indices\":[2,31],\"_key\":\"exist_task_obj2_31\",\"value\":true},{\"_indices\":[2,32],\"_key\":\"exist_task_obj2_32\",\"value\":true},{\"_indices\":[2,33],\"_key\":\"exist_task_obj2_33\",\"value\":false},{\"_indices\":[2,34],\"_key\":\"exist_task_obj2_34\",\"value\":true},{\"_indices\":[2,35],\"_key\":\"exist_task_obj2_35\",\"value\":true},{\"_indices\":[2,36],\"_key\":\"exist_task_obj2_36\",\"value\":true},{\"_indices\":[2,37],\"_key\":\"exist_task_obj2_37\",\"value\":false},{\"_indices\":[2,38],\"_key\":\"exist_task_obj2_38\",\"value\":true},{\"_indices\":[2,39],\"_key\":\"exist_task_obj2_39\",\"value\":true},{\"_indices\":[2,40],\"_key\":\"exist_task_obj2_40\",\"value\":true},{\"_indices\":[2,41],\"_key\":\"exist_task_obj2_41\",\"value\":false},{\"_indices\":[2,42],\"_key\":\"exist_task_obj2_42\",\"value\":true},{\"_indices\":[2,43],\"_key\":\"exist_task_obj2_43\",\"value\":true},{\"_indices\":[2,44],\"_key\":\"exist_task_obj2_44\",\"value\":true},{\"_indices\":[2,45],\"_key\":\"exist_task_obj2_45\",\"value\":false}],\"floor_name\":\"floors_zqjkvm_0\",\"layout\":\"size_comparison\",\"objects\":[{\"_key\":\"ref_obj1\",\"category\":\"teddy_bear\",\"model\":\"hqlobx\",\"position\":[4.8777031898498535,2.6001346111297607,0.14399945735931396],\"quaternion_xyzw\":[0.033994127064943314,-0.019055157899856567,-0.00045153708197176456,0.9992402791976929],\"scale\":1.0},{\"_key\":\"ref_obj2\",\"category\":\"crystal\",\"model\":\"oarraa\",\"position\":[2.5869269371032715,2.2801311016082764,0.033677443861961365],\"quaternion_xyzw\":[-0.002572491066530347,-0.036893684417009354,2.6480061933398247e-05,0.9993159174919128],\"scale\":1.0},{\"_key\":\"task_obj1\",\"category\":\"guitar\",\"model\":\"gysapt\",\"position\":[4.171004772186279,2.604630947113037,0.030711758881807327],\"quaternion_xyzw\":[0.00010525273683015257,0.00025409410591237247,3.1992094591259956e-06,1.000000238418579],\"scale\":1.0},{\"_key\":\"task_obj2\",\"category\":\"guitar\",\"model\":\"gysapt\",\"position\":[2.705453634262085,2.556497573852539,0.03796030580997467],\"quaternion_xyzw\":[0.00010528157145017758,0.00025410111993551254,1.1127922334708273e-06,1.0000001192092896],\"scale\":1.2360186782450848}],\"ref_category\":[{\"_indices\":[1],\"_key\":\"ref1_category\",\"value\":\"teddy_bear\"},{\"_indices\":[2],\"_key\":\"ref2_category\",\"value\":\"crystal\"}],\"ref_model\":[{\"_indices\":[1],\"_key\":\"ref1_model\",\"value\":\"hqlobx\"},{\"_indices\":[2],\"_key\":\"ref2_model\",\"value\":\"oarraa\"}],\"ref_placement\":[{\"_indices\":[1],\"_key\":\"ref1_placement\",\"actual_bbox_gap\":0.015218734741210938,\"collision_fallback\":false,\"position\":[4.8777031898498535,2.6001346111297607,0.14399945735931396],\"ref_half_x\":0.23195719718933105,\"ref_half_y\":0.1849067211151123,\"ref_near_face\":4.586264610290527,\"side\":\"E\",\"target_bbox_gap\":0.05,\"task_face_coord\":4.601483345031738},{\"_indices\":[2],\"_key\":\"ref2_placement\",\"actual_bbox_gap\":0.04637503623962402,\"collision_fallback\":false,\"position\":[2.5869269371032715,2.2801311016082764,0.033677443861961365],\"ref_half_x\":0.07586729526519775,\"ref_half_y\":0.05267071723937988,\"ref_near_face\":2.336259126663208,\"side\":\"S\",\"target_bbox_gap\":0.05,\"task_face_coord\":2.382634162902832}],\"run_idx\":3,\"scale_obj\":[{\"_indices\":[1],\"_key\":\"scale_obj1\",\"value\":1.0},{\"_indices\":[2],\"_key\":\"scale_obj2\",\"value\":1.2360186782450848}],\"seed\":128781287,\"separation\":1.4884458780288696,\"task_category\":\"guitar\",\"task_obj_aabb_max\":[{\"_indices\":[1],\"_key\":\"task_obj1_aabb_max\",\"value\":[4.601483345031738,2.755523681640625,0.06760553270578384]},{\"_indices\":[2],\"_key\":\"task_obj2_aabb_max\",\"value\":[3.2375335693359375,2.743001937866211,0.08356171101331711]}],\"task_obj_aabb_min\":[{\"_indices\":[1],\"_key\":\"task_obj1_aabb_min\",\"value\":[3.5527875423431396,2.463968276977539,-3.5390257835388184e-08]},{\"_indices\":[2],\"_key\":\"task_obj2_aabb_min\",\"value\":[1.9413257837295532,2.382634162902832,-3.3527612686157227e-08]}],\"task_obj_centre\":[{\"_indices\":[1],\"_key\":\"task_obj1_centre\",\"value\":[4.0771355628967285,2.609745979309082,0.03380274772644043]},{\"_indices\":[2],\"_key\":\"task_obj2_centre\",\"value\":[2.5894296169281006,2.5628180503845215,0.04178083688020706]}]}","options_json":"[\"near the teddy bear\",\"near the crystal\"]","question":"Which guitar is larger: the one near the teddy bear, or the one near the crystal?","room":"kitchen_0","runner_task":"size","scene":"house_double_floor_lower","small_task":"Dimensional Size"},"observations":[],"question":{"answer_type":"choice","options":[],"original":"Which guitar is larger: the one near the teddy bear, or the one near the crystal?","text":"Which guitar is larger: the one near the teddy bear, or the one near the crystal?"},"reference_media":[],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":38,"stratum_pool":167},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Metric Comparison/Dimensional Size/house_double_floor_lower/kitchen_0/house_double_floor_lower__kitchen_0_3.json","annotation_sha256":"1b74ee9035d3f003fe19bd3c1dad7c648f4b3523b406c8566adeb9e6b7f640ed","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"5b31886125e9bc75d1b98cd74f51cef3309a582f94c4c4c70771365a79c15c1b","sample_id":"0701","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"near the crystal","metric":"official_esi_task","original_answer":"near the crystal"},"task":{"category":"Metric Comparison","role":"spatial_core","skill_tags":["Metric Comparison","Dimensional Size"],"stratum":"ESI-Bench/Metric Comparison/Dimensional Size","subcategory":"Dimensional Size"},"transforms":[]}
{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Metric Comparison","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"near the toy figure","id":"7061d41dff2091fb","metadata":"vendor/ESI-Bench/dataset/json_clean/Metric Comparison/Dimensional Size/grocery_store_half_stocked/bathroom_0/grocery_store_half_stocked__bathroom_0_8.json","metadata_sha256":"c47a605c0072788293b4fef17c05ef9a088f76fb6eacb618b4870cc938a72bb0","observation_policy":"runtime camera observations; no oracle poses","question":"Which mug is larger: the one near the snow globe, or the one near the toy figure?","room":"bathroom_0","scene":"grocery_store_half_stocked","subcategory":"Dimensional Size","task":"metric_comparison.dimensional_size"},"group":{"id":"ESI-scene/grocery_store_half_stocked","kind":"scene","room":"bathroom_0","scene":"grocery_store_half_stocked"},"id":"4b7ff680da854402ad82","native_annotation":{"answer":"near the toy figure","answer_type":"choice","big_task":"Metric Comparison","gt_camera_poses":[{"baseline_selected":true,"camera_pose":{"position":[14.05445671081543,-5.142355918884277,1.5],"quaternion_xyzw":[0.0,0.0,0.7071067811865475,-0.7071067811865475]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/0","original_image_path":"6.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/6.png"}],"id":"0676","image_paths_json":"[]","metadata_json":"{\"answer\":\"task_obj2\",\"camera_poses\":[{\"_key\":\"0.png\",\"azimuth_deg\":269.9999974955218,\"height\":0.05,\"position\":[14.054456700356498,-5.381628367229429,0.05],\"quaternion_xyzw\":[0.7933142358900231,-1.7338434298349345e-08,-1.3306018097971966e-08,0.6088123874677881],\"type\":\"side\"},{\"_key\":\"1.png\",\"azimuth_deg\":329.9999974955218,\"height\":0.05,\"position\":[14.261672724278565,-5.261992152114553,0.05],\"quaternion_xyzw\":[0.6870302901338178,0.39665710292948747,0.30440618221054455,0.527247000338768],\"type\":\"side\"},{\"_key\":\"10.png\",\"azimuth_deg\":275.5697349046784,\"height\":0.05,\"position\":[12.74072042963163,-6.368465235502718,0.05],\"quaternion_xyzw\":[0.6347227907279029,0.030875086209874218,0.037514338504582745,0.771210984354268],\"type\":\"side\"},{\"_key\":\"11.png\",\"azimuth_deg\":335.5697349046784,\"height\":0.05,\"position\":[12.948338104117145,-6.21999139728918,0.05],\"quaternion_xyzw\":[0.5342485180263802,0.3441000043657385,0.4180938623282729,0.649131134876107],\"type\":\"side\"},{\"_key\":\"12.png\",\"azimuth_deg\":35.569734904678455,\"height\":0.05,\"position\":[12.923564825669596,-5.965952297803307,0.05],\"quaternion_xyzw\":[0.2906227863621646,0.5651236042362556,0.6866454733806915,0.35311712202599527],\"type\":\"side\"},{\"_key\":\"13.png\",\"height\":1.5,\"position\":[12.715947151184082,-6.114426136016846,1.5],\"quaternion_xyzw\":[0.0,0.0,0.7071067811865475,-0.7071067811865475],\"type\":\"top_down\"},{\"_key\":\"14.png\",\"description\":\"14_behind_obj1→obj2_standoff0.15m_tilt-8deg\",\"height\":0.05,\"position\":[14.388004209155751,-5.2258117271387805,0.05],\"quaternion_xyzw\":[0.359405737103128,0.5980144877422122,0.6140236849724819,0.3690272386702518],\"standoff_m\":0.15,\"tilt_deg\":-8,\"type\":\"cross_view\"},{\"_key\":\"15.png\",\"description\":\"15_behind_obj1→obj2_standoff0.15m_tilt+8deg\",\"height\":0.05,\"position\":[14.078296228431528,-4.799353756069028,0.05],\"quaternion_xyzw\":[0.2726804944976262,0.6422142627914406,0.6594067138237513,0.27998031065047796],\"standoff_m\":0.15,\"tilt_deg\":8,\"type\":\"cross_view\"},{\"_key\":\"16.png\",\"description\":\"16_behind_obj1→obj2_standoff0.15m_tilt-15deg\",\"height\":0.05,\"position\":[14.483835803948896,-5.436207819982844,0.05],\"quaternion_xyzw\":[0.3952432840524408,0.5749578748253344,0.5903498330568604,0.4058241776896911],\"standoff_m\":0.15,\"tilt_deg\":-15,\"type\":\"cross_view\"},{\"_key\":\"17.png\",\"description\":\"17_behind_obj1→obj2_standoff0.15m_tilt+15deg\",\"height\":0.05,\"position\":[13.907874477523656,-4.64312751863709,0.05],\"quaternion_xyzw\":[0.23296564759709104,0.657663149683705,0.6752691764442229,0.2392022740947873],\"standoff_m\":0.15,\"tilt_deg\":15,\"type\":\"cross_view\"},{\"_key\":\"18.png\",\"description\":\"18_behind_obj1→obj2_standoff0.2m_tilt-8deg\",\"height\":0.05,\"position\":[14.432156337065889,-5.202347086907072,0.05],\"quaternion_xyzw\":[0.3595310516844905,0.5982229984731663,0.6138205416787287,0.36890514984972794],\"standoff_m\":0.2,\"tilt_deg\":-8,\"type\":\"cross_view\"},{\"_key\":\"19.png\",\"description\":\"19_behind_obj1→obj2_standoff0.2m_tilt+8deg\",\"height\":0.05,\"position\":[14.114270246397048,-4.764628120414469,0.05],\"quaternion_xyzw\":[0.27277557044108697,0.642438184729178,0.6591885560268235,0.2798876820720938],\"standoff_m\":0.2,\"tilt_deg\":8,\"type\":\"cross_view\"},{\"_key\":\"2.png\",\"azimuth_deg\":29.999997495521825,\"height\":0.05,\"position\":[14.261672734737497,-5.022719703769401,0.05],\"quaternion_xyzw\":[0.39665713296053545,0.687030272795384,0.5272469870327506,0.3044062052572432],\"type\":\"side\"},{\"_key\":\"20.png\",\"description\":\"20_behind_obj1→obj2_standoff0.2m_tilt-15deg\",\"height\":0.05,\"position\":[14.530518448891154,-5.418298872459562,0.05],\"quaternion_xyzw\":[0.39538109417245054,0.5751583463695694,0.5901545220104856,0.405689914988028],\"standoff_m\":0.2,\"tilt_deg\":-15,\"type\":\"cross_view\"},{\"_key\":\"21.png\",\"description\":\"21_behind_obj1→obj2_standoff0.2m_tilt+15deg\",\"height\":0.05,\"position\":[13.93934836019786,-4.604276592655756,0.05],\"quaternion_xyzw\":[0.2330468760974832,0.6578924582093841,0.6750457707161328,0.2391231365022641],\"standoff_m\":0.2,\"tilt_deg\":15,\"type\":\"cross_view\"},{\"_key\":\"22.png\",\"description\":\"22_behind_obj1→obj2_standoff0.25m_tilt-8deg\",\"height\":0.05,\"position\":[14.476308464976027,-5.178882446675363,0.05],\"quaternion_xyzw\":[0.35965004581750737,0.5984209926203001,0.6136275164225767,0.36878914195493834],\"standoff_m\":0.25,\"tilt_deg\":-8,\"type\":\"cross_view\"},{\"_key\":\"23.png\",\"description\":\"23_behind_obj1→obj2_standoff0.25m_tilt+8deg\",\"height\":0.05,\"position\":[14.150244264362566,-4.72990248475991,0.05],\"quaternion_xyzw\":[0.27286585107195255,0.6426508127933703,0.658981264100742,0.279799667081624],\"standoff_m\":0.25,\"tilt_deg\":8,\"type\":\"cross_view\"},{\"_key\":\"24.png\",\"description\":\"24_behind_obj1→obj2_standoff0.25m_tilt-15deg\",\"height\":0.05,\"position\":[14.577201093833414,-5.400389924936279,0.05],\"quaternion_xyzw\":[0.3955119536109416,0.5753487067996736,0.5899689388978976,0.4055623395613654],\"standoff_m\":0.25,\"tilt_deg\":-15,\"type\":\"cross_view\"},{\"_key\":\"25.png\",\"description\":\"25_behind_obj1→obj2_standoff0.25m_tilt+15deg\",\"height\":0.05,\"position\":[13.970822242872066,-4.565425666674422,0.05],\"quaternion_xyzw\":[0.23312400770399075,0.658110201180038,0.6748334922446534,0.23904794054683834],\"standoff_m\":0.25,\"tilt_deg\":15,\"type\":\"cross_view\"},{\"_key\":\"26.png\",\"description\":\"26_behind_obj1→obj2_standoff0.3m_tilt-8deg\",\"height\":0.05,\"position\":[14.520460592886165,-5.155417806443653,0.05],\"quaternion_xyzw\":[0.3597631857935773,0.5986092460451178,0.6134438718399704,0.3686787718311667],\"standoff_m\":0.3,\"tilt_deg\":-8,\"type\":\"cross_view\"},{\"_key\":\"27.png\",\"description\":\"27_behind_obj1→obj2_standoff0.3m_tilt+8deg\",\"height\":0.05,\"position\":[14.186218282328086,-4.69517684910535,0.05],\"quaternion_xyzw\":[0.2729516901646547,0.6428529801901106,0.6587840461822109,0.27971592945834584],\"standoff_m\":0.3,\"tilt_deg\":8,\"type\":\"cross_view\"},{\"_key\":\"28.png\",\"description\":\"28_behind_obj1→obj2_standoff0.3m_tilt-15deg\",\"height\":0.05,\"position\":[14.623883738775675,-5.382480977412997,0.05],\"quaternion_xyzw\":[0.39563637515479727,0.575529702063604,0.589792374784321,0.40544096406656127],\"standoff_m\":0.3,\"tilt_deg\":-15,\"type\":\"cross_view\"},{\"_key\":\"29.png\",\"description\":\"29_behind_obj1→obj2_standoff0.3m_tilt+15deg\",\"height\":0.05,\"position\":[14.00229612554627,-4.526574740693086,0.05],\"quaternion_xyzw\":[0.23319734466516892,0.6583172318450754,0.67463153011769,0.23897639897700343],\"standoff_m\":0.3,\"tilt_deg\":15,\"type\":\"cross_view\"},{\"_key\":\"3.png\",\"azimuth_deg\":89.99999749552184,\"height\":0.05,\"position\":[14.054456721274361,-4.9030834705391255,0.05],\"quaternion_xyzw\":[1.733843429834935e-08,0.7933142358900231,0.6088123874677882,1.3306018097971968e-08],\"type\":\"side\"},{\"_key\":\"30.png\",\"description\":\"30_behind_obj2→obj1_standoff0.15m_tilt-8deg\",\"height\":0.05,\"position\":[12.36829595487597,-6.038465735445172,0.05],\"quaternion_xyzw\":[0.6161518853632061,-0.3703062836430043,-0.3580877588347056,0.5958215063511982],\"standoff_m\":0.15,\"tilt_deg\":-8,\"type\":\"cross_view\"},{\"_key\":\"31.png\",\"description\":\"31_behind_obj2→obj1_standoff0.15m_tilt+8deg\",\"height\":0.05,\"position\":[12.680616303294928,-6.4685208531481235,0.05],\"quaternion_xyzw\":[0.6616922113696939,-0.280950719797638,-0.27168054672364766,0.6398591962219604],\"standoff_m\":0.15,\"tilt_deg\":8,\"type\":\"cross_view\"},{\"_key\":\"32.png\",\"description\":\"32_behind_obj2→obj1_standoff0.15m_tilt-15deg\",\"height\":0.05,\"position\":[12.271656026495913,-5.826294964557935,0.05],\"quaternion_xyzw\":[0.592395980097271,-0.4072307605114331,-0.3937938857680162,0.5728494444350976],\"standoff_m\":0.15,\"tilt_deg\":-15,\"type\":\"cross_view\"},{\"_key\":\"33.png\",\"description\":\"33_behind_obj2→obj1_standoff0.15m_tilt+15deg\",\"height\":0.05,\"position\":[12.852475551147275,-6.626064849237508,0.05],\"quaternion_xyzw\":[0.6776096531377215,-0.24003134694598421,-0.23211133830185263,0.6552514304368945],\"standoff_m\":0.15,\"tilt_deg\":15,\"type\":\"cross_view\"},{\"_key\":\"34.png\",\"description\":\"34_behind_obj2→obj1_standoff0.2m_tilt-8deg\",\"height\":0.05,\"position\":[12.324143826965832,-6.06193037567688,0.05],\"quaternion_xyzw\":[0.6158970044472822,-0.37015310059588297,-0.35824610091431847,0.5960849714695099],\"standoff_m\":0.2,\"tilt_deg\":-8,\"type\":\"cross_view\"},{\"_key\":\"35.png\",\"description\":\"35_behind_obj2→obj1_standoff0.2m_tilt+8deg\",\"height\":0.05,\"position\":[12.644642285329407,-6.503246488802683,0.05],\"quaternion_xyzw\":[0.6614184919776405,-0.28083450008484584,-0.2718006805715162,0.6401421342740837],\"standoff_m\":0.2,\"tilt_deg\":8,\"type\":\"cross_view\"},{\"_key\":\"36.png\",\"description\":\"36_behind_obj2→obj1_standoff0.2m_tilt-15deg\",\"height\":0.05,\"position\":[12.224973381553653,-5.844203912081217,0.05],\"quaternion_xyzw\":[0.5921509261869421,-0.40706230307390057,-0.39396801666842357,0.5731027515851476],\"standoff_m\":0.2,\"tilt_deg\":-15,\"type\":\"cross_view\"},{\"_key\":\"37.png\",\"description\":\"37_behind_obj2→obj1_standoff0.2m_tilt+15deg\",\"height\":0.05,\"position\":[12.821001668473071,-6.664915775218843,0.05],\"quaternion_xyzw\":[0.6773293492437791,-0.23993205417551086,-0.23221397512101732,0.6555411747484777],\"standoff_m\":0.2,\"tilt_deg\":15,\"type\":\"cross_view\"},{\"_key\":\"38.png\",\"description\":\"38_behind_obj2→obj1_standoff0.25m_tilt-8deg\",\"height\":0.05,\"position\":[12.279991699055694,-6.08539501590859,0.05],\"quaternion_xyzw\":[0.6156546897780505,-0.3700074698441602,-0.3583965107676976,0.5963352381700707],\"standoff_m\":0.25,\"tilt_deg\":-8,\"type\":\"cross_view\"},{\"_key\":\"39.png\",\"description\":\"39_behind_obj2→obj1_standoff0.25m_tilt+8deg\",\"height\":0.05,\"position\":[12.608668267363889,-6.537972124457243,0.05],\"quaternion_xyzw\":[0.6611582676148002,-0.280724010285513,-0.2719147962537573,0.6404108984020281],\"standoff_m\":0.25,\"tilt_deg\":8,\"type\":\"cross_view\"},{\"_key\":\"4.png\",\"azimuth_deg\":149.99999749552182,\"height\":0.05,\"position\":[13.847240697352294,-5.0227196856540015,0.05],\"quaternion_xyzw\":[-0.39665710292948747,0.6870302901338178,0.527247000338768,-0.30440618221054455],\"type\":\"side\"},{\"_key\":\"40.png\",\"description\":\"40_behind_obj2→obj1_standoff0.25m_tilt-15deg\",\"height\":0.05,\"position\":[12.178290736611395,-5.862112859604499,0.05],\"quaternion_xyzw\":[0.5919179540281179,-0.4069021509962213,-0.3941334243936701,0.5733433691859829],\"standoff_m\":0.25,\"tilt_deg\":-15,\"type\":\"cross_view\"},{\"_key\":\"41.png\",\"description\":\"41_behind_obj2→obj1_standoff0.25m_tilt+15deg\",\"height\":0.05,\"position\":[12.789527785798866,-6.703766701200178,0.05],\"quaternion_xyzw\":[0.6770628650109481,-0.2398376567792292,-0.2323114702970178,0.6558164041728852],\"standoff_m\":0.25,\"tilt_deg\":15,\"type\":\"cross_view\"},{\"_key\":\"42.png\",\"description\":\"42_behind_obj2→obj1_standoff0.3m_tilt-8deg\",\"height\":0.05,\"position\":[12.235839571145556,-6.108859656140299,0.05],\"quaternion_xyzw\":[0.615424034788256,-0.3698688465422745,-0.35853956964297123,0.5965732735906494],\"standoff_m\":0.3,\"tilt_deg\":-8,\"type\":\"cross_view\"},{\"_key\":\"43.png\",\"description\":\"43_behind_obj2→obj1_standoff0.3m_tilt+8deg\",\"height\":0.05,\"position\":[12.57269424939837,-6.572697760111802,0.05],\"quaternion_xyzw\":[0.6609105647087221,-0.2806188370262537,-0.27202333476227064,0.6406665272255485],\"standoff_m\":0.3,\"tilt_deg\":8,\"type\":\"cross_view\"},{\"_key\":\"44.png\",\"description\":\"44_behind_obj2→obj1_standoff0.3m_tilt-15deg\",\"height\":0.05,\"position\":[12.131608091669136,-5.8800218071277826,0.05],\"quaternion_xyzw\":[0.5916961920065,-0.40674970510447356,-0.3942907481500877,0.5735722270871167],\"standoff_m\":0.3,\"tilt_deg\":-15,\"type\":\"cross_view\"},{\"_key\":\"45.png\",\"description\":\"45_behind_obj2→obj1_standoff0.3m_tilt+15deg\",\"height\":0.05,\"position\":[12.758053903124663,-6.742617627181512,0.05],\"quaternion_xyzw\":[0.6768092034468456,-0.23974780158995335,-0.2324042005929947,0.6560781823145485],\"standoff_m\":0.3,\"tilt_deg\":15,\"type\":\"cross_view\"},{\"_key\":\"5.png\",\"azimuth_deg\":209.99999749552185,\"height\":0.05,\"position\":[13.847240686893363,-5.261992133999153,0.05],\"quaternion_xyzw\":[0.687030272795384,-0.39665713296053545,-0.3044062052572432,0.5272469870327506],\"type\":\"side\"},{\"_key\":\"6.png\",\"height\":1.5,\"position\":[14.05445671081543,-5.142355918884277,1.5],\"quaternion_xyzw\":[0.0,0.0,0.7071067811865475,-0.7071067811865475],\"type\":\"top_down\"},{\"_key\":\"7.png\",\"azimuth_deg\":95.56973490467843,\"height\":0.05,\"position\":[12.691173872736535,-5.860387036530973,0.05],\"quaternion_xyzw\":[-0.030875086209874215,0.6347227907279028,0.771210984354268,-0.03751433850458274],\"type\":\"side\"},{\"_key\":\"8.png\",\"azimuth_deg\":155.5697349046784,\"height\":0.05,\"position\":[12.48355619825102,-6.008860874744512,0.05],\"quaternion_xyzw\":[-0.34410000436573845,0.5342485180263802,0.6491311348761069,-0.41809386232827284],\"type\":\"side\"},{\"_key\":\"9.png\",\"azimuth_deg\":215.56973490467843,\"height\":0.05,\"position\":[12.508329476698568,-6.262899974230384,0.05],\"quaternion_xyzw\":[0.5651236042362556,-0.2906227863621646,-0.35311712202599527,0.6866454733806916],\"type\":\"side\"}],\"exist_ref_obj\":[{\"_indices\":[1,0],\"_key\":\"exist_ref_obj1_0\",\"value\":false},{\"_indices\":[1,1],\"_key\":\"exist_ref_obj1_1\",\"value\":false},{\"_indices\":[1,2],\"_key\":\"exist_ref_obj1_2\",\"value\":false},{\"_indices\":[1,3],\"_key\":\"exist_ref_obj1_3\",\"value\":false},{\"_indices\":[1,4],\"_key\":\"exist_ref_obj1_4\",\"value\":false},{\"_indices\":[1,5],\"_key\":\"exist_ref_obj1_5\",\"value\":false},{\"_indices\":[1,6],\"_key\":\"exist_ref_obj1_6\",\"value\":true},{\"_indices\":[1,7],\"_key\":\"exist_ref_obj1_7\",\"value\":false},{\"_indices\":[1,8],\"_key\":\"exist_ref_obj1_8\",\"value\":false},{\"_indices\":[1,9],\"_key\":\"exist_ref_obj1_9\",\"value\":false},{\"_indices\":[1,10],\"_key\":\"exist_ref_obj1_10\",\"value\":false},{\"_indices\":[1,11],\"_key\":\"exist_ref_obj1_11\",\"value\":false},{\"_indices\":[1,12],\"_key\":\"exist_ref_obj1_12\",\"value\":false},{\"_indices\":[1,13],\"_key\":\"exist_ref_obj1_13\",\"value\":false},{\"_indices\":[1,14],\"_key\":\"exist_ref_obj1_14\",\"value\":false},{\"_indices\":[1,15],\"_key\":\"exist_ref_obj1_15\",\"value\":false},{\"_indices\":[1,16],\"_key\":\"exist_ref_obj1_16\",\"value\":false},{\"_indices\":[1,17],\"_key\":\"exist_ref_obj1_17\",\"value\":false},{\"_indices\":[1,18],\"_key\":\"exist_ref_obj1_18\",\"value\":false},{\"_indices\":[1,19],\"_key\":\"exist_ref_obj1_19\",\"value\":false},{\"_indices\":[1,20],\"_key\":\"exist_ref_obj1_20\",\"value\":false},{\"_indices\":[1,21],\"_key\":\"exist_ref_obj1_21\",\"value\":false},{\"_indices\":[1,22],\"_key\":\"exist_ref_obj1_22\",\"value\":false},{\"_indices\":[1,23],\"_key\":\"exist_ref_obj1_23\",\"value\":false},{\"_indices\":[1,24],\"_key\":\"exist_ref_obj1_24\",\"value\":false},{\"_indices\":[1,25],\"_key\":\"exist_ref_obj1_25\",\"value\":false},{\"_indices\":[1,26],\"_key\":\"exist_ref_obj1_26\",\"value\":false},{\"_indices\":[1,27],\"_key\":\"exist_ref_obj1_27\",\"value\":false},{\"_indices\":[1,28],\"_key\":\"exist_ref_obj1_28\",\"value\":false},{\"_indices\":[1,29],\"_key\":\"exist_ref_obj1_29\",\"value\":false},{\"_indices\":[1,30],\"_key\":\"exist_ref_obj1_30\",\"value\":false},{\"_indices\":[1,31],\"_key\":\"exist_ref_obj1_31\",\"value\":false},{\"_indices\":[1,32],\"_key\":\"exist_ref_obj1_32\",\"value\":false},{\"_indices\":[1,33],\"_key\":\"exist_ref_obj1_33\",\"value\":false},{\"_indices\":[1,34],\"_key\":\"exist_ref_obj1_34\",\"value\":false},{\"_indices\":[1,35],\"_key\":\"exist_ref_obj1_35\",\"value\":false},{\"_indices\":[1,36],\"_key\":\"exist_ref_obj1_36\",\"value\":false},{\"_indices\":[1,37],\"_key\":\"exist_ref_obj1_37\",\"value\":false},{\"_indices\":[1,38],\"_key\":\"exist_ref_obj1_38\",\"value\":false},{\"_indices\":[1,39],\"_key\":\"exist_ref_obj1_39\",\"value\":false},{\"_indices\":[1,40],\"_key\":\"exist_ref_obj1_40\",\"value\":false},{\"_indices\":[1,41],\"_key\":\"exist_ref_obj1_41\",\"value\":false},{\"_indices\":[1,42],\"_key\":\"exist_ref_obj1_42\",\"value\":false},{\"_indices\":[1,43],\"_key\":\"exist_ref_obj1_43\",\"value\":false},{\"_indices\":[1,44],\"_key\":\"exist_ref_obj1_44\",\"value\":false},{\"_indices\":[1,45],\"_key\":\"exist_ref_obj1_45\",\"value\":false},{\"_indices\":[2,0],\"_key\":\"exist_ref_obj2_0\",\"value\":false},{\"_indices\":[2,1],\"_key\":\"exist_ref_obj2_1\",\"value\":false},{\"_indices\":[2,2],\"_key\":\"exist_ref_obj2_2\",\"value\":false},{\"_indices\":[2,3],\"_key\":\"exist_ref_obj2_3\",\"value\":false},{\"_indices\":[2,4],\"_key\":\"exist_ref_obj2_4\",\"value\":false},{\"_indices\":[2,5],\"_key\":\"exist_ref_obj2_5\",\"value\":false},{\"_indices\":[2,6],\"_key\":\"exist_ref_obj2_6\",\"value\":false},{\"_indices\":[2,7],\"_key\":\"exist_ref_obj2_7\",\"value\":false},{\"_indices\":[2,8],\"_key\":\"exist_ref_obj2_8\",\"value\":false},{\"_indices\":[2,9],\"_key\":\"exist_ref_obj2_9\",\"value\":false},{\"_indices\":[2,10],\"_key\":\"exist_ref_obj2_10\",\"value\":false},{\"_indices\":[2,11],\"_key\":\"exist_ref_obj2_11\",\"value\":false},{\"_indices\":[2,12],\"_key\":\"exist_ref_obj2_12\",\"value\":false},{\"_indices\":[2,13],\"_key\":\"exist_ref_obj2_13\",\"value\":false},{\"_indices\":[2,14],\"_key\":\"exist_ref_obj2_14\",\"value\":false},{\"_indices\":[2,15],\"_key\":\"exist_ref_obj2_15\",\"value\":false},{\"_indices\":[2,16],\"_key\":\"exist_ref_obj2_16\",\"value\":false},{\"_indices\":[2,17],\"_key\":\"exist_ref_obj2_17\",\"value\":false},{\"_indices\":[2,18],\"_key\":\"exist_ref_obj2_18\",\"value\":false},{\"_indices\":[2,19],\"_key\":\"exist_ref_obj2_19\",\"value\":false},{\"_indices\":[2,20],\"_key\":\"exist_ref_obj2_20\",\"value\":false},{\"_indices\":[2,21],\"_key\":\"exist_ref_obj2_21\",\"value\":false},{\"_indices\":[2,22],\"_key\":\"exist_ref_obj2_22\",\"value\":false},{\"_indices\":[2,23],\"_key\":\"exist_ref_obj2_23\",\"value\":false},{\"_indices\":[2,24],\"_key\":\"exist_ref_obj2_24\",\"value\":false},{\"_indices\":[2,25],\"_key\":\"exist_ref_obj2_25\",\"value\":false},{\"_indices\":[2,26],\"_key\":\"exist_ref_obj2_26\",\"value\":false},{\"_indices\":[2,27],\"_key\":\"exist_ref_obj2_27\",\"value\":false},{\"_indices\":[2,28],\"_key\":\"exist_ref_obj2_28\",\"value\":false},{\"_indices\":[2,29],\"_key\":\"exist_ref_obj2_29\",\"value\":false},{\"_indices\":[2,30],\"_key\":\"exist_ref_obj2_30\",\"value\":false},{\"_indices\":[2,31],\"_key\":\"exist_ref_obj2_31\",\"value\":false},{\"_indices\":[2,32],\"_key\":\"exist_ref_obj2_32\",\"value\":false},{\"_indices\":[2,33],\"_key\":\"exist_ref_obj2_33\",\"value\":false},{\"_indices\":[2,34],\"_key\":\"exist_ref_obj2_34\",\"value\":false},{\"_indices\":[2,35],\"_key\":\"exist_ref_obj2_35\",\"value\":false},{\"_indices\":[2,36],\"_key\":\"exist_ref_obj2_36\",\"value\":false},{\"_indices\":[2,37],\"_key\":\"exist_ref_obj2_37\",\"value\":false},{\"_indices\":[2,38],\"_key\":\"exist_ref_obj2_38\",\"value\":false},{\"_indices\":[2,39],\"_key\":\"exist_ref_obj2_39\",\"value\":false},{\"_indices\":[2,40],\"_key\":\"exist_ref_obj2_40\",\"value\":false},{\"_indices\":[2,41],\"_key\":\"exist_ref_obj2_41\",\"value\":false},{\"_indices\":[2,42],\"_key\":\"exist_ref_obj2_42\",\"value\":false},{\"_indices\":[2,43],\"_key\":\"exist_ref_obj2_43\",\"value\":false},{\"_indices\":[2,44],\"_key\":\"exist_ref_obj2_44\",\"value\":false},{\"_indices\":[2,45],\"_key\":\"exist_ref_obj2_45\",\"value\":false}],\"exist_task_obj\":[{\"_indices\":[1,0],\"_key\":\"exist_task_obj1_0\",\"value\":false},{\"_indices\":[1,1],\"_key\":\"exist_task_obj1_1\",\"value\":false},{\"_indices\":[1,2],\"_key\":\"exist_task_obj1_2\",\"value\":true},{\"_indices\":[1,3],\"_key\":\"exist_task_obj1_3\",\"value\":false},{\"_indices\":[1,4],\"_key\":\"exist_task_obj1_4\",\"value\":true},{\"_indices\":[1,5],\"_key\":\"exist_task_obj1_5\",\"value\":false},{\"_indices\":[1,6],\"_key\":\"exist_task_obj1_6\",\"value\":true},{\"_indices\":[1,7],\"_key\":\"exist_task_obj1_7\",\"value\":false},{\"_indices\":[1,8],\"_key\":\"exist_task_obj1_8\",\"value\":false},{\"_indices\":[1,9],\"_key\":\"exist_task_obj1_9\",\"value\":false},{\"_indices\":[1,10],\"_key\":\"exist_task_obj1_10\",\"value\":false},{\"_indices\":[1,11],\"_key\":\"exist_task_obj1_11\",\"value\":false},{\"_indices\":[1,12],\"_key\":\"exist_task_obj1_12\",\"value\":false},{\"_indices\":[1,13],\"_key\":\"exist_task_obj1_13\",\"value\":false},{\"_indices\":[1,14],\"_key\":\"exist_task_obj1_14\",\"value\":false},{\"_indices\":[1,15],\"_key\":\"exist_task_obj1_15\",\"value\":false},{\"_indices\":[1,16],\"_key\":\"exist_task_obj1_16\",\"value\":false},{\"_indices\":[1,17],\"_key\":\"exist_task_obj1_17\",\"value\":false},{\"_indices\":[1,18],\"_key\":\"exist_task_obj1_18\",\"value\":false},{\"_indices\":[1,19],\"_key\":\"exist_task_obj1_19\",\"value\":false},{\"_indices\":[1,20],\"_key\":\"exist_task_obj1_20\",\"value\":false},{\"_indices\":[1,21],\"_key\":\"exist_task_obj1_21\",\"value\":false},{\"_indices\":[1,22],\"_key\":\"exist_task_obj1_22\",\"value\":false},{\"_indices\":[1,23],\"_key\":\"exist_task_obj1_23\",\"value\":false},{\"_indices\":[1,24],\"_key\":\"exist_task_obj1_24\",\"value\":false},{\"_indices\":[1,25],\"_key\":\"exist_task_obj1_25\",\"value\":false},{\"_indices\":[1,26],\"_key\":\"exist_task_obj1_26\",\"value\":false},{\"_indices\":[1,27],\"_key\":\"exist_task_obj1_27\",\"value\":false},{\"_indices\":[1,28],\"_key\":\"exist_task_obj1_28\",\"value\":false},{\"_indices\":[1,29],\"_key\":\"exist_task_obj1_29\",\"value\":false},{\"_indices\":[1,30],\"_key\":\"exist_task_obj1_30\",\"value\":false},{\"_indices\":[1,31],\"_key\":\"exist_task_obj1_31\",\"value\":false},{\"_indices\":[1,32],\"_key\":\"exist_task_obj1_32\",\"value\":false},{\"_indices\":[1,33],\"_key\":\"exist_task_obj1_33\",\"value\":false},{\"_indices\":[1,34],\"_key\":\"exist_task_obj1_34\",\"value\":false},{\"_indices\":[1,35],\"_key\":\"exist_task_obj1_35\",\"value\":false},{\"_indices\":[1,36],\"_key\":\"exist_task_obj1_36\",\"value\":false},{\"_indices\":[1,37],\"_key\":\"exist_task_obj1_37\",\"value\":false},{\"_indices\":[1,38],\"_key\":\"exist_task_obj1_38\",\"value\":false},{\"_indices\":[1,39],\"_key\":\"exist_task_obj1_39\",\"value\":false},{\"_indices\":[1,40],\"_key\":\"exist_task_obj1_40\",\"value\":false},{\"_indices\":[1,41],\"_key\":\"exist_task_obj1_41\",\"value\":false},{\"_indices\":[1,42],\"_key\":\"exist_task_obj1_42\",\"value\":false},{\"_indices\":[1,43],\"_key\":\"exist_task_obj1_43\",\"value\":false},{\"_indices\":[1,44],\"_key\":\"exist_task_obj1_44\",\"value\":false},{\"_indices\":[1,45],\"_key\":\"exist_task_obj1_45\",\"value\":false},{\"_indices\":[2,0],\"_key\":\"exist_task_obj2_0\",\"value\":false},{\"_indices\":[2,1],\"_key\":\"exist_task_obj2_1\",\"value\":false},{\"_indices\":[2,2],\"_key\":\"exist_task_obj2_2\",\"value\":true},{\"_indices\":[2,3],\"_key\":\"exist_task_obj2_3\",\"value\":false},{\"_indices\":[2,4],\"_key\":\"exist_task_obj2_4\",\"value\":false},{\"_indices\":[2,5],\"_key\":\"exist_task_obj2_5\",\"value\":false},{\"_indices\":[2,6],\"_key\":\"exist_task_obj2_6\",\"value\":false},{\"_indices\":[2,7],\"_key\":\"exist_task_obj2_7\",\"value\":true},{\"_indices\":[2,8],\"_key\":\"exist_task_obj2_8\",\"value\":true},{\"_indices\":[2,9],\"_key\":\"exist_task_obj2_9\",\"value\":true},{\"_indices\":[2,10],\"_key\":\"exist_task_obj2_10\",\"value\":true},{\"_indices\":[2,11],\"_key\":\"exist_task_obj2_11\",\"value\":true},{\"_indices\":[2,12],\"_key\":\"exist_task_obj2_12\",\"value\":true},{\"_indices\":[2,13],\"_key\":\"exist_task_obj2_13\",\"value\":true},{\"_indices\":[2,14],\"_key\":\"exist_task_obj2_14\",\"value\":true},{\"_indices\":[2,15],\"_key\":\"exist_task_obj2_15\",\"value\":true},{\"_indices\":[2,16],\"_key\":\"exist_task_obj2_16\",\"value\":true},{\"_indices\":[2,17],\"_key\":\"exist_task_obj2_17\",\"value\":true},{\"_indices\":[2,18],\"_key\":\"exist_task_obj2_18\",\"value\":true},{\"_indices\":[2,19],\"_key\":\"exist_task_obj2_19\",\"value\":true},{\"_indices\":[2,20],\"_key\":\"exist_task_obj2_20\",\"value\":true},{\"_indices\":[2,21],\"_key\":\"exist_task_obj2_21\",\"value\":true},{\"_indices\":[2,22],\"_key\":\"exist_task_obj2_22\",\"value\":true},{\"_indices\":[2,23],\"_key\":\"exist_task_obj2_23\",\"value\":true},{\"_indices\":[2,24],\"_key\":\"exist_task_obj2_24\",\"value\":true},{\"_indices\":[2,25],\"_key\":\"exist_task_obj2_25\",\"value\":true},{\"_indices\":[2,26],\"_key\":\"exist_task_obj2_26\",\"value\":true},{\"_indices\":[2,27],\"_key\":\"exist_task_obj2_27\",\"value\":true},{\"_indices\":[2,28],\"_key\":\"exist_task_obj2_28\",\"value\":true},{\"_indices\":[2,29],\"_key\":\"exist_task_obj2_29\",\"value\":true},{\"_indices\":[2,30],\"_key\":\"exist_task_obj2_30\",\"value\":true},{\"_indices\":[2,31],\"_key\":\"exist_task_obj2_31\",\"value\":true},{\"_indices\":[2,32],\"_key\":\"exist_task_obj2_32\",\"value\":false},{\"_indices\":[2,33],\"_key\":\"exist_task_obj2_33\",\"value\":false},{\"_indices\":[2,34],\"_key\":\"exist_task_obj2_34\",\"value\":true},{\"_indices\":[2,35],\"_key\":\"exist_task_obj2_35\",\"value\":true},{\"_indices\":[2,36],\"_key\":\"exist_task_obj2_36\",\"value\":false},{\"_indices\":[2,37],\"_key\":\"exist_task_obj2_37\",\"value\":false},{\"_indices\":[2,38],\"_key\":\"exist_task_obj2_38\",\"value\":true},{\"_indices\":[2,39],\"_key\":\"exist_task_obj2_39\",\"value\":true},{\"_indices\":[2,40],\"_key\":\"exist_task_obj2_40\",\"value\":false},{\"_indices\":[2,41],\"_key\":\"exist_task_obj2_41\",\"value\":false},{\"_indices\":[2,42],\"_key\":\"exist_task_obj2_42\",\"value\":true},{\"_indices\":[2,43],\"_key\":\"exist_task_obj2_43\",\"value\":true},{\"_indices\":[2,44],\"_key\":\"exist_task_obj2_44\",\"value\":false},{\"_indices\":[2,45],\"_key\":\"exist_task_obj2_45\",\"value\":false}],\"floor_name\":\"floors_sqkllg_0\",\"layout\":\"size_comparison\",\"objects\":[{\"_key\":\"ref_obj1\",\"category\":\"snow_globe\",\"model\":\"owteks\",\"position\":[14.05445671081543,-5.309885501861572,0.08663207292556763],\"quaternion_xyzw\":[1.5599653124809265e-07,-6.766058504581451e-07,-2.6178895495831966e-07,1.0],\"scale\":1.0},{\"_key\":\"ref_obj2\",\"category\":\"toy_figure\",\"model\":\"nncqfn\",\"position\":[12.687561988830566,-5.8233489990234375,0.10136532783508301],\"quaternion_xyzw\":[-0.0007098615169525146,0.0033759120851755142,0.7604759931564331,-0.6493570804595947],\"scale\":1.0},{\"_key\":\"task_obj1\",\"category\":\"mug\",\"model\":\"ntgftr\",\"position\":[14.054451942443848,-5.15736722946167,0.11044579744338989],\"quaternion_xyzw\":[-5.66715061722789e-06,-3.748291055671871e-05,7.626658771187067e-07,1.0000001192092896],\"scale\":1.0},{\"_key\":\"task_obj2\",\"category\":\"mug\",\"model\":\"ntgftr\",\"position\":[12.749167442321777,-6.129101276397705,0.06905762851238251],\"quaternion_xyzw\":[-0.5534704327583313,-0.4410768151283264,0.7022197842597961,0.07751927524805069],\"scale\":1.2019411595474945}],\"ref_category\":[{\"_indices\":[1],\"_key\":\"ref1_category\",\"value\":\"snow_globe\"},{\"_indices\":[2],\"_key\":\"ref2_category\",\"value\":\"toy_figure\"}],\"ref_model\":[{\"_indices\":[1],\"_key\":\"ref1_model\",\"value\":\"owteks\"},{\"_indices\":[2],\"_key\":\"ref2_model\",\"value\":\"nncqfn\"}],\"ref_placement\":[{\"_indices\":[1],\"_key\":\"ref1_placement\",\"actual_bbox_gap\":0.04990673065185547,\"collision_fallback\":false,\"position\":[14.05445671081543,-5.309885501861572,0.08663207292556763],\"ref_half_x\":0.045284271240234375,\"ref_half_y\":0.04560995101928711,\"ref_near_face\":-5.264181613922119,\"side\":\"S\",\"target_bbox_gap\":0.05,\"task_face_coord\":-5.214274883270264},{\"_indices\":[2],\"_key\":\"ref2_placement\",\"actual_bbox_gap\":0.16240739822387695,\"collision_fallback\":false,\"position\":[12.687561988830566,-5.8233489990234375,0.10136532783508301],\"ref_half_x\":0.04283332824707031,\"ref_half_y\":0.07246255874633789,\"ref_near_face\":-5.879848480224609,\"side\":\"N\",\"target_bbox_gap\":0.05,\"task_face_coord\":-6.042255878448486}],\"run_idx\":8,\"scale_obj\":[{\"_indices\":[1],\"_key\":\"scale_obj1\",\"value\":1.0},{\"_indices\":[2],\"_key\":\"scale_obj2\",\"value\":1.2019411595474945}],\"seed\":950588235,\"separation\":1.6542426347732544,\"task_category\":\"mug\",\"task_obj_aabb_max\":[{\"_indices\":[1],\"_key\":\"task_obj1_aabb_max\",\"value\":[14.107345581054688,-5.070436954498291,0.162007674574852]},{\"_indices\":[2],\"_key\":\"task_obj2_aabb_max\",\"value\":[12.792548179626465,-6.042255401611328,0.07135972380638123]}],\"task_obj_aabb_min\":[{\"_indices\":[1],\"_key\":\"task_obj1_aabb_min\",\"value\":[14.001567840576172,-5.214274883270264,0.06615215539932251]},{\"_indices\":[2],\"_key\":\"task_obj2_aabb_min\",\"value\":[12.6393461227417,-6.186596870422363,-0.07141925394535065]}],\"task_obj_centre\":[{\"_indices\":[1],\"_key\":\"task_obj1_centre\",\"value\":[14.05445671081543,-5.142355918884277,0.11407991498708725]},{\"_indices\":[2],\"_key\":\"task_obj2_centre\",\"value\":[12.715947151184082,-6.114426136016846,-2.9765069484710693e-05]}]}","options_json":"[\"near the snow globe\",\"near the toy figure\"]","question":"Which mug is larger: the one near the snow globe, or the one near the toy figure?","room":"bathroom_0","runner_task":"size","scene":"grocery_store_half_stocked","small_task":"Dimensional Size"},"observations":[],"question":{"answer_type":"choice","options":[],"original":"Which mug is larger: the one near the snow globe, or the one near the toy figure?","text":"Which mug is larger: the one near the snow globe, or the one near the toy figure?"},"reference_media":[],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":38,"stratum_pool":167},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Metric Comparison/Dimensional Size/grocery_store_half_stocked/bathroom_0/grocery_store_half_stocked__bathroom_0_8.json","annotation_sha256":"c47a605c0072788293b4fef17c05ef9a088f76fb6eacb618b4870cc938a72bb0","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"c9147021ca3d2500155a81ba17fe83429140336071cdd2a41162eef38b387a92","sample_id":"0676","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"near the toy figure","metric":"official_esi_task","original_answer":"near the toy figure"},"task":{"category":"Metric Comparison","role":"spatial_core","skill_tags":["Metric Comparison","Dimensional Size"],"stratum":"ESI-Bench/Metric Comparison/Dimensional Size","subcategory":"Dimensional Size"},"transforms":[]}
{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Metric Comparison","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"tray","id":"3eefe4dbff1890dd","metadata":"vendor/ESI-Bench/dataset/json_clean/Metric Comparison/Spatial Distance/Wainscott_0_garden/living_room_0/Wainscott_0_garden__living_room_0_0.json","metadata_sha256":"fa050330253b5a7d12fe4637d9e526beae35df0b70717095656f0141b5184b7a","observation_policy":"runtime camera observations; no oracle poses","question":"Which object is closer to the coffee table: the baking sheet or the tray?","room":"living_room_0","scene":"Wainscott_0_garden","subcategory":"Spatial Distance","task":"metric_comparison.spatial_distance"},"group":{"id":"ESI-scene/Wainscott_0_garden","kind":"scene","room":"living_room_0","scene":"Wainscott_0_garden"},"id":"3f2b4687ff82389bb339","native_annotation":{"answer":"tray","answer_type":"choice","big_task":"Metric Comparison","gt_camera_poses":[{"baseline_selected":true,"camera_pose":{"position":[-7.851460783165779,-0.9674218775018519,0.05],"quaternion_xyzw":[0.7196099172785686,-0.2226173863980461,-0.19438394153075267,0.6283454062079259]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/0","original_image_path":"12.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/12.png"},{"baseline_selected":true,"camera_pose":{"position":[-7.851460783165779,-0.9674218775018519,0.4],"quaternion_xyzw":[0.6501528524673138,-0.2011302586307732,-0.21654153531100293,0.6999697500441625]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/1","original_image_path":"13.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/13.png"},{"baseline_selected":true,"camera_pose":{"position":[-7.037349839595,-1.2537928037194481,0.05],"quaternion_xyzw":[0.7527074233238708,-0.02878313126650182,-0.025132711311126855,0.6572453218165849]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/2","original_image_path":"14.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/14.png"},{"baseline_selected":true,"camera_pose":{"position":[-7.037349839595,-1.2537928037194481,0.4],"quaternion_xyzw":[0.6800557727137245,-0.026004970813392942,-0.027997559114103145,0.732163932582988]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/3","original_image_path":"15.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/15.png"},{"baseline_selected":true,"camera_pose":{"position":[-6.189123617854991,-1.094741828943777,0.05],"quaternion_xyzw":[0.734509162377482,0.1670126466944803,0.14583127165058238,0.6413550548926926]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/4","original_image_path":"16.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/16.png"},{"baseline_selected":true,"camera_pose":{"position":[-6.189123617854991,-1.094741828943777,0.4],"quaternion_xyzw":[0.6636140158949965,0.15089251278967308,0.1624544044682679,0.7144623530743899]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/5","original_image_path":"17.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/17.png"},{"baseline_selected":true,"camera_pose":{"position":[-5.534063649059886,-0.5328865334213632,0.05],"quaternion_xyzw":[0.6662553158488507,0.3514267887846822,0.30685709444687564,0.5817575008672048]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/6","original_image_path":"18.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/18.png"},{"baseline_selected":true,"camera_pose":{"position":[-5.247692722842289,0.2812244101494154,0.05],"quaternion_xyzw":[0.5525972705840883,0.5118917759794361,0.4469711133619401,0.48251413455734354]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/7","original_image_path":"20.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/20.png"},{"baseline_selected":true,"camera_pose":{"position":[-5.40674369761796,1.1294506318894246,0.05],"quaternion_xyzw":[0.40128063453918844,0.6374721845823486,0.5566247895560776,0.35038822736970904]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/8","original_image_path":"22.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/22.png"},{"baseline_selected":true,"camera_pose":{"position":[-6.910029888153076,0.4085443615913391,2.41],"quaternion_xyzw":[0.0,0.0,0.7071067811865475,-0.7071067811865475]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/9","original_image_path":"24.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/24.png"}],"id":"0828","image_paths_json":"[]","metadata_json":"{\"answer\":\"obj_near\",\"camera_poses\":[{\"_key\":\"0.png\",\"azimuth_deg\":55.62021372916779,\"height\":0.05,\"position\":[-5.9685989931403745,1.7845106006845304,0.05],\"quaternion_xyzw\":[0.2226173863980459,0.7196099172785688,0.6283454062079261,0.19438394153075256]},{\"_key\":\"1.png\",\"azimuth_deg\":55.62021372916779,\"height\":0.4,\"position\":[-5.9685989931403745,1.7845106006845304,0.4],\"quaternion_xyzw\":[0.201130258630773,0.6501528524673138,0.6999697500441626,0.2165415353110027]},{\"_key\":\"10.png\",\"azimuth_deg\":205.6202137291678,\"height\":0.05,\"position\":[-8.413316078688192,-0.31236190870674674,0.05],\"quaternion_xyzw\":[0.6374721845823484,-0.4012806345391883,-0.3503882273697089,0.5566247895560776]},{\"_key\":\"11.png\",\"azimuth_deg\":205.6202137291678,\"height\":0.4,\"position\":[-8.413316078688192,-0.31236190870674674,0.4],\"quaternion_xyzw\":[0.5759430897536452,-0.3625488517059336,-0.390328563728264,0.6200737857945329]},{\"_key\":\"12.png\",\"azimuth_deg\":235.62021372916777,\"height\":0.05,\"position\":[-7.851460783165779,-0.9674218775018519,0.05],\"quaternion_xyzw\":[0.7196099172785686,-0.2226173863980461,-0.19438394153075267,0.6283454062079259]},{\"_key\":\"13.png\",\"azimuth_deg\":235.62021372916777,\"height\":0.4,\"position\":[-7.851460783165779,-0.9674218775018519,0.4],\"quaternion_xyzw\":[0.6501528524673138,-0.2011302586307732,-0.21654153531100293,0.6999697500441625]},{\"_key\":\"14.png\",\"azimuth_deg\":265.6202137291678,\"height\":0.05,\"position\":[-7.037349839595,-1.2537928037194481,0.05],\"quaternion_xyzw\":[0.7527074233238708,-0.02878313126650182,-0.025132711311126855,0.6572453218165849]},{\"_key\":\"15.png\",\"azimuth_deg\":265.6202137291678,\"height\":0.4,\"position\":[-7.037349839595,-1.2537928037194481,0.4],\"quaternion_xyzw\":[0.6800557727137245,-0.026004970813392942,-0.027997559114103145,0.732163932582988]},{\"_key\":\"16.png\",\"azimuth_deg\":295.6202137291678,\"height\":0.05,\"position\":[-6.189123617854991,-1.094741828943777,0.05],\"quaternion_xyzw\":[0.734509162377482,0.1670126466944803,0.14583127165058238,0.6413550548926926]},{\"_key\":\"17.png\",\"azimuth_deg\":295.6202137291678,\"height\":0.4,\"position\":[-6.189123617854991,-1.094741828943777,0.4],\"quaternion_xyzw\":[0.6636140158949965,0.15089251278967308,0.1624544044682679,0.7144623530743899]},{\"_key\":\"18.png\",\"azimuth_deg\":325.62021372916774,\"height\":0.05,\"position\":[-5.534063649059886,-0.5328865334213632,0.05],\"quaternion_xyzw\":[0.6662553158488507,0.3514267887846822,0.30685709444687564,0.5817575008672048]},{\"_key\":\"19.png\",\"azimuth_deg\":325.62021372916774,\"height\":0.4,\"position\":[-5.534063649059886,-0.5328865334213632,0.4],\"quaternion_xyzw\":[0.6019480605670383,0.3175069210077907,0.3418353688547236,0.6480713449086365]},{\"_key\":\"2.png\",\"azimuth_deg\":85.62021372916777,\"height\":0.05,\"position\":[-6.782709936711151,2.0708815269021263,0.05],\"quaternion_xyzw\":[0.02878313126650222,0.7527074233238708,0.6572453218165849,0.025132711311127206]},{\"_key\":\"20.png\",\"azimuth_deg\":355.6202137291678,\"height\":0.05,\"position\":[-5.247692722842289,0.2812244101494154,0.05],\"quaternion_xyzw\":[0.5525972705840883,0.5118917759794361,0.4469711133619401,0.48251413455734354]},{\"_key\":\"21.png\",\"azimuth_deg\":355.6202137291678,\"height\":0.4,\"position\":[-5.247692722842289,0.2812244101494154,0.4],\"quaternion_xyzw\":[0.49926033967764055,0.4624837572642236,0.4979208177633872,0.5375153455758945]},{\"_key\":\"22.png\",\"azimuth_deg\":25.6202137291678,\"height\":0.05,\"position\":[-5.40674369761796,1.1294506318894246,0.05],\"quaternion_xyzw\":[0.40128063453918844,0.6374721845823486,0.5566247895560776,0.35038822736970904]},{\"_key\":\"23.png\",\"azimuth_deg\":25.6202137291678,\"height\":0.4,\"position\":[-5.40674369761796,1.1294506318894246,0.4],\"quaternion_xyzw\":[0.3625488517059336,0.5759430897536452,0.6200737857945329,0.390328563728264]},{\"_key\":\"24.png\",\"height\":2.41,\"position\":[-6.910029888153076,0.4085443615913391,2.41],\"quaternion_xyzw\":[0.0,0.0,0.7071067811865475,-0.7071067811865475],\"type\":\"top_down\"},{\"_key\":\"3.png\",\"azimuth_deg\":85.62021372916777,\"height\":0.4,\"position\":[-6.782709936711151,2.0708815269021263,0.4],\"quaternion_xyzw\":[0.0260049708133933,0.6800557727137245,0.732163932582988,0.027997559114103534]},{\"_key\":\"4.png\",\"azimuth_deg\":115.6202137291678,\"height\":0.05,\"position\":[-7.630936158451162,1.9118305521264551,0.05],\"quaternion_xyzw\":[-0.1670126466944803,0.734509162377482,0.6413550548926926,-0.14583127165058238]},{\"_key\":\"5.png\",\"azimuth_deg\":115.6202137291678,\"height\":0.4,\"position\":[-7.630936158451162,1.9118305521264551,0.4],\"quaternion_xyzw\":[-0.15089251278967308,0.6636140158949965,0.7144623530743899,-0.1624544044682679]},{\"_key\":\"6.png\",\"azimuth_deg\":145.62021372916777,\"height\":0.05,\"position\":[-8.285996127246268,1.3499752566040408,0.05],\"quaternion_xyzw\":[-0.35142678878468236,0.6662553158488507,0.5817575008672048,-0.30685709444687587]},{\"_key\":\"7.png\",\"azimuth_deg\":145.62021372916777,\"height\":0.4,\"position\":[-8.285996127246268,1.3499752566040408,0.4],\"quaternion_xyzw\":[-0.3175069210077908,0.6019480605670383,0.6480713449086363,-0.3418353688547239]},{\"_key\":\"8.png\",\"azimuth_deg\":175.62021372916777,\"height\":0.05,\"position\":[-8.572367053463864,0.5358643130332641,0.05],\"quaternion_xyzw\":[-0.511891775979436,0.5525972705840884,0.48251413455734377,-0.44697111336194]},{\"_key\":\"9.png\",\"azimuth_deg\":175.62021372916777,\"height\":0.4,\"position\":[-8.572367053463864,0.5358643130332641,0.4],\"quaternion_xyzw\":[-0.4624837572642234,0.4992603396776407,0.5375153455758946,-0.49792081776338715]}],\"corner_clearances\":{\"bl\":292.5227,\"br\":291.7756,\"tl\":292.5093,\"tr\":291.7622},\"d_far\":0.4940140587814354,\"d_near\":0.2440140587814354,\"dist_far_centre\":1.2137536400027416,\"dist_near_centre\":0.9671611488679915,\"exist_far\":[{\"_indices\":[0],\"_key\":\"exist_far_0\",\"value\":false},{\"_indices\":[1],\"_key\":\"exist_far_1\",\"value\":false},{\"_indices\":[2],\"_key\":\"exist_far_2\",\"value\":false},{\"_indices\":[3],\"_key\":\"exist_far_3\",\"value\":false},{\"_indices\":[4],\"_key\":\"exist_far_4\",\"value\":true},{\"_indices\":[5],\"_key\":\"exist_far_5\",\"value\":false},{\"_indices\":[6],\"_key\":\"exist_far_6\",\"value\":true},{\"_indices\":[7],\"_key\":\"exist_far_7\",\"value\":false},{\"_indices\":[8],\"_key\":\"exist_far_8\",\"value\":false},{\"_indices\":[9],\"_key\":\"exist_far_9\",\"value\":false},{\"_indices\":[10],\"_key\":\"exist_far_10\",\"value\":false},{\"_indices\":[11],\"_key\":\"exist_far_11\",\"value\":false},{\"_indices\":[12],\"_key\":\"exist_far_12\",\"value\":true},{\"_indices\":[13],\"_key\":\"exist_far_13\",\"value\":true},{\"_indices\":[14],\"_key\":\"exist_far_14\",\"value\":true},{\"_indices\":[15],\"_key\":\"exist_far_15\",\"value\":true},{\"_indices\":[16],\"_key\":\"exist_far_16\",\"value\":true},{\"_indices\":[17],\"_key\":\"exist_far_17\",\"value\":true},{\"_indices\":[18],\"_key\":\"exist_far_18\",\"value\":true},{\"_indices\":[19],\"_key\":\"exist_far_19\",\"value\":false},{\"_indices\":[20],\"_key\":\"exist_far_20\",\"value\":true},{\"_indices\":[21],\"_key\":\"exist_far_21\",\"value\":false},{\"_indices\":[22],\"_key\":\"exist_far_22\",\"value\":true},{\"_indices\":[23],\"_key\":\"exist_far_23\",\"value\":false},{\"_indices\":[24],\"_key\":\"exist_far_24\",\"value\":true}],\"exist_near\":[{\"_indices\":[0],\"_key\":\"exist_near_0\",\"value\":true},{\"_indices\":[1],\"_key\":\"exist_near_1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_near_2\",\"value\":true},{\"_indices\":[3],\"_key\":\"exist_near_3\",\"value\":false},{\"_indices\":[4],\"_key\":\"exist_near_4\",\"value\":false},{\"_indices\":[5],\"_key\":\"exist_near_5\",\"value\":false},{\"_indices\":[6],\"_key\":\"exist_near_6\",\"value\":false},{\"_indices\":[7],\"_key\":\"exist_near_7\",\"value\":true},{\"_indices\":[8],\"_key\":\"exist_near_8\",\"value\":true},{\"_indices\":[9],\"_key\":\"exist_near_9\",\"value\":false},{\"_indices\":[10],\"_key\":\"exist_near_10\",\"value\":true},{\"_indices\":[11],\"_key\":\"exist_near_11\",\"value\":false},{\"_indices\":[12],\"_key\":\"exist_near_12\",\"value\":true},{\"_indices\":[13],\"_key\":\"exist_near_13\",\"value\":true},{\"_indices\":[14],\"_key\":\"exist_near_14\",\"value\":true},{\"_indices\":[15],\"_key\":\"exist_near_15\",\"value\":true},{\"_indices\":[16],\"_key\":\"exist_near_16\",\"value\":true},{\"_indices\":[17],\"_key\":\"exist_near_17\",\"value\":true},{\"_indices\":[18],\"_key\":\"exist_near_18\",\"value\":true},{\"_indices\":[19],\"_key\":\"exist_near_19\",\"value\":false},{\"_indices\":[20],\"_key\":\"exist_near_20\",\"value\":true},{\"_indices\":[21],\"_key\":\"exist_near_21\",\"value\":false},{\"_indices\":[22],\"_key\":\"exist_near_22\",\"value\":true},{\"_indices\":[23],\"_key\":\"exist_near_23\",\"value\":false},{\"_indices\":[24],\"_key\":\"exist_near_24\",\"value\":true}],\"exist_ref\":[{\"_indices\":[0],\"_key\":\"exist_ref_0\",\"value\":false},{\"_indices\":[1],\"_key\":\"exist_ref_1\",\"value\":false},{\"_indices\":[2],\"_key\":\"exist_ref_2\",\"value\":false},{\"_indices\":[3],\"_key\":\"exist_ref_3\",\"value\":false},{\"_indices\":[4],\"_key\":\"exist_ref_4\",\"value\":false},{\"_indices\":[5],\"_key\":\"exist_ref_5\",\"value\":false},{\"_indices\":[6],\"_key\":\"exist_ref_6\",\"value\":false},{\"_indices\":[7],\"_key\":\"exist_ref_7\",\"value\":false},{\"_indices\":[8],\"_key\":\"exist_ref_8\",\"value\":false},{\"_indices\":[9],\"_key\":\"exist_ref_9\",\"value\":false},{\"_indices\":[10],\"_key\":\"exist_ref_10\",\"value\":false},{\"_indices\":[11],\"_key\":\"exist_ref_11\",\"value\":false},{\"_indices\":[12],\"_key\":\"exist_ref_12\",\"value\":false},{\"_indices\":[13],\"_key\":\"exist_ref_13\",\"value\":false},{\"_indices\":[14],\"_key\":\"exist_ref_14\",\"value\":false},{\"_indices\":[15],\"_key\":\"exist_ref_15\",\"value\":false},{\"_indices\":[16],\"_key\":\"exist_ref_16\",\"value\":false},{\"_indices\":[17],\"_key\":\"exist_ref_17\",\"value\":false},{\"_indices\":[18],\"_key\":\"exist_ref_18\",\"value\":false},{\"_indices\":[19],\"_key\":\"exist_ref_19\",\"value\":false},{\"_indices\":[20],\"_key\":\"exist_ref_20\",\"value\":false},{\"_indices\":[21],\"_key\":\"exist_ref_21\",\"value\":false},{\"_indices\":[22],\"_key\":\"exist_ref_22\",\"value\":false},{\"_indices\":[23],\"_key\":\"exist_ref_23\",\"value\":false},{\"_indices\":[24],\"_key\":\"exist_ref_24\",\"value\":false}],\"far_category\":\"baking_sheet\",\"far_corner\":\"tl\",\"far_corner_xy\":[-7.283618450164795,1.0342108011245728],\"far_pos\":[-7.632939338684082,1.3835314512252808,0.03263968601822853],\"floor_name\":\"floors_yfunln_0\",\"layout\":\"distance_comparison\",\"near_category\":\"tray\",\"near_corner\":\"tr\",\"near_corner_xy\":[-6.536441326141357,1.0342108011245728],\"near_pos\":[-6.363897323608398,1.2067548036575317,0.02901104837656021],\"objects\":[{\"_key\":\"obj_far\",\"category\":\"baking_sheet\",\"model\":\"yhurut\",\"position\":[-7.632939338684082,1.3835314512252808,0.03263968601822853],\"quaternion_xyzw\":[1.5156513200054178e-07,-8.38849700812716e-09,7.594979933855939e-08,1.0000001192092896]},{\"_key\":\"obj_near\",\"category\":\"tray\",\"model\":\"hjxczh\",\"position\":[-6.363897323608398,1.2067548036575317,0.02901104837656021],\"quaternion_xyzw\":[8.907345000475075e-11,6.16990947222007e-09,-6.30580174743045e-08,1.0]},{\"_key\":\"obj_ref\",\"category\":\"coffee_table\",\"model\":\"scene_native\",\"position\":[-6.958100318908691,0.3951982855796814,0.3372233211994171],\"quaternion_xyzw\":[5.1276645535835996e-05,-1.6857295122463256e-05,0.03232481703162193,0.9994774460792542]}],\"ref_category\":\"coffee_table\",\"run_idx\":0,\"seed\":4251971270}","options_json":"[\"baking sheet\",\"tray\"]","question":"Which object is closer to the coffee table: the baking sheet or the tray?","room":"living_room_0","runner_task":"distance","scene":"Wainscott_0_garden","small_task":"Spatial Distance"},"observations":[],"question":{"answer_type":"choice","options":[],"original":"Which object is closer to the coffee table: the baking sheet or the tray?","text":"Which object is closer to the coffee table: the baking sheet or the tray?"},"reference_media":[],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":60,"stratum_pool":152},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Metric Comparison/Spatial Distance/Wainscott_0_garden/living_room_0/Wainscott_0_garden__living_room_0_0.json","annotation_sha256":"fa050330253b5a7d12fe4637d9e526beae35df0b70717095656f0141b5184b7a","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"cd438c494be8a5992662f2d25e52befd3d296521f3806e9d5916618d0d3fea33","sample_id":"0828","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"tray","metric":"official_esi_task","original_answer":"tray"},"task":{"category":"Metric Comparison","role":"spatial_core","skill_tags":["Metric Comparison","Spatial Distance"],"stratum":"ESI-Bench/Metric Comparison/Spatial Distance","subcategory":"Spatial Distance"},"transforms":[]}
{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Metric Comparison","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"can of sardines","id":"d30b46aedcef3b60","metadata":"vendor/ESI-Bench/dataset/json_clean/Metric Comparison/Spatial Distance/Ihlen_0_int/living_room_0/Ihlen_0_int__living_room_0_0.json","metadata_sha256":"52c69d7fb2e43b9fad413c93644046efe8d717a46bd630944bde09e09b6a1974","observation_policy":"runtime camera observations; no oracle poses","question":"Which object is closer to the armchair: the jar of coffee or the can of sardines?","room":"living_room_0","scene":"Ihlen_0_int","subcategory":"Spatial Distance","task":"metric_comparison.spatial_distance"},"group":{"id":"ESI-scene/Ihlen_0_int","kind":"scene","room":"living_room_0","scene":"Ihlen_0_int"},"id":"e0a82a99fd95a07aa6d9","native_annotation":{"answer":"can of sardines","answer_type":"choice","big_task":"Metric Comparison","gt_camera_poses":[{"baseline_selected":true,"camera_pose":{"position":[0.30615493157603246,0.9590853693711008,0.05],"quaternion_xyzw":[0.7795306534759114,-0.10386492041653565,-0.08158058942420242,0.6122815088074152]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/0","original_image_path":"10.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/10.png"},{"baseline_selected":true,"camera_pose":{"position":[0.30615493157603246,0.9590853693711008,0.4],"quaternion_xyzw":[0.7008063884332606,-0.09337567347410242,-0.09340394995497454,0.7010186100719413]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/1","original_image_path":"11.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/11.png"},{"baseline_selected":true,"camera_pose":{"position":[1.0481876534085899,0.95676954142439,0.05],"quaternion_xyzw":[0.7798510100982342,0.1014315702849886,0.07966931719474367,0.6125331325699928]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/2","original_image_path":"12.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/12.png"},{"baseline_selected":true,"camera_pose":{"position":[1.0481876534085899,0.95676954142439,0.4],"quaternion_xyzw":[0.7010943924604269,0.0911880657002719,0.09121567971899436,0.701306701313904]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/3","original_image_path":"13.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/13.png"},{"baseline_selected":true,"camera_pose":{"position":[-0.32897938238491786,3.3593783930451995,0.05],"quaternion_xyzw":[-0.29981566709518653,0.7270258091470915,0.5710416356067883,-0.23548989150663993]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/4","original_image_path":"2.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/2.png"}],"id":"0794","image_paths_json":"[]","metadata_json":"{\"answer\":\"obj_near\",\"camera_poses\":[{\"_key\":\"0.png\",\"azimuth_deg\":104.8211847904748,\"height\":0.05,\"position\":[0.3147977191347447,3.7283891881288325,0.05],\"quaternion_xyzw\":[-0.10143157028498874,0.7798510100982342,0.6125331325699929,-0.07966931719474377]},{\"_key\":\"1.png\",\"azimuth_deg\":104.8211847904748,\"height\":0.4,\"position\":[0.3147977191347447,3.7283891881288325,0.4],\"quaternion_xyzw\":[-0.091188065700272,0.7010943924604269,0.701306701313904,-0.09121567971899448]},{\"_key\":\"10.png\",\"azimuth_deg\":254.82118479047483,\"height\":0.05,\"position\":[0.30615493157603246,0.9590853693711008,0.05],\"quaternion_xyzw\":[0.7795306534759114,-0.10386492041653565,-0.08158058942420242,0.6122815088074152]},{\"_key\":\"11.png\",\"azimuth_deg\":254.82118479047483,\"height\":0.4,\"position\":[0.30615493157603246,0.9590853693711008,0.4],\"quaternion_xyzw\":[0.7008063884332606,-0.09337567347410242,-0.09340394995497454,0.7010186100719413]},{\"_key\":\"12.png\",\"azimuth_deg\":284.8211847904748,\"height\":0.05,\"position\":[1.0481876534085899,0.95676954142439,0.05],\"quaternion_xyzw\":[0.7798510100982342,0.1014315702849886,0.07966931719474367,0.6125331325699928]},{\"_key\":\"13.png\",\"azimuth_deg\":284.8211847904748,\"height\":0.4,\"position\":[1.0481876534085899,0.95676954142439,0.4],\"quaternion_xyzw\":[0.7010943924604269,0.0911880657002719,0.09121567971899436,0.701306701313904]},{\"_key\":\"14.png\",\"azimuth_deg\":314.82118479047483,\"height\":0.05,\"position\":[1.6919647549282533,1.3257803365080236,0.05],\"quaternion_xyzw\":[0.7270258091470914,0.2998156670951867,0.23548989150664004,0.5710416356067883]},{\"_key\":\"15.png\",\"azimuth_deg\":314.82118479047483,\"height\":0.4,\"position\":[1.6919647549282533,1.3257803365080236,0.4],\"quaternion_xyzw\":[0.6536039722546799,0.2695374888925767,0.26961911156115215,0.6538018998254461]},{\"_key\":\"16.png\",\"azimuth_deg\":344.8211847904748,\"height\":0.05,\"position\":[2.064986681677178,1.967241610080975,0.05],\"quaternion_xyzw\":[0.6246550007695314,0.47776782166166404,0.3752622188778048,0.49063459486790334]},{\"_key\":\"17.png\",\"azimuth_deg\":344.8211847904748,\"height\":0.4,\"position\":[2.064986681677178,1.967241610080975,0.4],\"quaternion_xyzw\":[0.561571521471411,0.42951837764861334,0.42964844651706613,0.5617415793226094]},{\"_key\":\"18.png\",\"azimuth_deg\":14.821184790474774,\"height\":0.05,\"position\":[2.067302509623889,2.7092743319135337,0.05],\"quaternion_xyzw\":[0.4797149863807248,0.6231608887305555,0.4894610461825857,0.3767916173007752]},{\"_key\":\"19.png\",\"azimuth_deg\":14.821184790474774,\"height\":0.4,\"position\":[2.067302509623889,2.7092743319135337,0.4],\"quaternion_xyzw\":[0.4312688995406839,0.5602282987805772,0.5603979498704713,0.43139949851078907]},{\"_key\":\"2.png\",\"azimuth_deg\":134.8211847904748,\"height\":0.05,\"position\":[-0.32897938238491786,3.3593783930451995,0.05],\"quaternion_xyzw\":[-0.29981566709518653,0.7270258091470915,0.5710416356067883,-0.23548989150663993]},{\"_key\":\"20.png\",\"azimuth_deg\":44.82118479047483,\"height\":0.05,\"position\":[1.6982917145402552,3.353051433433197,0.05],\"quaternion_xyzw\":[0.3020831884365701,0.7260865710545201,0.570303912062647,0.23727091369218797]},{\"_key\":\"21.png\",\"azimuth_deg\":44.82118479047483,\"height\":0.4,\"position\":[1.6982917145402552,3.353051433433197,0.4],\"quaternion_xyzw\":[0.2715760148118134,0.6527595871716829,0.6529572590416036,0.2716582547968378]},{\"_key\":\"22.png\",\"azimuth_deg\":74.82118479047477,\"height\":0.05,\"position\":[1.056830440967304,3.726073360182122,0.05],\"quaternion_xyzw\":[0.10386492041653603,0.7795306534759114,0.6122815088074152,0.08158058942420272]},{\"_key\":\"23.png\",\"azimuth_deg\":74.82118479047477,\"height\":0.4,\"position\":[1.056830440967304,3.726073360182122,0.4],\"quaternion_xyzw\":[0.09337567347410275,0.7008063884332606,0.7010186100719412,0.09340394995497486]},{\"_key\":\"24.png\",\"height\":2.38,\"position\":[0.6814926862716675,2.3425793647766113,2.38],\"quaternion_xyzw\":[0.0,0.0,0.7071067811865475,-0.7071067811865475],\"type\":\"top_down\"},{\"_key\":\"3.png\",\"azimuth_deg\":134.8211847904748,\"height\":0.4,\"position\":[-0.32897938238491786,3.3593783930451995,0.4],\"quaternion_xyzw\":[-0.26953748889257656,0.6536039722546799,0.6538018998254461,-0.269619111561152]},{\"_key\":\"4.png\",\"azimuth_deg\":164.82118479047477,\"height\":0.05,\"position\":[-0.7020013091338428,2.7179171194722476,0.05],\"quaternion_xyzw\":[-0.47776782166166404,0.6246550007695314,0.4906345948679034,-0.3752622188778048]},{\"_key\":\"5.png\",\"azimuth_deg\":164.82118479047477,\"height\":0.4,\"position\":[-0.7020013091338428,2.7179171194722476,0.4],\"quaternion_xyzw\":[-0.42951837764861334,0.5615715214714111,0.5617415793226094,-0.42964844651706613]},{\"_key\":\"6.png\",\"azimuth_deg\":194.8211847904748,\"height\":0.05,\"position\":[-0.7043171370805539,1.9758843976396887,0.05],\"quaternion_xyzw\":[0.6231608887305556,-0.47971498638072474,-0.3767916173007751,0.4894610461825857]},{\"_key\":\"7.png\",\"azimuth_deg\":194.8211847904748,\"height\":0.4,\"position\":[-0.7043171370805539,1.9758843976396887,0.4],\"quaternion_xyzw\":[0.5602282987805773,-0.43126889954068387,-0.431399498510789,0.5603979498704714]},{\"_key\":\"8.png\",\"azimuth_deg\":224.8211847904748,\"height\":0.05,\"position\":[-0.33530634199692044,1.332107296120026,0.05],\"quaternion_xyzw\":[0.7260865710545199,-0.30208318843657017,-0.237270913692188,0.570303912062647]},{\"_key\":\"9.png\",\"azimuth_deg\":224.8211847904748,\"height\":0.4,\"position\":[-0.33530634199692044,1.332107296120026,0.4],\"quaternion_xyzw\":[0.6527595871716829,-0.2715760148118136,-0.2716582547968379,0.6529572590416037]}],\"corner_clearances\":{\"bl\":115.4694,\"br\":114.5296,\"tl\":115.4835,\"tr\":114.5437},\"d_far\":0.48677188373051883,\"d_near\":0.23677188373051883,\"dist_far_centre\":1.164614762668115,\"dist_near_centre\":0.631612548700025,\"exist_far\":[{\"_indices\":[0],\"_key\":\"exist_far_0\",\"value\":false},{\"_indices\":[1],\"_key\":\"exist_far_1\",\"value\":false},{\"_indices\":[2],\"_key\":\"exist_far_2\",\"value\":true},{\"_indices\":[3],\"_key\":\"exist_far_3\",\"value\":false},{\"_indices\":[4],\"_key\":\"exist_far_4\",\"value\":false},{\"_indices\":[5],\"_key\":\"exist_far_5\",\"value\":false},{\"_indices\":[6],\"_key\":\"exist_far_6\",\"value\":false},{\"_indices\":[7],\"_key\":\"exist_far_7\",\"value\":false},{\"_indices\":[8],\"_key\":\"exist_far_8\",\"value\":false},{\"_indices\":[9],\"_key\":\"exist_far_9\",\"value\":false},{\"_indices\":[10],\"_key\":\"exist_far_10\",\"value\":true},{\"_indices\":[11],\"_key\":\"exist_far_11\",\"value\":true},{\"_indices\":[12],\"_key\":\"exist_far_12\",\"value\":true},{\"_indices\":[13],\"_key\":\"exist_far_13\",\"value\":true},{\"_indices\":[14],\"_key\":\"exist_far_14\",\"value\":false},{\"_indices\":[15],\"_key\":\"exist_far_15\",\"value\":false},{\"_indices\":[16],\"_key\":\"exist_far_16\",\"value\":false},{\"_indices\":[17],\"_key\":\"exist_far_17\",\"value\":false},{\"_indices\":[18],\"_key\":\"exist_far_18\",\"value\":false},{\"_indices\":[19],\"_key\":\"exist_far_19\",\"value\":false},{\"_indices\":[20],\"_key\":\"exist_far_20\",\"value\":false},{\"_indices\":[21],\"_key\":\"exist_far_21\",\"value\":false},{\"_indices\":[22],\"_key\":\"exist_far_22\",\"value\":false},{\"_indices\":[23],\"_key\":\"exist_far_23\",\"value\":false},{\"_indices\":[24],\"_key\":\"exist_far_24\",\"value\":true}],\"exist_near\":[{\"_indices\":[0],\"_key\":\"exist_near_0\",\"value\":true},{\"_indices\":[1],\"_key\":\"exist_near_1\",\"value\":false},{\"_indices\":[2],\"_key\":\"exist_near_2\",\"value\":true},{\"_indices\":[3],\"_key\":\"exist_near_3\",\"value\":false},{\"_indices\":[4],\"_key\":\"exist_near_4\",\"value\":true},{\"_indices\":[5],\"_key\":\"exist_near_5\",\"value\":true},{\"_indices\":[6],\"_key\":\"exist_near_6\",\"value\":true},{\"_indices\":[7],\"_key\":\"exist_near_7\",\"value\":true},{\"_indices\":[8],\"_key\":\"exist_near_8\",\"value\":true},{\"_indices\":[9],\"_key\":\"exist_near_9\",\"value\":true},{\"_indices\":[10],\"_key\":\"exist_near_10\",\"value\":true},{\"_indices\":[11],\"_key\":\"exist_near_11\",\"value\":true},{\"_indices\":[12],\"_key\":\"exist_near_12\",\"value\":true},{\"_indices\":[13],\"_key\":\"exist_near_13\",\"value\":true},{\"_indices\":[14],\"_key\":\"exist_near_14\",\"value\":false},{\"_indices\":[15],\"_key\":\"exist_near_15\",\"value\":false},{\"_indices\":[16],\"_key\":\"exist_near_16\",\"value\":false},{\"_indices\":[17],\"_key\":\"exist_near_17\",\"value\":false},{\"_indices\":[18],\"_key\":\"exist_near_18\",\"value\":false},{\"_indices\":[19],\"_key\":\"exist_near_19\",\"value\":false},{\"_indices\":[20],\"_key\":\"exist_near_20\",\"value\":false},{\"_indices\":[21],\"_key\":\"exist_near_21\",\"value\":false},{\"_indices\":[22],\"_key\":\"exist_near_22\",\"value\":true},{\"_indices\":[23],\"_key\":\"exist_near_23\",\"value\":true},{\"_indices\":[24],\"_key\":\"exist_near_24\",\"value\":false}],\"exist_ref\":[{\"_indices\":[0],\"_key\":\"exist_ref_0\",\"value\":false},{\"_indices\":[1],\"_key\":\"exist_ref_1\",\"value\":false},{\"_indices\":[2],\"_key\":\"exist_ref_2\",\"value\":false},{\"_indices\":[3],\"_key\":\"exist_ref_3\",\"value\":false},{\"_indices\":[4],\"_key\":\"exist_ref_4\",\"value\":false},{\"_indices\":[5],\"_key\":\"exist_ref_5\",\"value\":false},{\"_indices\":[6],\"_key\":\"exist_ref_6\",\"value\":false},{\"_indices\":[7],\"_key\":\"exist_ref_7\",\"value\":false},{\"_indices\":[8],\"_key\":\"exist_ref_8\",\"value\":false},{\"_indices\":[9],\"_key\":\"exist_ref_9\",\"value\":false},{\"_indices\":[10],\"_key\":\"exist_ref_10\",\"value\":false},{\"_indices\":[11],\"_key\":\"exist_ref_11\",\"value\":false},{\"_indices\":[12],\"_key\":\"exist_ref_12\",\"value\":false},{\"_indices\":[13],\"_key\":\"exist_ref_13\",\"value\":false},{\"_indices\":[14],\"_key\":\"exist_ref_14\",\"value\":false},{\"_indices\":[15],\"_key\":\"exist_ref_15\",\"value\":false},{\"_indices\":[16],\"_key\":\"exist_ref_16\",\"value\":false},{\"_indices\":[17],\"_key\":\"exist_ref_17\",\"value\":false},{\"_indices\":[18],\"_key\":\"exist_ref_18\",\"value\":false},{\"_indices\":[19],\"_key\":\"exist_ref_19\",\"value\":false},{\"_indices\":[20],\"_key\":\"exist_ref_20\",\"value\":false},{\"_indices\":[21],\"_key\":\"exist_ref_21\",\"value\":false},{\"_indices\":[22],\"_key\":\"exist_ref_22\",\"value\":false},{\"_indices\":[23],\"_key\":\"exist_ref_23\",\"value\":false},{\"_indices\":[24],\"_key\":\"exist_ref_24\",\"value\":false}],\"far_category\":\"jar_of_coffee\",\"far_corner\":\"tl\",\"far_corner_xy\":[0.2115282416343689,2.831124782562256],\"far_pos\":[-0.13267141580581665,3.1753244400024414,0.08725915104150772],\"floor_name\":\"floors_lwmene_0\",\"layout\":\"distance_comparison\",\"near_category\":\"can_of_sardines\",\"near_corner\":\"tr\",\"near_corner_xy\":[1.1514570713043213,2.831124782562256],\"near_pos\":[0.5199241638183594,2.9531774520874023,0.04216589033603668],\"objects\":[{\"_key\":\"obj_far\",\"category\":\"jar_of_coffee\",\"model\":\"bnrvcs\",\"position\":[-0.13267141580581665,3.1753244400024414,0.08725915104150772],\"quaternion_xyzw\":[3.62747641702299e-07,7.869174822872083e-08,8.195638656616211e-08,1.0000001192092896]},{\"_key\":\"obj_near\",\"category\":\"can_of_sardines\",\"model\":\"dpgmry\",\"position\":[0.3705653250217438,2.4303810596466064,0.042335182428359985],\"quaternion_xyzw\":[-0.6925515532493591,-0.14268332719802856,-0.6153818368911743,-0.34830886125564575]},{\"_key\":\"obj_ref\",\"category\":\"armchair\",\"model\":\"scene_native\",\"position\":[0.6991721987724304,2.292736530303955,0.522493839263916],\"quaternion_xyzw\":[-0.0002225339412689209,0.0002687386586330831,0.7929841876029968,0.6092422008514404]}],\"ref_category\":\"armchair\",\"run_idx\":0,\"seed\":4097266427}","options_json":"[\"jar of coffee\",\"can of sardines\"]","question":"Which object is closer to the armchair: the jar of coffee or the can of sardines?","room":"living_room_0","runner_task":"distance","scene":"Ihlen_0_int","small_task":"Spatial Distance"},"observations":[],"question":{"answer_type":"choice","options":[],"original":"Which object is closer to the armchair: the jar of coffee or the can of sardines?","text":"Which object is closer to the armchair: the jar of coffee or the can of sardines?"},"reference_media":[],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":60,"stratum_pool":152},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Metric Comparison/Spatial Distance/Ihlen_0_int/living_room_0/Ihlen_0_int__living_room_0_0.json","annotation_sha256":"52c69d7fb2e43b9fad413c93644046efe8d717a46bd630944bde09e09b6a1974","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"a21c250b2b22fd46b522b53e110eebef9e3b644eaa88d51d659c8141659ba28a","sample_id":"0794","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"can of sardines","metric":"official_esi_task","original_answer":"can of sardines"},"task":{"category":"Metric Comparison","role":"spatial_core","skill_tags":["Metric Comparison","Spatial Distance"],"stratum":"ESI-Bench/Metric Comparison/Spatial Distance","subcategory":"Spatial Distance"},"transforms":[]}
{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Perceptual Grounding","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"yes","id":"8f45c5fff5675048","metadata":"vendor/ESI-Bench/dataset/json_clean/Perceptual Grounding/Material Transparency/Wainscott_0_garden/bathroom_0/Wainscott_0_garden__bathroom_0.json","metadata_sha256":"7a1849be06d3523d0f7f99bf42b4286141534b44f739b12b84a7737908e50c25","observation_policy":"runtime camera observations; no oracle poses","question":"Is the pebble inside the lubricant bottle?","room":"bathroom_0","scene":"Wainscott_0_garden","subcategory":"Material Transparency","task":"perceptual_grounding.material_transparency"},"group":{"id":"ESI-scene/Wainscott_0_garden","kind":"scene","room":"bathroom_0","scene":"Wainscott_0_garden"},"id":"6bac7ff8a900fe13d24d","native_annotation":{"answer":"yes","answer_type":"choice","big_task":"Perceptual Grounding","gt_camera_poses":[{"baseline_selected":true,"camera_pose":{"position":[2.854470729827881,0.251872966729578,0.042581651359796524],"quaternion_xyzw":[0.7071067811865475,0.0,0.0,0.7071067811865475]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/0","original_image_path":"0.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/0.png"},{"baseline_selected":true,"camera_pose":{"position":[3.124198776406475,0.7190556476300077,0.042581651359796524],"quaternion_xyzw":[0.3535533905932738,0.6123724356957946,0.6123724356957946,0.3535533905932738]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/1","original_image_path":"2.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/2.png"},{"baseline_selected":true,"camera_pose":{"position":[2.854470729827881,0.874783207930151,0.042581651359796524],"quaternion_xyzw":[0.0,0.7071067811865475,0.7071067811865475,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/2","original_image_path":"3.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/3.png"},{"baseline_selected":true,"camera_pose":{"position":[2.584742683249287,0.7190556476300078,0.042581651359796524],"quaternion_xyzw":[-0.3535533905932737,0.6123724356957947,0.6123724356957947,-0.3535533905932737]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/3","original_image_path":"4.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/4.png"},{"baseline_selected":true,"camera_pose":{"position":[2.584742683249287,0.4076005270297212,0.042581651359796524],"quaternion_xyzw":[0.6123724356957946,-0.35355339059327373,-0.35355339059327373,0.6123724356957946]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/4","original_image_path":"5.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_views/5.png"}],"id":"0997","image_paths_json":"[]","metadata_json":"{\"answer\":\"obj_small is inside obj_container\",\"camera_poses\":[{\"_key\":\"0.png\",\"azimuth_deg\":270.0,\"height\":0.042581651359796524,\"position\":[2.854470729827881,0.251872966729578,0.042581651359796524],\"quaternion_xyzw\":[0.7071067811865475,0.0,0.0,0.7071067811865475],\"type\":\"side\"},{\"_key\":\"1.png\",\"azimuth_deg\":330.0,\"height\":0.042581651359796524,\"position\":[3.124198776406475,0.40760052702972127,0.042581651359796524],\"quaternion_xyzw\":[0.6123724356957946,0.3535533905932738,0.3535533905932738,0.6123724356957946],\"type\":\"side\"},{\"_key\":\"2.png\",\"azimuth_deg\":29.999999999999993,\"height\":0.042581651359796524,\"position\":[3.124198776406475,0.7190556476300077,0.042581651359796524],\"quaternion_xyzw\":[0.3535533905932738,0.6123724356957946,0.6123724356957946,0.3535533905932738],\"type\":\"side\"},{\"_key\":\"3.png\",\"azimuth_deg\":90.0,\"height\":0.042581651359796524,\"position\":[2.854470729827881,0.874783207930151,0.042581651359796524],\"quaternion_xyzw\":[0.0,0.7071067811865475,0.7071067811865475,-0.0],\"type\":\"side\"},{\"_key\":\"4.png\",\"azimuth_deg\":149.99999999999997,\"height\":0.042581651359796524,\"position\":[2.584742683249287,0.7190556476300078,0.042581651359796524],\"quaternion_xyzw\":[-0.3535533905932737,0.6123724356957947,0.6123724356957947,-0.3535533905932737],\"type\":\"side\"},{\"_key\":\"5.png\",\"azimuth_deg\":210.00000000000003,\"height\":0.042581651359796524,\"position\":[2.584742683249287,0.4076005270297212,0.042581651359796524],\"quaternion_xyzw\":[0.6123724356957946,-0.35355339059327373,-0.35355339059327373,0.6123724356957946],\"type\":\"side\"}],\"container_cat\":\"lubricant_bottle\",\"container_model\":\"omknho\",\"exist_obj_container\":[{\"_indices\":[0],\"_key\":\"exist_obj_container_0\",\"value\":true},{\"_indices\":[1],\"_key\":\"exist_obj_container_1\",\"value\":false},{\"_indices\":[2],\"_key\":\"exist_obj_container_2\",\"value\":true},{\"_indices\":[3],\"_key\":\"exist_obj_container_3\",\"value\":true},{\"_indices\":[4],\"_key\":\"exist_obj_container_4\",\"value\":true},{\"_indices\":[5],\"_key\":\"exist_obj_container_5\",\"value\":true}],\"exist_obj_small\":[{\"_indices\":[0],\"_key\":\"exist_obj_small_0\",\"value\":false},{\"_indices\":[1],\"_key\":\"exist_obj_small_1\",\"value\":false},{\"_indices\":[2],\"_key\":\"exist_obj_small_2\",\"value\":false},{\"_indices\":[3],\"_key\":\"exist_obj_small_3\",\"value\":false},{\"_indices\":[4],\"_key\":\"exist_obj_small_4\",\"value\":false},{\"_indices\":[5],\"_key\":\"exist_obj_small_5\",\"value\":false}],\"floor_name\":\"floors_ddyhsl_0\",\"layout\":\"containment\",\"objects\":[{\"_key\":\"obj_container\",\"aabb_max\":[2.897994041442871,0.6067091822624207,0.3043416738510132],\"aabb_min\":[2.8109395503997803,0.519942581653595,0.025692030787467957],\"category\":\"lubricant_bottle\",\"model\":\"omknho\",\"position\":[2.854470729827881,0.5633280873298645,0.1492316722869873],\"quaternion_xyzw\":[-1.1883646948263049e-05,7.244132575578988e-06,-0.5764836668968201,0.8171087503433228],\"scale\":1.0},{\"_key\":\"obj_small\",\"aabb_max\":[2.8812570571899414,0.5816087126731873,0.05102287232875824],\"aabb_min\":[2.856778383255005,0.5522873997688293,0.03390170633792877],\"category\":\"pebble\",\"model\":\"bpwpcd\",\"position\":[2.868748903274536,0.5670269131660461,0.042581651359796524],\"quaternion_xyzw\":[-0.01435624435544014,0.06378760933876038,0.9563651084899902,0.2847648561000824],\"scale\":0.1948433902799556}],\"run_idx\":0,\"seed\":323448797,\"small_obj_cat\":\"pebble\"}","options_json":"[\"yes\",\"no\"]","question":"Is the pebble inside the lubricant bottle?","room":"bathroom_0","runner_task":"transparent","scene":"Wainscott_0_garden","small_task":"Material Transparency"},"observations":[],"question":{"answer_type":"choice","options":[],"original":"Is the pebble inside the lubricant bottle?","text":"Is the pebble inside the lubricant bottle?"},"reference_media":[],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":82,"stratum_pool":218},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Perceptual Grounding/Material Transparency/Wainscott_0_garden/bathroom_0/Wainscott_0_garden__bathroom_0.json","annotation_sha256":"7a1849be06d3523d0f7f99bf42b4286141534b44f739b12b84a7737908e50c25","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"9b6f18a04890d9308561ec628df603969c7bf85d32dc15d624f362b4a6d629dd","sample_id":"0997","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"yes","metric":"official_esi_task","original_answer":"yes"},"task":{"category":"Perceptual Grounding","role":"spatial_core","skill_tags":["Perceptual Grounding","Material Transparency"],"stratum":"ESI-Bench/Perceptual Grounding/Material Transparency","subcategory":"Material Transparency"},"transforms":[]}
{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Perceptual Grounding","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"yes","id":"a7f2469b996895ed","metadata":"vendor/ESI-Bench/dataset/json_clean/Perceptual Grounding/Material Transparency/Beechwood_0_int/kitchen_0/Beechwood_0_int__kitchen_0.json","metadata_sha256":"3459fe8dc53cca84747a65b62954a9065071509294ec61519c1890e6c1b8d7da","observation_policy":"runtime camera observations; no oracle poses","question":"Is the raspberry inside the carafe?","room":"kitchen_0","scene":"Beechwood_0_int","subcategory":"Material Transparency","task":"perceptual_grounding.material_transparency"},"group":{"id":"ESI-scene/Beechwood_0_int","kind":"scene","room":"kitchen_0","scene":"Beechwood_0_int"},"id":"039240227d63cb8768b0","native_annotation":{"answer":"yes","answer_type":"choice","big_task":"Perceptual Grounding","gt_camera_poses":[{"baseline_selected":true,"camera_pose":{"position":[150.0,99.69455228044865,-20.60913848876953],"quaternion_xyzw":[0.7071067811865475,0.0,0.0,0.7071067811865475]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_views","metadata_pointer":"/camera_poses/0","original_image_path":"0.png","phase":null,"pose_source":"saved_candidate_camera_for_transparency_gt_state_replay","render_mode":"static_objects","role":"gt_rule_camera","state_key":null,"view_id":"gt_views/0.png"}],"id":"0937","image_paths_json":"[]","metadata_json":"{\"answer\":\"obj_small is inside obj_container\",\"camera_poses\":[{\"_key\":\"0.png\",\"azimuth_deg\":270.0,\"height\":-20.60913848876953,\"position\":[150.0,99.69455228044865,-20.60913848876953],\"quaternion_xyzw\":[0.7071067811865475,0.0,0.0,0.7071067811865475],\"type\":\"side\"},{\"_key\":\"1.png\",\"azimuth_deg\":330.0,\"height\":-20.60913848876953,\"position\":[150.2645254846595,99.84727614022432,-20.60913848876953],\"quaternion_xyzw\":[0.6123724356957972,0.3535533905932689,0.35355339059326896,0.6123724356957974],\"type\":\"side\"},{\"_key\":\"2.png\",\"azimuth_deg\":29.999999999999993,\"height\":-20.60913848876953,\"position\":[150.2645254846595,100.15272385977568,-20.60913848876953],\"quaternion_xyzw\":[0.3535533905932689,0.6123724356957972,0.6123724356957974,0.35355339059326896],\"type\":\"side\"},{\"_key\":\"3.png\",\"azimuth_deg\":90.0,\"height\":-20.60913848876953,\"position\":[150.0,100.30544771955135,-20.60913848876953],\"quaternion_xyzw\":[0.0,0.7071067811865475,0.7071067811865475,-0.0],\"type\":\"side\"},{\"_key\":\"4.png\",\"azimuth_deg\":149.99999999999997,\"height\":-20.60913848876953,\"position\":[149.7354745153405,100.15272385977568,-20.60913848876953],\"quaternion_xyzw\":[-0.3535533905932689,0.6123724356957972,0.6123724356957974,-0.35355339059326896],\"type\":\"side\"},{\"_key\":\"5.png\",\"azimuth_deg\":210.00000000000003,\"height\":-20.60913848876953,\"position\":[149.7354745153405,99.84727614022432,-20.60913848876953],\"quaternion_xyzw\":[0.6123724356957972,-0.3535533905932689,-0.35355339059326896,0.6123724356957974],\"type\":\"side\"}],\"container_cat\":\"carafe\",\"container_model\":\"ocjcgp\",\"exist_obj_container\":[{\"_indices\":[0],\"_key\":\"exist_obj_container_0\",\"value\":false},{\"_indices\":[1],\"_key\":\"exist_obj_container_1\",\"value\":false},{\"_indices\":[2],\"_key\":\"exist_obj_container_2\",\"value\":false},{\"_indices\":[3],\"_key\":\"exist_obj_container_3\",\"value\":false},{\"_indices\":[4],\"_key\":\"exist_obj_container_4\",\"value\":false},{\"_indices\":[5],\"_key\":\"exist_obj_container_5\",\"value\":false}],\"exist_obj_small\":[{\"_indices\":[0],\"_key\":\"exist_obj_small_0\",\"value\":false},{\"_indices\":[1],\"_key\":\"exist_obj_small_1\",\"value\":false},{\"_indices\":[2],\"_key\":\"exist_obj_small_2\",\"value\":false},{\"_indices\":[3],\"_key\":\"exist_obj_small_3\",\"value\":false},{\"_indices\":[4],\"_key\":\"exist_obj_small_4\",\"value\":false},{\"_indices\":[5],\"_key\":\"exist_obj_small_5\",\"value\":false}],\"floor_name\":\"floors_sktjer_0\",\"layout\":\"containment\",\"objects\":[{\"_key\":\"obj_container\",\"aabb_max\":[150.03919982910156,100.0392074584961,-2939.8583984375],\"aabb_min\":[149.96078491210938,99.9607925415039,-2940.091552734375],\"category\":\"carafe\",\"model\":\"ocjcgp\",\"position\":[150.0,100.0,-2939.982666015625],\"quaternion_xyzw\":[0.0,-4.547473508864641e-13,-1.1368683772161603e-13,1.0],\"scale\":1.0},{\"_key\":\"obj_small\",\"aabb_max\":[150.02130126953125,100.00346374511719,-2939.91796875],\"aabb_min\":[149.99395751953125,99.97608184814453,-2939.94384765625],\"category\":\"raspberry\",\"model\":\"spkers\",\"position\":[150.00857543945312,99.98883819580078,-2939.931884765625],\"quaternion_xyzw\":[0.03161516785621643,0.008879570290446281,0.1648852676153183,0.9857659935951233],\"scale\":2.643798161281211}],\"run_idx\":0,\"seed\":3822878939,\"small_obj_cat\":\"raspberry\"}","options_json":"[\"yes\",\"no\"]","question":"Is the raspberry inside the carafe?","room":"kitchen_0","runner_task":"transparent","scene":"Beechwood_0_int","small_task":"Material Transparency"},"observations":[],"question":{"answer_type":"choice","options":[],"original":"Is the raspberry inside the carafe?","text":"Is the raspberry inside the carafe?"},"reference_media":[],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":82,"stratum_pool":218},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Perceptual Grounding/Material Transparency/Beechwood_0_int/kitchen_0/Beechwood_0_int__kitchen_0.json","annotation_sha256":"3459fe8dc53cca84747a65b62954a9065071509294ec61519c1890e6c1b8d7da","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"7b049cb7538fff9ccbc5cc7b74f8c8e86f653ff409d5496759443cd59300cd52","sample_id":"0937","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"yes","metric":"official_esi_task","original_answer":"yes"},"task":{"category":"Perceptual Grounding","role":"spatial_core","skill_tags":["Perceptual Grounding","Material Transparency"],"stratum":"ESI-Bench/Perceptual Grounding/Material Transparency","subcategory":"Material Transparency"},"transforms":[]}
{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Perceptual Grounding","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"tray","id":"8a94162f67a8fdbe","metadata":"vendor/ESI-Bench/dataset/json_clean/Perceptual Grounding/Partial Occlusion/house_double_floor_upper/bathroom_0/house_double_floor_upper__bathroom_0_1.json","metadata_sha256":"f5721e6fc5374af10b308fbbc8c354900bda0e03f192e0035ce037b77cdec0d9","observation_policy":"runtime camera observations; no oracle poses","question":"What is the occluded object: tray or large book cover?","room":"bathroom_0","scene":"house_double_floor_upper","subcategory":"Partial Occlusion","task":"perceptual_grounding.partial_occlusion"},"group":{"id":"ESI-scene/house_double_floor_upper","kind":"scene","room":"bathroom_0","scene":"house_double_floor_upper"},"id":"b7f4add0f0fd56415358","native_annotation":{"answer":"tray","answer_type":"choice","big_task":"Perceptual Grounding","gt_camera_poses":[{"baseline_selected":true,"camera_pose":{"position":[0.843654597014547,3.2978527889307663,0.011353082023561],"quaternion_xyzw":[0.3503383943967159,0.6142173958880774,0.6142173958880774,0.3503383943967159]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_visible_views","metadata_pointer":"/views/0","original_image_path":"view_01_az031.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_visible_views/view_01_az031.png"},{"baseline_selected":true,"camera_pose":{"position":[-0.09936372134486683,3.8292009710530888,0.011353082023561],"quaternion_xyzw":[-0.003706748475430963,0.7070970654837564,0.7070970654837564,-0.003706748475430963]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_visible_views","metadata_pointer":"/views/1","original_image_path":"view_02_az091.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_visible_views/view_02_az091.png"},{"baseline_selected":true,"camera_pose":{"position":[-1.0196857692900907,2.1958453311864217,0.011353082023561],"quaternion_xyzw":[0.6142173958880772,-0.35033839439671605,-0.35033839439671605,0.6142173958880772]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_visible_views","metadata_pointer":"/views/2","original_image_path":"view_04_az211.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_visible_views/view_04_az211.png"},{"baseline_selected":true,"camera_pose":{"position":[-0.07666745093067627,1.6644971490640987,0.011353082023561],"quaternion_xyzw":[0.7070970654837565,0.00370674847543092,0.00370674847543092,0.7070970654837565]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_visible_views","metadata_pointer":"/views/3","original_image_path":"view_05_az271.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_visible_views/view_05_az271.png"},{"baseline_selected":true,"camera_pose":{"position":[-0.0880155861377716,2.7468490600585938,1.8],"quaternion_xyzw":[0.0,0.0,0.7071067811865475,-0.7071067811865475]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_visible_views","metadata_pointer":"/views/4","original_image_path":"view_06_topdown.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_visible_views/view_06_topdown.png"}],"id":"1198","image_paths_json":"[\"view_00_az331.png\",\"view_01_az031.png\",\"view_02_az091.png\",\"view_03_az151.png\",\"view_04_az211.png\",\"view_05_az271.png\",\"view_06_topdown.png\"]","metadata_json":"{\"answer\":\"target_partially_occluded\",\"camera_0_azimuth_deg\":330.60070705507434,\"camera_poses\":[{\"_key\":\"view_00_az331.png\",\"azimuth_deg\":330.60070705507434,\"description\":\"ring_lateral_hard\",\"height\":0.011353082023561,\"position\":[0.8550027322216425,2.2155008779362717,0.011353082023561],\"quaternion_xyzw\":[0.6105106474126465,0.3567586710870406,0.3567586710870406,0.6105106474126465],\"target\":\"target_obj\",\"type\":\"ring_lateral_hard\",\"view_idx\":0},{\"_key\":\"view_01_az031.png\",\"azimuth_deg\":30.60070705507436,\"description\":\"ring\",\"height\":0.011353082023561,\"position\":[0.843654597014547,3.2978527889307663,0.011353082023561],\"quaternion_xyzw\":[0.3503383943967159,0.6142173958880774,0.6142173958880774,0.3503383943967159],\"target\":\"target_obj\",\"type\":\"ring\",\"view_idx\":1},{\"_key\":\"view_02_az091.png\",\"azimuth_deg\":90.60070705507435,\"description\":\"ring\",\"height\":0.011353082023561,\"position\":[-0.09936372134486683,3.8292009710530888,0.011353082023561],\"quaternion_xyzw\":[-0.003706748475430963,0.7070970654837564,0.7070970654837564,-0.003706748475430963],\"target\":\"target_obj\",\"type\":\"ring\",\"view_idx\":2},{\"_key\":\"view_03_az151.png\",\"azimuth_deg\":150.60070705507434,\"description\":\"ring\",\"height\":0.011353082023561,\"position\":[-1.0310339044971855,3.2781972421809162,0.011353082023561],\"quaternion_xyzw\":[-0.3567586710870406,0.6105106474126465,0.6105106474126465,-0.3567586710870406],\"target\":\"target_obj\",\"type\":\"ring\",\"view_idx\":3},{\"_key\":\"view_04_az211.png\",\"azimuth_deg\":210.60070705507434,\"description\":\"ring\",\"height\":0.011353082023561,\"position\":[-1.0196857692900907,2.1958453311864217,0.011353082023561],\"quaternion_xyzw\":[0.6142173958880772,-0.35033839439671605,-0.35033839439671605,0.6142173958880772],\"target\":\"target_obj\",\"type\":\"ring\",\"view_idx\":4},{\"_key\":\"view_05_az271.png\",\"azimuth_deg\":270.6007070550744,\"description\":\"ring\",\"height\":0.011353082023561,\"position\":[-0.07666745093067627,1.6644971490640987,0.011353082023561],\"quaternion_xyzw\":[0.7070970654837565,0.00370674847543092,0.00370674847543092,0.7070970654837565],\"target\":\"target_obj\",\"type\":\"ring\",\"view_idx\":5},{\"_key\":\"view_06_topdown.png\",\"description\":\"topdown\",\"height\":1.8,\"position\":[-0.0880155861377716,2.7468490600585938,1.8],\"quaternion_xyzw\":[0.0,0.0,0.7071067811865475,-0.7071067811865475],\"target\":\"target_obj\",\"type\":\"topdown\",\"view_idx\":6}],\"exist_occluder_obj\":[{\"_indices\":[0],\"_key\":\"exist_occluder_obj_0\",\"value\":true},{\"_indices\":[1],\"_key\":\"exist_occluder_obj_1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_occluder_obj_2\",\"value\":true},{\"_indices\":[3],\"_key\":\"exist_occluder_obj_3\",\"value\":false},{\"_indices\":[4],\"_key\":\"exist_occluder_obj_4\",\"value\":true},{\"_indices\":[5],\"_key\":\"exist_occluder_obj_5\",\"value\":true},{\"_indices\":[6],\"_key\":\"exist_occluder_obj_6\",\"value\":true}],\"exist_target_obj\":[{\"_indices\":[0],\"_key\":\"exist_target_obj_0\",\"value\":false},{\"_indices\":[1],\"_key\":\"exist_target_obj_1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_target_obj_2\",\"value\":true},{\"_indices\":[3],\"_key\":\"exist_target_obj_3\",\"value\":false},{\"_indices\":[4],\"_key\":\"exist_target_obj_4\",\"value\":true},{\"_indices\":[5],\"_key\":\"exist_target_obj_5\",\"value\":true},{\"_indices\":[6],\"_key\":\"exist_target_obj_6\",\"value\":true}],\"extras\":{\"bbox_rule\":{\"target_center_xy\":[-0.08801557868719101,2.7468490600585938],\"target_half_extents_xy\":[0.45528630912303925,0.2760004997253418],\"occluder_half_extents_xy\":[0.3868405222892761,0.5487679243087769],\"view_side\":\"S\",\"occluder_corner\":\"NW\",\"front_overlap\":0.0,\"lateral_extra\":0.0,\"desired_occluder_xy_pre_clamp\":[0.7541112527251244,1.922080636024475],\"target_centered_xy\":[-0.08801507949829102,2.7468497157096863],\"desired_occluder_xy_post_clamp\":[0.7541112527251244,1.922080636024475],\"occluder_xy_was_clamped\":false},\"camera_layout\":{\"num_azimuths\":6,\"azimuth_step_deg\":60.0,\"lateral_offset_deg\":15.0,\"radius_pad\":0.55,\"topdown_z\":1.8,\"view_0\":\"hard view: collinear azimuth + lateral_offset_deg, horizontal gaze\",\"view_k\":\"view_0 azimuth + k * azimuth_step_deg, horizontal gaze\"},\"hard_view\":\"view_00_az331.png\",\"lateral_offset_deg\":15.0,\"num_candidate_tables_in_room\":0,\"num_fit_tables_in_room\":0,\"occluder_scale\":[1.535035793751849,1.1583320348477533,1.2212702914032474],\"occluder_scale_factor\":1.1,\"support_bbox_min\":[-2.5214149951934814,1.2458995580673218,-0.30000001192092896],\"support_bbox_max\":[2.3453848361968994,4.247799873352051,0.0],\"support_name\":\"floors_tfuahz_0\",\"support_selection_policy\":\"room_floor_center\",\"target_confusion_reason\":\"Without the raised edges the flat rectangle matches any thin flat slab.\",\"target_occlusion_reason\":\"The shallow raised-edge rectangle is diagnostic; edge-on it is a thin flat line.\",\"target_occlusion_sensitive\":\"False\",\"target_view_ambiguous\":\"True\"},\"floor_name\":\"floors_tfuahz_0\",\"image_paths\":[\"view_00_az331.png\",\"view_01_az031.png\",\"view_02_az091.png\",\"view_03_az151.png\",\"view_04_az211.png\",\"view_05_az271.png\",\"view_06_topdown.png\"],\"layout\":\"partial_occlusion_bbox_batch\",\"object_categories\":[\"tray\",\"picture\",\"floors\"],\"object_category\":\"tray\",\"object_models\":[\"yqtlhy\",\"lowoid\"],\"object_names\":[\"target_obj\",\"occluder_obj\",\"floors_tfuahz_0\"],\"object_scales\":[[1.535035793751849,1.1583320348477533,1.2212702914032474]],\"objects\":[{\"_key\":\"target\",\"aabb_max\":[0.36727073788642883,3.0228495597839355,0.046181801706552505],\"aabb_min\":[-0.5433018803596497,2.470848560333252,-1.3597309589385986e-07],\"category\":\"tray\",\"model\":\"yqtlhy\",\"name\":\"target_obj\",\"object_id\":\"tray-yqtlhy\",\"position\":[-0.0880155861377716,2.7468490600585938,0.011353082023561],\"quaternion_xyzw\":[-2.4614212179585593e-07,3.780928636842873e-08,2.832693439813738e-07,1.000000238418579],\"requested_category\":\"tray\",\"xy_half_diag\":0.5324114002569048},{\"_key\":\"occluder\",\"aabb_max\":[1.2584447860717773,2.2281980514526367,0.05620162934064865],\"aabb_min\":[0.24972838163375854,1.6159040927886963,1.1175870895385742e-08],\"applied_scale\":[1.535035793751849,1.1583320348477533,1.2212702914032474],\"category\":\"picture\",\"model\":\"lowoid\",\"name\":\"occluder_obj\",\"object_id\":\"picture-lowoid\",\"position\":[0.7540948390960693,1.9222140312194824,0.03162086009979248],\"quaternion_xyzw\":[-0.0024023845326155424,3.867105988319963e-06,2.6649870051187463e-05,0.9999971985816956],\"requested_category\":\"picture\",\"xy_half_diag\":0.5900026856715832},{\"_key\":\"support\",\"aabb_max\":[2.3453848361968994,4.247799873352051,0.0],\"aabb_min\":[-2.5214149951934814,1.2458995580673218,-0.30000001192092896],\"category\":\"floors\",\"name\":\"floors_tfuahz_0\",\"position\":[-0.08801501989364624,2.746849536895752,-0.15000000596046448],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"xy_half_diag\":2.8590709199724302}],\"placement_mode\":\"floor_center\",\"qa\":{\"question\":\"What is the occluded object: tray or large book cover?\",\"answer\":\"tray\",\"choices\":[\"tray\",\"large book cover\"]},\"question_data\":{\"task_type\":\"partial_occlusion\",\"question\":\"What is the occluded object: tray or large book cover?\",\"answer\":\"tray\",\"options\":[\"tray\",\"large book cover\"],\"hard_view\":\"view_00_az331.png\"},\"question_id\":\"partial_occlusion/house_double_floor_upper/bathroom_0/1\",\"question_index\":1,\"render\":{\"image_paths\":[\"view_00_az331.png\",\"view_01_az031.png\",\"view_02_az091.png\",\"view_03_az151.png\",\"view_04_az211.png\",\"view_05_az271.png\",\"view_06_topdown.png\"]},\"resolved_room\":\"bathroom_0\",\"run_idx\":1,\"seed\":1322290819,\"support_category\":\"floors\",\"support_type\":\"floor\",\"target_confusable_with\":[\"laptop_base\",\"large_book_cover\",\"flat_cutting_board\"],\"task\":\"occlusion\",\"task_category\":\"Perceptual Grounding\",\"task_family\":\"Partial Occlusion\",\"task_obj_aabb_max\":[0.36727073788642883,3.0228495597839355,0.046181801706552505],\"task_obj_aabb_min\":[-0.5433018803596497,2.470848560333252,-1.3597309589385986e-07],\"task_obj_centre\":[-0.0880155861377716,2.7468490600585938,0.011353082023561],\"task_type\":\"partial_occlusion\",\"views\":{\"view_00_az331.png\":{\"position\":[0.8550027322216425,2.2155008779362717,0.011353082023561],\"quaternion_xyzw\":[0.6105106474126465,0.3567586710870406,0.3567586710870406,0.6105106474126465],\"type\":\"ring_lateral_hard\",\"azimuth_deg\":330.60070705507434,\"collinear_az_deg\":315.6007070550744,\"lateral_offset_deg\":15.0,\"visibility\":{\"target_obj\":false,\"occluder_obj\":true}},\"view_01_az031.png\":{\"position\":[0.843654597014547,3.2978527889307663,0.011353082023561],\"quaternion_xyzw\":[0.3503383943967159,0.6142173958880774,0.6142173958880774,0.3503383943967159],\"type\":\"ring\",\"azimuth_deg\":30.60070705507436,\"collinear_az_deg\":315.6007070550744,\"lateral_offset_deg\":0.0,\"visibility\":{\"target_obj\":true,\"occluder_obj\":true}},\"view_02_az091.png\":{\"position\":[-0.09936372134486683,3.8292009710530888,0.011353082023561],\"quaternion_xyzw\":[-0.003706748475430963,0.7070970654837564,0.7070970654837564,-0.003706748475430963],\"type\":\"ring\",\"azimuth_deg\":90.60070705507435,\"collinear_az_deg\":315.6007070550744,\"lateral_offset_deg\":0.0,\"visibility\":{\"target_obj\":true,\"occluder_obj\":true}},\"view_03_az151.png\":{\"position\":[-1.0310339044971855,3.2781972421809162,0.011353082023561],\"quaternion_xyzw\":[-0.3567586710870406,0.6105106474126465,0.6105106474126465,-0.3567586710870406],\"type\":\"ring\",\"azimuth_deg\":150.60070705507434,\"collinear_az_deg\":315.6007070550744,\"lateral_offset_deg\":0.0,\"visibility\":{\"target_obj\":false,\"occluder_obj\":false}},\"view_04_az211.png\":{\"position\":[-1.0196857692900907,2.1958453311864217,0.011353082023561],\"quaternion_xyzw\":[0.6142173958880772,-0.35033839439671605,-0.35033839439671605,0.6142173958880772],\"type\":\"ring\",\"azimuth_deg\":210.60070705507434,\"collinear_az_deg\":315.6007070550744,\"lateral_offset_deg\":0.0,\"visibility\":{\"target_obj\":true,\"occluder_obj\":true}},\"view_05_az271.png\":{\"position\":[-0.07666745093067627,1.6644971490640987,0.011353082023561],\"quaternion_xyzw\":[0.7070970654837565,0.00370674847543092,0.00370674847543092,0.7070970654837565],\"type\":\"ring\",\"azimuth_deg\":270.6007070550744,\"collinear_az_deg\":315.6007070550744,\"lateral_offset_deg\":0.0,\"visibility\":{\"target_obj\":true,\"occluder_obj\":true}},\"view_06_topdown.png\":{\"position\":[-0.0880155861377716,2.7468490600585938,1.8],\"quaternion_xyzw\":[0.0,0.0,0.7071067811865475,-0.7071067811865475],\"type\":\"topdown\",\"visibility\":{\"target_obj\":true,\"occluder_obj\":true}}},\"visibility_summary\":{\"hard_view_target_visible\":false,\"hard_view_occluder_visible\":true,\"ring_target_visible_count\":5,\"ring_occluder_visible_count\":6}}","options_json":"[\"tray\",\"large book cover\"]","question":"What is the occluded object: tray or large book cover?","room":"bathroom_0","runner_task":"occlusion","scene":"house_double_floor_upper","small_task":"Partial Occlusion"},"observations":[],"question":{"answer_type":"choice","options":[],"original":"What is the occluded object: tray or large book cover?","text":"What is the occluded object: tray or large book cover?"},"reference_media":["view_00_az331.png","view_01_az031.png","view_02_az091.png","view_03_az151.png","view_04_az211.png","view_05_az271.png","view_06_topdown.png"],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":42,"stratum_pool":95},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Perceptual Grounding/Partial Occlusion/house_double_floor_upper/bathroom_0/house_double_floor_upper__bathroom_0_1.json","annotation_sha256":"f5721e6fc5374af10b308fbbc8c354900bda0e03f192e0035ce037b77cdec0d9","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"4a8355714ad16423459cd50d9a057d125b64c9d376954a5e412eba4fe46e8e21","sample_id":"1198","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"tray","metric":"official_esi_task","original_answer":"tray"},"task":{"category":"Perceptual Grounding","role":"spatial_core","skill_tags":["Perceptual Grounding","Partial Occlusion"],"stratum":"ESI-Bench/Perceptual Grounding/Partial Occlusion","subcategory":"Partial Occlusion"},"transforms":[]}
{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Perceptual Grounding","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"paintbrush","id":"eda013ffd27415ec","metadata":"vendor/ESI-Bench/dataset/json_clean/Perceptual Grounding/Partial Occlusion/grocery_store_half_stocked/corridor_0/grocery_store_half_stocked__corridor_0_3.json","metadata_sha256":"3f8be922ab9746838d7e3d631f60ee6ef5259b0ff2637ab41ea5500cf0e1ebfc","observation_policy":"runtime camera observations; no oracle poses","question":"What is the occluded object: paintbrush or thin marker?","room":"corridor_0","scene":"grocery_store_half_stocked","subcategory":"Partial Occlusion","task":"perceptual_grounding.partial_occlusion"},"group":{"id":"ESI-scene/grocery_store_half_stocked","kind":"scene","room":"corridor_0","scene":"grocery_store_half_stocked"},"id":"27be9e2261a978e7b2a4","native_annotation":{"answer":"paintbrush","answer_type":"choice","big_task":"Perceptual Grounding","gt_camera_poses":[{"baseline_selected":true,"camera_pose":{"position":[11.354774391541403,-5.625567987660834,0.07370510697364807],"quaternion_xyzw":[0.6846084823955402,0.17694978336261202,0.17694978336261202,0.6846084823955402]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_visible_views","metadata_pointer":"/views/0","original_image_path":"view_01_az299.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_visible_views/view_01_az299.png"},{"baseline_selected":true,"camera_pose":{"position":[11.69727476908957,-5.055912135430035,0.07370510697364807],"quaternion_xyzw":[0.5044134457195436,0.495547248783945,0.495547248783945,0.5044134457195436]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_visible_views","metadata_pointer":"/views/1","original_image_path":"view_02_az359.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_visible_views/view_02_az359.png"},{"baseline_selected":true,"camera_pose":{"position":[11.37518851841731,-4.474470181552159,0.07370510697364807],"quaternion_xyzw":[0.18906123361159527,0.6813632290821553,0.6813632290821553,0.18906123361159527]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_visible_views","metadata_pointer":"/views/2","original_image_path":"view_03_az059.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_visible_views/view_03_az059.png"},{"baseline_selected":true,"camera_pose":{"position":[10.710601890196878,-4.462684079905083,0.07370510697364807],"quaternion_xyzw":[-0.17694978336261197,0.6846084823955403,0.6846084823955403,-0.17694978336261197]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_visible_views","metadata_pointer":"/views/3","original_image_path":"view_04_az119.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_visible_views/view_04_az119.png"},{"baseline_selected":true,"camera_pose":{"position":[10.368101512648709,-5.032339932135883,0.07370510697364807],"quaternion_xyzw":[-0.4955472487839452,0.5044134457195434,0.5044134457195434,-0.4955472487839452]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_visible_views","metadata_pointer":"/views/4","original_image_path":"view_05_az179.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_visible_views/view_05_az179.png"},{"baseline_selected":true,"camera_pose":{"position":[11.03268814086914,-5.044126033782959,1.8],"quaternion_xyzw":[0.0,0.0,0.7071067811865475,-0.7071067811865475]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_visible_views","metadata_pointer":"/views/5","original_image_path":"view_06_topdown.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_visible_views/view_06_topdown.png"}],"id":"1188","image_paths_json":"[\"view_00_az239.png\",\"view_01_az299.png\",\"view_02_az359.png\",\"view_03_az059.png\",\"view_04_az119.png\",\"view_05_az179.png\",\"view_06_topdown.png\"]","metadata_json":"{\"answer\":\"target_partially_occluded\",\"camera_0_azimuth_deg\":238.9839953589596,\"camera_poses\":[{\"_key\":\"view_00_az239.png\",\"azimuth_deg\":238.9839953589596,\"description\":\"ring_lateral_hard\",\"height\":0.07370510697364807,\"position\":[10.69018776332097,-5.613781886013759,0.07370510697364807],\"quaternion_xyzw\":[0.6813632290821554,-0.1890612336115951,-0.1890612336115951,0.6813632290821554],\"target\":\"target_obj\",\"type\":\"ring_lateral_hard\",\"view_idx\":0},{\"_key\":\"view_01_az299.png\",\"azimuth_deg\":298.9839953589596,\"description\":\"ring\",\"height\":0.07370510697364807,\"position\":[11.354774391541403,-5.625567987660834,0.07370510697364807],\"quaternion_xyzw\":[0.6846084823955402,0.17694978336261202,0.17694978336261202,0.6846084823955402],\"target\":\"target_obj\",\"type\":\"ring\",\"view_idx\":1},{\"_key\":\"view_02_az359.png\",\"azimuth_deg\":358.9839953589596,\"description\":\"ring\",\"height\":0.07370510697364807,\"position\":[11.69727476908957,-5.055912135430035,0.07370510697364807],\"quaternion_xyzw\":[0.5044134457195436,0.495547248783945,0.495547248783945,0.5044134457195436],\"target\":\"target_obj\",\"type\":\"ring\",\"view_idx\":2},{\"_key\":\"view_03_az059.png\",\"azimuth_deg\":58.9839953589596,\"description\":\"ring\",\"height\":0.07370510697364807,\"position\":[11.37518851841731,-4.474470181552159,0.07370510697364807],\"quaternion_xyzw\":[0.18906123361159527,0.6813632290821553,0.6813632290821553,0.18906123361159527],\"target\":\"target_obj\",\"type\":\"ring\",\"view_idx\":3},{\"_key\":\"view_04_az119.png\",\"azimuth_deg\":118.98399535895959,\"description\":\"ring\",\"height\":0.07370510697364807,\"position\":[10.710601890196878,-4.462684079905083,0.07370510697364807],\"quaternion_xyzw\":[-0.17694978336261197,0.6846084823955403,0.6846084823955403,-0.17694978336261197],\"target\":\"target_obj\",\"type\":\"ring\",\"view_idx\":4},{\"_key\":\"view_05_az179.png\",\"azimuth_deg\":178.98399535895962,\"description\":\"ring\",\"height\":0.07370510697364807,\"position\":[10.368101512648709,-5.032339932135883,0.07370510697364807],\"quaternion_xyzw\":[-0.4955472487839452,0.5044134457195434,0.5044134457195434,-0.4955472487839452],\"target\":\"target_obj\",\"type\":\"ring\",\"view_idx\":5},{\"_key\":\"view_06_topdown.png\",\"description\":\"topdown\",\"height\":1.8,\"position\":[11.03268814086914,-5.044126033782959,1.8],\"quaternion_xyzw\":[0.0,0.0,0.7071067811865475,-0.7071067811865475],\"target\":\"target_obj\",\"type\":\"topdown\",\"view_idx\":6}],\"exist_occluder_obj\":[{\"_indices\":[0],\"_key\":\"exist_occluder_obj_0\",\"value\":true},{\"_indices\":[1],\"_key\":\"exist_occluder_obj_1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_occluder_obj_2\",\"value\":true},{\"_indices\":[3],\"_key\":\"exist_occluder_obj_3\",\"value\":true},{\"_indices\":[4],\"_key\":\"exist_occluder_obj_4\",\"value\":true},{\"_indices\":[5],\"_key\":\"exist_occluder_obj_5\",\"value\":true},{\"_indices\":[6],\"_key\":\"exist_occluder_obj_6\",\"value\":true}],\"exist_target_obj\":[{\"_indices\":[0],\"_key\":\"exist_target_obj_0\",\"value\":false},{\"_indices\":[1],\"_key\":\"exist_target_obj_1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_target_obj_2\",\"value\":true},{\"_indices\":[3],\"_key\":\"exist_target_obj_3\",\"value\":true},{\"_indices\":[4],\"_key\":\"exist_target_obj_4\",\"value\":true},{\"_indices\":[5],\"_key\":\"exist_target_obj_5\",\"value\":true},{\"_indices\":[6],\"_key\":\"exist_target_obj_6\",\"value\":true}],\"extras\":{\"bbox_rule\":{\"target_center_xy\":[11.03268814086914,-5.044126033782959],\"target_half_extents_xy\":[0.11004829406738281,0.032302141189575195],\"occluder_half_extents_xy\":[0.045467376708984375,0.11779117584228516],\"view_side\":\"W\",\"occluder_corner\":\"NE\",\"front_overlap\":0.0,\"lateral_extra\":0.0,\"desired_occluder_xy_pre_clamp\":[10.877172470092773,-5.194219350814819],\"target_centered_xy\":[11.032689094543457,-5.044131755828857],\"desired_occluder_xy_post_clamp\":[10.877172470092773,-5.194219350814819],\"occluder_xy_was_clamped\":false},\"camera_layout\":{\"num_azimuths\":6,\"azimuth_step_deg\":60.0,\"lateral_offset_deg\":15.0,\"radius_pad\":0.55,\"topdown_z\":1.8,\"view_0\":\"hard view: collinear azimuth + lateral_offset_deg, horizontal gaze\",\"view_k\":\"view_0 azimuth + k * azimuth_step_deg, horizontal gaze\"},\"hard_view\":\"view_00_az239.png\",\"lateral_offset_deg\":15.0,\"num_candidate_tables_in_room\":0,\"num_fit_tables_in_room\":0,\"occluder_scale\":[1.5702114558566158,1.336109204800459,1.519115913233928],\"occluder_scale_factor\":1.1,\"support_bbox_min\":[10.380389213562012,-5.944131851196289,-0.29445111751556396],\"support_bbox_max\":[11.684988975524902,-4.144131660461426,0.06614875793457031],\"support_name\":\"floors_knbvlo_0\",\"support_selection_policy\":\"room_floor_center\",\"target_confusion_reason\":\"Without the bristle shape the tapered handle matches a pen or marker.\",\"target_occlusion_reason\":\"The bristle tip and ferrule together identify it; tip down at distance it is a thin rod.\",\"target_occlusion_sensitive\":\"False\",\"target_view_ambiguous\":\"True\"},\"floor_name\":\"floors_knbvlo_0\",\"image_paths\":[\"view_00_az239.png\",\"view_01_az299.png\",\"view_02_az359.png\",\"view_03_az059.png\",\"view_04_az119.png\",\"view_05_az179.png\",\"view_06_topdown.png\"],\"layout\":\"partial_occlusion_bbox_batch\",\"object_categories\":[\"paintbrush\",\"peppermint_candy\",\"floors\"],\"object_category\":\"paintbrush\",\"object_models\":[\"tivzcl\",\"dqpiet\"],\"object_names\":[\"target_obj\",\"occluder_obj\",\"floors_knbvlo_0\"],\"object_scales\":[[1.5702114558566158,1.336109204800459,1.519115913233928]],\"objects\":[{\"_key\":\"target\",\"aabb_max\":[11.085548400878906,-5.0109028816223145,0.08138060569763184],\"aabb_min\":[10.86545181274414,-5.075507164001465,0.06612508744001389],\"category\":\"paintbrush\",\"model\":\"tivzcl\",\"name\":\"target_obj\",\"object_id\":\"paintbrush-tivzcl\",\"position\":[11.03268814086914,-5.044126033782959,0.07370510697364807],\"quaternion_xyzw\":[-0.0003487016074359417,-6.0078749811509624e-05,5.7207103054679465e-08,1.0],\"requested_category\":\"paintbrush\",\"xy_half_diag\":0.1146911302262403},{\"_key\":\"occluder\",\"aabb_max\":[11.020700454711914,-5.145264625549316,0.08059544116258621],\"aabb_min\":[10.780350685119629,-5.214308738708496,0.06609117984771729],\"applied_scale\":[1.5702114558566158,1.336109204800459,1.519115913233928],\"category\":\"peppermint_candy\",\"model\":\"dqpiet\",\"name\":\"occluder_obj\",\"object_id\":\"peppermint_candy-dqpiet\",\"position\":[10.877176284790039,-5.194218158721924,0.0732935220003128],\"quaternion_xyzw\":[-0.00013068053522147238,0.00020522091654129326,6.101279836911999e-08,1.0],\"requested_category\":\"peppermint_candy\",\"xy_half_diag\":0.1250350963779792},{\"_key\":\"support\",\"aabb_max\":[11.684988975524902,-4.144131660461426,0.06614875793457031],\"aabb_min\":[10.380389213562012,-5.944131851196289,-0.29445111751556396],\"category\":\"floors\",\"name\":\"floors_knbvlo_0\",\"position\":[11.032689094543457,-5.044131755828857,-0.11415112018585205],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"xy_half_diag\":1.1115283650855672}],\"placement_mode\":\"floor_center\",\"qa\":{\"question\":\"What is the occluded object: paintbrush or thin marker?\",\"answer\":\"paintbrush\",\"choices\":[\"paintbrush\",\"thin marker\"]},\"question_data\":{\"task_type\":\"partial_occlusion\",\"question\":\"What is the occluded object: paintbrush or thin marker?\",\"answer\":\"paintbrush\",\"options\":[\"paintbrush\",\"thin marker\"],\"hard_view\":\"view_00_az239.png\"},\"question_id\":\"partial_occlusion/grocery_store_half_stocked/corridor_0/3\",\"question_index\":3,\"render\":{\"image_paths\":[\"view_00_az239.png\",\"view_01_az299.png\",\"view_02_az359.png\",\"view_03_az059.png\",\"view_04_az119.png\",\"view_05_az179.png\",\"view_06_topdown.png\"]},\"resolved_room\":\"corridor_0\",\"run_idx\":3,\"seed\":385274850,\"support_category\":\"floors\",\"support_type\":\"floor\",\"target_confusable_with\":[\"thin_marker\",\"pen\",\"fine_screwdriver\"],\"task\":\"occlusion\",\"task_category\":\"Perceptual Grounding\",\"task_family\":\"Partial Occlusion\",\"task_obj_aabb_max\":[11.085548400878906,-5.0109028816223145,0.08138060569763184],\"task_obj_aabb_min\":[10.86545181274414,-5.075507164001465,0.06612508744001389],\"task_obj_centre\":[11.03268814086914,-5.044126033782959,0.07370510697364807],\"task_type\":\"partial_occlusion\",\"views\":{\"view_00_az239.png\":{\"position\":[10.69018776332097,-5.613781886013759,0.07370510697364807],\"quaternion_xyzw\":[0.6813632290821554,-0.1890612336115951,-0.1890612336115951,0.6813632290821554],\"type\":\"ring_lateral_hard\",\"azimuth_deg\":238.9839953589596,\"collinear_az_deg\":223.9839953589596,\"lateral_offset_deg\":15.0,\"visibility\":{\"target_obj\":false,\"occluder_obj\":true}},\"view_01_az299.png\":{\"position\":[11.354774391541403,-5.625567987660834,0.07370510697364807],\"quaternion_xyzw\":[0.6846084823955402,0.17694978336261202,0.17694978336261202,0.6846084823955402],\"type\":\"ring\",\"azimuth_deg\":298.9839953589596,\"collinear_az_deg\":223.9839953589596,\"lateral_offset_deg\":0.0,\"visibility\":{\"target_obj\":true,\"occluder_obj\":true}},\"view_02_az359.png\":{\"position\":[11.69727476908957,-5.055912135430035,0.07370510697364807],\"quaternion_xyzw\":[0.5044134457195436,0.495547248783945,0.495547248783945,0.5044134457195436],\"type\":\"ring\",\"azimuth_deg\":358.9839953589596,\"collinear_az_deg\":223.9839953589596,\"lateral_offset_deg\":0.0,\"visibility\":{\"target_obj\":true,\"occluder_obj\":true}},\"view_03_az059.png\":{\"position\":[11.37518851841731,-4.474470181552159,0.07370510697364807],\"quaternion_xyzw\":[0.18906123361159527,0.6813632290821553,0.6813632290821553,0.18906123361159527],\"type\":\"ring\",\"azimuth_deg\":58.9839953589596,\"collinear_az_deg\":223.9839953589596,\"lateral_offset_deg\":0.0,\"visibility\":{\"target_obj\":true,\"occluder_obj\":true}},\"view_04_az119.png\":{\"position\":[10.710601890196878,-4.462684079905083,0.07370510697364807],\"quaternion_xyzw\":[-0.17694978336261197,0.6846084823955403,0.6846084823955403,-0.17694978336261197],\"type\":\"ring\",\"azimuth_deg\":118.98399535895959,\"collinear_az_deg\":223.9839953589596,\"lateral_offset_deg\":0.0,\"visibility\":{\"target_obj\":true,\"occluder_obj\":true}},\"view_05_az179.png\":{\"position\":[10.368101512648709,-5.032339932135883,0.07370510697364807],\"quaternion_xyzw\":[-0.4955472487839452,0.5044134457195434,0.5044134457195434,-0.4955472487839452],\"type\":\"ring\",\"azimuth_deg\":178.98399535895962,\"collinear_az_deg\":223.9839953589596,\"lateral_offset_deg\":0.0,\"visibility\":{\"target_obj\":true,\"occluder_obj\":true}},\"view_06_topdown.png\":{\"position\":[11.03268814086914,-5.044126033782959,1.8],\"quaternion_xyzw\":[0.0,0.0,0.7071067811865475,-0.7071067811865475],\"type\":\"topdown\",\"visibility\":{\"target_obj\":true,\"occluder_obj\":true}}},\"visibility_summary\":{\"hard_view_target_visible\":false,\"hard_view_occluder_visible\":true,\"ring_target_visible_count\":6,\"ring_occluder_visible_count\":7}}","options_json":"[\"paintbrush\",\"thin marker\"]","question":"What is the occluded object: paintbrush or thin marker?","room":"corridor_0","runner_task":"occlusion","scene":"grocery_store_half_stocked","small_task":"Partial Occlusion"},"observations":[],"question":{"answer_type":"choice","options":[],"original":"What is the occluded object: paintbrush or thin marker?","text":"What is the occluded object: paintbrush or thin marker?"},"reference_media":["view_00_az239.png","view_01_az299.png","view_02_az359.png","view_03_az059.png","view_04_az119.png","view_05_az179.png","view_06_topdown.png"],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":42,"stratum_pool":95},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Perceptual Grounding/Partial Occlusion/grocery_store_half_stocked/corridor_0/grocery_store_half_stocked__corridor_0_3.json","annotation_sha256":"3f8be922ab9746838d7e3d631f60ee6ef5259b0ff2637ab41ea5500cf0e1ebfc","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"99d559d2aa04636c6df7656d42ebc995e5e7170a885fe7b0a79f51bbc4e8f213","sample_id":"1188","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"paintbrush","metric":"official_esi_task","original_answer":"paintbrush"},"task":{"category":"Perceptual Grounding","role":"spatial_core","skill_tags":["Perceptual Grounding","Partial Occlusion"],"stratum":"ESI-Bench/Perceptual Grounding/Partial Occlusion","subcategory":"Partial Occlusion"},"transforms":[]}
{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Perceptual Grounding","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"axe","id":"eeece1c85a2e432a","metadata":"vendor/ESI-Bench/dataset/json_clean/Perceptual Grounding/View Hallucination/restaurant_cafeteria/kitchen_0/restaurant_cafeteria__kitchen_0_1.json","metadata_sha256":"5c182a2b368a568e3157522cb1ca98c1be1c0fdc1b3d78c8e83bf16b043cc4d0","observation_policy":"runtime camera observations; no oracle poses","question":"Which object is this: baseball bat or axe?","room":"kitchen_0","scene":"restaurant_cafeteria","subcategory":"View Hallucination","task":"perceptual_grounding.view_hallucination"},"group":{"id":"ESI-scene/restaurant_cafeteria","kind":"scene","room":"kitchen_0","scene":"restaurant_cafeteria"},"id":"bdebe3c1aa2e20d91cde","native_annotation":{"answer":"axe","answer_type":"choice","big_task":"Perceptual Grounding","gt_camera_poses":[{"baseline_selected":true,"camera_pose":{"position":[-1.2620314212881056,-9.867315292358398,0.07168636023998261],"quaternion_xyzw":[0.4848923593226951,0.48489235932269514,0.5146643565183723,0.5146643565183723]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_visible_views","metadata_pointer":"/views/0","original_image_path":"view_00_az000_h0.05.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_visible_views/view_00_az000_h0.05.png"},{"baseline_selected":true,"camera_pose":{"position":[-1.68133061390333,-9.14106778717622,0.07168636023998261],"quaternion_xyzw":[0.1774829216130787,0.6623752809357737,0.7030445854264677,0.18838022890809564]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_visible_views","metadata_pointer":"/views/1","original_image_path":"view_02_az060_h0.05.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_visible_views/view_02_az060_h0.05.png"},{"baseline_selected":true,"camera_pose":{"position":[-1.68133061390333,-9.14106778717622,0.4716863602399826],"quaternion_xyzw":[0.13287852319831303,0.49590939981082366,0.8289068518666546,0.22210492155829448]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_visible_views","metadata_pointer":"/views/2","original_image_path":"view_03_az060_h0.45.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_visible_views/view_03_az060_h0.45.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.519928999133779,-9.14106778717622,0.07168636023998261],"quaternion_xyzw":[-0.17748292161307855,0.6623752809357738,0.7030445854264679,-0.18838022890809547]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_visible_views","metadata_pointer":"/views/3","original_image_path":"view_04_az120_h0.05.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_visible_views/view_04_az120_h0.05.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.519928999133779,-9.14106778717622,0.4716863602399826],"quaternion_xyzw":[-0.13287852319831292,0.49590939981082377,0.8289068518666546,-0.22210492155829428]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_visible_views","metadata_pointer":"/views/4","original_image_path":"view_05_az120_h0.45.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_visible_views/view_05_az120_h0.45.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.9392281917490037,-9.867315292358398,0.07168636023998261],"quaternion_xyzw":[-0.4848923593226951,0.48489235932269514,0.5146643565183723,-0.5146643565183723]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_visible_views","metadata_pointer":"/views/5","original_image_path":"view_06_az180_h0.05.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_visible_views/view_06_az180_h0.05.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.5199289991337794,-10.593562797540576,0.07168636023998261],"quaternion_xyzw":[0.6623752809357737,-0.1774829216130787,-0.18838022890809564,0.7030445854264677]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_visible_views","metadata_pointer":"/views/6","original_image_path":"view_08_az240_h0.05.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_visible_views/view_08_az240_h0.05.png"},{"baseline_selected":true,"camera_pose":{"position":[-1.68133061390333,-10.593562797540576,0.07168636023998261],"quaternion_xyzw":[0.6623752809357737,0.1774829216130787,0.18838022890809564,0.7030445854264677]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_visible_views","metadata_pointer":"/views/7","original_image_path":"view_10_az300_h0.05.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_visible_views/view_10_az300_h0.05.png"}],"id":"1630","image_paths_json":"[]","metadata_json":"{\"answer\":\"same_object_different_viewpoints\",\"exist_target_obj\":[{\"_indices\":[0],\"_key\":\"exist_target_obj_0\",\"value\":true},{\"_indices\":[1],\"_key\":\"exist_target_obj_1\",\"value\":false},{\"_indices\":[2],\"_key\":\"exist_target_obj_2\",\"value\":true},{\"_indices\":[3],\"_key\":\"exist_target_obj_3\",\"value\":true},{\"_indices\":[4],\"_key\":\"exist_target_obj_4\",\"value\":true},{\"_indices\":[5],\"_key\":\"exist_target_obj_5\",\"value\":true},{\"_indices\":[6],\"_key\":\"exist_target_obj_6\",\"value\":true},{\"_indices\":[7],\"_key\":\"exist_target_obj_7\",\"value\":false},{\"_indices\":[8],\"_key\":\"exist_target_obj_8\",\"value\":true},{\"_indices\":[9],\"_key\":\"exist_target_obj_9\",\"value\":false},{\"_indices\":[10],\"_key\":\"exist_target_obj_10\",\"value\":true},{\"_indices\":[11],\"_key\":\"exist_target_obj_11\",\"value\":false},{\"_indices\":[12],\"_key\":\"exist_target_obj_12\",\"value\":false}],\"floor_name\":\"floors_nrkqre_0\",\"layout\":\"angle_confusion_batch\",\"objects\":[{\"_key\":\"support\",\"aabb_max\":[1.2588098049163818,-7.243236541748047,0.00508999964222312],\"aabb_min\":[-5.460090637207031,-12.491336822509766,-0.0010100007057189941],\"category\":\"floors\",\"name\":\"floors_nrkqre_0\",\"position\":[-2.1050758361816406,-9.872810363769531,0.0012603194918483496],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0],\"xy_half_diag\":4.262809510994405},{\"_key\":\"target\",\"aabb_max\":[-1.8967787027359009,-9.73581314086914,0.04922730475664139],\"aabb_min\":[-2.4352166652679443,-9.943757057189941,0.004819771274924278],\"category\":\"axe\",\"centered_xy\":[-2.1006404161453247,-9.867286682128906],\"model\":\"plqyos\",\"name\":\"target_obj\",\"object_id\":\"axe-plqyos\",\"position\":[-2.1006298065185547,-9.867315292358398,0.021686360239982605],\"quaternion_xyzw\":[0.0008706639055162668,0.0003137898165732622,-1.0769144864752889e-06,0.9999995827674866],\"requested_category\":\"axe\",\"xy_half_diag\":0.28859838523044895}],\"placement_mode\":\"floor_center\",\"run_idx\":1,\"seed\":1569597696,\"support_category\":\"floors\",\"support_type\":\"floor\",\"target_confusable_with\":[\"baseball_bat\",\"hammer_handle\",\"wooden_mallet\"],\"task_type\":\"angle_confusion\",\"views\":[{\"_key\":\"view_00_az000_h0.05.png\",\"azimuth_deg\":0.0,\"height_offset\":0.05,\"position\":[-1.2620314212881056,-9.867315292358398,0.07168636023998261],\"quaternion_xyzw\":[0.4848923593226951,0.48489235932269514,0.5146643565183723,0.5146643565183723],\"type\":\"ring\",\"visibility\":[{\"_key\":\"target_obj\",\"value\":true}]},{\"_key\":\"view_01_az000_h0.45.png\",\"azimuth_deg\":0.0,\"height_offset\":0.45,\"position\":[-1.2620314212881056,-9.867315292358398,0.4716863602399826],\"quaternion_xyzw\":[0.36303087661251077,0.3630308766125108,0.6068019303083603,0.6068019303083603],\"type\":\"ring\",\"visibility\":[{\"_key\":\"target_obj\",\"value\":false}]},{\"_key\":\"view_02_az060_h0.05.png\",\"azimuth_deg\":60.0,\"height_offset\":0.05,\"position\":[-1.68133061390333,-9.14106778717622,0.07168636023998261],\"quaternion_xyzw\":[0.1774829216130787,0.6623752809357737,0.7030445854264677,0.18838022890809564],\"type\":\"ring\",\"visibility\":[{\"_key\":\"target_obj\",\"value\":true}]},{\"_key\":\"view_03_az060_h0.45.png\",\"azimuth_deg\":60.0,\"height_offset\":0.45,\"position\":[-1.68133061390333,-9.14106778717622,0.4716863602399826],\"quaternion_xyzw\":[0.13287852319831303,0.49590939981082366,0.8289068518666546,0.22210492155829448],\"type\":\"ring\",\"visibility\":[{\"_key\":\"target_obj\",\"value\":true}]},{\"_key\":\"view_04_az120_h0.05.png\",\"azimuth_deg\":120.0,\"height_offset\":0.05,\"position\":[-2.519928999133779,-9.14106778717622,0.07168636023998261],\"quaternion_xyzw\":[-0.17748292161307855,0.6623752809357738,0.7030445854264679,-0.18838022890809547],\"type\":\"ring\",\"visibility\":[{\"_key\":\"target_obj\",\"value\":true}]},{\"_key\":\"view_05_az120_h0.45.png\",\"azimuth_deg\":120.0,\"height_offset\":0.45,\"position\":[-2.519928999133779,-9.14106778717622,0.4716863602399826],\"quaternion_xyzw\":[-0.13287852319831292,0.49590939981082377,0.8289068518666546,-0.22210492155829428],\"type\":\"ring\",\"visibility\":[{\"_key\":\"target_obj\",\"value\":true}]},{\"_key\":\"view_06_az180_h0.05.png\",\"azimuth_deg\":180.0,\"height_offset\":0.05,\"position\":[-2.9392281917490037,-9.867315292358398,0.07168636023998261],\"quaternion_xyzw\":[-0.4848923593226951,0.48489235932269514,0.5146643565183723,-0.5146643565183723],\"type\":\"ring\",\"visibility\":[{\"_key\":\"target_obj\",\"value\":true}]},{\"_key\":\"view_07_az180_h0.45.png\",\"azimuth_deg\":180.0,\"height_offset\":0.45,\"position\":[-2.9392281917490037,-9.867315292358398,0.4716863602399826],\"quaternion_xyzw\":[-0.36303087661251077,0.3630308766125108,0.6068019303083603,-0.6068019303083603],\"type\":\"ring\",\"visibility\":[{\"_key\":\"target_obj\",\"value\":false}]},{\"_key\":\"view_08_az240_h0.05.png\",\"azimuth_deg\":240.0,\"height_offset\":0.05,\"position\":[-2.5199289991337794,-10.593562797540576,0.07168636023998261],\"quaternion_xyzw\":[0.6623752809357737,-0.1774829216130787,-0.18838022890809564,0.7030445854264677],\"type\":\"ring\",\"visibility\":[{\"_key\":\"target_obj\",\"value\":true}]},{\"_key\":\"view_09_az240_h0.45.png\",\"azimuth_deg\":240.0,\"height_offset\":0.45,\"position\":[-2.5199289991337794,-10.593562797540576,0.4716863602399826],\"quaternion_xyzw\":[0.49590939981082366,-0.13287852319831303,-0.22210492155829448,0.8289068518666544],\"type\":\"ring\",\"visibility\":[{\"_key\":\"target_obj\",\"value\":false}]},{\"_key\":\"view_10_az300_h0.05.png\",\"azimuth_deg\":300.0,\"height_offset\":0.05,\"position\":[-1.68133061390333,-10.593562797540576,0.07168636023998261],\"quaternion_xyzw\":[0.6623752809357737,0.1774829216130787,0.18838022890809564,0.7030445854264677],\"type\":\"ring\",\"visibility\":[{\"_key\":\"target_obj\",\"value\":true}]},{\"_key\":\"view_11_az300_h0.45.png\",\"azimuth_deg\":300.0,\"height_offset\":0.45,\"position\":[-1.68133061390333,-10.593562797540576,0.4716863602399826],\"quaternion_xyzw\":[0.49590939981082366,0.13287852319831303,0.22210492155829448,0.8289068518666544],\"type\":\"ring\",\"visibility\":[{\"_key\":\"target_obj\",\"value\":false}]},{\"_key\":\"view_12_topdown.png\",\"position\":[-2.1006298065185547,-9.867315292358398,2.2],\"quaternion_xyzw\":[0.0,-0.0,-0.0,1.0],\"type\":\"topdown\",\"visibility\":[{\"_key\":\"target_obj\",\"value\":false}]}],\"visibility_summary\":{\"target_visible_count\":8}}","options_json":"[\"baseball bat\",\"axe\"]","question":"Which object is this: baseball bat or axe?","room":"kitchen_0","runner_task":"angle_confusion","scene":"restaurant_cafeteria","small_task":"View Hallucination"},"observations":[],"question":{"answer_type":"choice","options":[],"original":"Which object is this: baseball bat or axe?","text":"Which object is this: baseball bat or axe?"},"reference_media":[],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":174,"stratum_pool":437},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Perceptual Grounding/View Hallucination/restaurant_cafeteria/kitchen_0/restaurant_cafeteria__kitchen_0_1.json","annotation_sha256":"5c182a2b368a568e3157522cb1ca98c1be1c0fdc1b3d78c8e83bf16b043cc4d0","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"cab80440a22ddbce77224e0735790c4e30150848dd51f9bc7a589f7a77f1441c","sample_id":"1630","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"axe","metric":"official_esi_task","original_answer":"axe"},"task":{"category":"Perceptual Grounding","role":"spatial_core","skill_tags":["Perceptual Grounding","View Hallucination"],"stratum":"ESI-Bench/Perceptual Grounding/View Hallucination","subcategory":"View Hallucination"},"transforms":[]}
{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Perceptual Grounding","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"measuring cup","id":"78f39a5b41afad98","metadata":"vendor/ESI-Bench/dataset/json_clean/Perceptual Grounding/View Hallucination/Pomaria_0_garden/garden_0/Pomaria_0_garden__garden_0_0.json","metadata_sha256":"81ddd6ea319862197d4af195b61ef081804d5f12bae78baee47c7d47453efeda","observation_policy":"runtime camera observations; no oracle poses","question":"Which object is this: mug or measuring cup?","room":"garden_0","scene":"Pomaria_0_garden","subcategory":"View Hallucination","task":"perceptual_grounding.view_hallucination"},"group":{"id":"ESI-scene/Pomaria_0_garden","kind":"scene","room":"garden_0","scene":"Pomaria_0_garden"},"id":"217ab785a40d8abf8c41","native_annotation":{"answer":"measuring cup","answer_type":"choice","big_task":"Perceptual Grounding","gt_camera_poses":[{"baseline_selected":true,"camera_pose":{"position":[-10.427509573816524,18.903175354003906,0.5858331799507142],"quaternion_xyzw":[0.4821410919948016,0.48214109199480165,0.517242658149983,0.517242658149983]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_visible_views","metadata_pointer":"/views/0","original_image_path":"view_00_az000_h0.05.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_visible_views/view_00_az000_h0.05.png"},{"baseline_selected":true,"camera_pose":{"position":[-10.427509573816524,18.903175354003906,0.9858331799507141],"quaternion_xyzw":[0.34100943680126244,0.34100943680126244,0.6194453680612082,0.6194453680612082]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_visible_views","metadata_pointer":"/views/1","original_image_path":"view_01_az000_h0.45.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_visible_views/view_01_az000_h0.45.png"},{"baseline_selected":true,"camera_pose":{"position":[-10.782960547864072,19.51883450065411,0.5858331799507142],"quaternion_xyzw":[0.17647588787846746,0.6586169798732691,0.7065666109538669,0.18932395280388392]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_visible_views","metadata_pointer":"/views/2","original_image_path":"view_02_az060_h0.05.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_visible_views/view_02_az060_h0.05.png"},{"baseline_selected":true,"camera_pose":{"position":[-10.782960547864072,19.51883450065411,0.9858331799507141],"quaternion_xyzw":[0.12481811679948626,0.4658275536007492,0.8461781090282119,0.22673274096700394]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_visible_views","metadata_pointer":"/views/3","original_image_path":"view_03_az060_h0.45.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_visible_views/view_03_az060_h0.45.png"},{"baseline_selected":true,"camera_pose":{"position":[-11.49386249595917,19.51883450065411,0.5858331799507142],"quaternion_xyzw":[-0.17647588787846746,0.6586169798732691,0.7065666109538669,-0.18932395280388392]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_visible_views","metadata_pointer":"/views/4","original_image_path":"view_04_az120_h0.05.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_visible_views/view_04_az120_h0.05.png"},{"baseline_selected":true,"camera_pose":{"position":[-11.49386249595917,19.51883450065411,0.9858331799507141],"quaternion_xyzw":[-0.12481811679948626,0.4658275536007492,0.8461781090282119,-0.22673274096700394]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_visible_views","metadata_pointer":"/views/5","original_image_path":"view_05_az120_h0.45.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_visible_views/view_05_az120_h0.45.png"},{"baseline_selected":true,"camera_pose":{"position":[-11.849313470006718,18.903175354003906,0.5858331799507142],"quaternion_xyzw":[-0.4821410919948016,0.48214109199480165,0.517242658149983,-0.517242658149983]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_visible_views","metadata_pointer":"/views/6","original_image_path":"view_06_az180_h0.05.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_visible_views/view_06_az180_h0.05.png"},{"baseline_selected":true,"camera_pose":{"position":[-11.849313470006718,18.903175354003906,0.9858331799507141],"quaternion_xyzw":[-0.34100943680126244,0.34100943680126244,0.6194453680612082,-0.6194453680612082]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_visible_views","metadata_pointer":"/views/7","original_image_path":"view_07_az180_h0.45.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_visible_views/view_07_az180_h0.45.png"},{"baseline_selected":true,"camera_pose":{"position":[-11.49386249595917,18.287516207353704,0.5858331799507142],"quaternion_xyzw":[0.6586169798732691,-0.17647588787846746,-0.18932395280388392,0.7065666109538669]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_visible_views","metadata_pointer":"/views/8","original_image_path":"view_08_az240_h0.05.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_visible_views/view_08_az240_h0.05.png"},{"baseline_selected":true,"camera_pose":{"position":[-11.49386249595917,18.287516207353704,0.9858331799507141],"quaternion_xyzw":[0.4658275536007491,-0.12481811679948625,-0.2267327409670039,0.8461781090282119]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_visible_views","metadata_pointer":"/views/9","original_image_path":"view_09_az240_h0.45.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_visible_views/view_09_az240_h0.45.png"},{"baseline_selected":true,"camera_pose":{"position":[-10.782960547864072,18.287516207353704,0.5858331799507142],"quaternion_xyzw":[0.6586169798732691,0.17647588787846746,0.18932395280388392,0.7065666109538669]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_visible_views","metadata_pointer":"/views/10","original_image_path":"view_10_az300_h0.05.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_visible_views/view_10_az300_h0.05.png"},{"baseline_selected":true,"camera_pose":{"position":[-10.782960547864072,18.287516207353704,0.9858331799507141],"quaternion_xyzw":[0.4658275536007491,0.12481811679948625,0.2267327409670039,0.8461781090282119]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_visible_views","metadata_pointer":"/views/11","original_image_path":"view_11_az300_h0.45.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_visible_views/view_11_az300_h0.45.png"},{"baseline_selected":true,"camera_pose":{"position":[-11.138411521911621,18.903175354003906,2.2],"quaternion_xyzw":[0.0,-0.0,-0.0,1.0]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_visible_views","metadata_pointer":"/views/12","original_image_path":"view_12_topdown.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_visible_views/view_12_topdown.png"}],"id":"1361","image_paths_json":"[]","metadata_json":"{\"answer\":\"same_object_different_viewpoints\",\"exist_target_obj\":[{\"_indices\":[0],\"_key\":\"exist_target_obj_0\",\"value\":true},{\"_indices\":[1],\"_key\":\"exist_target_obj_1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_target_obj_2\",\"value\":true},{\"_indices\":[3],\"_key\":\"exist_target_obj_3\",\"value\":true},{\"_indices\":[4],\"_key\":\"exist_target_obj_4\",\"value\":true},{\"_indices\":[5],\"_key\":\"exist_target_obj_5\",\"value\":true},{\"_indices\":[6],\"_key\":\"exist_target_obj_6\",\"value\":true},{\"_indices\":[7],\"_key\":\"exist_target_obj_7\",\"value\":true},{\"_indices\":[8],\"_key\":\"exist_target_obj_8\",\"value\":true},{\"_indices\":[9],\"_key\":\"exist_target_obj_9\",\"value\":true},{\"_indices\":[10],\"_key\":\"exist_target_obj_10\",\"value\":true},{\"_indices\":[11],\"_key\":\"exist_target_obj_11\",\"value\":true},{\"_indices\":[12],\"_key\":\"exist_target_obj_12\",\"value\":true}],\"floor_name\":\"floors_cyanxu_0\",\"layout\":\"angle_confusion_batch\",\"objects\":[{\"_key\":\"support\",\"aabb_max\":[-10.833019256591797,19.206443786621094,0.4740827679634094],\"aabb_min\":[-11.443790435791016,18.599946975708008,1.0669231414794922e-05],\"category\":\"coffee_table\",\"name\":\"coffee_table_ejlbho_0\",\"position\":[-11.138404846191406,18.900463104248047,0.35292768478393555],\"quaternion_xyzw\":[-3.3527612686157227e-08,1.30385160446167e-08,2.00723297894001e-06,1.0],\"xy_half_diag\":0.430371878434264},{\"_key\":\"target\",\"aabb_max\":[-10.998444557189941,18.985698699951172,0.5960730910301208],\"aabb_min\":[-11.27463436126709,18.820541381835938,0.4740573763847351],\"category\":\"measuring_cup\",\"centered_xy\":[-11.138383388519287,18.90319538116455],\"model\":\"ahtzhp\",\"name\":\"target_obj\",\"object_id\":\"measuring_cup-ahtzhp\",\"position\":[-11.138411521911621,18.903175354003906,0.5358331799507141],\"quaternion_xyzw\":[0.0001455481833545491,-4.573191108647734e-05,1.7535639926791191e-06,1.0000001192092896],\"requested_category\":\"measuring_cup\",\"xy_half_diag\":0.16090194809509795}],\"placement_mode\":\"table_center\",\"run_idx\":0,\"seed\":1438816117,\"support_category\":\"coffee_table\",\"support_type\":\"table\",\"target_confusable_with\":[\"mug\",\"small_pitcher\",\"beaker\"],\"task_type\":\"angle_confusion\",\"views\":[{\"_key\":\"view_00_az000_h0.05.png\",\"azimuth_deg\":0.0,\"height_offset\":0.05,\"position\":[-10.427509573816524,18.903175354003906,0.5858331799507142],\"quaternion_xyzw\":[0.4821410919948016,0.48214109199480165,0.517242658149983,0.517242658149983],\"type\":\"ring\",\"visibility\":[{\"_key\":\"target_obj\",\"value\":true}]},{\"_key\":\"view_01_az000_h0.45.png\",\"azimuth_deg\":0.0,\"height_offset\":0.45,\"position\":[-10.427509573816524,18.903175354003906,0.9858331799507141],\"quaternion_xyzw\":[0.34100943680126244,0.34100943680126244,0.6194453680612082,0.6194453680612082],\"type\":\"ring\",\"visibility\":[{\"_key\":\"target_obj\",\"value\":true}]},{\"_key\":\"view_02_az060_h0.05.png\",\"azimuth_deg\":60.0,\"height_offset\":0.05,\"position\":[-10.782960547864072,19.51883450065411,0.5858331799507142],\"quaternion_xyzw\":[0.17647588787846746,0.6586169798732691,0.7065666109538669,0.18932395280388392],\"type\":\"ring\",\"visibility\":[{\"_key\":\"target_obj\",\"value\":true}]},{\"_key\":\"view_03_az060_h0.45.png\",\"azimuth_deg\":60.0,\"height_offset\":0.45,\"position\":[-10.782960547864072,19.51883450065411,0.9858331799507141],\"quaternion_xyzw\":[0.12481811679948626,0.4658275536007492,0.8461781090282119,0.22673274096700394],\"type\":\"ring\",\"visibility\":[{\"_key\":\"target_obj\",\"value\":true}]},{\"_key\":\"view_04_az120_h0.05.png\",\"azimuth_deg\":120.0,\"height_offset\":0.05,\"position\":[-11.49386249595917,19.51883450065411,0.5858331799507142],\"quaternion_xyzw\":[-0.17647588787846746,0.6586169798732691,0.7065666109538669,-0.18932395280388392],\"type\":\"ring\",\"visibility\":[{\"_key\":\"target_obj\",\"value\":true}]},{\"_key\":\"view_05_az120_h0.45.png\",\"azimuth_deg\":120.0,\"height_offset\":0.45,\"position\":[-11.49386249595917,19.51883450065411,0.9858331799507141],\"quaternion_xyzw\":[-0.12481811679948626,0.4658275536007492,0.8461781090282119,-0.22673274096700394],\"type\":\"ring\",\"visibility\":[{\"_key\":\"target_obj\",\"value\":true}]},{\"_key\":\"view_06_az180_h0.05.png\",\"azimuth_deg\":180.0,\"height_offset\":0.05,\"position\":[-11.849313470006718,18.903175354003906,0.5858331799507142],\"quaternion_xyzw\":[-0.4821410919948016,0.48214109199480165,0.517242658149983,-0.517242658149983],\"type\":\"ring\",\"visibility\":[{\"_key\":\"target_obj\",\"value\":true}]},{\"_key\":\"view_07_az180_h0.45.png\",\"azimuth_deg\":180.0,\"height_offset\":0.45,\"position\":[-11.849313470006718,18.903175354003906,0.9858331799507141],\"quaternion_xyzw\":[-0.34100943680126244,0.34100943680126244,0.6194453680612082,-0.6194453680612082],\"type\":\"ring\",\"visibility\":[{\"_key\":\"target_obj\",\"value\":true}]},{\"_key\":\"view_08_az240_h0.05.png\",\"azimuth_deg\":240.0,\"height_offset\":0.05,\"position\":[-11.49386249595917,18.287516207353704,0.5858331799507142],\"quaternion_xyzw\":[0.6586169798732691,-0.17647588787846746,-0.18932395280388392,0.7065666109538669],\"type\":\"ring\",\"visibility\":[{\"_key\":\"target_obj\",\"value\":true}]},{\"_key\":\"view_09_az240_h0.45.png\",\"azimuth_deg\":240.0,\"height_offset\":0.45,\"position\":[-11.49386249595917,18.287516207353704,0.9858331799507141],\"quaternion_xyzw\":[0.4658275536007491,-0.12481811679948625,-0.2267327409670039,0.8461781090282119],\"type\":\"ring\",\"visibility\":[{\"_key\":\"target_obj\",\"value\":true}]},{\"_key\":\"view_10_az300_h0.05.png\",\"azimuth_deg\":300.0,\"height_offset\":0.05,\"position\":[-10.782960547864072,18.287516207353704,0.5858331799507142],\"quaternion_xyzw\":[0.6586169798732691,0.17647588787846746,0.18932395280388392,0.7065666109538669],\"type\":\"ring\",\"visibility\":[{\"_key\":\"target_obj\",\"value\":true}]},{\"_key\":\"view_11_az300_h0.45.png\",\"azimuth_deg\":300.0,\"height_offset\":0.45,\"position\":[-10.782960547864072,18.287516207353704,0.9858331799507141],\"quaternion_xyzw\":[0.4658275536007491,0.12481811679948625,0.2267327409670039,0.8461781090282119],\"type\":\"ring\",\"visibility\":[{\"_key\":\"target_obj\",\"value\":true}]},{\"_key\":\"view_12_topdown.png\",\"position\":[-11.138411521911621,18.903175354003906,2.2],\"quaternion_xyzw\":[0.0,-0.0,-0.0,1.0],\"type\":\"topdown\",\"visibility\":[{\"_key\":\"target_obj\",\"value\":true}]}],\"visibility_summary\":{\"target_visible_count\":13}}","options_json":"[\"mug\",\"measuring cup\"]","question":"Which object is this: mug or measuring cup?","room":"garden_0","runner_task":"angle_confusion","scene":"Pomaria_0_garden","small_task":"View Hallucination"},"observations":[],"question":{"answer_type":"choice","options":[],"original":"Which object is this: mug or measuring cup?","text":"Which object is this: mug or measuring cup?"},"reference_media":[],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":174,"stratum_pool":437},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Perceptual Grounding/View Hallucination/Pomaria_0_garden/garden_0/Pomaria_0_garden__garden_0_0.json","annotation_sha256":"81ddd6ea319862197d4af195b61ef081804d5f12bae78baee47c7d47453efeda","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"15f7762c6b65b27abdcf771cb0cc9e49c3a809189ba5593759d6984b49652423","sample_id":"1361","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"measuring cup","metric":"official_esi_task","original_answer":"measuring cup"},"task":{"category":"Perceptual Grounding","role":"spatial_core","skill_tags":["Perceptual Grounding","View Hallucination"],"stratum":"ESI-Bench/Perceptual Grounding/View Hallucination","subcategory":"View Hallucination"},"transforms":[]}
{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Physical Dynamics","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"yes","id":"b53c3198c4cb3d8c","metadata":"vendor/ESI-Bench/dataset/json_clean/Physical Dynamics/Inclined Plane/hotel_gym_spa/spa_0/hotel_gym_spa__spa_0__run_000.json","metadata_sha256":"1422b59949f9b04dddc1f3622d2e749cbfa2a327b75cd18aeaacfc9c165f8828","observation_policy":"runtime camera observations; no oracle poses","question":"Do you think the can will stay stable (not slide) when placed on the slope?","room":"spa_0","scene":"hotel_gym_spa","subcategory":"Inclined Plane","task":"physical_dynamics.inclined_plane"},"group":{"id":"ESI-scene/hotel_gym_spa","kind":"scene","room":"spa_0","scene":"hotel_gym_spa"},"id":"cfac975abc8ebdd93b21","native_annotation":{"answer":"yes","answer_type":"choice","big_task":"Physical Dynamics","gt_camera_poses":[{"baseline_selected":true,"camera_pose":{"position":[2.5642,-13.31,1.0222],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/0","original_image_path":"step_0001_view_0.png","phase":"step_0001","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:1","view_id":"slope_steps/step_0001_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-12.71,1.0222],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/1","original_image_path":"step_0001_view_1.png","phase":"step_0001","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:1","view_id":"slope_steps/step_0001_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[1.3642,-13.31,1.0222],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/2","original_image_path":"step_0001_view_2.png","phase":"step_0001","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:1","view_id":"slope_steps/step_0001_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-13.91,1.0222],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/3","original_image_path":"step_0001_view_3.png","phase":"step_0001","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:1","view_id":"slope_steps/step_0001_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[2.5642,-13.31,1.0222],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/4","original_image_path":"step_0002_view_0.png","phase":"step_0002","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:2","view_id":"slope_steps/step_0002_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-12.71,1.0222],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/5","original_image_path":"step_0002_view_1.png","phase":"step_0002","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:2","view_id":"slope_steps/step_0002_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[1.3642,-13.31,1.0222],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/6","original_image_path":"step_0002_view_2.png","phase":"step_0002","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:2","view_id":"slope_steps/step_0002_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-13.91,1.0222],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/7","original_image_path":"step_0002_view_3.png","phase":"step_0002","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:2","view_id":"slope_steps/step_0002_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[2.5642,-13.31,1.0222],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/8","original_image_path":"step_0003_view_0.png","phase":"step_0003","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:3","view_id":"slope_steps/step_0003_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-12.71,1.0222],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/9","original_image_path":"step_0003_view_1.png","phase":"step_0003","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:3","view_id":"slope_steps/step_0003_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[1.3642,-13.31,1.0222],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/10","original_image_path":"step_0003_view_2.png","phase":"step_0003","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:3","view_id":"slope_steps/step_0003_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-13.91,1.0222],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/11","original_image_path":"step_0003_view_3.png","phase":"step_0003","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:3","view_id":"slope_steps/step_0003_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[2.5642,-13.31,1.0222],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/12","original_image_path":"step_0004_view_0.png","phase":"step_0004","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:4","view_id":"slope_steps/step_0004_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-12.71,1.0222],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/13","original_image_path":"step_0004_view_1.png","phase":"step_0004","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:4","view_id":"slope_steps/step_0004_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[1.3642,-13.31,1.0222],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/14","original_image_path":"step_0004_view_2.png","phase":"step_0004","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:4","view_id":"slope_steps/step_0004_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-13.91,1.0222],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/15","original_image_path":"step_0004_view_3.png","phase":"step_0004","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:4","view_id":"slope_steps/step_0004_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[2.5642,-13.31,1.0222],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/16","original_image_path":"step_0005_view_0.png","phase":"step_0005","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:5","view_id":"slope_steps/step_0005_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-12.71,1.0222],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/17","original_image_path":"step_0005_view_1.png","phase":"step_0005","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:5","view_id":"slope_steps/step_0005_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[1.3642,-13.31,1.0222],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/18","original_image_path":"step_0005_view_2.png","phase":"step_0005","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:5","view_id":"slope_steps/step_0005_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-13.91,1.0222],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/19","original_image_path":"step_0005_view_3.png","phase":"step_0005","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:5","view_id":"slope_steps/step_0005_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[2.5642,-13.31,1.0222],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/20","original_image_path":"step_0006_view_0.png","phase":"step_0006","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:6","view_id":"slope_steps/step_0006_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-12.71,1.0222],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/21","original_image_path":"step_0006_view_1.png","phase":"step_0006","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:6","view_id":"slope_steps/step_0006_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[1.3642,-13.31,1.0222],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/22","original_image_path":"step_0006_view_2.png","phase":"step_0006","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:6","view_id":"slope_steps/step_0006_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-13.91,1.0222],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/23","original_image_path":"step_0006_view_3.png","phase":"step_0006","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:6","view_id":"slope_steps/step_0006_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[2.5642,-13.31,1.0222],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/24","original_image_path":"step_0007_view_0.png","phase":"step_0007","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:7","view_id":"slope_steps/step_0007_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-12.71,1.0222],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/25","original_image_path":"step_0007_view_1.png","phase":"step_0007","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:7","view_id":"slope_steps/step_0007_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[1.3642,-13.31,1.0222],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/26","original_image_path":"step_0007_view_2.png","phase":"step_0007","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:7","view_id":"slope_steps/step_0007_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-13.91,1.0222],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/27","original_image_path":"step_0007_view_3.png","phase":"step_0007","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:7","view_id":"slope_steps/step_0007_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[2.5642,-13.31,1.0222],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/28","original_image_path":"step_0008_view_0.png","phase":"step_0008","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:8","view_id":"slope_steps/step_0008_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-12.71,1.0222],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/29","original_image_path":"step_0008_view_1.png","phase":"step_0008","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:8","view_id":"slope_steps/step_0008_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[1.3642,-13.31,1.0222],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/30","original_image_path":"step_0008_view_2.png","phase":"step_0008","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:8","view_id":"slope_steps/step_0008_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-13.91,1.0222],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/31","original_image_path":"step_0008_view_3.png","phase":"step_0008","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:8","view_id":"slope_steps/step_0008_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[2.5642,-13.31,1.0222],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/32","original_image_path":"step_0009_view_0.png","phase":"step_0009","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:9","view_id":"slope_steps/step_0009_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-12.71,1.0222],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/33","original_image_path":"step_0009_view_1.png","phase":"step_0009","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:9","view_id":"slope_steps/step_0009_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[1.3642,-13.31,1.0222],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/34","original_image_path":"step_0009_view_2.png","phase":"step_0009","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:9","view_id":"slope_steps/step_0009_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-13.91,1.0222],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/35","original_image_path":"step_0009_view_3.png","phase":"step_0009","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:9","view_id":"slope_steps/step_0009_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[2.5642,-13.31,1.0222],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/36","original_image_path":"step_0010_view_0.png","phase":"step_0010","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:10","view_id":"slope_steps/step_0010_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-12.71,1.0222],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/37","original_image_path":"step_0010_view_1.png","phase":"step_0010","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:10","view_id":"slope_steps/step_0010_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[1.3642,-13.31,1.0222],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/38","original_image_path":"step_0010_view_2.png","phase":"step_0010","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:10","view_id":"slope_steps/step_0010_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-13.91,1.0222],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/39","original_image_path":"step_0010_view_3.png","phase":"step_0010","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:10","view_id":"slope_steps/step_0010_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[2.5642,-13.31,1.0222],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/40","original_image_path":"step_0011_view_0.png","phase":"step_0011","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:11","view_id":"slope_steps/step_0011_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-12.71,1.0222],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/41","original_image_path":"step_0011_view_1.png","phase":"step_0011","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:11","view_id":"slope_steps/step_0011_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[1.3642,-13.31,1.0222],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/42","original_image_path":"step_0011_view_2.png","phase":"step_0011","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:11","view_id":"slope_steps/step_0011_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-13.91,1.0222],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/43","original_image_path":"step_0011_view_3.png","phase":"step_0011","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:11","view_id":"slope_steps/step_0011_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[2.5642,-13.31,1.0222],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/44","original_image_path":"step_0012_view_0.png","phase":"step_0012","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:12","view_id":"slope_steps/step_0012_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-12.71,1.0222],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/45","original_image_path":"step_0012_view_1.png","phase":"step_0012","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:12","view_id":"slope_steps/step_0012_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[1.3642,-13.31,1.0222],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/46","original_image_path":"step_0012_view_2.png","phase":"step_0012","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:12","view_id":"slope_steps/step_0012_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-13.91,1.0222],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/47","original_image_path":"step_0012_view_3.png","phase":"step_0012","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:12","view_id":"slope_steps/step_0012_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[2.5642,-13.31,1.0222],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/48","original_image_path":"step_0013_view_0.png","phase":"step_0013","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:13","view_id":"slope_steps/step_0013_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-12.71,1.0222],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/49","original_image_path":"step_0013_view_1.png","phase":"step_0013","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:13","view_id":"slope_steps/step_0013_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[1.3642,-13.31,1.0222],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/50","original_image_path":"step_0013_view_2.png","phase":"step_0013","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:13","view_id":"slope_steps/step_0013_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-13.91,1.0222],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/51","original_image_path":"step_0013_view_3.png","phase":"step_0013","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:13","view_id":"slope_steps/step_0013_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[2.5642,-13.31,1.0222],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/52","original_image_path":"step_0014_view_0.png","phase":"step_0014","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:14","view_id":"slope_steps/step_0014_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-12.71,1.0222],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/53","original_image_path":"step_0014_view_1.png","phase":"step_0014","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:14","view_id":"slope_steps/step_0014_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[1.3642,-13.31,1.0222],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/54","original_image_path":"step_0014_view_2.png","phase":"step_0014","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:14","view_id":"slope_steps/step_0014_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-13.91,1.0222],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/55","original_image_path":"step_0014_view_3.png","phase":"step_0014","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:14","view_id":"slope_steps/step_0014_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[2.5642,-13.31,1.0222],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/56","original_image_path":"step_0015_view_0.png","phase":"step_0015","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:15","view_id":"slope_steps/step_0015_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-12.71,1.0222],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/57","original_image_path":"step_0015_view_1.png","phase":"step_0015","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:15","view_id":"slope_steps/step_0015_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[1.3642,-13.31,1.0222],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/58","original_image_path":"step_0015_view_2.png","phase":"step_0015","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:15","view_id":"slope_steps/step_0015_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-13.91,1.0222],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/59","original_image_path":"step_0015_view_3.png","phase":"step_0015","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:15","view_id":"slope_steps/step_0015_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[2.5642,-13.31,1.0222],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/60","original_image_path":"step_0016_view_0.png","phase":"step_0016","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:16","view_id":"slope_steps/step_0016_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-12.71,1.0222],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/61","original_image_path":"step_0016_view_1.png","phase":"step_0016","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:16","view_id":"slope_steps/step_0016_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[1.3642,-13.31,1.0222],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/62","original_image_path":"step_0016_view_2.png","phase":"step_0016","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:16","view_id":"slope_steps/step_0016_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-13.91,1.0222],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/63","original_image_path":"step_0016_view_3.png","phase":"step_0016","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:16","view_id":"slope_steps/step_0016_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[2.5642,-13.31,1.0222],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/64","original_image_path":"step_0017_view_0.png","phase":"step_0017","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:17","view_id":"slope_steps/step_0017_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-12.71,1.0222],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/65","original_image_path":"step_0017_view_1.png","phase":"step_0017","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:17","view_id":"slope_steps/step_0017_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[1.3642,-13.31,1.0222],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/66","original_image_path":"step_0017_view_2.png","phase":"step_0017","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:17","view_id":"slope_steps/step_0017_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-13.91,1.0222],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/67","original_image_path":"step_0017_view_3.png","phase":"step_0017","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:17","view_id":"slope_steps/step_0017_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[2.5642,-13.31,1.0222],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/68","original_image_path":"step_0018_view_0.png","phase":"step_0018","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:18","view_id":"slope_steps/step_0018_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-12.71,1.0222],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/69","original_image_path":"step_0018_view_1.png","phase":"step_0018","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:18","view_id":"slope_steps/step_0018_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[1.3642,-13.31,1.0222],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/70","original_image_path":"step_0018_view_2.png","phase":"step_0018","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:18","view_id":"slope_steps/step_0018_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-13.91,1.0222],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/71","original_image_path":"step_0018_view_3.png","phase":"step_0018","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:18","view_id":"slope_steps/step_0018_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[2.5642,-13.31,1.0222],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/72","original_image_path":"step_0019_view_0.png","phase":"step_0019","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:19","view_id":"slope_steps/step_0019_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-12.71,1.0222],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/73","original_image_path":"step_0019_view_1.png","phase":"step_0019","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:19","view_id":"slope_steps/step_0019_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[1.3642,-13.31,1.0222],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/74","original_image_path":"step_0019_view_2.png","phase":"step_0019","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:19","view_id":"slope_steps/step_0019_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-13.91,1.0222],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/75","original_image_path":"step_0019_view_3.png","phase":"step_0019","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:19","view_id":"slope_steps/step_0019_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[2.5642,-13.31,1.0222],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/76","original_image_path":"step_0020_view_0.png","phase":"step_0020","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:20","view_id":"slope_steps/step_0020_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-12.71,1.0222],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/77","original_image_path":"step_0020_view_1.png","phase":"step_0020","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:20","view_id":"slope_steps/step_0020_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[1.3642,-13.31,1.0222],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/78","original_image_path":"step_0020_view_2.png","phase":"step_0020","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:20","view_id":"slope_steps/step_0020_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-13.91,1.0222],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/79","original_image_path":"step_0020_view_3.png","phase":"step_0020","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:20","view_id":"slope_steps/step_0020_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[2.5642,-13.31,1.0222],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/80","original_image_path":"step_0021_view_0.png","phase":"step_0021","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:21","view_id":"slope_steps/step_0021_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-12.71,1.0222],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/81","original_image_path":"step_0021_view_1.png","phase":"step_0021","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:21","view_id":"slope_steps/step_0021_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[1.3642,-13.31,1.0222],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/82","original_image_path":"step_0021_view_2.png","phase":"step_0021","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:21","view_id":"slope_steps/step_0021_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-13.91,1.0222],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/83","original_image_path":"step_0021_view_3.png","phase":"step_0021","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:21","view_id":"slope_steps/step_0021_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[2.5642,-13.31,1.0222],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/84","original_image_path":"step_0022_view_0.png","phase":"step_0022","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:22","view_id":"slope_steps/step_0022_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-12.71,1.0222],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/85","original_image_path":"step_0022_view_1.png","phase":"step_0022","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:22","view_id":"slope_steps/step_0022_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[1.3642,-13.31,1.0222],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/86","original_image_path":"step_0022_view_2.png","phase":"step_0022","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:22","view_id":"slope_steps/step_0022_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-13.91,1.0222],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/87","original_image_path":"step_0022_view_3.png","phase":"step_0022","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:22","view_id":"slope_steps/step_0022_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[2.5642,-13.31,1.0222],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/88","original_image_path":"step_0023_view_0.png","phase":"step_0023","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:23","view_id":"slope_steps/step_0023_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-12.71,1.0222],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/89","original_image_path":"step_0023_view_1.png","phase":"step_0023","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:23","view_id":"slope_steps/step_0023_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[1.3642,-13.31,1.0222],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/90","original_image_path":"step_0023_view_2.png","phase":"step_0023","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:23","view_id":"slope_steps/step_0023_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-13.91,1.0222],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/91","original_image_path":"step_0023_view_3.png","phase":"step_0023","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:23","view_id":"slope_steps/step_0023_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[2.5642,-13.31,1.0222],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/92","original_image_path":"step_0024_view_0.png","phase":"step_0024","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:24","view_id":"slope_steps/step_0024_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-12.71,1.0222],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/93","original_image_path":"step_0024_view_1.png","phase":"step_0024","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:24","view_id":"slope_steps/step_0024_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[1.3642,-13.31,1.0222],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/94","original_image_path":"step_0024_view_2.png","phase":"step_0024","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:24","view_id":"slope_steps/step_0024_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-13.91,1.0222],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/95","original_image_path":"step_0024_view_3.png","phase":"step_0024","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:24","view_id":"slope_steps/step_0024_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[2.5642,-13.31,1.0222],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/96","original_image_path":"step_0025_view_0.png","phase":"step_0025","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:25","view_id":"slope_steps/step_0025_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-12.71,1.0222],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/97","original_image_path":"step_0025_view_1.png","phase":"step_0025","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:25","view_id":"slope_steps/step_0025_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[1.3642,-13.31,1.0222],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/98","original_image_path":"step_0025_view_2.png","phase":"step_0025","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:25","view_id":"slope_steps/step_0025_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-13.91,1.0222],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/99","original_image_path":"step_0025_view_3.png","phase":"step_0025","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:25","view_id":"slope_steps/step_0025_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[2.5642,-13.31,1.0222],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/100","original_image_path":"step_0026_view_0.png","phase":"step_0026","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:26","view_id":"slope_steps/step_0026_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-12.71,1.0222],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/101","original_image_path":"step_0026_view_1.png","phase":"step_0026","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:26","view_id":"slope_steps/step_0026_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[1.3642,-13.31,1.0222],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/102","original_image_path":"step_0026_view_2.png","phase":"step_0026","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:26","view_id":"slope_steps/step_0026_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-13.91,1.0222],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/103","original_image_path":"step_0026_view_3.png","phase":"step_0026","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:26","view_id":"slope_steps/step_0026_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[2.5642,-13.31,1.0222],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/104","original_image_path":"step_0027_view_0.png","phase":"step_0027","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:27","view_id":"slope_steps/step_0027_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-12.71,1.0222],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/105","original_image_path":"step_0027_view_1.png","phase":"step_0027","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:27","view_id":"slope_steps/step_0027_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[1.3642,-13.31,1.0222],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/106","original_image_path":"step_0027_view_2.png","phase":"step_0027","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:27","view_id":"slope_steps/step_0027_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-13.91,1.0222],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/107","original_image_path":"step_0027_view_3.png","phase":"step_0027","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:27","view_id":"slope_steps/step_0027_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[2.5642,-13.31,1.0222],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/108","original_image_path":"step_0028_view_0.png","phase":"step_0028","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:28","view_id":"slope_steps/step_0028_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-12.71,1.0222],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/109","original_image_path":"step_0028_view_1.png","phase":"step_0028","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:28","view_id":"slope_steps/step_0028_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[1.3642,-13.31,1.0222],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/110","original_image_path":"step_0028_view_2.png","phase":"step_0028","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:28","view_id":"slope_steps/step_0028_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-13.91,1.0222],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/111","original_image_path":"step_0028_view_3.png","phase":"step_0028","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:28","view_id":"slope_steps/step_0028_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[2.5642,-13.31,1.0222],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/112","original_image_path":"step_0029_view_0.png","phase":"step_0029","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:29","view_id":"slope_steps/step_0029_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-12.71,1.0222],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/113","original_image_path":"step_0029_view_1.png","phase":"step_0029","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:29","view_id":"slope_steps/step_0029_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[1.3642,-13.31,1.0222],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/114","original_image_path":"step_0029_view_2.png","phase":"step_0029","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:29","view_id":"slope_steps/step_0029_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-13.91,1.0222],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/115","original_image_path":"step_0029_view_3.png","phase":"step_0029","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:29","view_id":"slope_steps/step_0029_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[2.5642,-13.31,1.0222],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/116","original_image_path":"step_0030_view_0.png","phase":"step_0030","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:30","view_id":"slope_steps/step_0030_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-12.71,1.0222],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/117","original_image_path":"step_0030_view_1.png","phase":"step_0030","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:30","view_id":"slope_steps/step_0030_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[1.3642,-13.31,1.0222],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/118","original_image_path":"step_0030_view_2.png","phase":"step_0030","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:30","view_id":"slope_steps/step_0030_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[1.9642,-13.91,1.0222],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/119","original_image_path":"step_0030_view_3.png","phase":"step_0030","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:30","view_id":"slope_steps/step_0030_view_3.png"}],"id":"1708","image_paths_json":"[]","metadata_json":"{\"camera_poses\":[{\"azimuth_deg\":0,\"position\":[2.5642,-13.31,1.0222],\"quaternion_xyzw\":[0.3717,0.3717,0.6015,0.6015],\"target\":[1.9642,-13.31,0.7222],\"view_idx\":0},{\"azimuth_deg\":90,\"position\":[1.9642,-12.71,1.0222],\"quaternion_xyzw\":[0.0,0.5257,0.8507,-0.0],\"target\":[1.9642,-13.31,0.7222],\"view_idx\":1},{\"azimuth_deg\":180,\"position\":[1.3642,-13.31,1.0222],\"quaternion_xyzw\":[-0.3717,0.3717,0.6015,-0.6015],\"target\":[1.9642,-13.31,0.7222],\"view_idx\":2},{\"azimuth_deg\":270,\"position\":[1.9642,-13.91,1.0222],\"quaternion_xyzw\":[0.5257,-0.0,-0.0,0.8507],\"target\":[1.9642,-13.31,0.7222],\"view_idx\":3},{\"azimuth_deg\":0,\"position\":[2.5642,-13.31,1.0222],\"quaternion_xyzw\":[0.3717,0.3717,0.6015,0.6015],\"target\":[1.9642,-13.31,0.7222],\"view_idx\":0},{\"azimuth_deg\":90,\"position\":[1.9642,-12.71,1.0222],\"quaternion_xyzw\":[0.0,0.5257,0.8507,-0.0],\"target\":[1.9642,-13.31,0.7222],\"view_idx\":1},{\"azimuth_deg\":180,\"position\":[1.3642,-13.31,1.0222],\"quaternion_xyzw\":[-0.3717,0.3717,0.6015,-0.6015],\"target\":[1.9642,-13.31,0.7222],\"view_idx\":2},{\"azimuth_deg\":270,\"position\":[1.9642,-13.91,1.0222],\"quaternion_xyzw\":[0.5257,-0.0,-0.0,0.8507],\"target\":[1.9642,-13.31,0.7222],\"view_idx\":3}],\"camera_poses_floor\":[{\"azimuth_deg\":0,\"filename\":\"floor_0000_view_0.png\",\"position\":[2.5642,-13.0119,1.0222],\"quaternion_xyzw\":[0.3717,0.3717,0.6015,0.6015],\"target\":[1.9642,-13.0119,0.7222],\"view_idx\":0},{\"azimuth_deg\":90,\"filename\":\"floor_0000_view_1.png\",\"position\":[1.9642,-12.4119,1.0222],\"quaternion_xyzw\":[0.0,0.5257,0.8507,-0.0],\"target\":[1.9642,-13.0119,0.7222],\"view_idx\":1},{\"azimuth_deg\":180,\"filename\":\"floor_0000_view_2.png\",\"position\":[1.3642,-13.0119,1.0222],\"quaternion_xyzw\":[-0.3717,0.3717,0.6015,-0.6015],\"target\":[1.9642,-13.0119,0.7222],\"view_idx\":2},{\"azimuth_deg\":270,\"filename\":\"floor_0000_view_3.png\",\"position\":[1.9642,-13.6119,1.0222],\"quaternion_xyzw\":[0.5257,-0.0,-0.0,0.8507],\"target\":[1.9642,-13.0119,0.7222],\"view_idx\":3}],\"dynamic_friction\":1.0238,\"exist_step_view\":[{\"_indices\":[1,0],\"_key\":\"exist_step0001_view0\",\"value\":true},{\"_indices\":[1,1],\"_key\":\"exist_step0001_view1\",\"value\":true},{\"_indices\":[1,2],\"_key\":\"exist_step0001_view2\",\"value\":true},{\"_indices\":[1,3],\"_key\":\"exist_step0001_view3\",\"value\":true},{\"_indices\":[2,0],\"_key\":\"exist_step0002_view0\",\"value\":true},{\"_indices\":[2,1],\"_key\":\"exist_step0002_view1\",\"value\":true},{\"_indices\":[2,2],\"_key\":\"exist_step0002_view2\",\"value\":true},{\"_indices\":[2,3],\"_key\":\"exist_step0002_view3\",\"value\":true},{\"_indices\":[3,0],\"_key\":\"exist_step0003_view0\",\"value\":true},{\"_indices\":[3,1],\"_key\":\"exist_step0003_view1\",\"value\":true},{\"_indices\":[3,2],\"_key\":\"exist_step0003_view2\",\"value\":true},{\"_indices\":[3,3],\"_key\":\"exist_step0003_view3\",\"value\":true},{\"_indices\":[4,0],\"_key\":\"exist_step0004_view0\",\"value\":true},{\"_indices\":[4,1],\"_key\":\"exist_step0004_view1\",\"value\":true},{\"_indices\":[4,2],\"_key\":\"exist_step0004_view2\",\"value\":true},{\"_indices\":[4,3],\"_key\":\"exist_step0004_view3\",\"value\":true},{\"_indices\":[5,0],\"_key\":\"exist_step0005_view0\",\"value\":true},{\"_indices\":[5,1],\"_key\":\"exist_step0005_view1\",\"value\":true},{\"_indices\":[5,2],\"_key\":\"exist_step0005_view2\",\"value\":true},{\"_indices\":[5,3],\"_key\":\"exist_step0005_view3\",\"value\":true},{\"_indices\":[6,0],\"_key\":\"exist_step0006_view0\",\"value\":true},{\"_indices\":[6,1],\"_key\":\"exist_step0006_view1\",\"value\":true},{\"_indices\":[6,2],\"_key\":\"exist_step0006_view2\",\"value\":true},{\"_indices\":[6,3],\"_key\":\"exist_step0006_view3\",\"value\":true},{\"_indices\":[7,0],\"_key\":\"exist_step0007_view0\",\"value\":true},{\"_indices\":[7,1],\"_key\":\"exist_step0007_view1\",\"value\":true},{\"_indices\":[7,2],\"_key\":\"exist_step0007_view2\",\"value\":true},{\"_indices\":[7,3],\"_key\":\"exist_step0007_view3\",\"value\":true},{\"_indices\":[8,0],\"_key\":\"exist_step0008_view0\",\"value\":true},{\"_indices\":[8,1],\"_key\":\"exist_step0008_view1\",\"value\":true},{\"_indices\":[8,2],\"_key\":\"exist_step0008_view2\",\"value\":true},{\"_indices\":[8,3],\"_key\":\"exist_step0008_view3\",\"value\":true},{\"_indices\":[9,0],\"_key\":\"exist_step0009_view0\",\"value\":true},{\"_indices\":[9,1],\"_key\":\"exist_step0009_view1\",\"value\":true},{\"_indices\":[9,2],\"_key\":\"exist_step0009_view2\",\"value\":true},{\"_indices\":[9,3],\"_key\":\"exist_step0009_view3\",\"value\":true},{\"_indices\":[10,0],\"_key\":\"exist_step0010_view0\",\"value\":true},{\"_indices\":[10,1],\"_key\":\"exist_step0010_view1\",\"value\":true},{\"_indices\":[10,2],\"_key\":\"exist_step0010_view2\",\"value\":true},{\"_indices\":[10,3],\"_key\":\"exist_step0010_view3\",\"value\":true},{\"_indices\":[11,0],\"_key\":\"exist_step0011_view0\",\"value\":true},{\"_indices\":[11,1],\"_key\":\"exist_step0011_view1\",\"value\":true},{\"_indices\":[11,2],\"_key\":\"exist_step0011_view2\",\"value\":true},{\"_indices\":[11,3],\"_key\":\"exist_step0011_view3\",\"value\":true},{\"_indices\":[12,0],\"_key\":\"exist_step0012_view0\",\"value\":true},{\"_indices\":[12,1],\"_key\":\"exist_step0012_view1\",\"value\":true},{\"_indices\":[12,2],\"_key\":\"exist_step0012_view2\",\"value\":true},{\"_indices\":[12,3],\"_key\":\"exist_step0012_view3\",\"value\":true},{\"_indices\":[13,0],\"_key\":\"exist_step0013_view0\",\"value\":true},{\"_indices\":[13,1],\"_key\":\"exist_step0013_view1\",\"value\":true},{\"_indices\":[13,2],\"_key\":\"exist_step0013_view2\",\"value\":true},{\"_indices\":[13,3],\"_key\":\"exist_step0013_view3\",\"value\":true},{\"_indices\":[14,0],\"_key\":\"exist_step0014_view0\",\"value\":true},{\"_indices\":[14,1],\"_key\":\"exist_step0014_view1\",\"value\":true},{\"_indices\":[14,2],\"_key\":\"exist_step0014_view2\",\"value\":true},{\"_indices\":[14,3],\"_key\":\"exist_step0014_view3\",\"value\":true},{\"_indices\":[15,0],\"_key\":\"exist_step0015_view0\",\"value\":true},{\"_indices\":[15,1],\"_key\":\"exist_step0015_view1\",\"value\":true},{\"_indices\":[15,2],\"_key\":\"exist_step0015_view2\",\"value\":true},{\"_indices\":[15,3],\"_key\":\"exist_step0015_view3\",\"value\":true},{\"_indices\":[16,0],\"_key\":\"exist_step0016_view0\",\"value\":true},{\"_indices\":[16,1],\"_key\":\"exist_step0016_view1\",\"value\":true},{\"_indices\":[16,2],\"_key\":\"exist_step0016_view2\",\"value\":true},{\"_indices\":[16,3],\"_key\":\"exist_step0016_view3\",\"value\":true},{\"_indices\":[17,0],\"_key\":\"exist_step0017_view0\",\"value\":true},{\"_indices\":[17,1],\"_key\":\"exist_step0017_view1\",\"value\":true},{\"_indices\":[17,2],\"_key\":\"exist_step0017_view2\",\"value\":true},{\"_indices\":[17,3],\"_key\":\"exist_step0017_view3\",\"value\":true},{\"_indices\":[18,0],\"_key\":\"exist_step0018_view0\",\"value\":true},{\"_indices\":[18,1],\"_key\":\"exist_step0018_view1\",\"value\":true},{\"_indices\":[18,2],\"_key\":\"exist_step0018_view2\",\"value\":true},{\"_indices\":[18,3],\"_key\":\"exist_step0018_view3\",\"value\":true},{\"_indices\":[19,0],\"_key\":\"exist_step0019_view0\",\"value\":true},{\"_indices\":[19,1],\"_key\":\"exist_step0019_view1\",\"value\":true},{\"_indices\":[19,2],\"_key\":\"exist_step0019_view2\",\"value\":true},{\"_indices\":[19,3],\"_key\":\"exist_step0019_view3\",\"value\":true},{\"_indices\":[20,0],\"_key\":\"exist_step0020_view0\",\"value\":true},{\"_indices\":[20,1],\"_key\":\"exist_step0020_view1\",\"value\":true},{\"_indices\":[20,2],\"_key\":\"exist_step0020_view2\",\"value\":true},{\"_indices\":[20,3],\"_key\":\"exist_step0020_view3\",\"value\":true},{\"_indices\":[21,0],\"_key\":\"exist_step0021_view0\",\"value\":true},{\"_indices\":[21,1],\"_key\":\"exist_step0021_view1\",\"value\":true},{\"_indices\":[21,2],\"_key\":\"exist_step0021_view2\",\"value\":true},{\"_indices\":[21,3],\"_key\":\"exist_step0021_view3\",\"value\":true},{\"_indices\":[22,0],\"_key\":\"exist_step0022_view0\",\"value\":true},{\"_indices\":[22,1],\"_key\":\"exist_step0022_view1\",\"value\":true},{\"_indices\":[22,2],\"_key\":\"exist_step0022_view2\",\"value\":true},{\"_indices\":[22,3],\"_key\":\"exist_step0022_view3\",\"value\":true},{\"_indices\":[23,0],\"_key\":\"exist_step0023_view0\",\"value\":true},{\"_indices\":[23,1],\"_key\":\"exist_step0023_view1\",\"value\":true},{\"_indices\":[23,2],\"_key\":\"exist_step0023_view2\",\"value\":true},{\"_indices\":[23,3],\"_key\":\"exist_step0023_view3\",\"value\":true},{\"_indices\":[24,0],\"_key\":\"exist_step0024_view0\",\"value\":true},{\"_indices\":[24,1],\"_key\":\"exist_step0024_view1\",\"value\":true},{\"_indices\":[24,2],\"_key\":\"exist_step0024_view2\",\"value\":true},{\"_indices\":[24,3],\"_key\":\"exist_step0024_view3\",\"value\":true},{\"_indices\":[25,0],\"_key\":\"exist_step0025_view0\",\"value\":true},{\"_indices\":[25,1],\"_key\":\"exist_step0025_view1\",\"value\":true},{\"_indices\":[25,2],\"_key\":\"exist_step0025_view2\",\"value\":true},{\"_indices\":[25,3],\"_key\":\"exist_step0025_view3\",\"value\":true},{\"_indices\":[26,0],\"_key\":\"exist_step0026_view0\",\"value\":true},{\"_indices\":[26,1],\"_key\":\"exist_step0026_view1\",\"value\":true},{\"_indices\":[26,2],\"_key\":\"exist_step0026_view2\",\"value\":true},{\"_indices\":[26,3],\"_key\":\"exist_step0026_view3\",\"value\":true},{\"_indices\":[27,0],\"_key\":\"exist_step0027_view0\",\"value\":true},{\"_indices\":[27,1],\"_key\":\"exist_step0027_view1\",\"value\":true},{\"_indices\":[27,2],\"_key\":\"exist_step0027_view2\",\"value\":true},{\"_indices\":[27,3],\"_key\":\"exist_step0027_view3\",\"value\":true},{\"_indices\":[28,0],\"_key\":\"exist_step0028_view0\",\"value\":true},{\"_indices\":[28,1],\"_key\":\"exist_step0028_view1\",\"value\":true},{\"_indices\":[28,2],\"_key\":\"exist_step0028_view2\",\"value\":true},{\"_indices\":[28,3],\"_key\":\"exist_step0028_view3\",\"value\":true},{\"_indices\":[29,0],\"_key\":\"exist_step0029_view0\",\"value\":true},{\"_indices\":[29,1],\"_key\":\"exist_step0029_view1\",\"value\":true},{\"_indices\":[29,2],\"_key\":\"exist_step0029_view2\",\"value\":true},{\"_indices\":[29,3],\"_key\":\"exist_step0029_view3\",\"value\":true},{\"_indices\":[30,0],\"_key\":\"exist_step0030_view0\",\"value\":true},{\"_indices\":[30,1],\"_key\":\"exist_step0030_view1\",\"value\":true},{\"_indices\":[30,2],\"_key\":\"exist_step0030_view2\",\"value\":true},{\"_indices\":[30,3],\"_key\":\"exist_step0030_view3\",\"value\":true}],\"floor_name\":\"floors_xawgsl_0\",\"ground_truth_fallen\":false,\"ground_truth_slid\":false,\"obj_category\":\"can\",\"obj_model\":\"damllm\",\"objects\":[{\"_key\":\"task_obj\",\"aabb_max_final\":[2.1928999423980713,-13.25409984588623,1.1181999444961548],\"aabb_max_init\":[2.177799940109253,-13.257200241088867,1.0972000360488892],\"aabb_min_final\":[1.7764999866485596,-13.532299995422363,0.7113999724388123],\"aabb_min_init\":[1.7651000022888184,-13.53439998626709,0.682699978351593],\"category\":\"can\",\"model\":\"damllm\",\"pos_final\":[1.9652999639511108,-13.39169979095459,0.9304999709129333],\"pos_init\":[1.9541000127792358,-13.394499778747559,0.9081000089645386],\"pos_on_floor\":[1.8835999965667725,-12.863900184631348,0.5163999795913696]}],\"run_idx\":0,\"seed\":190132107,\"slope\":{\"aabb_max\":[2.1928000450134277,-13.15999984741211,1.0003000497817993],\"aabb_min\":[1.7355999946594238,-13.460000038146973,0.6222000122070312],\"centre\":[1.9642,-13.31,0.8113],\"position\":[1.9642,-13.31,0.8113]},\"slope_angle_deg\":39.21,\"slope_quaternion\":[0.0,0.3355,0.0,0.942],\"slope_scale\":[0.5736,0.3,0.02],\"static_friction\":1.9692}","options_json":"[\"yes\",\"no\"]","question":"Do you think the can will stay stable (not slide) when placed on the slope?","room":"spa_0","runner_task":"slope","scene":"hotel_gym_spa","small_task":"Inclined Plane"},"observations":[],"question":{"answer_type":"choice","options":[],"original":"Do you think the can will stay stable (not slide) when placed on the slope?","text":"Do you think the can will stay stable (not slide) when placed on the slope?"},"reference_media":[],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":16,"stratum_pool":61},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Physical Dynamics/Inclined Plane/hotel_gym_spa/spa_0/hotel_gym_spa__spa_0__run_000.json","annotation_sha256":"1422b59949f9b04dddc1f3622d2e749cbfa2a327b75cd18aeaacfc9c165f8828","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"2808187327744f3721942d773f5748266e8c32cb87ae3dadcc787f2a65f038af","sample_id":"1708","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"yes","metric":"official_esi_task","original_answer":"yes"},"task":{"category":"Physical Dynamics","role":"spatial_core","skill_tags":["Physical Dynamics","Inclined Plane"],"stratum":"ESI-Bench/Physical Dynamics/Inclined Plane","subcategory":"Inclined Plane"},"transforms":[]}
{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Physical Dynamics","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"no","id":"89a871bd9f39e218","metadata":"vendor/ESI-Bench/dataset/json_clean/Physical Dynamics/Inclined Plane/Beechwood_1_int/bedroom_0/Beechwood_1_int__bedroom_0__run_000.json","metadata_sha256":"b0b17a9cca2d6f9b5dbf6f2594d0e0e183c997e45a2801e572693d8120794a1b","observation_policy":"runtime camera observations; no oracle poses","question":"Do you think the doll will stay stable (not slide) when placed on the slope?","room":"bedroom_0","scene":"Beechwood_1_int","subcategory":"Inclined Plane","task":"physical_dynamics.inclined_plane"},"group":{"id":"ESI-scene/Beechwood_1_int","kind":"scene","room":"bedroom_0","scene":"Beechwood_1_int"},"id":"ca7bf96a695883e50f42","native_annotation":{"answer":"no","answer_type":"choice","big_task":"Physical Dynamics","gt_camera_poses":[{"baseline_selected":true,"camera_pose":{"position":[-2.046,-3.8612,0.402],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/0","original_image_path":"step_0001_view_0.png","phase":"step_0001","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:1","view_id":"slope_steps/step_0001_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-3.2612,0.402],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/1","original_image_path":"step_0001_view_1.png","phase":"step_0001","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:1","view_id":"slope_steps/step_0001_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[-3.246,-3.8612,0.402],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/2","original_image_path":"step_0001_view_2.png","phase":"step_0001","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:1","view_id":"slope_steps/step_0001_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-4.4612,0.402],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/3","original_image_path":"step_0001_view_3.png","phase":"step_0001","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:1","view_id":"slope_steps/step_0001_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.046,-3.8612,0.402],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/4","original_image_path":"step_0002_view_0.png","phase":"step_0002","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:2","view_id":"slope_steps/step_0002_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-3.2612,0.402],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/5","original_image_path":"step_0002_view_1.png","phase":"step_0002","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:2","view_id":"slope_steps/step_0002_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[-3.246,-3.8612,0.402],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/6","original_image_path":"step_0002_view_2.png","phase":"step_0002","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:2","view_id":"slope_steps/step_0002_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-4.4612,0.402],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/7","original_image_path":"step_0002_view_3.png","phase":"step_0002","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:2","view_id":"slope_steps/step_0002_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.046,-3.8612,0.402],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/8","original_image_path":"step_0003_view_0.png","phase":"step_0003","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:3","view_id":"slope_steps/step_0003_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-3.2612,0.402],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/9","original_image_path":"step_0003_view_1.png","phase":"step_0003","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:3","view_id":"slope_steps/step_0003_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[-3.246,-3.8612,0.402],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/10","original_image_path":"step_0003_view_2.png","phase":"step_0003","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:3","view_id":"slope_steps/step_0003_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-4.4612,0.402],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/11","original_image_path":"step_0003_view_3.png","phase":"step_0003","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:3","view_id":"slope_steps/step_0003_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.046,-3.8612,0.402],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/12","original_image_path":"step_0004_view_0.png","phase":"step_0004","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:4","view_id":"slope_steps/step_0004_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-3.2612,0.402],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/13","original_image_path":"step_0004_view_1.png","phase":"step_0004","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:4","view_id":"slope_steps/step_0004_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[-3.246,-3.8612,0.402],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/14","original_image_path":"step_0004_view_2.png","phase":"step_0004","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:4","view_id":"slope_steps/step_0004_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-4.4612,0.402],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/15","original_image_path":"step_0004_view_3.png","phase":"step_0004","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:4","view_id":"slope_steps/step_0004_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.046,-3.8612,0.402],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/16","original_image_path":"step_0005_view_0.png","phase":"step_0005","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:5","view_id":"slope_steps/step_0005_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-3.2612,0.402],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/17","original_image_path":"step_0005_view_1.png","phase":"step_0005","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:5","view_id":"slope_steps/step_0005_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[-3.246,-3.8612,0.402],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/18","original_image_path":"step_0005_view_2.png","phase":"step_0005","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:5","view_id":"slope_steps/step_0005_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-4.4612,0.402],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/19","original_image_path":"step_0005_view_3.png","phase":"step_0005","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:5","view_id":"slope_steps/step_0005_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.046,-3.8612,0.402],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/20","original_image_path":"step_0006_view_0.png","phase":"step_0006","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:6","view_id":"slope_steps/step_0006_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-3.2612,0.402],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/21","original_image_path":"step_0006_view_1.png","phase":"step_0006","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:6","view_id":"slope_steps/step_0006_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[-3.246,-3.8612,0.402],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/22","original_image_path":"step_0006_view_2.png","phase":"step_0006","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:6","view_id":"slope_steps/step_0006_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-4.4612,0.402],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/23","original_image_path":"step_0006_view_3.png","phase":"step_0006","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:6","view_id":"slope_steps/step_0006_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.046,-3.8612,0.402],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/24","original_image_path":"step_0007_view_0.png","phase":"step_0007","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:7","view_id":"slope_steps/step_0007_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-3.2612,0.402],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/25","original_image_path":"step_0007_view_1.png","phase":"step_0007","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:7","view_id":"slope_steps/step_0007_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[-3.246,-3.8612,0.402],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/26","original_image_path":"step_0007_view_2.png","phase":"step_0007","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:7","view_id":"slope_steps/step_0007_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-4.4612,0.402],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/27","original_image_path":"step_0007_view_3.png","phase":"step_0007","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:7","view_id":"slope_steps/step_0007_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.046,-3.8612,0.402],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/28","original_image_path":"step_0008_view_0.png","phase":"step_0008","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:8","view_id":"slope_steps/step_0008_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-3.2612,0.402],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/29","original_image_path":"step_0008_view_1.png","phase":"step_0008","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:8","view_id":"slope_steps/step_0008_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[-3.246,-3.8612,0.402],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/30","original_image_path":"step_0008_view_2.png","phase":"step_0008","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:8","view_id":"slope_steps/step_0008_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-4.4612,0.402],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/31","original_image_path":"step_0008_view_3.png","phase":"step_0008","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:8","view_id":"slope_steps/step_0008_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.046,-3.8612,0.402],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/32","original_image_path":"step_0009_view_0.png","phase":"step_0009","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:9","view_id":"slope_steps/step_0009_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-3.2612,0.402],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/33","original_image_path":"step_0009_view_1.png","phase":"step_0009","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:9","view_id":"slope_steps/step_0009_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[-3.246,-3.8612,0.402],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/34","original_image_path":"step_0009_view_2.png","phase":"step_0009","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:9","view_id":"slope_steps/step_0009_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-4.4612,0.402],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/35","original_image_path":"step_0009_view_3.png","phase":"step_0009","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:9","view_id":"slope_steps/step_0009_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.046,-3.8612,0.402],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/36","original_image_path":"step_0010_view_0.png","phase":"step_0010","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:10","view_id":"slope_steps/step_0010_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-3.2612,0.402],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/37","original_image_path":"step_0010_view_1.png","phase":"step_0010","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:10","view_id":"slope_steps/step_0010_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[-3.246,-3.8612,0.402],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/38","original_image_path":"step_0010_view_2.png","phase":"step_0010","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:10","view_id":"slope_steps/step_0010_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-4.4612,0.402],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/39","original_image_path":"step_0010_view_3.png","phase":"step_0010","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:10","view_id":"slope_steps/step_0010_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.046,-3.8612,0.402],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/40","original_image_path":"step_0011_view_0.png","phase":"step_0011","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:11","view_id":"slope_steps/step_0011_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-3.2612,0.402],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/41","original_image_path":"step_0011_view_1.png","phase":"step_0011","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:11","view_id":"slope_steps/step_0011_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[-3.246,-3.8612,0.402],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/42","original_image_path":"step_0011_view_2.png","phase":"step_0011","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:11","view_id":"slope_steps/step_0011_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-4.4612,0.402],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/43","original_image_path":"step_0011_view_3.png","phase":"step_0011","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:11","view_id":"slope_steps/step_0011_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.046,-3.8612,0.402],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/44","original_image_path":"step_0012_view_0.png","phase":"step_0012","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:12","view_id":"slope_steps/step_0012_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-3.2612,0.402],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/45","original_image_path":"step_0012_view_1.png","phase":"step_0012","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:12","view_id":"slope_steps/step_0012_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[-3.246,-3.8612,0.402],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/46","original_image_path":"step_0012_view_2.png","phase":"step_0012","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:12","view_id":"slope_steps/step_0012_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-4.4612,0.402],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/47","original_image_path":"step_0012_view_3.png","phase":"step_0012","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:12","view_id":"slope_steps/step_0012_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.046,-3.8612,0.402],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/48","original_image_path":"step_0013_view_0.png","phase":"step_0013","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:13","view_id":"slope_steps/step_0013_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-3.2612,0.402],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/49","original_image_path":"step_0013_view_1.png","phase":"step_0013","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:13","view_id":"slope_steps/step_0013_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[-3.246,-3.8612,0.402],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/50","original_image_path":"step_0013_view_2.png","phase":"step_0013","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:13","view_id":"slope_steps/step_0013_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-4.4612,0.402],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/51","original_image_path":"step_0013_view_3.png","phase":"step_0013","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:13","view_id":"slope_steps/step_0013_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.046,-3.8612,0.402],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/52","original_image_path":"step_0014_view_0.png","phase":"step_0014","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:14","view_id":"slope_steps/step_0014_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-3.2612,0.402],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/53","original_image_path":"step_0014_view_1.png","phase":"step_0014","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:14","view_id":"slope_steps/step_0014_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[-3.246,-3.8612,0.402],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/54","original_image_path":"step_0014_view_2.png","phase":"step_0014","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:14","view_id":"slope_steps/step_0014_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-4.4612,0.402],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/55","original_image_path":"step_0014_view_3.png","phase":"step_0014","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:14","view_id":"slope_steps/step_0014_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.046,-3.8612,0.402],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/56","original_image_path":"step_0015_view_0.png","phase":"step_0015","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:15","view_id":"slope_steps/step_0015_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-3.2612,0.402],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/57","original_image_path":"step_0015_view_1.png","phase":"step_0015","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:15","view_id":"slope_steps/step_0015_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[-3.246,-3.8612,0.402],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/58","original_image_path":"step_0015_view_2.png","phase":"step_0015","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:15","view_id":"slope_steps/step_0015_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-4.4612,0.402],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/59","original_image_path":"step_0015_view_3.png","phase":"step_0015","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:15","view_id":"slope_steps/step_0015_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.046,-3.8612,0.402],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/60","original_image_path":"step_0016_view_0.png","phase":"step_0016","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:16","view_id":"slope_steps/step_0016_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-3.2612,0.402],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/61","original_image_path":"step_0016_view_1.png","phase":"step_0016","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:16","view_id":"slope_steps/step_0016_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[-3.246,-3.8612,0.402],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/62","original_image_path":"step_0016_view_2.png","phase":"step_0016","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:16","view_id":"slope_steps/step_0016_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-4.4612,0.402],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/63","original_image_path":"step_0016_view_3.png","phase":"step_0016","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:16","view_id":"slope_steps/step_0016_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.046,-3.8612,0.402],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/64","original_image_path":"step_0017_view_0.png","phase":"step_0017","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:17","view_id":"slope_steps/step_0017_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-3.2612,0.402],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/65","original_image_path":"step_0017_view_1.png","phase":"step_0017","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:17","view_id":"slope_steps/step_0017_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[-3.246,-3.8612,0.402],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/66","original_image_path":"step_0017_view_2.png","phase":"step_0017","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:17","view_id":"slope_steps/step_0017_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-4.4612,0.402],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/67","original_image_path":"step_0017_view_3.png","phase":"step_0017","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:17","view_id":"slope_steps/step_0017_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.046,-3.8612,0.402],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/68","original_image_path":"step_0018_view_0.png","phase":"step_0018","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:18","view_id":"slope_steps/step_0018_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-3.2612,0.402],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/69","original_image_path":"step_0018_view_1.png","phase":"step_0018","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:18","view_id":"slope_steps/step_0018_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[-3.246,-3.8612,0.402],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/70","original_image_path":"step_0018_view_2.png","phase":"step_0018","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:18","view_id":"slope_steps/step_0018_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-4.4612,0.402],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/71","original_image_path":"step_0018_view_3.png","phase":"step_0018","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:18","view_id":"slope_steps/step_0018_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.046,-3.8612,0.402],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/72","original_image_path":"step_0019_view_0.png","phase":"step_0019","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:19","view_id":"slope_steps/step_0019_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-3.2612,0.402],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/73","original_image_path":"step_0019_view_1.png","phase":"step_0019","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:19","view_id":"slope_steps/step_0019_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[-3.246,-3.8612,0.402],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/74","original_image_path":"step_0019_view_2.png","phase":"step_0019","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:19","view_id":"slope_steps/step_0019_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-4.4612,0.402],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/75","original_image_path":"step_0019_view_3.png","phase":"step_0019","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:19","view_id":"slope_steps/step_0019_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.046,-3.8612,0.402],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/76","original_image_path":"step_0020_view_0.png","phase":"step_0020","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:20","view_id":"slope_steps/step_0020_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-3.2612,0.402],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/77","original_image_path":"step_0020_view_1.png","phase":"step_0020","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:20","view_id":"slope_steps/step_0020_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[-3.246,-3.8612,0.402],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/78","original_image_path":"step_0020_view_2.png","phase":"step_0020","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:20","view_id":"slope_steps/step_0020_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-4.4612,0.402],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/79","original_image_path":"step_0020_view_3.png","phase":"step_0020","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:20","view_id":"slope_steps/step_0020_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.046,-3.8612,0.402],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/80","original_image_path":"step_0021_view_0.png","phase":"step_0021","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:21","view_id":"slope_steps/step_0021_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-3.2612,0.402],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/81","original_image_path":"step_0021_view_1.png","phase":"step_0021","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:21","view_id":"slope_steps/step_0021_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[-3.246,-3.8612,0.402],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/82","original_image_path":"step_0021_view_2.png","phase":"step_0021","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:21","view_id":"slope_steps/step_0021_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-4.4612,0.402],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/83","original_image_path":"step_0021_view_3.png","phase":"step_0021","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:21","view_id":"slope_steps/step_0021_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.046,-3.8612,0.402],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/84","original_image_path":"step_0022_view_0.png","phase":"step_0022","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:22","view_id":"slope_steps/step_0022_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-3.2612,0.402],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/85","original_image_path":"step_0022_view_1.png","phase":"step_0022","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:22","view_id":"slope_steps/step_0022_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[-3.246,-3.8612,0.402],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/86","original_image_path":"step_0022_view_2.png","phase":"step_0022","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:22","view_id":"slope_steps/step_0022_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-4.4612,0.402],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/87","original_image_path":"step_0022_view_3.png","phase":"step_0022","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:22","view_id":"slope_steps/step_0022_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.046,-3.8612,0.402],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/88","original_image_path":"step_0023_view_0.png","phase":"step_0023","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:23","view_id":"slope_steps/step_0023_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-3.2612,0.402],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/89","original_image_path":"step_0023_view_1.png","phase":"step_0023","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:23","view_id":"slope_steps/step_0023_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[-3.246,-3.8612,0.402],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/90","original_image_path":"step_0023_view_2.png","phase":"step_0023","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:23","view_id":"slope_steps/step_0023_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-4.4612,0.402],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/91","original_image_path":"step_0023_view_3.png","phase":"step_0023","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:23","view_id":"slope_steps/step_0023_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.046,-3.8612,0.402],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/92","original_image_path":"step_0024_view_0.png","phase":"step_0024","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:24","view_id":"slope_steps/step_0024_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-3.2612,0.402],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/93","original_image_path":"step_0024_view_1.png","phase":"step_0024","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:24","view_id":"slope_steps/step_0024_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[-3.246,-3.8612,0.402],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/94","original_image_path":"step_0024_view_2.png","phase":"step_0024","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:24","view_id":"slope_steps/step_0024_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-4.4612,0.402],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/95","original_image_path":"step_0024_view_3.png","phase":"step_0024","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:24","view_id":"slope_steps/step_0024_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.046,-3.8612,0.402],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/96","original_image_path":"step_0025_view_0.png","phase":"step_0025","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:25","view_id":"slope_steps/step_0025_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-3.2612,0.402],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/97","original_image_path":"step_0025_view_1.png","phase":"step_0025","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:25","view_id":"slope_steps/step_0025_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[-3.246,-3.8612,0.402],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/98","original_image_path":"step_0025_view_2.png","phase":"step_0025","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:25","view_id":"slope_steps/step_0025_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-4.4612,0.402],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/99","original_image_path":"step_0025_view_3.png","phase":"step_0025","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:25","view_id":"slope_steps/step_0025_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.046,-3.8612,0.402],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/100","original_image_path":"step_0026_view_0.png","phase":"step_0026","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:26","view_id":"slope_steps/step_0026_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-3.2612,0.402],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/101","original_image_path":"step_0026_view_1.png","phase":"step_0026","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:26","view_id":"slope_steps/step_0026_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[-3.246,-3.8612,0.402],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/102","original_image_path":"step_0026_view_2.png","phase":"step_0026","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:26","view_id":"slope_steps/step_0026_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-4.4612,0.402],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/103","original_image_path":"step_0026_view_3.png","phase":"step_0026","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:26","view_id":"slope_steps/step_0026_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.046,-3.8612,0.402],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/104","original_image_path":"step_0027_view_0.png","phase":"step_0027","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:27","view_id":"slope_steps/step_0027_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-3.2612,0.402],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/105","original_image_path":"step_0027_view_1.png","phase":"step_0027","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:27","view_id":"slope_steps/step_0027_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[-3.246,-3.8612,0.402],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/106","original_image_path":"step_0027_view_2.png","phase":"step_0027","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:27","view_id":"slope_steps/step_0027_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-4.4612,0.402],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/107","original_image_path":"step_0027_view_3.png","phase":"step_0027","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:27","view_id":"slope_steps/step_0027_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.046,-3.8612,0.402],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/108","original_image_path":"step_0028_view_0.png","phase":"step_0028","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:28","view_id":"slope_steps/step_0028_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-3.2612,0.402],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/109","original_image_path":"step_0028_view_1.png","phase":"step_0028","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:28","view_id":"slope_steps/step_0028_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[-3.246,-3.8612,0.402],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/110","original_image_path":"step_0028_view_2.png","phase":"step_0028","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:28","view_id":"slope_steps/step_0028_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-4.4612,0.402],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/111","original_image_path":"step_0028_view_3.png","phase":"step_0028","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:28","view_id":"slope_steps/step_0028_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.046,-3.8612,0.402],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/112","original_image_path":"step_0029_view_0.png","phase":"step_0029","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:29","view_id":"slope_steps/step_0029_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-3.2612,0.402],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/113","original_image_path":"step_0029_view_1.png","phase":"step_0029","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:29","view_id":"slope_steps/step_0029_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[-3.246,-3.8612,0.402],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/114","original_image_path":"step_0029_view_2.png","phase":"step_0029","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:29","view_id":"slope_steps/step_0029_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-4.4612,0.402],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/115","original_image_path":"step_0029_view_3.png","phase":"step_0029","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:29","view_id":"slope_steps/step_0029_view_3.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.046,-3.8612,0.402],"quaternion_xyzw":[0.3717,0.3717,0.6015,0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/116","original_image_path":"step_0030_view_0.png","phase":"step_0030","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:30","view_id":"slope_steps/step_0030_view_0.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-3.2612,0.402],"quaternion_xyzw":[0.0,0.5257,0.8507,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/117","original_image_path":"step_0030_view_1.png","phase":"step_0030","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:30","view_id":"slope_steps/step_0030_view_1.png"},{"baseline_selected":true,"camera_pose":{"position":[-3.246,-3.8612,0.402],"quaternion_xyzw":[-0.3717,0.3717,0.6015,-0.6015]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/118","original_image_path":"step_0030_view_2.png","phase":"step_0030","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:30","view_id":"slope_steps/step_0030_view_2.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.646,-4.4612,0.402],"quaternion_xyzw":[0.5257,-0.0,-0.0,0.8507]},"camera_pose_rule":null,"fov_deg":null,"group":"slope_steps","metadata_pointer":"/exist_step_view/119","original_image_path":"step_0030_view_3.png","phase":"step_0030","pose_source":"saved_fixed_view_by_view_idx","render_mode":"dynamic_replay","role":"gt_dynamics","state_key":"step:30","view_id":"slope_steps/step_0030_view_3.png"}],"id":"1679","image_paths_json":"[]","metadata_json":"{\"camera_poses\":[{\"azimuth_deg\":0,\"position\":[-2.046,-3.8612,0.402],\"quaternion_xyzw\":[0.3717,0.3717,0.6015,0.6015],\"target\":[-2.646,-3.8612,0.102],\"view_idx\":0},{\"azimuth_deg\":90,\"position\":[-2.646,-3.2612,0.402],\"quaternion_xyzw\":[0.0,0.5257,0.8507,-0.0],\"target\":[-2.646,-3.8612,0.102],\"view_idx\":1},{\"azimuth_deg\":180,\"position\":[-3.246,-3.8612,0.402],\"quaternion_xyzw\":[-0.3717,0.3717,0.6015,-0.6015],\"target\":[-2.646,-3.8612,0.102],\"view_idx\":2},{\"azimuth_deg\":270,\"position\":[-2.646,-4.4612,0.402],\"quaternion_xyzw\":[0.5257,-0.0,-0.0,0.8507],\"target\":[-2.646,-3.8612,0.102],\"view_idx\":3},{\"azimuth_deg\":0,\"position\":[-2.046,-3.8612,0.402],\"quaternion_xyzw\":[0.3717,0.3717,0.6015,0.6015],\"target\":[-2.646,-3.8612,0.102],\"view_idx\":0},{\"azimuth_deg\":90,\"position\":[-2.646,-3.2612,0.402],\"quaternion_xyzw\":[0.0,0.5257,0.8507,-0.0],\"target\":[-2.646,-3.8612,0.102],\"view_idx\":1},{\"azimuth_deg\":180,\"position\":[-3.246,-3.8612,0.402],\"quaternion_xyzw\":[-0.3717,0.3717,0.6015,-0.6015],\"target\":[-2.646,-3.8612,0.102],\"view_idx\":2},{\"azimuth_deg\":270,\"position\":[-2.646,-4.4612,0.402],\"quaternion_xyzw\":[0.5257,-0.0,-0.0,0.8507],\"target\":[-2.646,-3.8612,0.102],\"view_idx\":3}],\"camera_poses_floor\":[{\"azimuth_deg\":0,\"filename\":\"floor_0000_view_0.png\",\"position\":[-2.046,-3.6933,0.402],\"quaternion_xyzw\":[0.3717,0.3717,0.6015,0.6015],\"target\":[-2.646,-3.6933,0.102],\"view_idx\":0},{\"azimuth_deg\":90,\"filename\":\"floor_0000_view_1.png\",\"position\":[-2.646,-3.0933,0.402],\"quaternion_xyzw\":[0.0,0.5257,0.8507,-0.0],\"target\":[-2.646,-3.6933,0.102],\"view_idx\":1},{\"azimuth_deg\":180,\"filename\":\"floor_0000_view_2.png\",\"position\":[-3.246,-3.6933,0.402],\"quaternion_xyzw\":[-0.3717,0.3717,0.6015,-0.6015],\"target\":[-2.646,-3.6933,0.102],\"view_idx\":2},{\"azimuth_deg\":270,\"filename\":\"floor_0000_view_3.png\",\"position\":[-2.646,-4.2933,0.402],\"quaternion_xyzw\":[0.5257,-0.0,-0.0,0.8507],\"target\":[-2.646,-3.6933,0.102],\"view_idx\":3}],\"dynamic_friction\":1.3161,\"exist_step_view\":[{\"_indices\":[1,0],\"_key\":\"exist_step0001_view0\",\"value\":true},{\"_indices\":[1,1],\"_key\":\"exist_step0001_view1\",\"value\":true},{\"_indices\":[1,2],\"_key\":\"exist_step0001_view2\",\"value\":true},{\"_indices\":[1,3],\"_key\":\"exist_step0001_view3\",\"value\":true},{\"_indices\":[2,0],\"_key\":\"exist_step0002_view0\",\"value\":true},{\"_indices\":[2,1],\"_key\":\"exist_step0002_view1\",\"value\":true},{\"_indices\":[2,2],\"_key\":\"exist_step0002_view2\",\"value\":true},{\"_indices\":[2,3],\"_key\":\"exist_step0002_view3\",\"value\":true},{\"_indices\":[3,0],\"_key\":\"exist_step0003_view0\",\"value\":true},{\"_indices\":[3,1],\"_key\":\"exist_step0003_view1\",\"value\":true},{\"_indices\":[3,2],\"_key\":\"exist_step0003_view2\",\"value\":true},{\"_indices\":[3,3],\"_key\":\"exist_step0003_view3\",\"value\":true},{\"_indices\":[4,0],\"_key\":\"exist_step0004_view0\",\"value\":true},{\"_indices\":[4,1],\"_key\":\"exist_step0004_view1\",\"value\":true},{\"_indices\":[4,2],\"_key\":\"exist_step0004_view2\",\"value\":true},{\"_indices\":[4,3],\"_key\":\"exist_step0004_view3\",\"value\":true},{\"_indices\":[5,0],\"_key\":\"exist_step0005_view0\",\"value\":true},{\"_indices\":[5,1],\"_key\":\"exist_step0005_view1\",\"value\":true},{\"_indices\":[5,2],\"_key\":\"exist_step0005_view2\",\"value\":true},{\"_indices\":[5,3],\"_key\":\"exist_step0005_view3\",\"value\":true},{\"_indices\":[6,0],\"_key\":\"exist_step0006_view0\",\"value\":true},{\"_indices\":[6,1],\"_key\":\"exist_step0006_view1\",\"value\":true},{\"_indices\":[6,2],\"_key\":\"exist_step0006_view2\",\"value\":true},{\"_indices\":[6,3],\"_key\":\"exist_step0006_view3\",\"value\":true},{\"_indices\":[7,0],\"_key\":\"exist_step0007_view0\",\"value\":true},{\"_indices\":[7,1],\"_key\":\"exist_step0007_view1\",\"value\":true},{\"_indices\":[7,2],\"_key\":\"exist_step0007_view2\",\"value\":true},{\"_indices\":[7,3],\"_key\":\"exist_step0007_view3\",\"value\":true},{\"_indices\":[8,0],\"_key\":\"exist_step0008_view0\",\"value\":true},{\"_indices\":[8,1],\"_key\":\"exist_step0008_view1\",\"value\":true},{\"_indices\":[8,2],\"_key\":\"exist_step0008_view2\",\"value\":true},{\"_indices\":[8,3],\"_key\":\"exist_step0008_view3\",\"value\":true},{\"_indices\":[9,0],\"_key\":\"exist_step0009_view0\",\"value\":true},{\"_indices\":[9,1],\"_key\":\"exist_step0009_view1\",\"value\":true},{\"_indices\":[9,2],\"_key\":\"exist_step0009_view2\",\"value\":true},{\"_indices\":[9,3],\"_key\":\"exist_step0009_view3\",\"value\":true},{\"_indices\":[10,0],\"_key\":\"exist_step0010_view0\",\"value\":true},{\"_indices\":[10,1],\"_key\":\"exist_step0010_view1\",\"value\":true},{\"_indices\":[10,2],\"_key\":\"exist_step0010_view2\",\"value\":true},{\"_indices\":[10,3],\"_key\":\"exist_step0010_view3\",\"value\":true},{\"_indices\":[11,0],\"_key\":\"exist_step0011_view0\",\"value\":true},{\"_indices\":[11,1],\"_key\":\"exist_step0011_view1\",\"value\":true},{\"_indices\":[11,2],\"_key\":\"exist_step0011_view2\",\"value\":true},{\"_indices\":[11,3],\"_key\":\"exist_step0011_view3\",\"value\":true},{\"_indices\":[12,0],\"_key\":\"exist_step0012_view0\",\"value\":true},{\"_indices\":[12,1],\"_key\":\"exist_step0012_view1\",\"value\":true},{\"_indices\":[12,2],\"_key\":\"exist_step0012_view2\",\"value\":true},{\"_indices\":[12,3],\"_key\":\"exist_step0012_view3\",\"value\":true},{\"_indices\":[13,0],\"_key\":\"exist_step0013_view0\",\"value\":true},{\"_indices\":[13,1],\"_key\":\"exist_step0013_view1\",\"value\":true},{\"_indices\":[13,2],\"_key\":\"exist_step0013_view2\",\"value\":true},{\"_indices\":[13,3],\"_key\":\"exist_step0013_view3\",\"value\":true},{\"_indices\":[14,0],\"_key\":\"exist_step0014_view0\",\"value\":true},{\"_indices\":[14,1],\"_key\":\"exist_step0014_view1\",\"value\":true},{\"_indices\":[14,2],\"_key\":\"exist_step0014_view2\",\"value\":true},{\"_indices\":[14,3],\"_key\":\"exist_step0014_view3\",\"value\":true},{\"_indices\":[15,0],\"_key\":\"exist_step0015_view0\",\"value\":true},{\"_indices\":[15,1],\"_key\":\"exist_step0015_view1\",\"value\":true},{\"_indices\":[15,2],\"_key\":\"exist_step0015_view2\",\"value\":true},{\"_indices\":[15,3],\"_key\":\"exist_step0015_view3\",\"value\":true},{\"_indices\":[16,0],\"_key\":\"exist_step0016_view0\",\"value\":true},{\"_indices\":[16,1],\"_key\":\"exist_step0016_view1\",\"value\":true},{\"_indices\":[16,2],\"_key\":\"exist_step0016_view2\",\"value\":true},{\"_indices\":[16,3],\"_key\":\"exist_step0016_view3\",\"value\":true},{\"_indices\":[17,0],\"_key\":\"exist_step0017_view0\",\"value\":true},{\"_indices\":[17,1],\"_key\":\"exist_step0017_view1\",\"value\":true},{\"_indices\":[17,2],\"_key\":\"exist_step0017_view2\",\"value\":true},{\"_indices\":[17,3],\"_key\":\"exist_step0017_view3\",\"value\":true},{\"_indices\":[18,0],\"_key\":\"exist_step0018_view0\",\"value\":true},{\"_indices\":[18,1],\"_key\":\"exist_step0018_view1\",\"value\":true},{\"_indices\":[18,2],\"_key\":\"exist_step0018_view2\",\"value\":true},{\"_indices\":[18,3],\"_key\":\"exist_step0018_view3\",\"value\":true},{\"_indices\":[19,0],\"_key\":\"exist_step0019_view0\",\"value\":true},{\"_indices\":[19,1],\"_key\":\"exist_step0019_view1\",\"value\":true},{\"_indices\":[19,2],\"_key\":\"exist_step0019_view2\",\"value\":true},{\"_indices\":[19,3],\"_key\":\"exist_step0019_view3\",\"value\":true},{\"_indices\":[20,0],\"_key\":\"exist_step0020_view0\",\"value\":true},{\"_indices\":[20,1],\"_key\":\"exist_step0020_view1\",\"value\":true},{\"_indices\":[20,2],\"_key\":\"exist_step0020_view2\",\"value\":true},{\"_indices\":[20,3],\"_key\":\"exist_step0020_view3\",\"value\":true},{\"_indices\":[21,0],\"_key\":\"exist_step0021_view0\",\"value\":true},{\"_indices\":[21,1],\"_key\":\"exist_step0021_view1\",\"value\":true},{\"_indices\":[21,2],\"_key\":\"exist_step0021_view2\",\"value\":true},{\"_indices\":[21,3],\"_key\":\"exist_step0021_view3\",\"value\":true},{\"_indices\":[22,0],\"_key\":\"exist_step0022_view0\",\"value\":true},{\"_indices\":[22,1],\"_key\":\"exist_step0022_view1\",\"value\":true},{\"_indices\":[22,2],\"_key\":\"exist_step0022_view2\",\"value\":true},{\"_indices\":[22,3],\"_key\":\"exist_step0022_view3\",\"value\":true},{\"_indices\":[23,0],\"_key\":\"exist_step0023_view0\",\"value\":true},{\"_indices\":[23,1],\"_key\":\"exist_step0023_view1\",\"value\":true},{\"_indices\":[23,2],\"_key\":\"exist_step0023_view2\",\"value\":true},{\"_indices\":[23,3],\"_key\":\"exist_step0023_view3\",\"value\":true},{\"_indices\":[24,0],\"_key\":\"exist_step0024_view0\",\"value\":true},{\"_indices\":[24,1],\"_key\":\"exist_step0024_view1\",\"value\":true},{\"_indices\":[24,2],\"_key\":\"exist_step0024_view2\",\"value\":true},{\"_indices\":[24,3],\"_key\":\"exist_step0024_view3\",\"value\":true},{\"_indices\":[25,0],\"_key\":\"exist_step0025_view0\",\"value\":true},{\"_indices\":[25,1],\"_key\":\"exist_step0025_view1\",\"value\":true},{\"_indices\":[25,2],\"_key\":\"exist_step0025_view2\",\"value\":true},{\"_indices\":[25,3],\"_key\":\"exist_step0025_view3\",\"value\":true},{\"_indices\":[26,0],\"_key\":\"exist_step0026_view0\",\"value\":true},{\"_indices\":[26,1],\"_key\":\"exist_step0026_view1\",\"value\":true},{\"_indices\":[26,2],\"_key\":\"exist_step0026_view2\",\"value\":true},{\"_indices\":[26,3],\"_key\":\"exist_step0026_view3\",\"value\":true},{\"_indices\":[27,0],\"_key\":\"exist_step0027_view0\",\"value\":true},{\"_indices\":[27,1],\"_key\":\"exist_step0027_view1\",\"value\":true},{\"_indices\":[27,2],\"_key\":\"exist_step0027_view2\",\"value\":true},{\"_indices\":[27,3],\"_key\":\"exist_step0027_view3\",\"value\":true},{\"_indices\":[28,0],\"_key\":\"exist_step0028_view0\",\"value\":true},{\"_indices\":[28,1],\"_key\":\"exist_step0028_view1\",\"value\":true},{\"_indices\":[28,2],\"_key\":\"exist_step0028_view2\",\"value\":true},{\"_indices\":[28,3],\"_key\":\"exist_step0028_view3\",\"value\":true},{\"_indices\":[29,0],\"_key\":\"exist_step0029_view0\",\"value\":true},{\"_indices\":[29,1],\"_key\":\"exist_step0029_view1\",\"value\":true},{\"_indices\":[29,2],\"_key\":\"exist_step0029_view2\",\"value\":true},{\"_indices\":[29,3],\"_key\":\"exist_step0029_view3\",\"value\":true},{\"_indices\":[30,0],\"_key\":\"exist_step0030_view0\",\"value\":true},{\"_indices\":[30,1],\"_key\":\"exist_step0030_view1\",\"value\":true},{\"_indices\":[30,2],\"_key\":\"exist_step0030_view2\",\"value\":true},{\"_indices\":[30,3],\"_key\":\"exist_step0030_view3\",\"value\":true}],\"floor_name\":\"floors_nzidpe_0\",\"ground_truth_fallen\":true,\"ground_truth_slid\":true,\"obj_category\":\"doll\",\"obj_model\":\"fhdgrp\",\"objects\":[{\"_key\":\"task_obj\",\"aabb_max_final\":[-0.7325999736785889,-4.011600017547607,0.31150001287460327],\"aabb_max_init\":[-2.039400100708008,-3.695499897003174,0.519599974155426],\"aabb_min_final\":[-1.2130999565124512,-4.463900089263916,0.0007999999797903001],\"aabb_min_init\":[-2.4161999225616455,-4.060699939727783,0.03290000185370445],\"category\":\"doll\",\"model\":\"fhdgrp\",\"pos_final\":[-1.037600040435791,-4.231800079345703,0.16009999811649323],\"pos_init\":[-2.2578001022338867,-3.8893001079559326,0.34209999442100525],\"pos_on_floor\":[-2.56820011138916,-3.675299882888794,0.2206999957561493]}],\"run_idx\":0,\"seed\":630797530,\"slope\":{\"aabb_max\":[-2.4398999214172363,-3.711199998855591,0.20389999449253082],\"aabb_min\":[-2.8522000312805176,-4.011199951171875,0.0020000000949949026],\"centre\":[-2.646,-3.8612,0.103],\"position\":[-2.646,-3.8612,0.103]},\"slope_angle_deg\":24.45,\"slope_quaternion\":[0.0,0.2118,0.0,0.9773],\"slope_scale\":[0.4438,0.3,0.02],\"static_friction\":1.8607}","options_json":"[\"yes\",\"no\"]","question":"Do you think the doll will stay stable (not slide) when placed on the slope?","room":"bedroom_0","runner_task":"slope","scene":"Beechwood_1_int","small_task":"Inclined Plane"},"observations":[],"question":{"answer_type":"choice","options":[],"original":"Do you think the doll will stay stable (not slide) when placed on the slope?","text":"Do you think the doll will stay stable (not slide) when placed on the slope?"},"reference_media":[],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":16,"stratum_pool":61},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Physical Dynamics/Inclined Plane/Beechwood_1_int/bedroom_0/Beechwood_1_int__bedroom_0__run_000.json","annotation_sha256":"b0b17a9cca2d6f9b5dbf6f2594d0e0e183c997e45a2801e572693d8120794a1b","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"b95eaa4fbe24bb23163de0f356633c0330d3ad237509c86c0db3135f41a3bd05","sample_id":"1679","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"no","metric":"official_esi_task","original_answer":"no"},"task":{"category":"Physical Dynamics","role":"spatial_core","skill_tags":["Physical Dynamics","Inclined Plane"],"stratum":"ESI-Bench/Physical Dynamics/Inclined Plane","subcategory":"Inclined Plane"},"transforms":[]}
{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Physical Dynamics","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"[[\"hinged_jar\",\"box_of_crackers\",\"tupperware\"],[\"hinged_jar\",\"tupperware\",\"box_of_crackers\"],[\"box_of_crackers\",\"hinged_jar\",\"tupperware\"]]","id":"477880c2864ddbb1","metadata":"vendor/ESI-Bench/dataset/json_clean/Physical Dynamics/Stacking & Stability/restaurant_asian/corridor_0/restaurant_asian__corridor_0.json","metadata_sha256":"8e4de542867c8c5bfe7804e0756df2530f2d9de6c756652bb3545fdfe406ccc4","observation_policy":"runtime camera observations; no oracle poses","question":"How should you stack box_of_crackers, hinged_jar, tupperware to maximize stability?","room":"corridor_0","scene":"restaurant_asian","subcategory":"Stacking & Stability","task":"physical_dynamics.stacking_stability"},"group":{"id":"ESI-scene/restaurant_asian","kind":"scene","room":"corridor_0","scene":"restaurant_asian"},"id":"fa65e61e6471baadc12b","native_annotation":{"answer":"[[\"hinged_jar\",\"box_of_crackers\",\"tupperware\"],[\"hinged_jar\",\"tupperware\",\"box_of_crackers\"],[\"box_of_crackers\",\"hinged_jar\",\"tupperware\"]]","answer_type":"sequence","big_task":"Physical Dynamics","gt_camera_poses":[{"baseline_selected":true,"camera_pose":{"position":[-6.117906669284045,5.22086763381958,0.6],"quaternion_xyzw":[0.3727076390695754,0.3727076390695754,0.6009068278686663,0.6009068278686664]},"camera_pose_rule":null,"fov_deg":null,"group":"trials/trial_00","metadata_pointer":"/trials/0/camera_poses/0","original_image_path":"trial0_stack_obj0__stack_obj1__stack_obj2_side_az000.png","phase":null,"pose_source":"saved","render_mode":"stack_snapshot","role":"gt_outcome","state_key":"trial:0","view_id":"trials/trial_00/trial0_stack_obj0__stack_obj1__stack_obj2_side_az000.png"},{"baseline_selected":true,"camera_pose":{"position":[-6.722725868225098,5.825686832760633,0.6],"quaternion_xyzw":[0.0,0.5270881979722499,0.849810585694463,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"trials/trial_00","metadata_pointer":"/trials/0/camera_poses/1","original_image_path":"trial0_stack_obj0__stack_obj1__stack_obj2_side_az090.png","phase":null,"pose_source":"saved","render_mode":"stack_snapshot","role":"gt_outcome","state_key":"trial:0","view_id":"trials/trial_00/trial0_stack_obj0__stack_obj1__stack_obj2_side_az090.png"},{"baseline_selected":true,"camera_pose":{"position":[-7.327545067166151,5.22086763381958,0.6],"quaternion_xyzw":[-0.3727076390695754,0.3727076390695754,0.6009068278686663,-0.6009068278686664]},"camera_pose_rule":null,"fov_deg":null,"group":"trials/trial_00","metadata_pointer":"/trials/0/camera_poses/2","original_image_path":"trial0_stack_obj0__stack_obj1__stack_obj2_side_az180.png","phase":null,"pose_source":"saved","render_mode":"stack_snapshot","role":"gt_outcome","state_key":"trial:0","view_id":"trials/trial_00/trial0_stack_obj0__stack_obj1__stack_obj2_side_az180.png"},{"baseline_selected":true,"camera_pose":{"position":[-6.722725868225098,4.616048434878527,0.6],"quaternion_xyzw":[0.5270881979722499,-0.0,-0.0,0.849810585694463]},"camera_pose_rule":null,"fov_deg":null,"group":"trials/trial_00","metadata_pointer":"/trials/0/camera_poses/3","original_image_path":"trial0_stack_obj0__stack_obj1__stack_obj2_side_az270.png","phase":null,"pose_source":"saved","render_mode":"stack_snapshot","role":"gt_outcome","state_key":"trial:0","view_id":"trials/trial_00/trial0_stack_obj0__stack_obj1__stack_obj2_side_az270.png"},{"baseline_selected":true,"camera_pose":{"position":[-6.722725868225098,5.22086763381958,1.8],"quaternion_xyzw":[0.0,0.0,0.7071067811865475,-0.7071067811865475]},"camera_pose_rule":null,"fov_deg":null,"group":"trials/trial_00","metadata_pointer":"/trials/0/camera_poses/4","original_image_path":"trial0_stack_obj0__stack_obj1__stack_obj2_topdown.png","phase":null,"pose_source":"saved","render_mode":"stack_snapshot","role":"gt_outcome","state_key":"trial:0","view_id":"trials/trial_00/trial0_stack_obj0__stack_obj1__stack_obj2_topdown.png"},{"baseline_selected":true,"camera_pose":{"position":[-5.950058589416216,4.911903381347656,0.6],"quaternion_xyzw":[0.3727586278175266,0.37275862781752667,0.6008751995111752,0.6008751995111753]},"camera_pose_rule":null,"fov_deg":null,"group":"trials/trial_01","metadata_pointer":"/trials/1/camera_poses/0","original_image_path":"trial1_stack_obj0__stack_obj2__stack_obj1_side_az000.png","phase":null,"pose_source":"saved","render_mode":"stack_snapshot","role":"gt_outcome","state_key":"trial:1","view_id":"trials/trial_01/trial1_stack_obj0__stack_obj2__stack_obj1_side_az000.png"},{"baseline_selected":true,"camera_pose":{"position":[-6.555135726928711,5.5169805188601515,0.6],"quaternion_xyzw":[0.0,0.527160306951131,0.8497658564423434,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"trials/trial_01","metadata_pointer":"/trials/1/camera_poses/1","original_image_path":"trial1_stack_obj0__stack_obj2__stack_obj1_side_az090.png","phase":null,"pose_source":"saved","render_mode":"stack_snapshot","role":"gt_outcome","state_key":"trial:1","view_id":"trials/trial_01/trial1_stack_obj0__stack_obj2__stack_obj1_side_az090.png"},{"baseline_selected":true,"camera_pose":{"position":[-7.160212864441206,4.911903381347656,0.6],"quaternion_xyzw":[-0.3727586278175266,0.37275862781752667,0.6008751995111752,-0.6008751995111753]},"camera_pose_rule":null,"fov_deg":null,"group":"trials/trial_01","metadata_pointer":"/trials/1/camera_poses/2","original_image_path":"trial1_stack_obj0__stack_obj2__stack_obj1_side_az180.png","phase":null,"pose_source":"saved","render_mode":"stack_snapshot","role":"gt_outcome","state_key":"trial:1","view_id":"trials/trial_01/trial1_stack_obj0__stack_obj2__stack_obj1_side_az180.png"},{"baseline_selected":true,"camera_pose":{"position":[-6.555135726928711,4.306826243835161,0.6],"quaternion_xyzw":[0.527160306951131,-0.0,-0.0,0.8497658564423434]},"camera_pose_rule":null,"fov_deg":null,"group":"trials/trial_01","metadata_pointer":"/trials/1/camera_poses/3","original_image_path":"trial1_stack_obj0__stack_obj2__stack_obj1_side_az270.png","phase":null,"pose_source":"saved","render_mode":"stack_snapshot","role":"gt_outcome","state_key":"trial:1","view_id":"trials/trial_01/trial1_stack_obj0__stack_obj2__stack_obj1_side_az270.png"},{"baseline_selected":true,"camera_pose":{"position":[-6.555135726928711,4.911903381347656,1.8],"quaternion_xyzw":[0.0,0.0,0.7071067811865475,-0.7071067811865475]},"camera_pose_rule":null,"fov_deg":null,"group":"trials/trial_01","metadata_pointer":"/trials/1/camera_poses/4","original_image_path":"trial1_stack_obj0__stack_obj2__stack_obj1_topdown.png","phase":null,"pose_source":"saved","render_mode":"stack_snapshot","role":"gt_outcome","state_key":"trial:1","view_id":"trials/trial_01/trial1_stack_obj0__stack_obj2__stack_obj1_topdown.png"},{"baseline_selected":true,"camera_pose":{"position":[-6.583446385190777,4.983303070068359,0.6],"quaternion_xyzw":[0.3727067388969625,0.3727067388969625,0.6009073861925742,0.6009073861925742]},"camera_pose_rule":null,"fov_deg":null,"group":"trials/trial_02","metadata_pointer":"/trials/2/camera_poses/0","original_image_path":"trial2_stack_obj1__stack_obj0__stack_obj2_side_az000.png","phase":null,"pose_source":"saved","render_mode":"stack_snapshot","role":"gt_outcome","state_key":"trial:2","view_id":"trials/trial_02/trial2_stack_obj1__stack_obj0__stack_obj2_side_az000.png"},{"baseline_selected":true,"camera_pose":{"position":[-7.188261032104492,5.588117716982074,0.6],"quaternion_xyzw":[0.0,0.5270869249359322,0.8498113752837055,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"trials/trial_02","metadata_pointer":"/trials/2/camera_poses/1","original_image_path":"trial2_stack_obj1__stack_obj0__stack_obj2_side_az090.png","phase":null,"pose_source":"saved","render_mode":"stack_snapshot","role":"gt_outcome","state_key":"trial:2","view_id":"trials/trial_02/trial2_stack_obj1__stack_obj0__stack_obj2_side_az090.png"},{"baseline_selected":true,"camera_pose":{"position":[-7.793075679018207,4.983303070068359,0.6],"quaternion_xyzw":[-0.3727067388969625,0.3727067388969625,0.6009073861925742,-0.6009073861925742]},"camera_pose_rule":null,"fov_deg":null,"group":"trials/trial_02","metadata_pointer":"/trials/2/camera_poses/2","original_image_path":"trial2_stack_obj1__stack_obj0__stack_obj2_side_az180.png","phase":null,"pose_source":"saved","render_mode":"stack_snapshot","role":"gt_outcome","state_key":"trial:2","view_id":"trials/trial_02/trial2_stack_obj1__stack_obj0__stack_obj2_side_az180.png"},{"baseline_selected":true,"camera_pose":{"position":[-7.188261032104492,4.378488423154645,0.6],"quaternion_xyzw":[0.5270869249359322,-0.0,-0.0,0.8498113752837055]},"camera_pose_rule":null,"fov_deg":null,"group":"trials/trial_02","metadata_pointer":"/trials/2/camera_poses/3","original_image_path":"trial2_stack_obj1__stack_obj0__stack_obj2_side_az270.png","phase":null,"pose_source":"saved","render_mode":"stack_snapshot","role":"gt_outcome","state_key":"trial:2","view_id":"trials/trial_02/trial2_stack_obj1__stack_obj0__stack_obj2_side_az270.png"},{"baseline_selected":true,"camera_pose":{"position":[-7.188261032104492,4.983303070068359,1.8],"quaternion_xyzw":[0.0,0.0,0.7071067811865475,-0.7071067811865475]},"camera_pose_rule":null,"fov_deg":null,"group":"trials/trial_02","metadata_pointer":"/trials/2/camera_poses/4","original_image_path":"trial2_stack_obj1__stack_obj0__stack_obj2_topdown.png","phase":null,"pose_source":"saved","render_mode":"stack_snapshot","role":"gt_outcome","state_key":"trial:2","view_id":"trials/trial_02/trial2_stack_obj1__stack_obj0__stack_obj2_topdown.png"}],"id":"1820","image_paths_json":"[]","metadata_json":"{\"floor\":\"floors_wvfvgl_0\",\"initial_cam_poses\":[{\"_key\":\"initial_side_az000.png\",\"azimuth_deg\":0,\"position\":[-5.766529142535671,4.483197212219238,0.05],\"quaternion_xyzw\":[0.5166230170489889,0.5166230170489889,0.4828049898822507,0.4828049898822507],\"type\":\"side\"},{\"_key\":\"initial_side_az090.png\",\"azimuth_deg\":90,\"position\":[-6.535854339599609,5.252522409283177,0.05],\"quaternion_xyzw\":[0.0,0.7306152773447867,0.6827893646728838,-0.0],\"type\":\"side\"},{\"_key\":\"initial_side_az180.png\",\"azimuth_deg\":180,\"position\":[-7.305179536663548,4.483197212219238,0.05],\"quaternion_xyzw\":[0.5166230170489889,-0.5166230170489889,-0.4828049898822507,0.4828049898822507],\"type\":\"side\"},{\"_key\":\"initial_side_az270.png\",\"azimuth_deg\":270,\"position\":[-6.535854339599609,3.7138720151552995,0.05],\"quaternion_xyzw\":[0.7306152773447867,0.0,0.0,0.6827893646728838],\"type\":\"side\"},{\"_key\":\"initial_topdown.png\",\"position\":[-6.535854339599609,4.483197212219238,1.8],\"quaternion_xyzw\":[0.0,0.0,0.7071067811865475,-0.7071067811865475],\"type\":\"top_down\"}],\"initial_exist_flags\":[{\"_key\":\"exist_stack_obj0_initial_side_az000.png\",\"value\":false},{\"_key\":\"exist_stack_obj0_initial_side_az090.png\",\"value\":true},{\"_key\":\"exist_stack_obj0_initial_side_az180.png\",\"value\":true},{\"_key\":\"exist_stack_obj0_initial_side_az270.png\",\"value\":true},{\"_key\":\"exist_stack_obj0_initial_topdown.png\",\"value\":true},{\"_key\":\"exist_stack_obj1_initial_side_az000.png\",\"value\":true},{\"_key\":\"exist_stack_obj1_initial_side_az090.png\",\"value\":true},{\"_key\":\"exist_stack_obj1_initial_side_az180.png\",\"value\":false},{\"_key\":\"exist_stack_obj1_initial_side_az270.png\",\"value\":true},{\"_key\":\"exist_stack_obj1_initial_topdown.png\",\"value\":true},{\"_key\":\"exist_stack_obj2_initial_side_az000.png\",\"value\":true},{\"_key\":\"exist_stack_obj2_initial_side_az090.png\",\"value\":true},{\"_key\":\"exist_stack_obj2_initial_side_az180.png\",\"value\":false},{\"_key\":\"exist_stack_obj2_initial_side_az270.png\",\"value\":true},{\"_key\":\"exist_stack_obj2_initial_topdown.png\",\"value\":true}],\"initial_poses\":[{\"_key\":\"stack_obj0\",\"aabb_max\":[-6.681049823760986,4.549675464630127,0.2042424976825714],\"aabb_min\":[-6.835829734802246,4.416714191436768,4.664063453674316e-06],\"position\":[-6.767017841339111,4.482253551483154,0.17357899248600006],\"quaternion_xyzw\":[1.5026889741420746e-06,-3.3759497455321252e-06,-4.06179424317088e-07,1.0]},{\"_key\":\"stack_obj1\",\"aabb_max\":[-6.5348429679870605,4.556153774261475,0.19023296236991882],\"aabb_min\":[-6.599679470062256,4.409977436065674,5.461275577545166e-06],\"position\":[-6.568630695343018,4.483194828033447,0.09561407566070557],\"quaternion_xyzw\":[3.9785061289876467e-07,7.683029679128595e-08,1.0709914732842662e-08,1.0000001192092896]},{\"_key\":\"stack_obj2\",\"aabb_max\":[-6.235878944396973,4.592665672302246,0.13605394959449768],\"aabb_min\":[-6.454835891723633,4.3737287521362305,5.185604095458984e-06],\"position\":[-6.345363616943359,4.483193874359131,0.0659303367137909],\"quaternion_xyzw\":[8.730683475732803e-06,4.071975126862526e-06,5.216337740421295e-06,1.0000001192092896]}],\"n_objects\":3,\"object_categories\":[\"hinged_jar\",\"box_of_crackers\",\"tupperware\"],\"object_models\":[\"gqtsam\",\"cmdigf\",\"mkstwr\"],\"object_names\":[\"stack_obj0\",\"stack_obj1\",\"stack_obj2\"],\"object_scales\":[[1.0,1.0,1.0],[1.0,1.0,1.0],[1.0,1.0,1.0]],\"run_idx\":0,\"trials\":[{\"all_on_top\":true,\"all_stable\":true,\"all_upright\":true,\"camera_poses\":[{\"_key\":\"trial0_stack_obj0__stack_obj1__stack_obj2_side_az000.png\",\"azimuth_deg\":0,\"look_target\":[-6.722725868225098,5.22086763381958,0.3],\"position\":[-6.117906669284045,5.22086763381958,0.6],\"quaternion_xyzw\":[0.3727076390695754,0.3727076390695754,0.6009068278686663,0.6009068278686664],\"type\":\"side\"},{\"_key\":\"trial0_stack_obj0__stack_obj1__stack_obj2_side_az090.png\",\"azimuth_deg\":90,\"look_target\":[-6.722725868225098,5.22086763381958,0.3],\"position\":[-6.722725868225098,5.825686832760633,0.6],\"quaternion_xyzw\":[0.0,0.5270881979722499,0.849810585694463,-0.0],\"type\":\"side\"},{\"_key\":\"trial0_stack_obj0__stack_obj1__stack_obj2_side_az180.png\",\"azimuth_deg\":180,\"look_target\":[-6.722725868225098,5.22086763381958,0.3],\"position\":[-7.327545067166151,5.22086763381958,0.6],\"quaternion_xyzw\":[-0.3727076390695754,0.3727076390695754,0.6009068278686663,-0.6009068278686664],\"type\":\"side\"},{\"_key\":\"trial0_stack_obj0__stack_obj1__stack_obj2_side_az270.png\",\"azimuth_deg\":270,\"look_target\":[-6.722725868225098,5.22086763381958,0.3],\"position\":[-6.722725868225098,4.616048434878527,0.6],\"quaternion_xyzw\":[0.5270881979722499,-0.0,-0.0,0.849810585694463],\"type\":\"side\"},{\"_key\":\"trial0_stack_obj0__stack_obj1__stack_obj2_topdown.png\",\"position\":[-6.722725868225098,5.22086763381958,1.8],\"quaternion_xyzw\":[0.0,0.0,0.7071067811865475,-0.7071067811865475],\"type\":\"top_down\"}],\"exist_flags\":[{\"_key\":\"exist_stack_obj0_trial0_stack_obj0__stack_obj1__stack_obj2_side_az000.png\",\"value\":true},{\"_key\":\"exist_stack_obj0_trial0_stack_obj0__stack_obj1__stack_obj2_side_az090.png\",\"value\":true},{\"_key\":\"exist_stack_obj0_trial0_stack_obj0__stack_obj1__stack_obj2_side_az180.png\",\"value\":false},{\"_key\":\"exist_stack_obj0_trial0_stack_obj0__stack_obj1__stack_obj2_side_az270.png\",\"value\":true},{\"_key\":\"exist_stack_obj0_trial0_stack_obj0__stack_obj1__stack_obj2_topdown.png\",\"value\":false},{\"_key\":\"exist_stack_obj1_trial0_stack_obj0__stack_obj1__stack_obj2_side_az000.png\",\"value\":true},{\"_key\":\"exist_stack_obj1_trial0_stack_obj0__stack_obj1__stack_obj2_side_az090.png\",\"value\":true},{\"_key\":\"exist_stack_obj1_trial0_stack_obj0__stack_obj1__stack_obj2_side_az180.png\",\"value\":false},{\"_key\":\"exist_stack_obj1_trial0_stack_obj0__stack_obj1__stack_obj2_side_az270.png\",\"value\":true},{\"_key\":\"exist_stack_obj1_trial0_stack_obj0__stack_obj1__stack_obj2_topdown.png\",\"value\":false},{\"_key\":\"exist_stack_obj2_trial0_stack_obj0__stack_obj1__stack_obj2_side_az000.png\",\"value\":true},{\"_key\":\"exist_stack_obj2_trial0_stack_obj0__stack_obj1__stack_obj2_side_az090.png\",\"value\":true},{\"_key\":\"exist_stack_obj2_trial0_stack_obj0__stack_obj1__stack_obj2_side_az180.png\",\"value\":false},{\"_key\":\"exist_stack_obj2_trial0_stack_obj0__stack_obj1__stack_obj2_side_az270.png\",\"value\":true},{\"_key\":\"exist_stack_obj2_trial0_stack_obj0__stack_obj1__stack_obj2_topdown.png\",\"value\":true}],\"on_top_checks\":[true,true],\"order\":[\"stack_obj0\",\"stack_obj1\",\"stack_obj2\"],\"permutation\":[0,1,2],\"post_aabbs\":[{\"_key\":\"stack_obj0\",\"centre\":[-6.722720146179199,5.220871925354004,0.10212428867816925],\"extent\":[0.15477991104125977,0.13296127319335938,0.20423781871795654],\"max\":[-6.645330429077148,5.287352561950684,0.20424319803714752],\"min\":[-6.800110340118408,5.154391288757324,5.37186861038208e-06]},{\"_key\":\"stack_obj1\",\"centre\":[-6.722738265991211,5.220887184143066,0.29935604333877563],\"extent\":[0.0648508071899414,0.14618444442749023,0.19023028016090393],\"max\":[-6.69031286239624,5.293979644775391,0.3944711983203888],\"min\":[-6.755163669586182,5.1477952003479,0.20424091815948486]},{\"_key\":\"stack_obj2\",\"centre\":[-6.722726821899414,5.220895767211914,0.46249356865882874],\"extent\":[0.21895837783813477,0.21893644332885742,0.13605278730392456],\"max\":[-6.613247394561768,5.330364227294922,0.530519962310791],\"min\":[-6.832205772399902,5.1114277839660645,0.39446717500686646]}],\"pre_aabbs\":[{\"_key\":\"stack_obj0\",\"centre\":[-6.722725868225098,5.22086763381958,0.10212372988462448],\"extent\":[0.15477895736694336,0.13296127319335938,0.20423834025859833],\"max\":[-6.645336627960205,5.28734827041626,0.20424290001392365],\"min\":[-6.800115585327148,5.1543869972229,4.559755325317383e-06]},{\"_key\":\"stack_obj1\",\"centre\":[-6.7227253913879395,5.2208733558654785,0.2993556559085846],\"extent\":[0.06483650207519531,0.14617633819580078,0.19022755324840546],\"max\":[-6.690307140350342,5.293961524963379,0.3944694399833679],\"min\":[-6.755143642425537,5.147785186767578,0.20424188673496246]},{\"_key\":\"stack_obj2\",\"centre\":[-6.722716808319092,5.220884799957275,0.4624965488910675],\"extent\":[0.21895694732666016,0.21893692016601562,0.13604789972305298],\"max\":[-6.613238334655762,5.330353260040283,0.530520498752594],\"min\":[-6.832195281982422,5.111416339874268,0.394472599029541]}],\"snaps\":[{\"_key\":\"stack_obj0\",\"aabb_max\":[-6.645330429077148,5.287352561950684,0.20424319803714752],\"aabb_min\":[-6.800110340118408,5.154391288757324,5.37186861038208e-06],\"position\":[-6.731300354003906,5.219928741455078,0.17357958853244781],\"quaternion_xyzw\":[6.624031811952591e-07,5.156243787496351e-08,-1.2092314136680216e-06,1.0000001192092896]},{\"_key\":\"stack_obj1\",\"aabb_max\":[-6.69031286239624,5.293979644775391,0.3944711983203888],\"aabb_min\":[-6.755163669586182,5.1477952003479,0.20424091815948486],\"position\":[-6.724111557006836,5.221014976501465,0.29985111951828003],\"quaternion_xyzw\":[4.228723355481634e-06,-1.7080275938496925e-05,-3.859095886582509e-05,1.0000001192092896]},{\"_key\":\"stack_obj2\",\"aabb_max\":[-6.613247394561768,5.330364227294922,0.530519962310791],\"aabb_min\":[-6.832205772399902,5.1114277839660645,0.39446717500686646],\"position\":[-6.722740173339844,5.220885276794434,0.460393488407135],\"quaternion_xyzw\":[3.832392394542694e-06,1.4198245480656624e-05,-3.994384314864874e-05,1.0000001192092896]}],\"stack_results\":[{\"lower\":\"stack_obj0\",\"placement_ok\":true,\"upper\":\"stack_obj1\"},{\"lower\":\"stack_obj1\",\"placement_ok\":true,\"upper\":\"stack_obj2\"}],\"success\":true,\"tilt_dots\":[{\"_key\":\"stack_obj0\",\"value\":1.0},{\"_key\":\"stack_obj1\",\"value\":1.0},{\"_key\":\"stack_obj2\",\"value\":1.0}],\"trial_idx\":0},{\"all_on_top\":true,\"all_stable\":true,\"all_upright\":true,\"camera_poses\":[{\"_key\":\"trial1_stack_obj0__stack_obj2__stack_obj1_side_az000.png\",\"azimuth_deg\":0,\"look_target\":[-6.555135726928711,4.911903381347656,0.3],\"position\":[-5.950058589416216,4.911903381347656,0.6],\"quaternion_xyzw\":[0.3727586278175266,0.37275862781752667,0.6008751995111752,0.6008751995111753],\"type\":\"side\"},{\"_key\":\"trial1_stack_obj0__stack_obj2__stack_obj1_side_az090.png\",\"azimuth_deg\":90,\"look_target\":[-6.555135726928711,4.911903381347656,0.3],\"position\":[-6.555135726928711,5.5169805188601515,0.6],\"quaternion_xyzw\":[0.0,0.527160306951131,0.8497658564423434,-0.0],\"type\":\"side\"},{\"_key\":\"trial1_stack_obj0__stack_obj2__stack_obj1_side_az180.png\",\"azimuth_deg\":180,\"look_target\":[-6.555135726928711,4.911903381347656,0.3],\"position\":[-7.160212864441206,4.911903381347656,0.6],\"quaternion_xyzw\":[-0.3727586278175266,0.37275862781752667,0.6008751995111752,-0.6008751995111753],\"type\":\"side\"},{\"_key\":\"trial1_stack_obj0__stack_obj2__stack_obj1_side_az270.png\",\"azimuth_deg\":270,\"look_target\":[-6.555135726928711,4.911903381347656,0.3],\"position\":[-6.555135726928711,4.306826243835161,0.6],\"quaternion_xyzw\":[0.527160306951131,-0.0,-0.0,0.8497658564423434],\"type\":\"side\"},{\"_key\":\"trial1_stack_obj0__stack_obj2__stack_obj1_topdown.png\",\"position\":[-6.555135726928711,4.911903381347656,1.8],\"quaternion_xyzw\":[0.0,0.0,0.7071067811865475,-0.7071067811865475],\"type\":\"top_down\"}],\"exist_flags\":[{\"_key\":\"exist_stack_obj0_trial1_stack_obj0__stack_obj2__stack_obj1_side_az000.png\",\"value\":true},{\"_key\":\"exist_stack_obj0_trial1_stack_obj0__stack_obj2__stack_obj1_side_az090.png\",\"value\":true},{\"_key\":\"exist_stack_obj0_trial1_stack_obj0__stack_obj2__stack_obj1_side_az180.png\",\"value\":true},{\"_key\":\"exist_stack_obj0_trial1_stack_obj0__stack_obj2__stack_obj1_side_az270.png\",\"value\":true},{\"_key\":\"exist_stack_obj0_trial1_stack_obj0__stack_obj2__stack_obj1_topdown.png\",\"value\":false},{\"_key\":\"exist_stack_obj1_trial1_stack_obj0__stack_obj2__stack_obj1_side_az000.png\",\"value\":true},{\"_key\":\"exist_stack_obj1_trial1_stack_obj0__stack_obj2__stack_obj1_side_az090.png\",\"value\":true},{\"_key\":\"exist_stack_obj1_trial1_stack_obj0__stack_obj2__stack_obj1_side_az180.png\",\"value\":true},{\"_key\":\"exist_stack_obj1_trial1_stack_obj0__stack_obj2__stack_obj1_side_az270.png\",\"value\":true},{\"_key\":\"exist_stack_obj1_trial1_stack_obj0__stack_obj2__stack_obj1_topdown.png\",\"value\":true},{\"_key\":\"exist_stack_obj2_trial1_stack_obj0__stack_obj2__stack_obj1_side_az000.png\",\"value\":true},{\"_key\":\"exist_stack_obj2_trial1_stack_obj0__stack_obj2__stack_obj1_side_az090.png\",\"value\":true},{\"_key\":\"exist_stack_obj2_trial1_stack_obj0__stack_obj2__stack_obj1_side_az180.png\",\"value\":true},{\"_key\":\"exist_stack_obj2_trial1_stack_obj0__stack_obj2__stack_obj1_side_az270.png\",\"value\":true},{\"_key\":\"exist_stack_obj2_trial1_stack_obj0__stack_obj2__stack_obj1_topdown.png\",\"value\":true}],\"on_top_checks\":[true,true],\"order\":[\"stack_obj0\",\"stack_obj2\",\"stack_obj1\"],\"permutation\":[0,2,1],\"post_aabbs\":[{\"_key\":\"stack_obj0\",\"centre\":[-6.555130958557129,4.911907196044922,0.10212602466344833],\"extent\":[0.15477609634399414,0.13295459747314453,0.20424111187458038],\"max\":[-6.477742671966553,4.978384494781494,0.20424658060073853],\"min\":[-6.632518768310547,4.84542989730835,5.46872615814209e-06]},{\"_key\":\"stack_obj1\",\"centre\":[-6.551689147949219,4.912214279174805,0.34666556119918823],\"extent\":[0.0770406723022461,0.15050554275512695,0.1944454312324524],\"max\":[-6.513168811798096,4.987467288970947,0.44388827681541443],\"min\":[-6.590209484100342,4.83696174621582,0.24944284558296204]},{\"_key\":\"stack_obj2\",\"centre\":[-6.559139251708984,4.9127092361450195,0.2718360424041748],\"extent\":[0.21930646896362305,0.21931791305541992,0.1381048858165741],\"max\":[-6.449485778808594,5.02236795425415,0.34088850021362305],\"min\":[-6.668792247772217,4.8030500411987305,0.20278361439704895]}],\"pre_aabbs\":[{\"_key\":\"stack_obj0\",\"centre\":[-6.555135726928711,4.911903381347656,0.10212383419275284],\"extent\":[0.15477943420410156,0.13296127319335938,0.20423828065395355],\"max\":[-6.47774600982666,4.978384017944336,0.20424297451972961],\"min\":[-6.632525444030762,4.845422744750977,4.693865776062012e-06]},{\"_key\":\"stack_obj1\",\"centre\":[-6.553840160369873,4.913824081420898,0.34696125984191895],\"extent\":[0.06483650207519531,0.14617633819580078,0.19022753834724426],\"max\":[-6.521421909332275,4.986912250518799,0.44207504391670227],\"min\":[-6.586258411407471,4.840735912322998,0.251847505569458]},{\"_key\":\"stack_obj2\",\"centre\":[-6.555378437042236,4.912228107452393,0.2721347212791443],\"extent\":[0.21895694732666016,0.21893692016601562,0.1360478699207306],\"max\":[-6.445899963378906,5.0216965675354,0.3401586711406708],\"min\":[-6.664856910705566,4.802759647369385,0.20411080121994019]}],\"snaps\":[{\"_key\":\"stack_obj0\",\"aabb_max\":[-6.477743148803711,4.978381156921387,0.20424464344978333],\"aabb_min\":[-6.632519721984863,4.845426559448242,5.401670932769775e-06],\"position\":[-6.56370735168457,4.910963535308838,0.17357954382896423],\"quaternion_xyzw\":[8.102506399154663e-07,-1.14306772047712e-06,-2.4853794457158074e-05,1.0000001192092896]},{\"_key\":\"stack_obj1\",\"aabb_max\":[-6.513168811798096,4.987467288970947,0.44388827681541443],\"aabb_min\":[-6.590209484100342,4.83696174621582,0.24944284558296204],\"position\":[-6.553031921386719,4.912398815155029,0.34721049666404724],\"quaternion_xyzw\":[-0.006247838493436575,0.01912466250360012,-0.017254583537578583,0.9996487498283386]},{\"_key\":\"stack_obj2\",\"aabb_max\":[-6.44948673248291,5.022371768951416,0.3408856689929962],\"aabb_min\":[-6.668793201446533,4.803054332733154,0.20278367400169373],\"position\":[-6.558441162109375,4.91272497177124,0.2695448100566864],\"quaternion_xyzw\":[0.00015558628365397453,-0.006388687528669834,-0.014165048487484455,0.9998793601989746]}],\"stack_results\":[{\"lower\":\"stack_obj0\",\"placement_ok\":true,\"upper\":\"stack_obj2\"},{\"lower\":\"stack_obj2\",\"placement_ok\":true,\"upper\":\"stack_obj1\"}],\"success\":true,\"tilt_dots\":[{\"_key\":\"stack_obj0\",\"value\":1.0},{\"_key\":\"stack_obj1\",\"value\":0.9992},{\"_key\":\"stack_obj2\",\"value\":0.9999}],\"trial_idx\":1},{\"all_on_top\":true,\"all_stable\":true,\"all_upright\":true,\"camera_poses\":[{\"_key\":\"trial2_stack_obj1__stack_obj0__stack_obj2_side_az000.png\",\"azimuth_deg\":0,\"look_target\":[-7.188261032104492,4.983303070068359,0.3],\"position\":[-6.583446385190777,4.983303070068359,0.6],\"quaternion_xyzw\":[0.3727067388969625,0.3727067388969625,0.6009073861925742,0.6009073861925742],\"type\":\"side\"},{\"_key\":\"trial2_stack_obj1__stack_obj0__stack_obj2_side_az090.png\",\"azimuth_deg\":90,\"look_target\":[-7.188261032104492,4.983303070068359,0.3],\"position\":[-7.188261032104492,5.588117716982074,0.6],\"quaternion_xyzw\":[0.0,0.5270869249359322,0.8498113752837055,-0.0],\"type\":\"side\"},{\"_key\":\"trial2_stack_obj1__stack_obj0__stack_obj2_side_az180.png\",\"azimuth_deg\":180,\"look_target\":[-7.188261032104492,4.983303070068359,0.3],\"position\":[-7.793075679018207,4.983303070068359,0.6],\"quaternion_xyzw\":[-0.3727067388969625,0.3727067388969625,0.6009073861925742,-0.6009073861925742],\"type\":\"side\"},{\"_key\":\"trial2_stack_obj1__stack_obj0__stack_obj2_side_az270.png\",\"azimuth_deg\":270,\"look_target\":[-7.188261032104492,4.983303070068359,0.3],\"position\":[-7.188261032104492,4.378488423154645,0.6],\"quaternion_xyzw\":[0.5270869249359322,-0.0,-0.0,0.8498113752837055],\"type\":\"side\"},{\"_key\":\"trial2_stack_obj1__stack_obj0__stack_obj2_topdown.png\",\"position\":[-7.188261032104492,4.983303070068359,1.8],\"quaternion_xyzw\":[0.0,0.0,0.7071067811865475,-0.7071067811865475],\"type\":\"top_down\"}],\"exist_flags\":[{\"_key\":\"exist_stack_obj0_trial2_stack_obj1__stack_obj0__stack_obj2_side_az000.png\",\"value\":true},{\"_key\":\"exist_stack_obj0_trial2_stack_obj1__stack_obj0__stack_obj2_side_az090.png\",\"value\":true},{\"_key\":\"exist_stack_obj0_trial2_stack_obj1__stack_obj0__stack_obj2_side_az180.png\",\"value\":false},{\"_key\":\"exist_stack_obj0_trial2_stack_obj1__stack_obj0__stack_obj2_side_az270.png\",\"value\":true},{\"_key\":\"exist_stack_obj0_trial2_stack_obj1__stack_obj0__stack_obj2_topdown.png\",\"value\":false},{\"_key\":\"exist_stack_obj1_trial2_stack_obj1__stack_obj0__stack_obj2_side_az000.png\",\"value\":true},{\"_key\":\"exist_stack_obj1_trial2_stack_obj1__stack_obj0__stack_obj2_side_az090.png\",\"value\":true},{\"_key\":\"exist_stack_obj1_trial2_stack_obj1__stack_obj0__stack_obj2_side_az180.png\",\"value\":false},{\"_key\":\"exist_stack_obj1_trial2_stack_obj1__stack_obj0__stack_obj2_side_az270.png\",\"value\":true},{\"_key\":\"exist_stack_obj1_trial2_stack_obj1__stack_obj0__stack_obj2_topdown.png\",\"value\":false},{\"_key\":\"exist_stack_obj2_trial2_stack_obj1__stack_obj0__stack_obj2_side_az000.png\",\"value\":true},{\"_key\":\"exist_stack_obj2_trial2_stack_obj1__stack_obj0__stack_obj2_side_az090.png\",\"value\":true},{\"_key\":\"exist_stack_obj2_trial2_stack_obj1__stack_obj0__stack_obj2_side_az180.png\",\"value\":false},{\"_key\":\"exist_stack_obj2_trial2_stack_obj1__stack_obj0__stack_obj2_side_az270.png\",\"value\":true},{\"_key\":\"exist_stack_obj2_trial2_stack_obj1__stack_obj0__stack_obj2_topdown.png\",\"value\":true}],\"on_top_checks\":[true,true],\"order\":[\"stack_obj1\",\"stack_obj0\",\"stack_obj2\"],\"permutation\":[1,0,2],\"post_aabbs\":[{\"_key\":\"stack_obj0\",\"centre\":[-7.188255310058594,4.983297824859619,0.2923504114151001],\"extent\":[0.15478134155273438,0.13296127319335938,0.2042410522699356],\"max\":[-7.110864639282227,5.049778461456299,0.3944709300994873],\"min\":[-7.265645980834961,4.9168171882629395,0.1902298778295517]},{\"_key\":\"stack_obj1\",\"centre\":[-7.188261032104492,4.983304977416992,0.0951191633939743],\"extent\":[0.06483650207519531,0.1461772918701172,0.19022789597511292],\"max\":[-7.1558427810668945,5.056393623352051,0.19023311138153076],\"min\":[-7.22067928314209,4.910216331481934,5.207955837249756e-06]},{\"_key\":\"stack_obj2\",\"centre\":[-7.190082550048828,4.983526229858398,0.46210604906082153],\"extent\":[0.21894502639770508,0.21893692016601562,0.13787409663200378],\"max\":[-7.080610275268555,5.092994689941406,0.5310431122779846],\"min\":[-7.29955530166626,4.874057769775391,0.39316901564598083]}],\"pre_aabbs\":[{\"_key\":\"stack_obj0\",\"centre\":[-7.188260078430176,4.983298301696777,0.29235100746154785],\"extent\":[0.15477991104125977,0.13296079635620117,0.20423761010169983],\"max\":[-7.110869884490967,5.049778461456299,0.3944697976112366],\"min\":[-7.265649795532227,4.916817665100098,0.19023218750953674]},{\"_key\":\"stack_obj1\",\"centre\":[-7.188261032104492,4.983303070068359,0.09511923789978027],\"extent\":[0.06483650207519531,0.14617633819580078,0.1902274787425995],\"max\":[-7.1558427810668945,5.05639123916626,0.19023297727108002],\"min\":[-7.22067928314209,4.910214900970459,5.505979061126709e-06]},{\"_key\":\"stack_obj2\",\"centre\":[-7.188747406005859,4.983584403991699,0.4620409309864044],\"extent\":[0.21895694732666016,0.21893692016601562,0.13604789972305298],\"max\":[-7.079268932342529,5.093052864074707,0.5300648808479309],\"min\":[-7.2982258796691895,4.874115943908691,0.39401698112487793]}],\"snaps\":[{\"_key\":\"stack_obj0\",\"aabb_max\":[-7.110864639282227,5.049778461456299,0.3944709300994873],\"aabb_min\":[-7.265645980834961,4.9168171882629395,0.1902298778295517],\"position\":[-7.196832656860352,4.982354640960693,0.36380669474601746],\"quaternion_xyzw\":[7.797498255968094e-06,1.4271967302192934e-05,9.543045962345786e-07,1.0000001192092896]},{\"_key\":\"stack_obj1\",\"aabb_max\":[-7.1558427810668945,5.056393623352051,0.19023311138153076],\"aabb_min\":[-7.22067928314209,4.910216331481934,5.207955837249756e-06],\"position\":[-7.189630508422852,4.983434200286865,0.09561396390199661],\"quaternion_xyzw\":[-1.0642630741131143e-06,-1.1014685696864035e-06,-1.4756786868019844e-06,1.0000001192092896]},{\"_key\":\"stack_obj2\",\"aabb_max\":[-7.080610275268555,5.092994689941406,0.5310431122779846],\"aabb_min\":[-7.29955530166626,4.874057769775391,0.39316901564598083],\"position\":[-7.189465045928955,4.98354959487915,0.45983782410621643],\"quaternion_xyzw\":[0.000245668925344944,-0.005659108050167561,-5.3380848839879036e-05,0.9999840259552002]}],\"stack_results\":[{\"lower\":\"stack_obj1\",\"placement_ok\":true,\"upper\":\"stack_obj0\"},{\"lower\":\"stack_obj0\",\"placement_ok\":true,\"upper\":\"stack_obj2\"}],\"success\":true,\"tilt_dots\":[{\"_key\":\"stack_obj0\",\"value\":1.0},{\"_key\":\"stack_obj1\",\"value\":1.0},{\"_key\":\"stack_obj2\",\"value\":0.9999}],\"trial_idx\":2},{\"all_on_top\":false,\"all_stable\":false,\"all_upright\":false,\"camera_poses\":[{\"_key\":\"trial3_stack_obj1__stack_obj2__stack_obj0_side_az000.png\",\"azimuth_deg\":0,\"look_target\":[-7.255399703979492,4.43418025970459,0.3],\"position\":[-6.638342028159371,4.43418025970459,0.6],\"quaternion_xyzw\":[0.37508614963862663,0.3750861496386267,0.5994250414766386,0.5994250414766387],\"type\":\"side\"},{\"_key\":\"trial3_stack_obj1__stack_obj2__stack_obj0_side_az090.png\",\"azimuth_deg\":90,\"look_target\":[-7.255399703979492,4.43418025970459,0.3],\"position\":[-7.255399703979492,5.0512379355247115,0.6],\"quaternion_xyzw\":[0.0,0.53045191987725,0.8477150232823172,-0.0],\"type\":\"side\"},{\"_key\":\"trial3_stack_obj1__stack_obj2__stack_obj0_side_az180.png\",\"azimuth_deg\":180,\"look_target\":[-7.255399703979492,4.43418025970459,0.3],\"position\":[-7.872457379799614,4.43418025970459,0.6],\"quaternion_xyzw\":[-0.37508614963862663,0.3750861496386267,0.5994250414766386,-0.5994250414766387],\"type\":\"side\"},{\"_key\":\"trial3_stack_obj1__stack_obj2__stack_obj0_side_az270.png\",\"azimuth_deg\":270,\"look_target\":[-7.255399703979492,4.43418025970459,0.3],\"position\":[-7.255399703979492,3.8171225838844682,0.6],\"quaternion_xyzw\":[0.5304519198772499,-0.0,-0.0,0.8477150232823172],\"type\":\"side\"},{\"_key\":\"trial3_stack_obj1__stack_obj2__stack_obj0_topdown.png\",\"position\":[-7.255399703979492,4.43418025970459,1.8],\"quaternion_xyzw\":[0.0,0.0,0.7071067811865475,-0.7071067811865475],\"type\":\"top_down\"}],\"exist_flags\":[{\"_key\":\"exist_stack_obj0_trial3_stack_obj1__stack_obj2__stack_obj0_side_az000.png\",\"value\":false},{\"_key\":\"exist_stack_obj0_trial3_stack_obj1__stack_obj2__stack_obj0_side_az090.png\",\"value\":false},{\"_key\":\"exist_stack_obj0_trial3_stack_obj1__stack_obj2__stack_obj0_side_az180.png\",\"value\":false},{\"_key\":\"exist_stack_obj0_trial3_stack_obj1__stack_obj2__stack_obj0_side_az270.png\",\"value\":false},{\"_key\":\"exist_stack_obj0_trial3_stack_obj1__stack_obj2__stack_obj0_topdown.png\",\"value\":false},{\"_key\":\"exist_stack_obj1_trial3_stack_obj1__stack_obj2__stack_obj0_side_az000.png\",\"value\":true},{\"_key\":\"exist_stack_obj1_trial3_stack_obj1__stack_obj2__stack_obj0_side_az090.png\",\"value\":true},{\"_key\":\"exist_stack_obj1_trial3_stack_obj1__stack_obj2__stack_obj0_side_az180.png\",\"value\":true},{\"_key\":\"exist_stack_obj1_trial3_stack_obj1__stack_obj2__stack_obj0_side_az270.png\",\"value\":true},{\"_key\":\"exist_stack_obj1_trial3_stack_obj1__stack_obj2__stack_obj0_topdown.png\",\"value\":true},{\"_key\":\"exist_stack_obj2_trial3_stack_obj1__stack_obj2__stack_obj0_side_az000.png\",\"value\":false},{\"_key\":\"exist_stack_obj2_trial3_stack_obj1__stack_obj2__stack_obj0_side_az090.png\",\"value\":false},{\"_key\":\"exist_stack_obj2_trial3_stack_obj1__stack_obj2__stack_obj0_side_az180.png\",\"value\":false},{\"_key\":\"exist_stack_obj2_trial3_stack_obj1__stack_obj2__stack_obj0_side_az270.png\",\"value\":false},{\"_key\":\"exist_stack_obj2_trial3_stack_obj1__stack_obj2__stack_obj0_topdown.png\",\"value\":false}],\"on_top_checks\":[false,false],\"order\":[\"stack_obj1\",\"stack_obj2\",\"stack_obj0\"],\"permutation\":[1,2,0],\"post_aabbs\":[{\"_key\":\"stack_obj0\",\"centre\":[-7.4313154220581055,3.3666906356811523,-16.195114135742188],\"extent\":[0.22698545455932617,0.23707985877990723,0.29410743713378906],\"max\":[-7.317822456359863,3.4852306842803955,-16.04806137084961],\"min\":[-7.5448079109191895,3.2481508255004883,-16.3421688079834]},{\"_key\":\"stack_obj1\",\"centre\":[-7.270961284637451,4.428852081298828,0.09538204967975616],\"extent\":[0.11739921569824219,0.1597280502319336,0.19086503982543945],\"max\":[-7.21226167678833,4.508716106414795,0.1908145695924759],\"min\":[-7.329660892486572,4.348988056182861,-5.046278238296509e-05]},{\"_key\":\"stack_obj2\",\"centre\":[-7.742506504058838,1.5807093381881714,-12.035659790039062],\"extent\":[0.23670005798339844,0.2358095645904541,0.21553993225097656],\"max\":[-7.624156475067139,1.6986141204833984,-11.927889823913574],\"min\":[-7.860856533050537,1.4628045558929443,-12.14342975616455]}],\"pre_aabbs\":[{\"_key\":\"stack_obj0\",\"centre\":[-6.967658042907715,4.3082075119018555,0.10857230424880981],\"extent\":[0.15477991104125977,0.13296079635620117,0.20423763990402222],\"max\":[-6.890267848968506,4.374688148498535,0.21069112420082092],\"min\":[-7.045047760009766,4.241727352142334,0.006453491747379303]},{\"_key\":\"stack_obj1\",\"centre\":[-7.255399703979492,4.43418025970459,0.09511923789978027],\"extent\":[0.06763267517089844,0.14736318588256836,0.19022750854492188],\"max\":[-7.221583366394043,4.507861614227295,0.1902329921722412],\"min\":[-7.289216041564941,4.360498428344727,5.476176738739014e-06]},{\"_key\":\"stack_obj2\",\"centre\":[-7.15175199508667,4.395118236541748,0.110362209379673],\"extent\":[0.21895694732666016,0.21893692016601562,0.13604788482189178],\"max\":[-7.04227352142334,4.504586696624756,0.1783861517906189],\"min\":[-7.26123046875,4.28564977645874,0.04233826696872711]}],\"snaps\":[{\"_key\":\"stack_obj0\",\"aabb_max\":[-11.514022827148438,-4.5611653327941895,-1676.6199951171875],\"aabb_min\":[-11.718250274658203,-4.762188911437988,-1676.9420166015625],\"position\":[-11.627664566040039,-4.660215854644775,-1676.8115234375],\"quaternion_xyzw\":[0.3110911250114441,0.9405030608177185,-0.032086506485939026,-0.13284184038639069]},{\"_key\":\"stack_obj1\",\"aabb_max\":[-7.21226167678833,4.508716106414795,0.1908145695924759],\"aabb_min\":[-7.329660892486572,4.348988056182861,-5.046278238296509e-05],\"position\":[-7.272400379180908,4.429589748382568,0.09593198448419571],\"quaternion_xyzw\":[-0.0009662531083449721,-0.0057730525732040405,-0.19619742035865784,0.9805470108985901]},{\"_key\":\"stack_obj2\",\"aabb_max\":[-12.691078186035156,-21.865924835205078,-1638.3599853515625],\"aabb_min\":[-12.923081398010254,-22.093353271484375,-1638.5521240234375],\"position\":[-12.806204795837402,-21.99370002746582,-1638.4638671875],\"quaternion_xyzw\":[0.16715165972709656,0.0397447869181633,0.18274690210819244,-0.9680312275886536]}],\"stack_results\":[{\"lower\":\"stack_obj1\",\"placement_ok\":true,\"upper\":\"stack_obj2\"},{\"lower\":\"stack_obj2\",\"placement_ok\":true,\"upper\":\"stack_obj0\"}],\"success\":true,\"tilt_dots\":[{\"_key\":\"stack_obj0\",\"value\":0.46},{\"_key\":\"stack_obj1\",\"value\":0.9999},{\"_key\":\"stack_obj2\",\"value\":0.8447}],\"trial_idx\":3},{\"all_on_top\":false,\"all_stable\":false,\"all_upright\":false,\"camera_poses\":[{\"_key\":\"trial4_stack_obj2__stack_obj0__stack_obj1_side_az000.png\",\"azimuth_deg\":0,\"look_target\":[-6.96858024597168,5.250628471374512,0.3],\"position\":[-6.361303888370167,5.250628471374512,0.6],\"quaternion_xyzw\":[0.37319184334896494,0.37319184334896494,0.6006062337820026,0.6006062337820026],\"type\":\"side\"},{\"_key\":\"trial4_stack_obj2__stack_obj0__stack_obj1_side_az090.png\",\"azimuth_deg\":90,\"look_target\":[-6.96858024597168,5.250628471374512,0.3],\"position\":[-6.96858024597168,5.857904828976024,0.6],\"quaternion_xyzw\":[0.0,0.5277729662311218,0.8493854814603339,-0.0],\"type\":\"side\"},{\"_key\":\"trial4_stack_obj2__stack_obj0__stack_obj1_side_az180.png\",\"azimuth_deg\":180,\"look_target\":[-6.96858024597168,5.250628471374512,0.3],\"position\":[-7.575856603573192,5.250628471374512,0.6],\"quaternion_xyzw\":[-0.37319184334896494,0.37319184334896494,0.6006062337820026,-0.6006062337820026],\"type\":\"side\"},{\"_key\":\"trial4_stack_obj2__stack_obj0__stack_obj1_side_az270.png\",\"azimuth_deg\":270,\"look_target\":[-6.96858024597168,5.250628471374512,0.3],\"position\":[-6.96858024597168,4.643352113772999,0.6],\"quaternion_xyzw\":[0.5277729662311218,-0.0,-0.0,0.8493854814603339],\"type\":\"side\"},{\"_key\":\"trial4_stack_obj2__stack_obj0__stack_obj1_topdown.png\",\"position\":[-6.96858024597168,5.250628471374512,1.8],\"quaternion_xyzw\":[0.0,0.0,0.7071067811865475,-0.7071067811865475],\"type\":\"top_down\"}],\"exist_flags\":[{\"_key\":\"exist_stack_obj0_trial4_stack_obj2__stack_obj0__stack_obj1_side_az000.png\",\"value\":true},{\"_key\":\"exist_stack_obj0_trial4_stack_obj2__stack_obj0__stack_obj1_side_az090.png\",\"value\":true},{\"_key\":\"exist_stack_obj0_trial4_stack_obj2__stack_obj0__stack_obj1_side_az180.png\",\"value\":true},{\"_key\":\"exist_stack_obj0_trial4_stack_obj2__stack_obj0__stack_obj1_side_az270.png\",\"value\":true},{\"_key\":\"exist_stack_obj0_trial4_stack_obj2__stack_obj0__stack_obj1_topdown.png\",\"value\":true},{\"_key\":\"exist_stack_obj1_trial4_stack_obj2__stack_obj0__stack_obj1_side_az000.png\",\"value\":false},{\"_key\":\"exist_stack_obj1_trial4_stack_obj2__stack_obj0__stack_obj1_side_az090.png\",\"value\":false},{\"_key\":\"exist_stack_obj1_trial4_stack_obj2__stack_obj0__stack_obj1_side_az180.png\",\"value\":false},{\"_key\":\"exist_stack_obj1_trial4_stack_obj2__stack_obj0__stack_obj1_side_az270.png\",\"value\":false},{\"_key\":\"exist_stack_obj1_trial4_stack_obj2__stack_obj0__stack_obj1_topdown.png\",\"value\":false},{\"_key\":\"exist_stack_obj2_trial4_stack_obj2__stack_obj0__stack_obj1_side_az000.png\",\"value\":true},{\"_key\":\"exist_stack_obj2_trial4_stack_obj2__stack_obj0__stack_obj1_side_az090.png\",\"value\":true},{\"_key\":\"exist_stack_obj2_trial4_stack_obj2__stack_obj0__stack_obj1_side_az180.png\",\"value\":false},{\"_key\":\"exist_stack_obj2_trial4_stack_obj2__stack_obj0__stack_obj1_side_az270.png\",\"value\":true},{\"_key\":\"exist_stack_obj2_trial4_stack_obj2__stack_obj0__stack_obj1_topdown.png\",\"value\":true}],\"on_top_checks\":[false,false],\"order\":[\"stack_obj2\",\"stack_obj0\",\"stack_obj1\"],\"permutation\":[2,0,1],\"post_aabbs\":[{\"_key\":\"stack_obj0\",\"centre\":[-6.9914069175720215,5.425107002258301,0.10203887522220612],\"extent\":[0.26633453369140625,0.14470529556274414,0.2040686309337616],\"max\":[-6.858239650726318,5.497459411621094,0.20407319068908691],\"min\":[-7.124574184417725,5.35275411605835,4.567205905914307e-06]},{\"_key\":\"stack_obj1\",\"centre\":[-7.047939300537109,5.811126232147217,-19.987443923950195],\"extent\":[0.06483650207519531,0.14617633819580078,0.19022750854492188],\"max\":[-7.015521049499512,5.884214401245117,-19.892330169677734],\"min\":[-7.080357551574707,5.738038063049316,-20.082557678222656]},{\"_key\":\"stack_obj2\",\"centre\":[-6.99826717376709,5.225118637084961,0.10405424237251282],\"extent\":[0.221771240234375,0.22307157516479492,0.2080974578857422],\"max\":[-6.887381553649902,5.336654186248779,0.2081029713153839],\"min\":[-7.109152793884277,5.113582611083984,5.505979061126709e-06]}],\"pre_aabbs\":[{\"_key\":\"stack_obj0\",\"centre\":[-6.9474101066589355,5.505677700042725,0.05743943527340889],\"extent\":[0.20750141143798828,0.1382770538330078,0.27703455090522766],\"max\":[-6.843659400939941,5.5748162269592285,0.19595670700073242],\"min\":[-7.05116081237793,5.436539173126221,-0.08107783645391464]},{\"_key\":\"stack_obj1\",\"centre\":[-7.047939300537109,5.811126232147217,-0.2856990694999695],\"extent\":[0.06483650207519531,0.14617633819580078,0.19022753834724426],\"max\":[-7.015521049499512,5.884214401245117,-0.19058528542518616],\"min\":[-7.080357551574707,5.738038063049316,-0.3808128237724304]},{\"_key\":\"stack_obj2\",\"centre\":[-6.96858024597168,5.250628471374512,0.0680297464132309],\"extent\":[0.21895694732666016,0.21893739700317383,0.13604846596717834],\"max\":[-6.85910177230835,5.3600969314575195,0.13605397939682007],\"min\":[-7.07805871963501,5.141159534454346,5.520880222320557e-06]}],\"snaps\":[{\"_key\":\"stack_obj0\",\"aabb_max\":[-6.858239650726318,5.497459411621094,0.20407319068908691],\"aabb_min\":[-7.124574184417725,5.35275411605835,4.567205905914307e-06],\"position\":[-6.948638439178467,5.426199436187744,0.17357933521270752],\"quaternion_xyzw\":[3.72203066945076e-06,-5.1429669838398695e-06,-0.08570413291454315,0.9963206648826599]},{\"_key\":\"stack_obj1\",\"aabb_max\":[-7.015521049499512,5.884214401245117,-1710.0758056640625],\"aabb_min\":[-7.080357551574707,5.738038063049316,-1710.2659912109375],\"position\":[-7.049308776855469,5.81125545501709,-1710.17041015625],\"quaternion_xyzw\":[0.0,0.0,0.0,1.0000001192092896]},{\"_key\":\"stack_obj2\",\"aabb_max\":[-6.887381553649902,5.336654186248779,0.2081029713153839],\"aabb_min\":[-7.109152793884277,5.113582611083984,5.505979061126709e-06],\"position\":[-7.012508869171143,5.213047027587891,0.08683818578720093],\"quaternion_xyzw\":[-0.5637769103050232,0.16185420751571655,-0.22367966175079346,0.7784126996994019]}],\"stack_results\":[{\"lower\":\"stack_obj2\",\"placement_ok\":true,\"upper\":\"stack_obj0\"},{\"lower\":\"stack_obj0\",\"placement_ok\":true,\"upper\":\"stack_obj1\"}],\"success\":true,\"tilt_dots\":[{\"_key\":\"stack_obj0\",\"value\":1.0},{\"_key\":\"stack_obj1\",\"value\":1.0},{\"_key\":\"stack_obj2\",\"value\":0.3119}],\"trial_idx\":4},{\"all_on_top\":false,\"all_stable\":false,\"all_upright\":false,\"camera_poses\":[{\"_key\":\"trial5_stack_obj2__stack_obj1__stack_obj0_side_az000.png\",\"azimuth_deg\":0,\"look_target\":[-6.382087707519531,4.950301170349121,0.3],\"position\":[-5.777069238243766,4.950301170349121,0.6],\"quaternion_xyzw\":[0.37274703370696693,0.37274703370696693,0.6008823918727003,0.6008823918727003],\"type\":\"side\"},{\"_key\":\"trial5_stack_obj2__stack_obj1__stack_obj0_side_az090.png\",\"azimuth_deg\":90,\"look_target\":[-6.382087707519531,4.950301170349121,0.3],\"position\":[-6.382087707519531,5.555319639624886,0.6],\"quaternion_xyzw\":[0.0,0.5271439104027338,0.8497760279775575,-0.0],\"type\":\"side\"},{\"_key\":\"trial5_stack_obj2__stack_obj1__stack_obj0_side_az180.png\",\"azimuth_deg\":180,\"look_target\":[-6.382087707519531,4.950301170349121,0.3],\"position\":[-6.987106176795296,4.950301170349121,0.6],\"quaternion_xyzw\":[-0.37274703370696693,0.37274703370696693,0.6008823918727003,-0.6008823918727003],\"type\":\"side\"},{\"_key\":\"trial5_stack_obj2__stack_obj1__stack_obj0_side_az270.png\",\"azimuth_deg\":270,\"look_target\":[-6.382087707519531,4.950301170349121,0.3],\"position\":[-6.382087707519531,4.345282701073356,0.6],\"quaternion_xyzw\":[0.5271439104027338,-0.0,-0.0,0.8497760279775575],\"type\":\"side\"},{\"_key\":\"trial5_stack_obj2__stack_obj1__stack_obj0_topdown.png\",\"position\":[-6.382087707519531,4.950301170349121,1.8],\"quaternion_xyzw\":[0.0,0.0,0.7071067811865475,-0.7071067811865475],\"type\":\"top_down\"}],\"exist_flags\":[{\"_key\":\"exist_stack_obj0_trial5_stack_obj2__stack_obj1__stack_obj0_side_az000.png\",\"value\":false},{\"_key\":\"exist_stack_obj0_trial5_stack_obj2__stack_obj1__stack_obj0_side_az090.png\",\"value\":false},{\"_key\":\"exist_stack_obj0_trial5_stack_obj2__stack_obj1__stack_obj0_side_az180.png\",\"value\":false},{\"_key\":\"exist_stack_obj0_trial5_stack_obj2__stack_obj1__stack_obj0_side_az270.png\",\"value\":false},{\"_key\":\"exist_stack_obj0_trial5_stack_obj2__stack_obj1__stack_obj0_topdown.png\",\"value\":false},{\"_key\":\"exist_stack_obj1_trial5_stack_obj2__stack_obj1__stack_obj0_side_az000.png\",\"value\":true},{\"_key\":\"exist_stack_obj1_trial5_stack_obj2__stack_obj1__stack_obj0_side_az090.png\",\"value\":true},{\"_key\":\"exist_stack_obj1_trial5_stack_obj2__stack_obj1__stack_obj0_side_az180.png\",\"value\":true},{\"_key\":\"exist_stack_obj1_trial5_stack_obj2__stack_obj1__stack_obj0_side_az270.png\",\"value\":true},{\"_key\":\"exist_stack_obj1_trial5_stack_obj2__stack_obj1__stack_obj0_topdown.png\",\"value\":true},{\"_key\":\"exist_stack_obj2_trial5_stack_obj2__stack_obj1__stack_obj0_side_az000.png\",\"value\":true},{\"_key\":\"exist_stack_obj2_trial5_stack_obj2__stack_obj1__stack_obj0_side_az090.png\",\"value\":true},{\"_key\":\"exist_stack_obj2_trial5_stack_obj2__stack_obj1__stack_obj0_side_az180.png\",\"value\":true},{\"_key\":\"exist_stack_obj2_trial5_stack_obj2__stack_obj1__stack_obj0_side_az270.png\",\"value\":true},{\"_key\":\"exist_stack_obj2_trial5_stack_obj2__stack_obj1__stack_obj0_topdown.png\",\"value\":true}],\"on_top_checks\":[true,false],\"order\":[\"stack_obj2\",\"stack_obj1\",\"stack_obj0\"],\"permutation\":[2,1,0],\"post_aabbs\":[{\"_key\":\"stack_obj0\",\"centre\":[-4.243008136749268,4.943781852722168,-20.72965431213379],\"extent\":[0.21160030364990234,0.16926336288452148,0.3270759582519531],\"max\":[-4.137207984924316,5.02841329574585,-20.566116333007812],\"min\":[-4.348808288574219,4.859149932861328,-20.893192291259766]},{\"_key\":\"stack_obj1\",\"centre\":[-6.37631368637085,4.9467387199401855,0.1423041820526123],\"extent\":[0.08146953582763672,0.15438175201416016,0.1971624195575714],\"max\":[-6.335578918457031,5.023929595947266,0.240885391831398],\"min\":[-6.417048454284668,4.8695478439331055,0.043722979724407196]},{\"_key\":\"stack_obj2\",\"centre\":[-6.383789539337158,4.9503583908081055,0.06802965700626373],\"extent\":[0.21924114227294922,0.21921730041503906,0.13604846596717834],\"max\":[-6.274168968200684,5.059967041015625,0.1360538899898529],\"min\":[-6.493410110473633,4.840749740600586,5.424022674560547e-06]}],\"pre_aabbs\":[{\"_key\":\"stack_obj0\",\"centre\":[-6.151226997375488,4.948940277099609,-0.11403709650039673],\"extent\":[0.2530226707458496,0.14006519317626953,0.22560220956802368],\"max\":[-6.024715900421143,5.018972873687744,-0.0012359991669654846],\"min\":[-6.277738571166992,4.878907680511475,-0.22683820128440857]},{\"_key\":\"stack_obj1\",\"centre\":[-6.379692554473877,4.950246334075928,0.1802474558353424],\"extent\":[0.06483650207519531,0.14617633819580078,0.19022755324840546],\"max\":[-6.347274303436279,5.023334503173828,0.27536123991012573],\"min\":[-6.412110805511475,4.877158164978027,0.08513368666172028]},{\"_key\":\"stack_obj2\",\"centre\":[-6.382087707519531,4.950301170349121,0.0680297464132309],\"extent\":[0.21895694732666016,0.21893692016601562,0.1360485851764679],\"max\":[-6.272609233856201,5.059769630432129,0.13605403900146484],\"min\":[-6.491566181182861,4.840832710266113,5.461275577545166e-06]}],\"snaps\":[{\"_key\":\"stack_obj0\",\"aabb_max\":[11.544018745422363,4.9847798347473145,-1717.9525146484375],\"aabb_min\":[11.205730438232422,4.805588722229004,-1718.180419921875],\"position\":[11.364784240722656,4.882928371429443,-1718.01806640625],\"quaternion_xyzw\":[0.1487758606672287,-0.36215147376060486,-0.12096647173166275,0.9121837615966797]},{\"_key\":\"stack_obj1\",\"aabb_max\":[-6.335578918457031,5.023929595947266,0.240885391831398],\"aabb_min\":[-6.417048454284668,4.8695478439331055,0.043722979724407196],\"position\":[-6.377642631530762,4.9469170570373535,0.14287492632865906],\"quaternion_xyzw\":[0.013987376354634762,0.026513420045375824,-0.02319922111928463,0.9992813467979431]},{\"_key\":\"stack_obj2\",\"aabb_max\":[-6.274168968200684,5.059967041015625,0.1360538899898529],\"aabb_min\":[-6.493410110473633,4.840749740600586,5.424022674560547e-06],\"position\":[-6.383795738220215,4.950360298156738,0.06593047827482224],\"quaternion_xyzw\":[9.94652509689331e-07,1.0285759344696999e-05,-0.010303335264325142,0.9999470114707947]}],\"stack_results\":[{\"lower\":\"stack_obj2\",\"placement_ok\":true,\"upper\":\"stack_obj1\"},{\"lower\":\"stack_obj1\",\"placement_ok\":true,\"upper\":\"stack_obj0\"}],\"success\":true,\"tilt_dots\":[{\"_key\":\"stack_obj0\",\"value\":-0.8479},{\"_key\":\"stack_obj1\",\"value\":0.9982},{\"_key\":\"stack_obj2\",\"value\":1.0}],\"trial_idx\":5}]}","options_json":"[\"box_of_crackers\",\"hinged_jar\",\"tupperware\"]","question":"How should you stack box_of_crackers, hinged_jar, tupperware to maximize stability?","room":"corridor_0","runner_task":"stacking","scene":"restaurant_asian","small_task":"Stacking & Stability"},"observations":[],"question":{"answer_type":"sequence","options":[],"original":"How should you stack box_of_crackers, hinged_jar, tupperware to maximize stability?","text":"How should you stack box_of_crackers, hinged_jar, tupperware to maximize stability?"},"reference_media":[],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":27,"stratum_pool":89},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Physical Dynamics/Stacking & Stability/restaurant_asian/corridor_0/restaurant_asian__corridor_0.json","annotation_sha256":"8e4de542867c8c5bfe7804e0756df2530f2d9de6c756652bb3545fdfe406ccc4","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"cf53bf10ecd9319272db34b0e1569e58e415ad468d58adf577bd8f042e435056","sample_id":"1820","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"[[\"hinged_jar\",\"box_of_crackers\",\"tupperware\"],[\"hinged_jar\",\"tupperware\",\"box_of_crackers\"],[\"box_of_crackers\",\"hinged_jar\",\"tupperware\"]]","metric":"official_esi_task","original_answer":"[[\"hinged_jar\",\"box_of_crackers\",\"tupperware\"],[\"hinged_jar\",\"tupperware\",\"box_of_crackers\"],[\"box_of_crackers\",\"hinged_jar\",\"tupperware\"]]"},"task":{"category":"Physical Dynamics","role":"spatial_core","skill_tags":["Physical Dynamics","Stacking & Stability"],"stratum":"ESI-Bench/Physical Dynamics/Stacking & Stability","subcategory":"Stacking & Stability"},"transforms":[]}
{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Physical Dynamics","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"[[\"gift_box\",\"storage_box\",\"chickpea_can\"]]","id":"cfea7ce5d809e1cb","metadata":"vendor/ESI-Bench/dataset/json_clean/Physical Dynamics/Stacking & Stability/restaurant_brunch/dining_room_0/restaurant_brunch__dining_room_0.json","metadata_sha256":"ccb3a2c71ba0421f5bc0b9bb12ef8783579517e213102d38af9f2c157210f798","observation_policy":"runtime camera observations; no oracle poses","question":"How should you stack chickpea_can, gift_box, storage_box to maximize stability?","room":"dining_room_0","scene":"restaurant_brunch","subcategory":"Stacking & Stability","task":"physical_dynamics.stacking_stability"},"group":{"id":"ESI-scene/restaurant_brunch","kind":"scene","room":"dining_room_0","scene":"restaurant_brunch"},"id":"7f4da6d8da782b68a17d","native_annotation":{"answer":"[[\"gift_box\",\"storage_box\",\"chickpea_can\"]]","answer_type":"sequence","big_task":"Physical Dynamics","gt_camera_poses":[{"baseline_selected":true,"camera_pose":{"position":[-1.2831336449121642,6.334257125854492,0.6],"quaternion_xyzw":[0.3964951642603544,0.3964951642603544,0.5854840601742755,0.5854840601742755]},"camera_pose_rule":null,"fov_deg":null,"group":"trials/trial_02","metadata_pointer":"/trials/2/camera_poses/0","original_image_path":"trial2_stack_obj1__stack_obj0__stack_obj2_side_az000.png","phase":null,"pose_source":"saved","render_mode":"stack_snapshot","role":"gt_outcome","state_key":"trial:2","view_id":"trials/trial_02/trial2_stack_obj1__stack_obj0__stack_obj2_side_az000.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.0336594581604004,7.084782939102729,0.6],"quaternion_xyzw":[0.0,0.5607288387123415,0.8279994984517256,-0.0]},"camera_pose_rule":null,"fov_deg":null,"group":"trials/trial_02","metadata_pointer":"/trials/2/camera_poses/1","original_image_path":"trial2_stack_obj1__stack_obj0__stack_obj2_side_az090.png","phase":null,"pose_source":"saved","render_mode":"stack_snapshot","role":"gt_outcome","state_key":"trial:2","view_id":"trials/trial_02/trial2_stack_obj1__stack_obj0__stack_obj2_side_az090.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.784185271408637,6.334257125854492,0.6],"quaternion_xyzw":[-0.3964951642603545,0.3964951642603545,0.5854840601742755,-0.5854840601742755]},"camera_pose_rule":null,"fov_deg":null,"group":"trials/trial_02","metadata_pointer":"/trials/2/camera_poses/2","original_image_path":"trial2_stack_obj1__stack_obj0__stack_obj2_side_az180.png","phase":null,"pose_source":"saved","render_mode":"stack_snapshot","role":"gt_outcome","state_key":"trial:2","view_id":"trials/trial_02/trial2_stack_obj1__stack_obj0__stack_obj2_side_az180.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.0336594581604004,5.583731312606256,0.6],"quaternion_xyzw":[0.5607288387123415,-0.0,-0.0,0.8279994984517256]},"camera_pose_rule":null,"fov_deg":null,"group":"trials/trial_02","metadata_pointer":"/trials/2/camera_poses/3","original_image_path":"trial2_stack_obj1__stack_obj0__stack_obj2_side_az270.png","phase":null,"pose_source":"saved","render_mode":"stack_snapshot","role":"gt_outcome","state_key":"trial:2","view_id":"trials/trial_02/trial2_stack_obj1__stack_obj0__stack_obj2_side_az270.png"},{"baseline_selected":true,"camera_pose":{"position":[-2.0336594581604004,6.334257125854492,1.8],"quaternion_xyzw":[0.0,0.0,0.7071067811865475,-0.7071067811865475]},"camera_pose_rule":null,"fov_deg":null,"group":"trials/trial_02","metadata_pointer":"/trials/2/camera_poses/4","original_image_path":"trial2_stack_obj1__stack_obj0__stack_obj2_topdown.png","phase":null,"pose_source":"saved","render_mode":"stack_snapshot","role":"gt_outcome","state_key":"trial:2","view_id":"trials/trial_02/trial2_stack_obj1__stack_obj0__stack_obj2_topdown.png"}],"id":"1822","image_paths_json":"[]","metadata_json":"{\"floor\":\"floors_rsuwjh_0\",\"initial_cam_poses\":[{\"_key\":\"initial_side_az000.png\",\"azimuth_deg\":0,\"position\":[-2.679107381555893,-5.759903907775879,0.05],\"quaternion_xyzw\":[0.5203789874952129,0.5203789874952129,0.4787543309187469,0.4787543309187469],\"type\":\"side\"},{\"_key\":\"initial_side_az090.png\",\"azimuth_deg\":90,\"position\":[-3.646754741668701,-4.7922565476630705,0.05],\"quaternion_xyzw\":[0.0,0.7359270216897094,0.6770608678301487,-0.0],\"type\":\"side\"},{\"_key\":\"initial_side_az180.png\",\"azimuth_deg\":180,\"position\":[-4.61440210178151,-5.759903907775879,0.05],\"quaternion_xyzw\":[0.5203789874952129,-0.5203789874952129,-0.4787543309187469,0.4787543309187469],\"type\":\"side\"},{\"_key\":\"initial_side_az270.png\",\"azimuth_deg\":270,\"position\":[-3.646754741668701,-6.727551267888687,0.05],\"quaternion_xyzw\":[0.7359270216897094,0.0,0.0,0.6770608678301487],\"type\":\"side\"},{\"_key\":\"initial_topdown.png\",\"position\":[-3.646754741668701,-5.759903907775879,1.8],\"quaternion_xyzw\":[0.0,0.0,0.7071067811865475,-0.7071067811865475],\"type\":\"top_down\"}],\"initial_exist_flags\":[{\"_key\":\"exist_stack_obj0_initial_side_az000.png\",\"value\":false},{\"_key\":\"exist_stack_obj0_initial_side_az090.png\",\"value\":true},{\"_key\":\"exist_stack_obj0_initial_side_az180.png\",\"value\":true},{\"_key\":\"exist_stack_obj0_initial_side_az270.png\",\"value\":true},{\"_key\":\"exist_stack_obj0_initial_topdown.png\",\"value\":true},{\"_key\":\"exist_stack_obj1_initial_side_az000.png\",\"value\":false},{\"_key\":\"exist_stack_obj1_initial_side_az090.png\",\"value\":true},{\"_key\":\"exist_stack_obj1_initial_side_az180.png\",\"value\":false},{\"_key\":\"exist_stack_obj1_initial_side_az270.png\",\"value\":true},{\"_key\":\"exist_stack_obj1_initial_topdown.png\",\"value\":true},{\"_key\":\"exist_stack_obj2_initial_side_az000.png\",\"value\":false},{\"_key\":\"exist_stack_obj2_initial_side_az090.png\",\"value\":true},{\"_key\":\"exist_stack_obj2_initial_side_az180.png\",\"value\":false},{\"_key\":\"exist_stack_obj2_initial_side_az270.png\",\"value\":true},{\"_key\":\"exist_stack_obj2_initial_topdown.png\",\"value\":true}],\"initial_poses\":[{\"_key\":\"stack_obj0\",\"aabb_max\":[-3.7201528549194336,-5.556676864624023,0.20283080637454987],\"aabb_min\":[-4.122840404510498,-5.963130950927734,-0.010980479419231415],\"position\":[-3.921496629714966,-5.759903907775879,0.061404015868902206],\"quaternion_xyzw\":[4.2651508991298215e-09,-6.933734697511795e-10,-1.5385012375190854e-08,1.0]},{\"_key\":\"stack_obj1\",\"aabb_max\":[-3.3977301120758057,-5.658763408660889,0.27349627017974854],\"aabb_min\":[-3.6416382789611816,-5.841410160064697,-0.011964216828346252],\"position\":[-3.517425298690796,-5.753385543823242,0.13901503384113312],\"quaternion_xyzw\":[-0.014122920110821724,-0.0026444513350725174,0.00473895063623786,0.9998857378959656]},{\"_key\":\"stack_obj2\",\"aabb_max\":[-3.1706690788269043,-5.694933891296387,0.19428911805152893],\"aabb_min\":[-3.3267760276794434,-5.824886798858643,-0.010990090668201447],\"position\":[-3.239675998687744,-5.7599029541015625,0.0784144252538681],\"quaternion_xyzw\":[-4.568137228488922e-06,3.822438884526491e-06,-6.004120223224163e-08,1.0000001192092896]}],\"n_objects\":3,\"object_categories\":[\"storage_box\",\"gift_box\",\"chickpea_can\"],\"object_models\":[\"izcglf\",\"pnprrx\",\"jeqtzg\"],\"object_names\":[\"stack_obj0\",\"stack_obj1\",\"stack_obj2\"],\"object_scales\":[[1.0,1.0,1.0],[1.0,1.0,1.0],[1.0,1.0,1.0]],\"run_idx\":0,\"trials\":[{\"all_on_top\":false,\"all_stable\":false,\"all_upright\":true,\"camera_poses\":[{\"_key\":\"trial0_stack_obj0__stack_obj1__stack_obj2_side_az000.png\",\"azimuth_deg\":0,\"look_target\":[4.499736309051514,1.8812339305877686,0.3],\"position\":[5.235815947868049,1.8812339305877686,0.6],\"quaternion_xyzw\":[0.39451814754417863,0.39451814754417863,0.58681805634993,0.5868180563499299],\"type\":\"side\"},{\"_key\":\"trial0_stack_obj0__stack_obj1__stack_obj2_side_az090.png\",\"azimuth_deg\":90,\"look_target\":[4.499736309051514,1.8812339305877686,0.3],\"position\":[4.499736309051514,2.6173135694043035,0.6],\"quaternion_xyzw\":[0.0,0.5579329148592872,0.8298860539354901,-0.0],\"type\":\"side\"},{\"_key\":\"trial0_stack_obj0__stack_obj1__stack_obj2_side_az180.png\",\"azimuth_deg\":180,\"look_target\":[4.499736309051514,1.8812339305877686,0.3],\"position\":[3.7636566702349787,1.8812339305877686,0.6],\"quaternion_xyzw\":[-0.39451814754417863,0.39451814754417863,0.58681805634993,-0.5868180563499299],\"type\":\"side\"},{\"_key\":\"trial0_stack_obj0__stack_obj1__stack_obj2_side_az270.png\",\"azimuth_deg\":270,\"look_target\":[4.499736309051514,1.8812339305877686,0.3],\"position\":[4.499736309051514,1.1451542917712334,0.6],\"quaternion_xyzw\":[0.5579329148592873,-0.0,-0.0,0.8298860539354901],\"type\":\"side\"},{\"_key\":\"trial0_stack_obj0__stack_obj1__stack_obj2_topdown.png\",\"position\":[4.499736309051514,1.8812339305877686,1.8],\"quaternion_xyzw\":[0.0,0.0,0.7071067811865475,-0.7071067811865475],\"type\":\"top_down\"}],\"exist_flags\":[{\"_key\":\"exist_stack_obj0_trial0_stack_obj0__stack_obj1__stack_obj2_side_az000.png\",\"value\":true},{\"_key\":\"exist_stack_obj0_trial0_stack_obj0__stack_obj1__stack_obj2_side_az090.png\",\"value\":true},{\"_key\":\"exist_stack_obj0_trial0_stack_obj0__stack_obj1__stack_obj2_side_az180.png\",\"value\":true},{\"_key\":\"exist_stack_obj0_trial0_stack_obj0__stack_obj1__stack_obj2_side_az270.png\",\"value\":true},{\"_key\":\"exist_stack_obj0_trial0_stack_obj0__stack_obj1__stack_obj2_topdown.png\",\"value\":true},{\"_key\":\"exist_stack_obj1_trial0_stack_obj0__stack_obj1__stack_obj2_side_az000.png\",\"value\":true},{\"_key\":\"exist_stack_obj1_trial0_stack_obj0__stack_obj1__stack_obj2_side_az090.png\",\"value\":true},{\"_key\":\"exist_stack_obj1_trial0_stack_obj0__stack_obj1__stack_obj2_side_az180.png\",\"value\":true},{\"_key\":\"exist_stack_obj1_trial0_stack_obj0__stack_obj1__stack_obj2_side_az270.png\",\"value\":true},{\"_key\":\"exist_stack_obj1_trial0_stack_obj0__stack_obj1__stack_obj2_topdown.png\",\"value\":true},{\"_key\":\"exist_stack_obj2_trial0_stack_obj0__stack_obj1__stack_obj2_side_az000.png\",\"value\":true},{\"_key\":\"exist_stack_obj2_trial0_stack_obj0__stack_obj1__stack_obj2_side_az090.png\",\"value\":true},{\"_key\":\"exist_stack_obj2_trial0_stack_obj0__stack_obj1__stack_obj2_side_az180.png\",\"value\":true},{\"_key\":\"exist_stack_obj2_trial0_stack_obj0__stack_obj1__stack_obj2_side_az270.png\",\"value\":true},{\"_key\":\"exist_stack_obj2_trial0_stack_obj0__stack_obj1__stack_obj2_topdown.png\",\"value\":true}],\"on_top_checks\":[false,false],\"order\":[\"stack_obj0\",\"stack_obj1\",\"stack_obj2\"],\"permutation\":[0,1,2],\"post_aabbs\":[{\"_key\":\"stack_obj0\",\"centre\":[4.499730587005615,1.881231665611267,0.09592517465353012],\"extent\":[0.40268993377685547,0.40645670890808105,0.21381153166294098],\"max\":[4.701075553894043,2.0844600200653076,0.2028309404850006],\"min\":[4.2983856201171875,1.6780033111572266,-0.01098058745265007]},{\"_key\":\"stack_obj1\",\"centre\":[4.497308731079102,1.8403663635253906,0.1382725089788437],\"extent\":[0.24360370635986328,0.18324756622314453,0.28457143902778625],\"max\":[4.619110584259033,1.931990146636963,0.2805582284927368],\"min\":[4.37550687789917,1.7487425804138184,-0.0040132105350494385]},{\"_key\":\"stack_obj2\",\"centre\":[4.450405120849609,1.6922117471694946,0.30529940128326416],\"extent\":[0.1592087745666504,0.14009833335876465,0.20847967267036438],\"max\":[4.530009746551514,1.762260913848877,0.40953925251960754],\"min\":[4.370800971984863,1.6221625804901123,0.20105957984924316]}],\"pre_aabbs\":[{\"_key\":\"stack_obj0\",\"centre\":[4.499736309051514,1.8812339305877686,0.09592519700527191],\"extent\":[0.4026908874511719,0.406457781791687,0.21381133794784546],\"max\":[4.7010817527771,2.084462881088257,0.20283086597919464],\"min\":[4.298390865325928,1.6780050992965698,-0.010980471968650818]},{\"_key\":\"stack_obj1\",\"centre\":[4.498962879180908,1.8257262706756592,0.13820165395736694],\"extent\":[0.23604202270507812,0.2200101613998413,0.2845420241355896],\"max\":[4.616983890533447,1.9357314109802246,0.28047266602516174],\"min\":[4.380941867828369,1.7157212495803833,-0.004069343209266663]},{\"_key\":\"stack_obj2\",\"centre\":[4.448748588562012,1.6968998908996582,0.3237113356590271],\"extent\":[0.15610647201538086,0.1299525499343872,0.20656827092170715],\"max\":[4.526801586151123,1.761876106262207,0.42699548602104187],\"min\":[4.370695114135742,1.6319235563278198,0.22042721509933472]}],\"snaps\":[{\"_key\":\"stack_obj0\",\"aabb_max\":[4.701075553894043,2.0844600200653076,0.20283085107803345],\"aabb_min\":[4.2983856201171875,1.6780030727386475,-0.010980527848005295],\"position\":[4.499730587005615,1.8812315464019775,0.061404015868902206],\"quaternion_xyzw\":[-5.490894494641907e-08,-7.288881676004166e-08,3.6605988498195074e-06,1.0]},{\"_key\":\"stack_obj1\",\"aabb_max\":[4.619110584259033,1.931990146636963,0.2805582284927368],\"aabb_min\":[4.37550687789917,1.7487425804138184,-0.0040132105350494385],\"position\":[4.499184608459473,1.83894681930542,0.14600393176078796],\"quaternion_xyzw\":[-0.0005442616529762745,-5.266406515147537e-05,0.0087081678211689,0.9999619722366333]},{\"_key\":\"stack_obj2\",\"aabb_max\":[4.530002117156982,1.762255072593689,0.40953749418258667],\"aabb_min\":[4.370793342590332,1.6221625804901123,0.2010623961687088],\"position\":[4.458317756652832,1.6925897598266602,0.29209640622138977],\"quaternion_xyzw\":[-0.014894803985953331,-0.00040931999683380127,-0.028242139145731926,0.9994900822639465]}],\"stack_results\":[{\"lower\":\"stack_obj0\",\"placement_ok\":true,\"upper\":\"stack_obj1\"},{\"lower\":\"stack_obj1\",\"placement_ok\":true,\"upper\":\"stack_obj2\"}],\"success\":true,\"tilt_dots\":[{\"_key\":\"stack_obj0\",\"value\":1.0},{\"_key\":\"stack_obj1\",\"value\":1.0},{\"_key\":\"stack_obj2\",\"value\":0.9996}],\"trial_idx\":0},{\"all_on_top\":false,\"all_stable\":false,\"all_upright\":true,\"camera_poses\":[{\"_key\":\"trial1_stack_obj0__stack_obj2__stack_obj1_side_az000.png\",\"azimuth_deg\":0,\"look_target\":[-10.819783210754395,1.9037309885025024,0.3],\"position\":[-10.083705383251615,1.9037309885025024,0.6],\"quaternion_xyzw\":[0.3945178951957102,0.3945178951957102,0.586818226003885,0.5868182260038849],\"type\":\"side\"},{\"_key\":\"trial1_stack_obj0__stack_obj2__stack_obj1_side_az090.png\",\"azimuth_deg\":90,\"look_target\":[-10.819783210754395,1.9037309885025024,0.3],\"position\":[-10.819783210754395,2.6398088160052815,0.6],\"quaternion_xyzw\":[0.0,0.5579325579846607,0.8298862938624141,-0.0],\"type\":\"side\"},{\"_key\":\"trial1_stack_obj0__stack_obj2__stack_obj1_side_az180.png\",\"azimuth_deg\":180,\"look_target\":[-10.819783210754395,1.9037309885025024,0.3],\"position\":[-11.555861038257174,1.9037309885025024,0.6],\"quaternion_xyzw\":[-0.3945178951957102,0.3945178951957102,0.586818226003885,-0.5868182260038849],\"type\":\"side\"},{\"_key\":\"trial1_stack_obj0__stack_obj2__stack_obj1_side_az270.png\",\"azimuth_deg\":270,\"look_target\":[-10.819783210754395,1.9037309885025024,0.3],\"position\":[-10.819783210754395,1.1676531609997234,0.6],\"quaternion_xyzw\":[0.5579325579846607,-0.0,-0.0,0.8298862938624141],\"type\":\"side\"},{\"_key\":\"trial1_stack_obj0__stack_obj2__stack_obj1_topdown.png\",\"position\":[-10.819783210754395,1.9037309885025024,1.8],\"quaternion_xyzw\":[0.0,0.0,0.7071067811865475,-0.7071067811865475],\"type\":\"top_down\"}],\"exist_flags\":[{\"_key\":\"exist_stack_obj0_trial1_stack_obj0__stack_obj2__stack_obj1_side_az000.png\",\"value\":true},{\"_key\":\"exist_stack_obj0_trial1_stack_obj0__stack_obj2__stack_obj1_side_az090.png\",\"value\":true},{\"_key\":\"exist_stack_obj0_trial1_stack_obj0__stack_obj2__stack_obj1_side_az180.png\",\"value\":true},{\"_key\":\"exist_stack_obj0_trial1_stack_obj0__stack_obj2__stack_obj1_side_az270.png\",\"value\":true},{\"_key\":\"exist_stack_obj0_trial1_stack_obj0__stack_obj2__stack_obj1_topdown.png\",\"value\":true},{\"_key\":\"exist_stack_obj1_trial1_stack_obj0__stack_obj2__stack_obj1_side_az000.png\",\"value\":true},{\"_key\":\"exist_stack_obj1_trial1_stack_obj0__stack_obj2__stack_obj1_side_az090.png\",\"value\":true},{\"_key\":\"exist_stack_obj1_trial1_stack_obj0__stack_obj2__stack_obj1_side_az180.png\",\"value\":true},{\"_key\":\"exist_stack_obj1_trial1_stack_obj0__stack_obj2__stack_obj1_side_az270.png\",\"value\":true},{\"_key\":\"exist_stack_obj1_trial1_stack_obj0__stack_obj2__stack_obj1_topdown.png\",\"value\":true},{\"_key\":\"exist_stack_obj2_trial1_stack_obj0__stack_obj2__stack_obj1_side_az000.png\",\"value\":true},{\"_key\":\"exist_stack_obj2_trial1_stack_obj0__stack_obj2__stack_obj1_side_az090.png\",\"value\":true},{\"_key\":\"exist_stack_obj2_trial1_stack_obj0__stack_obj2__stack_obj1_side_az180.png\",\"value\":true},{\"_key\":\"exist_stack_obj2_trial1_stack_obj0__stack_obj2__stack_obj1_side_az270.png\",\"value\":true},{\"_key\":\"exist_stack_obj2_trial1_stack_obj0__stack_obj2__stack_obj1_topdown.png\",\"value\":false}],\"on_top_checks\":[false,true],\"order\":[\"stack_obj0\",\"stack_obj2\",\"stack_obj1\"],\"permutation\":[0,2,1],\"post_aabbs\":[{\"_key\":\"stack_obj0\",\"centre\":[-10.8197603225708,1.9037225246429443,0.09592506289482117],\"extent\":[0.40268707275390625,0.4064544439315796,0.21381157636642456],\"max\":[-10.618416786193848,2.106949806213379,0.20283085107803345],\"min\":[-11.021103858947754,1.7004953622817993,-0.010980721563100815]},{\"_key\":\"stack_obj1\",\"centre\":[-10.844744682312012,1.8746576309204102,0.34346675872802734],\"extent\":[0.2446117401123047,0.18472445011138916,0.28454604744911194],\"max\":[-10.72243881225586,1.9670199155807495,0.4857397675514221],\"min\":[-10.967050552368164,1.7822954654693604,0.20119372010231018]},{\"_key\":\"stack_obj2\",\"centre\":[-10.844930648803711,1.8746285438537598,0.10055209696292877],\"extent\":[0.15610790252685547,0.12995433807373047,0.20527765154838562],\"max\":[-10.766877174377441,1.939605712890625,0.20319092273712158],\"min\":[-10.922985076904297,1.8096513748168945,-0.002086728811264038]}],\"pre_aabbs\":[{\"_key\":\"stack_obj0\",\"centre\":[-10.819783210754395,1.9037309885025024,0.09592516720294952],\"extent\":[0.4026908874511719,0.40645718574523926,0.21381130814552307],\"max\":[-10.618437767028809,2.106959581375122,0.20283082127571106],\"min\":[-11.02112865447998,1.7005023956298828,-0.010980483144521713]},{\"_key\":\"stack_obj1\",\"centre\":[-10.844934463500977,1.8746438026428223,0.34346890449523926],\"extent\":[0.24462604522705078,0.18474280834197998,0.2845417261123657],\"max\":[-10.72262191772461,1.967015266418457,0.4857397675514221],\"min\":[-10.96724796295166,1.782272458076477,0.2011980265378952]},{\"_key\":\"stack_obj2\",\"centre\":[-10.844939231872559,1.874637246131897,0.1005515456199646],\"extent\":[0.15610694885253906,0.12995266914367676,0.20527788996696472],\"max\":[-10.766885757446289,1.9396135807037354,0.20319049060344696],\"min\":[-10.922992706298828,1.8096609115600586,-0.002087406814098358]}],\"snaps\":[{\"_key\":\"stack_obj0\",\"aabb_max\":[-10.618416786193848,2.106949806213379,0.20283085107803345],\"aabb_min\":[-11.021103858947754,1.7004953622817993,-0.010980721563100815],\"position\":[-10.8197603225708,1.9037221670150757,0.06140394136309624],\"quaternion_xyzw\":[-4.5766248035761237e-07,-1.9893838043572032e-07,-5.277706804918125e-08,1.0]},{\"_key\":\"stack_obj1\",\"aabb_max\":[-10.72243881225586,1.9670199155807495,0.4857397675514221],\"aabb_min\":[-10.967050552368164,1.7822954654693604,0.20119372010231018],\"position\":[-10.842737197875977,1.8739128112792969,0.35117968916893005],\"quaternion_xyzw\":[-4.977860953658819e-06,5.071808118373156e-06,0.0001490191207267344,1.0]},{\"_key\":\"stack_obj2\",\"aabb_max\":[-10.766877174377441,1.939605712890625,0.20319092273712158],\"aabb_min\":[-10.922985076904297,1.8096513748168945,-0.002086728811264038],\"position\":[-10.835886001586914,1.8746373653411865,0.08731619268655777],\"quaternion_xyzw\":[2.925284206867218e-06,-5.536538083106279e-06,-1.0716641554608941e-05,1.0000001192092896]}],\"stack_results\":[{\"lower\":\"stack_obj0\",\"placement_ok\":true,\"upper\":\"stack_obj2\"},{\"lower\":\"stack_obj2\",\"placement_ok\":true,\"upper\":\"stack_obj1\"}],\"success\":true,\"tilt_dots\":[{\"_key\":\"stack_obj0\",\"value\":1.0},{\"_key\":\"stack_obj1\",\"value\":1.0},{\"_key\":\"stack_obj2\",\"value\":1.0}],\"trial_idx\":1},{\"all_on_top\":true,\"all_stable\":true,\"all_upright\":true,\"camera_poses\":[{\"_key\":\"trial2_stack_obj1__stack_obj0__stack_obj2_side_az000.png\",\"azimuth_deg\":0,\"look_target\":[-2.0336594581604004,6.334257125854492,0.3],\"position\":[-1.2831336449121642,6.334257125854492,0.6],\"quaternion_xyzw\":[0.3964951642603544,0.3964951642603544,0.5854840601742755,0.5854840601742755],\"type\":\"side\"},{\"_key\":\"trial2_stack_obj1__stack_obj0__stack_obj2_side_az090.png\",\"azimuth_deg\":90,\"look_target\":[-2.0336594581604004,6.334257125854492,0.3],\"position\":[-2.0336594581604004,7.084782939102729,0.6],\"quaternion_xyzw\":[0.0,0.5607288387123415,0.8279994984517256,-0.0],\"type\":\"side\"},{\"_key\":\"trial2_stack_obj1__stack_obj0__stack_obj2_side_az180.png\",\"azimuth_deg\":180,\"look_target\":[-2.0336594581604004,6.334257125854492,0.3],\"position\":[-2.784185271408637,6.334257125854492,0.6],\"quaternion_xyzw\":[-0.3964951642603545,0.3964951642603545,0.5854840601742755,-0.5854840601742755],\"type\":\"side\"},{\"_key\":\"trial2_stack_obj1__stack_obj0__stack_obj2_side_az270.png\",\"azimuth_deg\":270,\"look_target\":[-2.0336594581604004,6.334257125854492,0.3],\"position\":[-2.0336594581604004,5.583731312606256,0.6],\"quaternion_xyzw\":[0.5607288387123415,-0.0,-0.0,0.8279994984517256],\"type\":\"side\"},{\"_key\":\"trial2_stack_obj1__stack_obj0__stack_obj2_topdown.png\",\"position\":[-2.0336594581604004,6.334257125854492,1.8],\"quaternion_xyzw\":[0.0,0.0,0.7071067811865475,-0.7071067811865475],\"type\":\"top_down\"}],\"exist_flags\":[{\"_key\":\"exist_stack_obj0_trial2_stack_obj1__stack_obj0__stack_obj2_side_az000.png\",\"value\":false},{\"_key\":\"exist_stack_obj0_trial2_stack_obj1__stack_obj0__stack_obj2_side_az090.png\",\"value\":true},{\"_key\":\"exist_stack_obj0_trial2_stack_obj1__stack_obj0__stack_obj2_side_az180.png\",\"value\":true},{\"_key\":\"exist_stack_obj0_trial2_stack_obj1__stack_obj0__stack_obj2_side_az270.png\",\"value\":true},{\"_key\":\"exist_stack_obj0_trial2_stack_obj1__stack_obj0__stack_obj2_topdown.png\",\"value\":true},{\"_key\":\"exist_stack_obj1_trial2_stack_obj1__stack_obj0__stack_obj2_side_az000.png\",\"value\":false},{\"_key\":\"exist_stack_obj1_trial2_stack_obj1__stack_obj0__stack_obj2_side_az090.png\",\"value\":true},{\"_key\":\"exist_stack_obj1_trial2_stack_obj1__stack_obj0__stack_obj2_side_az180.png\",\"value\":false},{\"_key\":\"exist_stack_obj1_trial2_stack_obj1__stack_obj0__stack_obj2_side_az270.png\",\"value\":true},{\"_key\":\"exist_stack_obj1_trial2_stack_obj1__stack_obj0__stack_obj2_topdown.png\",\"value\":false},{\"_key\":\"exist_stack_obj2_trial2_stack_obj1__stack_obj0__stack_obj2_side_az000.png\",\"value\":false},{\"_key\":\"exist_stack_obj2_trial2_stack_obj1__stack_obj0__stack_obj2_side_az090.png\",\"value\":true},{\"_key\":\"exist_stack_obj2_trial2_stack_obj1__stack_obj0__stack_obj2_side_az180.png\",\"value\":true},{\"_key\":\"exist_stack_obj2_trial2_stack_obj1__stack_obj0__stack_obj2_side_az270.png\",\"value\":true},{\"_key\":\"exist_stack_obj2_trial2_stack_obj1__stack_obj0__stack_obj2_topdown.png\",\"value\":true}],\"on_top_checks\":[true,true],\"order\":[\"stack_obj1\",\"stack_obj0\",\"stack_obj2\"],\"permutation\":[1,0,2],\"post_aabbs\":[{\"_key\":\"stack_obj0\",\"centre\":[-2.0475170612335205,6.332474231719971,0.3714359402656555],\"extent\":[0.4316197633743286,0.4182910919189453,0.2688065767288208],\"max\":[-1.8317071199417114,6.541619777679443,0.5058392286300659],\"min\":[-2.26332688331604,6.123328685760498,0.2370326668024063]},{\"_key\":\"stack_obj1\",\"centre\":[-2.03361439704895,6.334100723266602,0.12930068373680115],\"extent\":[0.2446599006652832,0.18479013442993164,0.28454309701919556],\"max\":[-1.9112844467163086,6.426495552062988,0.2715722322463989],\"min\":[-2.155944347381592,6.241705417633057,-0.012970849871635437]},{\"_key\":\"stack_obj2\",\"centre\":[-2.120260000228882,6.278554916381836,0.3665708303451538],\"extent\":[0.1636343002319336,0.1334691047668457,0.21772509813308716],\"max\":[-2.038442850112915,6.345289707183838,0.4754333794116974],\"min\":[-2.2020771503448486,6.211820602416992,0.25770828127861023]}],\"pre_aabbs\":[{\"_key\":\"stack_obj0\",\"centre\":[-2.0346927642822266,6.333726406097412,0.3776426315307617],\"extent\":[0.40268754959106445,0.40645408630371094,0.21381127834320068],\"max\":[-1.8333489894866943,6.536953449249268,0.48454827070236206],\"min\":[-2.236036539077759,6.130499362945557,0.2707369923591614]},{\"_key\":\"stack_obj1\",\"centre\":[-2.0336594581604004,6.334257125854492,0.12930068373680115],\"extent\":[0.24462628364562988,0.18474292755126953,0.2845417857170105],\"max\":[-1.911346435546875,6.426628589630127,0.2715715765953064],\"min\":[-2.155972719192505,6.241885662078857,-0.012970194220542908]},{\"_key\":\"stack_obj2\",\"centre\":[-2.1113972663879395,6.281015396118164,0.36839473247528076],\"extent\":[0.15610694885253906,0.12995243072509766,0.20527788996696472],\"max\":[-2.03334379196167,6.345991611480713,0.47103366255760193],\"min\":[-2.189450740814209,6.216039180755615,0.2657557725906372]}],\"snaps\":[{\"_key\":\"stack_obj0\",\"aabb_max\":[-1.8317086696624756,6.541595935821533,0.5058388710021973],\"aabb_min\":[-2.2633004188537598,6.123325824737549,0.23702971637248993],\"position\":[-2.043424606323242,6.33319091796875,0.33716288208961487],\"quaternion_xyzw\":[0.011127369478344917,-0.05910240486264229,-0.009058495983481407,0.9981488585472107]},{\"_key\":\"stack_obj1\",\"aabb_max\":[-1.9112844467163086,6.426495552062988,0.2715722322463989],\"aabb_min\":[-2.155944347381592,6.241705417633057,-0.012970849871635437],\"position\":[-2.031588554382324,6.333363056182861,0.1370103359222412],\"quaternion_xyzw\":[1.22428173199296e-06,9.973591659218073e-07,-0.0003037431160919368,1.0000001192092896]},{\"_key\":\"stack_obj2\",\"aabb_max\":[-2.0384328365325928,6.3452677726745605,0.47543349862098694],\"aabb_min\":[-2.2020623683929443,6.211799144744873,0.25770604610443115],\"position\":[-2.1133861541748047,6.278357982635498,0.35376837849617004],\"quaternion_xyzw\":[0.010730041190981865,-0.05917759984731674,-0.0021194727160036564,0.9981875419616699]}],\"stack_results\":[{\"lower\":\"stack_obj1\",\"placement_ok\":true,\"upper\":\"stack_obj0\"},{\"lower\":\"stack_obj0\",\"placement_ok\":true,\"upper\":\"stack_obj2\"}],\"success\":true,\"tilt_dots\":[{\"_key\":\"stack_obj0\",\"value\":0.9928},{\"_key\":\"stack_obj1\",\"value\":1.0},{\"_key\":\"stack_obj2\",\"value\":0.9928}],\"trial_idx\":2},{\"all_on_top\":false,\"all_stable\":false,\"all_upright\":false,\"camera_poses\":[{\"_key\":\"trial3_stack_obj1__stack_obj2__stack_obj0_side_az000.png\",\"azimuth_deg\":0,\"look_target\":[-0.6008023619651794,3.651033401489258,0.3],\"position\":[0.18720210322335928,3.651033401489258,0.6],\"quaternion_xyzw\":[0.40131151098434537,0.40131151098434537,0.5821933279860406,0.5821933279860406],\"type\":\"side\"},{\"_key\":\"trial3_stack_obj1__stack_obj2__stack_obj0_side_az090.png\",\"azimuth_deg\":90,\"look_target\":[-0.6008023619651794,3.651033401489258,0.3],\"position\":[-0.6008023619651794,4.439037866677797,0.6],\"quaternion_xyzw\":[0.0,0.5675401815705007,0.8233457003609864,-0.0],\"type\":\"side\"},{\"_key\":\"trial3_stack_obj1__stack_obj2__stack_obj0_side_az180.png\",\"azimuth_deg\":180,\"look_target\":[-0.6008023619651794,3.651033401489258,0.3],\"position\":[-1.3888068271537182,3.651033401489258,0.6],\"quaternion_xyzw\":[-0.40131151098434537,0.40131151098434537,0.5821933279860406,-0.5821933279860406],\"type\":\"side\"},{\"_key\":\"trial3_stack_obj1__stack_obj2__stack_obj0_side_az270.png\",\"azimuth_deg\":270,\"look_target\":[-0.6008023619651794,3.651033401489258,0.3],\"position\":[-0.6008023619651796,2.863028936300719,0.6],\"quaternion_xyzw\":[0.5675401815705006,-3.9980495340769054e-17,-5.80007724669545e-17,0.8233457003609863],\"type\":\"side\"},{\"_key\":\"trial3_stack_obj1__stack_obj2__stack_obj0_topdown.png\",\"position\":[-0.6008023619651794,3.651033401489258,1.8],\"quaternion_xyzw\":[0.0,0.0,0.7071067811865475,-0.7071067811865475],\"type\":\"top_down\"}],\"exist_flags\":[{\"_key\":\"exist_stack_obj0_trial3_stack_obj1__stack_obj2__stack_obj0_side_az000.png\",\"value\":true},{\"_key\":\"exist_stack_obj0_trial3_stack_obj1__stack_obj2__stack_obj0_side_az090.png\",\"value\":false},{\"_key\":\"exist_stack_obj0_trial3_stack_obj1__stack_obj2__stack_obj0_side_az180.png\",\"value\":true},{\"_key\":\"exist_stack_obj0_trial3_stack_obj1__stack_obj2__stack_obj0_side_az270.png\",\"value\":false},{\"_key\":\"exist_stack_obj0_trial3_stack_obj1__stack_obj2__stack_obj0_topdown.png\",\"value\":true},{\"_key\":\"exist_stack_obj1_trial3_stack_obj1__stack_obj2__stack_obj0_side_az000.png\",\"value\":true},{\"_key\":\"exist_stack_obj1_trial3_stack_obj1__stack_obj2__stack_obj0_side_az090.png\",\"value\":false},{\"_key\":\"exist_stack_obj1_trial3_stack_obj1__stack_obj2__stack_obj0_side_az180.png\",\"value\":true},{\"_key\":\"exist_stack_obj1_trial3_stack_obj1__stack_obj2__stack_obj0_side_az270.png\",\"value\":false},{\"_key\":\"exist_stack_obj1_trial3_stack_obj1__stack_obj2__stack_obj0_topdown.png\",\"value\":true},{\"_key\":\"exist_stack_obj2_trial3_stack_obj1__stack_obj2__stack_obj0_side_az000.png\",\"value\":true},{\"_key\":\"exist_stack_obj2_trial3_stack_obj1__stack_obj2__stack_obj0_side_az090.png\",\"value\":false},{\"_key\":\"exist_stack_obj2_trial3_stack_obj1__stack_obj2__stack_obj0_side_az180.png\",\"value\":true},{\"_key\":\"exist_stack_obj2_trial3_stack_obj1__stack_obj2__stack_obj0_side_az270.png\",\"value\":false},{\"_key\":\"exist_stack_obj2_trial3_stack_obj1__stack_obj2__stack_obj0_topdown.png\",\"value\":true}],\"on_top_checks\":[false,false],\"order\":[\"stack_obj1\",\"stack_obj2\",\"stack_obj0\"],\"permutation\":[1,2,0],\"post_aabbs\":[{\"_key\":\"stack_obj0\",\"centre\":[-0.8031167984008789,3.3678715229034424,0.17600278556346893],\"extent\":[0.4990687370300293,0.4559807777404785,0.3739664852619171],\"max\":[-0.5535824298858643,3.5958619117736816,0.3629860281944275],\"min\":[-1.0526511669158936,3.139881134033203,-0.010980457067489624]},{\"_key\":\"stack_obj1\",\"centre\":[-0.5811917781829834,3.6912903785705566,0.12930066883563995],\"extent\":[0.25103020668029785,0.20316362380981445,0.2845417559146881],\"max\":[-0.4556766748428345,3.792872190475464,0.271571546792984],\"min\":[-0.7067068815231323,3.5897085666656494,-0.012970209121704102]},{\"_key\":\"stack_obj2\",\"centre\":[-0.6317152976989746,3.432684898376465,0.05396736413240433],\"extent\":[0.19105255603790283,0.2752807140350342,0.12995187938213348],\"max\":[-0.5361890196800232,3.5703251361846924,0.11894330382347107],\"min\":[-0.727241575717926,3.295044422149658,-0.011008571833372116]}],\"pre_aabbs\":[{\"_key\":\"stack_obj0\",\"centre\":[-0.7134983539581299,3.4128496646881104,0.25341367721557617],\"extent\":[0.40268754959106445,0.40645408630371094,0.21381129324436188],\"max\":[-0.5121545791625977,3.616076707839966,0.3603193163871765],\"min\":[-0.9148421287536621,3.209622621536255,0.14650802314281464]},{\"_key\":\"stack_obj1\",\"centre\":[-0.6008023619651794,3.651033401489258,0.12930071353912354],\"extent\":[0.24462616443634033,0.18474268913269043,0.2845417261123657],\"max\":[-0.4784892797470093,3.7434048652648926,0.2715715765953064],\"min\":[-0.7231154441833496,3.558662176132202,-0.01297016441822052]},{\"_key\":\"stack_obj2\",\"centre\":[-0.6416385769844055,3.561685562133789,0.3545404076576233],\"extent\":[0.1561068296432495,0.12995266914367676,0.20527788996696472],\"max\":[-0.5635851621627808,3.626661777496338,0.45717936754226685],\"min\":[-0.7196919918060303,3.496709108352661,0.2519014775753021]}],\"snaps\":[{\"_key\":\"stack_obj0\",\"aabb_max\":[-0.5535824298858643,3.5958619117736816,0.3629860281944275],\"aabb_min\":[-1.0526511669158936,3.139881134033203,-0.010980457067489624],\"position\":[-0.787480354309082,3.3697450160980225,0.145282581448555],\"quaternion_xyzw\":[0.013980798423290253,-0.23422347009181976,0.05792072042822838,0.9703551530838013]},{\"_key\":\"stack_obj1\",\"aabb_max\":[-0.4556766748428345,3.792872190475464,0.271571546792984],\"aabb_min\":[-0.7067068815231323,3.5897085666656494,-0.012970209121704102],\"position\":[-0.5773002505302429,3.6966166496276855,0.1370103806257248],\"quaternion_xyzw\":[-2.0489096641540527e-08,1.5454133972525597e-08,-0.12157997488975525,0.9925817251205444]},{\"_key\":\"stack_obj2\",\"aabb_max\":[-0.5361890196800232,3.5703251361846924,0.11894330382347107],\"aabb_min\":[-0.727241575717926,3.295044422149658,-0.011008571833372116],\"position\":[-0.6178156137466431,3.4714088439941406,0.05397374927997589],\"quaternion_xyzw\":[0.7028631567955017,-0.07734720408916473,-0.0773182138800621,0.7028674483299255]}],\"stack_results\":[{\"lower\":\"stack_obj1\",\"placement_ok\":true,\"upper\":\"stack_obj2\"},{\"lower\":\"stack_obj2\",\"placement_ok\":true,\"upper\":\"stack_obj0\"}],\"success\":true,\"tilt_dots\":[{\"_key\":\"stack_obj0\",\"value\":0.8899},{\"_key\":\"stack_obj1\",\"value\":1.0},{\"_key\":\"stack_obj2\",\"value\":0.0}],\"trial_idx\":3},{\"all_on_top\":false,\"all_stable\":false,\"all_upright\":true,\"camera_poses\":[{\"_key\":\"trial4_stack_obj2__stack_obj0__stack_obj1_side_az000.png\",\"azimuth_deg\":0,\"look_target\":[-3.657571792602539,-5.306983947753906,0.3],\"position\":[-2.9209130904813145,-5.306983947753906,0.6],\"quaternion_xyzw\":[0.3945987631453821,0.3945987631453821,0.58676385038969,0.5867638503896899],\"type\":\"side\"},{\"_key\":\"trial4_stack_obj2__stack_obj0__stack_obj1_side_az090.png\",\"azimuth_deg\":90,\"look_target\":[-3.657571792602539,-5.306983947753906,0.3],\"position\":[-3.657571792602539,-4.570325245632682,0.6],\"quaternion_xyzw\":[0.0,0.5580469225358481,0.8298093951313573,-0.0],\"type\":\"side\"},{\"_key\":\"trial4_stack_obj2__stack_obj0__stack_obj1_side_az180.png\",\"azimuth_deg\":180,\"look_target\":[-3.657571792602539,-5.306983947753906,0.3],\"position\":[-4.394230494723764,-5.306983947753906,0.6],\"quaternion_xyzw\":[-0.3945987631453821,0.3945987631453821,0.58676385038969,-0.5867638503896899],\"type\":\"side\"},{\"_key\":\"trial4_stack_obj2__stack_obj0__stack_obj1_side_az270.png\",\"azimuth_deg\":270,\"look_target\":[-3.657571792602539,-5.306983947753906,0.3],\"position\":[-3.657571792602539,-6.043642649875131,0.6],\"quaternion_xyzw\":[0.5580469225358481,-0.0,-0.0,0.8298093951313573],\"type\":\"side\"},{\"_key\":\"trial4_stack_obj2__stack_obj0__stack_obj1_topdown.png\",\"position\":[-3.657571792602539,-5.306983947753906,1.8],\"quaternion_xyzw\":[0.0,0.0,0.7071067811865475,-0.7071067811865475],\"type\":\"top_down\"}],\"exist_flags\":[{\"_key\":\"exist_stack_obj0_trial4_stack_obj2__stack_obj0__stack_obj1_side_az000.png\",\"value\":false},{\"_key\":\"exist_stack_obj0_trial4_stack_obj2__stack_obj0__stack_obj1_side_az090.png\",\"value\":true},{\"_key\":\"exist_stack_obj0_trial4_stack_obj2__stack_obj0__stack_obj1_side_az180.png\",\"value\":true},{\"_key\":\"exist_stack_obj0_trial4_stack_obj2__stack_obj0__stack_obj1_side_az270.png\",\"value\":true},{\"_key\":\"exist_stack_obj0_trial4_stack_obj2__stack_obj0__stack_obj1_topdown.png\",\"value\":true},{\"_key\":\"exist_stack_obj1_trial4_stack_obj2__stack_obj0__stack_obj1_side_az000.png\",\"value\":false},{\"_key\":\"exist_stack_obj1_trial4_stack_obj2__stack_obj0__stack_obj1_side_az090.png\",\"value\":true},{\"_key\":\"exist_stack_obj1_trial4_stack_obj2__stack_obj0__stack_obj1_side_az180.png\",\"value\":true},{\"_key\":\"exist_stack_obj1_trial4_stack_obj2__stack_obj0__stack_obj1_side_az270.png\",\"value\":true},{\"_key\":\"exist_stack_obj1_trial4_stack_obj2__stack_obj0__stack_obj1_topdown.png\",\"value\":true},{\"_key\":\"exist_stack_obj2_trial4_stack_obj2__stack_obj0__stack_obj1_side_az000.png\",\"value\":true},{\"_key\":\"exist_stack_obj2_trial4_stack_obj2__stack_obj0__stack_obj1_side_az090.png\",\"value\":true},{\"_key\":\"exist_stack_obj2_trial4_stack_obj2__stack_obj0__stack_obj1_side_az180.png\",\"value\":true},{\"_key\":\"exist_stack_obj2_trial4_stack_obj2__stack_obj0__stack_obj1_side_az270.png\",\"value\":true},{\"_key\":\"exist_stack_obj2_trial4_stack_obj2__stack_obj0__stack_obj1_topdown.png\",\"value\":false}],\"on_top_checks\":[true,false],\"order\":[\"stack_obj2\",\"stack_obj0\",\"stack_obj1\"],\"permutation\":[2,0,1],\"post_aabbs\":[{\"_key\":\"stack_obj0\",\"centre\":[-3.6577067375183105,-5.306938171386719,0.30117863416671753],\"extent\":[0.403517484664917,0.40726709365844727,0.21382877230644226],\"max\":[-3.4559478759765625,-5.103304862976074,0.40809303522109985],\"min\":[-3.8594653606414795,-5.5105719566345215,0.1942642629146576]},{\"_key\":\"stack_obj1\",\"centre\":[-3.690143585205078,-5.2934393882751465,0.3434563875198364],\"extent\":[0.244704008102417,0.18485355377197266,0.28454411029815674],\"max\":[-3.567791700363159,-5.20101261138916,0.4857284426689148],\"min\":[-3.812495708465576,-5.385866165161133,0.20118431746959686]},{\"_key\":\"stack_obj2\",\"centre\":[-3.657569408416748,-5.3069868087768555,0.09164798259735107],\"extent\":[0.15611672401428223,0.12996912002563477,0.20528092980384827],\"max\":[-3.5795111656188965,-5.242002487182617,0.1942884474992752],\"min\":[-3.7356278896331787,-5.371971607208252,-0.010992474853992462]}],\"pre_aabbs\":[{\"_key\":\"stack_obj0\",\"centre\":[-3.6575684547424316,-5.306978702545166,0.3011980652809143],\"extent\":[0.40268754959106445,0.40645408630371094,0.21381129324436188],\"max\":[-3.4562246799468994,-5.1037516593933105,0.40810370445251465],\"min\":[-3.858912229537964,-5.5102057456970215,0.19429241120815277]},{\"_key\":\"stack_obj1\",\"centre\":[-3.6900010108947754,-5.293459415435791,0.34347906708717346],\"extent\":[0.24462628364562988,0.18474292755126953,0.2845417857170105],\"max\":[-3.567687749862671,-5.201087951660156,0.4857499599456787],\"min\":[-3.812314033508301,-5.385830879211426,0.2012081891298294]},{\"_key\":\"stack_obj2\",\"centre\":[-3.657571792602539,-5.306983947753906,0.09165038168430328],\"extent\":[0.15610742568969727,0.12995338439941406,0.20527777075767517],\"max\":[-3.5795180797576904,-5.242007255554199,0.19428926706314087],\"min\":[-3.7356255054473877,-5.371960639953613,-0.010988496243953705]}],\"snaps\":[{\"_key\":\"stack_obj0\",\"aabb_max\":[-3.455073356628418,-5.102809906005859,0.4081021547317505],\"aabb_min\":[-3.859006643295288,-5.510500431060791,0.19426800310611725],\"position\":[-3.65704083442688,-5.30665397644043,0.26666393876075745],\"quaternion_xyzw\":[1.6848523955559358e-05,1.173705550172599e-05,0.0015998471062630415,0.9999987483024597]},{\"_key\":\"stack_obj1\",\"aabb_max\":[-3.5676071643829346,-5.200979709625244,0.48576265573501587],\"aabb_min\":[-3.811858892440796,-5.385209083557129,0.2011900246143341],\"position\":[-3.687455892562866,-5.293968677520752,0.3511638343334198],\"quaternion_xyzw\":[-8.138100383803248e-05,9.437584958504885e-05,0.0022920072078704834,0.9999973773956299]},{\"_key\":\"stack_obj2\",\"aabb_max\":[-3.579516887664795,-5.242008209228516,0.19428957998752594],\"aabb_min\":[-3.735643148422241,-5.37199592590332,-0.010993622243404388],\"position\":[-3.64854097366333,-5.306990146636963,0.07841227948665619],\"quaternion_xyzw\":[7.504597306251526e-06,3.0325900297611952e-05,-0.00016755980323068798,1.0]}],\"stack_results\":[{\"lower\":\"stack_obj2\",\"placement_ok\":true,\"upper\":\"stack_obj0\"},{\"lower\":\"stack_obj0\",\"placement_ok\":true,\"upper\":\"stack_obj1\"}],\"success\":true,\"tilt_dots\":[{\"_key\":\"stack_obj0\",\"value\":1.0},{\"_key\":\"stack_obj1\",\"value\":1.0},{\"_key\":\"stack_obj2\",\"value\":1.0}],\"trial_idx\":4},{\"all_on_top\":false,\"all_stable\":false,\"all_upright\":false,\"camera_poses\":[{\"_key\":\"trial5_stack_obj2__stack_obj1__stack_obj0_side_az000.png\",\"azimuth_deg\":0,\"look_target\":[-0.29888588190078735,-2.2075891494750977,0.3],\"position\":[0.45032916733493655,-2.2075891494750977,0.6],\"quaternion_xyzw\":[0.39631867257770403,0.39631867257770403,0.5856035431640135,0.5856035431640135],\"type\":\"side\"},{\"_key\":\"trial5_stack_obj2__stack_obj1__stack_obj0_side_az090.png\",\"azimuth_deg\":90,\"look_target\":[-0.29888588190078735,-2.2075891494750977,0.3],\"position\":[-0.2988858819007873,-1.4583741002393737,0.6],\"quaternion_xyzw\":[2.0763629871175945e-17,0.5604792417810911,0.828168472916286,3.0680500473070144e-17],\"type\":\"side\"},{\"_key\":\"trial5_stack_obj2__stack_obj1__stack_obj0_side_az180.png\",\"azimuth_deg\":180,\"look_target\":[-0.29888588190078735,-2.2075891494750977,0.3],\"position\":[-1.0481009311365113,-2.2075891494750977,0.6],\"quaternion_xyzw\":[-0.39631867257770403,0.39631867257770403,0.5856035431640135,-0.5856035431640135],\"type\":\"side\"},{\"_key\":\"trial5_stack_obj2__stack_obj1__stack_obj0_side_az270.png\",\"azimuth_deg\":270,\"look_target\":[-0.29888588190078735,-2.2075891494750977,0.3],\"position\":[-0.29888588190078746,-2.9568041987108216,0.6],\"quaternion_xyzw\":[0.5604792417810911,-4.152725974235189e-17,-6.136100094614029e-17,0.828168472916286],\"type\":\"side\"},{\"_key\":\"trial5_stack_obj2__stack_obj1__stack_obj0_topdown.png\",\"position\":[-0.29888588190078735,-2.2075891494750977,1.8],\"quaternion_xyzw\":[0.0,0.0,0.7071067811865475,-0.7071067811865475],\"type\":\"top_down\"}],\"exist_flags\":[{\"_key\":\"exist_stack_obj0_trial5_stack_obj2__stack_obj1__stack_obj0_side_az000.png\",\"value\":true},{\"_key\":\"exist_stack_obj0_trial5_stack_obj2__stack_obj1__stack_obj0_side_az090.png\",\"value\":true},{\"_key\":\"exist_stack_obj0_trial5_stack_obj2__stack_obj1__stack_obj0_side_az180.png\",\"value\":true},{\"_key\":\"exist_stack_obj0_trial5_stack_obj2__stack_obj1__stack_obj0_side_az270.png\",\"value\":true},{\"_key\":\"exist_stack_obj0_trial5_stack_obj2__stack_obj1__stack_obj0_topdown.png\",\"value\":true},{\"_key\":\"exist_stack_obj1_trial5_stack_obj2__stack_obj1__stack_obj0_side_az000.png\",\"value\":true},{\"_key\":\"exist_stack_obj1_trial5_stack_obj2__stack_obj1__stack_obj0_side_az090.png\",\"value\":true},{\"_key\":\"exist_stack_obj1_trial5_stack_obj2__stack_obj1__stack_obj0_side_az180.png\",\"value\":false},{\"_key\":\"exist_stack_obj1_trial5_stack_obj2__stack_obj1__stack_obj0_side_az270.png\",\"value\":true},{\"_key\":\"exist_stack_obj1_trial5_stack_obj2__stack_obj1__stack_obj0_topdown.png\",\"value\":true},{\"_key\":\"exist_stack_obj2_trial5_stack_obj2__stack_obj1__stack_obj0_side_az000.png\",\"value\":true},{\"_key\":\"exist_stack_obj2_trial5_stack_obj2__stack_obj1__stack_obj0_side_az090.png\",\"value\":true},{\"_key\":\"exist_stack_obj2_trial5_stack_obj2__stack_obj1__stack_obj0_side_az180.png\",\"value\":true},{\"_key\":\"exist_stack_obj2_trial5_stack_obj2__stack_obj1__stack_obj0_side_az270.png\",\"value\":false},{\"_key\":\"exist_stack_obj2_trial5_stack_obj2__stack_obj1__stack_obj0_topdown.png\",\"value\":true}],\"on_top_checks\":[false,false],\"order\":[\"stack_obj2\",\"stack_obj1\",\"stack_obj0\"],\"permutation\":[2,1,0],\"post_aabbs\":[{\"_key\":\"stack_obj0\",\"centre\":[-0.3652966022491455,-2.5704185962677,0.21788287162780762],\"extent\":[0.4250798225402832,0.4212193489074707,0.45762598514556885],\"max\":[-0.1527567058801651,-2.359808921813965,0.44669586420059204],\"min\":[-0.5778365135192871,-2.7810282707214355,-0.010930135846138]},{\"_key\":\"stack_obj1\",\"centre\":[-0.7733202576637268,-2.2897093296051025,0.10407038033008575],\"extent\":[0.27902162075042725,0.3045358657836914,0.23014602065086365],\"max\":[-0.6338094472885132,-2.137441396713257,0.21914339065551758],\"min\":[-0.9128310680389404,-2.4419772624969482,-0.011002622544765472]},{\"_key\":\"stack_obj2\",\"centre\":[-0.298768550157547,-2.2076058387756348,0.0916505753993988],\"extent\":[0.15621499717235565,0.13018226623535156,0.20530065894126892],\"max\":[-0.22066105902194977,-2.142514705657959,0.19430090487003326],\"min\":[-0.3768760561943054,-2.2726969718933105,-0.010999761521816254]}],\"pre_aabbs\":[{\"_key\":\"stack_obj0\",\"centre\":[-0.3374815285205841,-2.2580864429473877,0.5735119581222534],\"extent\":[0.4026874899864197,0.40645408630371094,0.21381127834320068],\"max\":[-0.13613776862621307,-2.0548593997955322,0.6804175972938538],\"min\":[-0.538825273513794,-2.461313486099243,0.4666063189506531]},{\"_key\":\"stack_obj1\",\"centre\":[-0.29894912242889404,-2.20758318901062,0.3345751464366913],\"extent\":[0.24462637305259705,0.18474292755126953,0.2845417857170105],\"max\":[-0.1766359508037567,-2.1152117252349854,0.47684603929519653],\"min\":[-0.42126232385635376,-2.299954652786255,0.19230426847934723]},{\"_key\":\"stack_obj2\",\"centre\":[-0.29888588190078735,-2.2075891494750977,0.09164972603321075],\"extent\":[0.15610693395137787,0.12995266914367676,0.2052781879901886],\"max\":[-0.22083242237567902,-2.142612934112549,0.19428882002830505],\"min\":[-0.3769393563270569,-2.2725656032562256,-0.010989375412464142]}],\"snaps\":[{\"_key\":\"stack_obj0\",\"aabb_max\":[-0.14473207294940948,-2.230564832687378,0.3854285478591919],\"aabb_min\":[-0.5759732723236084,-2.7131736278533936,-0.010980412364006042],\"position\":[-0.3591386675834656,-2.4536542892456055,0.15792469680309296],\"quaternion_xyzw\":[0.2748599946498871,-0.009149432182312012,-0.031986381858587265,0.9609084725379944]},{\"_key\":\"stack_obj1\",\"aabb_max\":[-0.5226951837539673,-2.1663575172424316,0.2009943723678589],\"aabb_min\":[-0.8124681711196899,-2.476332426071167,-0.010980397462844849],\"position\":[-0.6729165315628052,-2.342284917831421,0.08653464913368225],\"quaternion_xyzw\":[-0.003537680022418499,-0.6935446262359619,0.6818282008171082,0.2325812727212906]},{\"_key\":\"stack_obj2\",\"aabb_max\":[-0.22066372632980347,-2.1425118446350098,0.19430021941661835],\"aabb_min\":[-0.3768785297870636,-2.2726926803588867,-0.010999046266078949],\"position\":[-0.2897637188434601,-2.207590103149414,0.07841350883245468],\"quaternion_xyzw\":[7.807370275259018e-05,9.111763210967183e-05,-0.000914923963136971,0.9999996423721313]}],\"stack_results\":[{\"lower\":\"stack_obj2\",\"placement_ok\":true,\"upper\":\"stack_obj1\"},{\"lower\":\"stack_obj1\",\"placement_ok\":true,\"upper\":\"stack_obj0\"}],\"success\":true,\"tilt_dots\":[{\"_key\":\"stack_obj0\",\"value\":0.5385},{\"_key\":\"stack_obj1\",\"value\":0.0101},{\"_key\":\"stack_obj2\",\"value\":1.0}],\"trial_idx\":5}]}","options_json":"[\"chickpea_can\",\"gift_box\",\"storage_box\"]","question":"How should you stack chickpea_can, gift_box, storage_box to maximize stability?","room":"dining_room_0","runner_task":"stacking","scene":"restaurant_brunch","small_task":"Stacking & Stability"},"observations":[],"question":{"answer_type":"sequence","options":[],"original":"How should you stack chickpea_can, gift_box, storage_box to maximize stability?","text":"How should you stack chickpea_can, gift_box, storage_box to maximize stability?"},"reference_media":[],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":27,"stratum_pool":89},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Physical Dynamics/Stacking & Stability/restaurant_brunch/dining_room_0/restaurant_brunch__dining_room_0.json","annotation_sha256":"ccb3a2c71ba0421f5bc0b9bb12ef8783579517e213102d38af9f2c157210f798","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"4e3c85358dd706e6889cdd854c75df1645994adb941def7cd4181d4dcff00b51","sample_id":"1822","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"[[\"gift_box\",\"storage_box\",\"chickpea_can\"]]","metric":"official_esi_task","original_answer":"[[\"gift_box\",\"storage_box\",\"chickpea_can\"]]"},"task":{"category":"Physical Dynamics","role":"spatial_core","skill_tags":["Physical Dynamics","Stacking & Stability"],"stratum":"ESI-Bench/Physical Dynamics/Stacking & Stability","subcategory":"Stacking & Stability"},"transforms":[]}
{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Physical Structure","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"can of coffee","id":"1956b6c5ddf5190c","metadata":"vendor/ESI-Bench/dataset/json_clean/Physical Structure/Deformable/Beechwood_1_int/bedroom_0/q_002.json","metadata_sha256":"7891f5b7829fa9a684001cdbbd775ae31d0fba6b93fde6a1acb10cf7e3c177c5","observation_policy":"runtime camera observations; no oracle poses","question":"What object is under this cloth?","room":"bedroom_0","scene":"Beechwood_1_int","subcategory":"Deformable","task":"physical_structure.deformable"},"group":{"id":"ESI-scene/Beechwood_1_int","kind":"scene","room":"bedroom_0","scene":"Beechwood_1_int"},"id":"6fa18f65fde09f5b74ba","native_annotation":{"answer":"can of coffee","answer_type":"choice","big_task":"Physical Structure","gt_camera_poses":[{"baseline_selected":true,"camera_pose":{"position":[-1.6046577095985413,-5.330072977542877,0.3321658491436392],"quaternion_xyzw":[0.5065726637840271,0.0,0.0,0.8621972799301147]},"camera_pose_rule":null,"fov_deg":70.0,"group":"gt_view","metadata_pointer":"/render/gt_view/main_view_without_cloth","original_image_path":"main_view_without_cloth.png","phase":null,"pose_source":"saved","render_mode":"special_state","role":"gt_reveal","state_key":"cloth_removed","view_id":"gt_view/main_view_without_cloth.png"}],"id":"1836","image_paths_json":"[\"main_view.png\"]","metadata_json":"{\"camera_poses\":{\"cloth_footprint_xy_m\":0.2014,\"distance_to_item_m\":0.5277308011054993,\"fov_deg\":70.0,\"height_offset_m\":0.294073600769043,\"main_view_azimuth_deg\":-90.0,\"room_view_azimuths_deg\":[0.0,90.0,180.0],\"runtime_steps\":{\"capture_render_steps\":4,\"cloth_add_steps\":16,\"cloth_settle_steps\":40,\"item_add_steps\":12,\"item_settle_steps\":30,\"post_item_freeze_steps\":4,\"scene_warmup_steps\":20},\"target_xyz\":[-1.6047,-4.8023,0.0381]},\"cloth\":{\"category\":\"dinner_napkin\",\"configuration_used\":\"settled\",\"drop_clearance_above_item_m\":0.1,\"drop_position\":[-1.6,-4.8,0.1575],\"group\":\"recommended\",\"initial_downward_speed_mps\":1.75,\"mass_kg\":1.0,\"model\":\"qmpgsg\"},\"distractors\":[{\"category\":\"sunglasses\",\"model\":\"gqawld\"},{\"category\":\"mango\",\"model\":\"qqnarm\"},{\"category\":\"pine_cone\",\"model\":\"bmvhss\"}],\"floor_name\":\"floors_nzidpe_0\",\"qa\":{\"answer_option_id\":\"C\",\"answer_text\":\"can of coffee\",\"options\":[{\"option_id\":\"A\",\"text\":\"sunglasses\"},{\"option_id\":\"B\",\"text\":\"pine cone\"},{\"option_id\":\"C\",\"text\":\"can of coffee\"},{\"option_id\":\"D\",\"text\":\"mango\"}],\"question\":\"What object is under this cloth?\"},\"question_id\":\"cover_small_item_cloth/q_002\",\"question_index\":2,\"render\":{\"gt_view\":{\"cloth_removed\":true,\"main_view_without_cloth\":{\"camera_pose\":{\"position\":[-1.6046577095985413,-5.330072977542877,0.3321658491436392],\"quaternion_xyzw\":[0.5065726637840271,0.0,0.0,0.8621972799301147]},\"image_path\":\"main_view_without_cloth.png\",\"target\":[-1.6046577095985413,-4.802342176437378,0.03809224837459624]}},\"main_view\":{\"camera_pose\":{\"position\":[-1.6046577095985413,-5.330072977542877,0.3321658491436392],\"quaternion_xyzw\":[0.5065726637840271,0.0,0.0,0.8621972799301147]},\"image_path\":\"main_view.png\",\"target\":[-1.6046577095985413,-4.802342176437378,0.03809224837459624]},\"room_view\":{\"views\":[{\"azimuth_deg\":0.0,\"camera_pose\":{\"position\":[0.19999830722808842,-4.800002574920654,1.0797430977225304],\"quaternion_xyzw\":[0.35335826873779297,0.3538167178630829,0.6127495765686035,0.6119555830955505]},\"image_path\":\"view_00.png\",\"target\":[-1.6046577095985413,-4.802342176437378,0.03809224837459624]},{\"azimuth_deg\":90.0,\"camera_pose\":{\"position\":[-1.6000016927719116,-3.0000025749206545,1.0797430977225304],\"quaternion_xyzw\":[0.0006455715629272163,0.49980756640434265,0.8661355376243591,0.001118735526688397]},\"image_path\":\"view_01.png\",\"target\":[-1.6046577095985413,-4.802342176437378,0.03809224837459624]},{\"azimuth_deg\":180.0,\"camera_pose\":{\"position\":[-3.4000016927719114,-4.800002574920654,1.0797430977225304],\"quaternion_xyzw\":[0.3526706099510193,-0.353130578994751,-0.6131479740142822,0.6123493909835815]},\"image_path\":\"view_02.png\",\"target\":[-1.6046577095985413,-4.802342176437378,0.03809224837459624]}]}},\"resolved_room\":\"bedroom_0\",\"run_idx\":0,\"seed\":1586494993,\"small_item\":{\"bbox_after_cover\":{\"max\":[-1.5539,-4.7539,0.0575],\"min\":[-1.6461,-4.8461,0.002]},\"category\":\"can_of_coffee\",\"free_radius_m\":0.3,\"model\":\"zubwua\",\"placement_xy\":[-1.6,-4.8],\"pose_after_cover\":{\"position\":[-1.6,-4.8,0.0308],\"quaternion_xyzw\":[-0.0,0.0,-0.0,1.0]}},\"task_type\":\"cover_small_item_cloth\"}","options_json":"[{\"option_id\":\"A\",\"text\":\"sunglasses\"},{\"option_id\":\"B\",\"text\":\"pine cone\"},{\"option_id\":\"C\",\"text\":\"can of coffee\"},{\"option_id\":\"D\",\"text\":\"mango\"}]","question":"What object is under this cloth?","room":"bedroom_0","runner_task":"deformable","scene":"Beechwood_1_int","small_task":"Deformable"},"observations":[],"question":{"answer_type":"choice","options":[],"original":"What object is under this cloth?","text":"What object is under this cloth?"},"reference_media":["main_view.png"],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":39,"stratum_pool":98},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Physical Structure/Deformable/Beechwood_1_int/bedroom_0/q_002.json","annotation_sha256":"7891f5b7829fa9a684001cdbbd775ae31d0fba6b93fde6a1acb10cf7e3c177c5","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"fd5be263bcc25969df227731607ca2555e5b805f8fe65d08dc12bffa65152b06","sample_id":"1836","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"can of coffee","metric":"official_esi_task","original_answer":"can of coffee"},"task":{"category":"Physical Structure","role":"spatial_core","skill_tags":["Physical Structure","Deformable"],"stratum":"ESI-Bench/Physical Structure/Deformable","subcategory":"Deformable"},"transforms":[]}
{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Physical Structure","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"shampoo dispenser","id":"3af685b4ca47c135","metadata":"vendor/ESI-Bench/dataset/json_clean/Physical Structure/Deformable/office_bike/shared_office_0/q_002.json","metadata_sha256":"22629c199b42fd2cb7ac0d13cc24d16e91f19c2be75f3150b1364e2c4776dd9d","observation_policy":"runtime camera observations; no oracle poses","question":"What object is under this cloth?","room":"shared_office_0","scene":"office_bike","subcategory":"Deformable","task":"physical_structure.deformable"},"group":{"id":"ESI-scene/office_bike","kind":"scene","room":"shared_office_0","scene":"office_bike"},"id":"f933965246d4d7d10458","native_annotation":{"answer":"shampoo dispenser","answer_type":"choice","big_task":"Physical Structure","gt_camera_poses":[{"baseline_selected":true,"camera_pose":{"position":[3.9873900413513184,6.627018349965414,0.35700325017174084],"quaternion_xyzw":[0.5048593878746033,0.0,0.0,0.8632016777992249]},"camera_pose_rule":null,"fov_deg":70.0,"group":"gt_view","metadata_pointer":"/render/gt_view/main_view_without_cloth","original_image_path":"main_view_without_cloth.png","phase":null,"pose_source":"saved","render_mode":"special_state","role":"gt_reveal","state_key":"cloth_removed","view_id":"gt_view/main_view_without_cloth.png"}],"id":"1894","image_paths_json":"[\"main_view.png\"]","metadata_json":"{\"camera_poses\":{\"cloth_footprint_xy_m\":0.2284,\"distance_to_item_m\":0.5484028879801432,\"fov_deg\":70.0,\"height_offset_m\":0.3084541829427083,\"main_view_azimuth_deg\":-90.0,\"room_view_azimuths_deg\":[0.0,90.0,180.0],\"runtime_steps\":{\"capture_render_steps\":4,\"cloth_add_steps\":16,\"cloth_settle_steps\":40,\"item_add_steps\":12,\"item_settle_steps\":30,\"post_item_freeze_steps\":4,\"scene_warmup_steps\":20},\"target_xyz\":[3.9874,7.1754,0.0485]},\"cloth\":{\"category\":\"dishtowel\",\"configuration_used\":\"settled\",\"drop_clearance_above_item_m\":0.1,\"drop_position\":[4.107,7.2002,0.2545],\"group\":\"recommended\",\"initial_downward_speed_mps\":1.75,\"mass_kg\":1.0,\"model\":\"ltydgg\"},\"distractors\":[{\"category\":\"can_of_tomatoes\",\"model\":\"ckdouu\"},{\"category\":\"half_coconut_fruit\",\"model\":\"nnankv\"},{\"category\":\"bottle_of_poppy_seeds\",\"model\":\"xdtrgi\"}],\"floor_name\":\"floors_cypivn_0\",\"qa\":{\"answer_option_id\":\"A\",\"answer_text\":\"shampoo dispenser\",\"options\":[{\"option_id\":\"A\",\"text\":\"shampoo dispenser\"},{\"option_id\":\"B\",\"text\":\"can of tomatoes\"},{\"option_id\":\"C\",\"text\":\"bottle of poppy seeds\"},{\"option_id\":\"D\",\"text\":\"half coconut fruit\"}],\"question\":\"What object is under this cloth?\"},\"question_id\":\"cover_small_item_cloth/q_002\",\"question_index\":2,\"render\":{\"gt_view\":{\"cloth_removed\":true,\"main_view_without_cloth\":{\"camera_pose\":{\"position\":[3.9873900413513184,6.627018349965414,0.35700325017174084],\"quaternion_xyzw\":[0.5048593878746033,0.0,0.0,0.8632016777992249]},\"image_path\":\"main_view_without_cloth.png\",\"target\":[3.9873900413513184,7.175421237945557,0.048549067229032516]}},\"main_view\":{\"camera_pose\":{\"position\":[3.9873900413513184,6.627018349965414,0.35700325017174084],\"quaternion_xyzw\":[0.5048593878746033,0.0,0.0,0.8632016777992249]},\"image_path\":\"main_view.png\",\"target\":[3.9873900413513184,7.175421237945557,0.048549067229032516]},\"room_view\":{\"views\":[{\"azimuth_deg\":0.0,\"camera_pose\":{\"position\":[5.847852396965027,7.1955296993255615,1.0933979900553823],\"quaternion_xyzw\":[0.35525915026664734,0.3591196835041046,0.6135445833206177,0.606948971748352]},\"image_path\":\"view_00.png\",\"target\":[3.9873900413513184,7.175421237945557,0.048549067229032516]},{\"azimuth_deg\":90.0,\"camera_pose\":{\"position\":[4.047852396965027,8.995529699325562,1.0933979900553823],\"quaternion_xyzw\":[0.008320832625031471,0.5011041760444641,0.8652276992797852,0.01436710450798273]},\"image_path\":\"view_01.png\",\"target\":[3.9873900413513184,7.175421237945557,0.048549067229032516]},{\"azimuth_deg\":180.0,\"camera_pose\":{\"position\":[2.247852396965027,7.1955296993255615,1.0933979900553823],\"quaternion_xyzw\":[0.3462347090244293,-0.35026025772094727,-0.6189485788345337,0.6118349432945251]},\"image_path\":\"view_02.png\",\"target\":[3.9873900413513184,7.175421237945557,0.048549067229032516]}]}},\"resolved_room\":\"shared_office_0\",\"run_idx\":0,\"seed\":1610097601,\"small_item\":{\"bbox_after_cover\":{\"max\":[4.1233,7.237,0.0786],\"min\":[3.9724,7.1541,0.0082]},\"category\":\"shampoo_dispenser\",\"free_radius_m\":0.3,\"model\":\"eblcnw\",\"placement_xy\":[4.1,7.2],\"pose_after_cover\":{\"position\":[4.0569,7.1915,0.0371],\"quaternion_xyzw\":[0.044288,-0.707665,0.170745,0.684175]}},\"task_type\":\"cover_small_item_cloth\"}","options_json":"[{\"option_id\":\"A\",\"text\":\"shampoo dispenser\"},{\"option_id\":\"B\",\"text\":\"can of tomatoes\"},{\"option_id\":\"C\",\"text\":\"bottle of poppy seeds\"},{\"option_id\":\"D\",\"text\":\"half coconut fruit\"}]","question":"What object is under this cloth?","room":"shared_office_0","runner_task":"deformable","scene":"office_bike","small_task":"Deformable"},"observations":[],"question":{"answer_type":"choice","options":[],"original":"What object is under this cloth?","text":"What object is under this cloth?"},"reference_media":["main_view.png"],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":39,"stratum_pool":98},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Physical Structure/Deformable/office_bike/shared_office_0/q_002.json","annotation_sha256":"22629c199b42fd2cb7ac0d13cc24d16e91f19c2be75f3150b1364e2c4776dd9d","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"7d43a1c8472bfa4623b837b85568d00afb2cf0ad2a8fa31980b8a24b82b1ded1","sample_id":"1894","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"shampoo dispenser","metric":"official_esi_task","original_answer":"shampoo dispenser"},"task":{"category":"Physical Structure","role":"spatial_core","skill_tags":["Physical Structure","Deformable"],"stratum":"ESI-Bench/Physical Structure/Deformable","subcategory":"Deformable"},"transforms":[]}
{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Physical Structure","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"left","id":"e451a89af1ec6d97","metadata":"vendor/ESI-Bench/dataset/json_clean/Physical Structure/Liquid Volume/unknown_scene/unknown_room/run_39.json","metadata_sha256":"d4fa251ea8bd012e006845d87993dcf84a7adde7383ac1e9a897a17cbb0b1e46","observation_policy":"runtime camera observations; no oracle poses","question":"Which container has a larger volume: the water glass or the hingeless jar?","room":"living_room_0","scene":"Rs_int","subcategory":"Liquid Volume","task":"physical_structure.liquid_volume"},"group":{"id":"ESI-liquid/b6bfdf9d6278b590","kind":"object_model_pair","room":"living_room_0","scene":"Rs_int","split_limitation":"same scene in dev/eval; distinct object-model pairs"},"id":"c00699ed5e50e8b4da13","native_annotation":{"answer":"left","answer_type":"choice","big_task":"Physical Structure","gt_camera_poses":[{"baseline_selected":true,"camera_pose":null,"camera_pose_rule":{"coordinate_frame":"world","implementation":"BEHAVIOR-ESI/tasks/task_capacity/batch_pour.py:set_side_camera","inputs":["obj1.aabb","obj2.aabb"],"position_formula":"[mean(center1.x, center2.x), mean(center1.y, center2.y) - 1.0, max(center1.z, center2.z) + 0.1]","quaternion_order":"xyzw","quaternion_rule":"look_at_quaternion(position, target)","rule":"side_camera_from_live_pair_aabb","target_formula":"[mean(center1.x, center2.x), mean(center1.y, center2.y), max(center1.z, center2.z) + 0.1]"},"fov_deg":null,"group":"pour_trajectory","metadata_pointer":"/regeneration_contract/before_fill_left","original_image_path":"00_before_fill_left.png","phase":"before_fill_left","pose_source":"live_AABB_in_BEHAVIOR-ESI/tasks/task_capacity/batch_pour.py","render_mode":"full_regeneration","role":"gt_dynamics","state_key":"pour:before_fill_left","view_id":"pour_trajectory/00_before_fill_left.png"},{"baseline_selected":true,"camera_pose":null,"camera_pose_rule":{"coordinate_frame":"world","implementation":"BEHAVIOR-ESI/tasks/task_capacity/batch_pour.py:set_side_camera","inputs":["obj1.aabb","obj2.aabb"],"position_formula":"[mean(center1.x, center2.x), mean(center1.y, center2.y) - 1.0, max(center1.z, center2.z) + 0.1]","quaternion_order":"xyzw","quaternion_rule":"look_at_quaternion(position, target)","rule":"side_camera_from_live_pair_aabb","target_formula":"[mean(center1.x, center2.x), mean(center1.y, center2.y), max(center1.z, center2.z) + 0.1]"},"fov_deg":null,"group":"pour_trajectory","metadata_pointer":"/regeneration_contract/after_fill_left","original_image_path":"01_after_fill_left.png","phase":"after_fill_left","pose_source":"live_AABB_in_BEHAVIOR-ESI/tasks/task_capacity/batch_pour.py","render_mode":"full_regeneration","role":"gt_dynamics","state_key":"pour:after_fill_left","view_id":"pour_trajectory/01_after_fill_left.png"},{"baseline_selected":true,"camera_pose":null,"camera_pose_rule":{"coordinate_frame":"world","implementation":"BEHAVIOR-ESI/tasks/task_capacity/batch_pour.py:set_side_camera","inputs":["obj1.aabb","obj2.aabb"],"position_formula":"[mean(center1.x, center2.x), mean(center1.y, center2.y) - 1.0, max(center1.z, center2.z) + 0.1]","quaternion_order":"xyzw","quaternion_rule":"look_at_quaternion(position, target)","rule":"side_camera_from_live_pair_aabb","target_formula":"[mean(center1.x, center2.x), mean(center1.y, center2.y), max(center1.z, center2.z) + 0.1]"},"fov_deg":null,"group":"pour_trajectory","metadata_pointer":"/regeneration_contract/after_fill_right","original_image_path":"02_after_fill_right.png","phase":"after_fill_right","pose_source":"live_AABB_in_BEHAVIOR-ESI/tasks/task_capacity/batch_pour.py","render_mode":"full_regeneration","role":"gt_dynamics","state_key":"pour:after_fill_right","view_id":"pour_trajectory/02_after_fill_right.png"},{"baseline_selected":true,"camera_pose":null,"camera_pose_rule":{"coordinate_frame":"world","implementation":"BEHAVIOR-ESI/tasks/task_capacity/batch_pour.py:set_side_camera","inputs":["obj1.aabb","obj2.aabb"],"position_formula":"[mean(center1.x, center2.x), mean(center1.y, center2.y) - 1.0, max(center1.z, center2.z) + 0.1]","quaternion_order":"xyzw","quaternion_rule":"look_at_quaternion(position, target)","rule":"side_camera_from_live_pair_aabb","target_formula":"[mean(center1.x, center2.x), mean(center1.y, center2.y), max(center1.z, center2.z) + 0.1]"},"fov_deg":null,"group":"pour_trajectory","metadata_pointer":"/regeneration_contract/final","original_image_path":"03_final.png","phase":"final","pose_source":"live_AABB_in_BEHAVIOR-ESI/tasks/task_capacity/batch_pour.py","render_mode":"full_regeneration","role":"gt_dynamics","state_key":"pour:final","view_id":"pour_trajectory/03_final.png"}],"id":"2040","image_paths_json":"[]","metadata_json":"{\"answer\":\"obj1 poured into obj2 but obj1 still has leftover water\",\"capacity_diff_measured\":104,\"final_particles_obj\":[{\"_indices\":[1],\"_key\":\"final_particles_obj1\",\"value\":104},{\"_indices\":[2],\"_key\":\"final_particles_obj2\",\"value\":30}],\"obj\":[{\"_indices\":[1],\"_key\":\"obj1\",\"capacity_from_json\":137,\"capacity_measured\":134,\"category\":\"water_glass\",\"model\":\"onbiqg\",\"side\":\"left\"},{\"_indices\":[2],\"_key\":\"obj2\",\"capacity_from_json\":39,\"capacity_measured\":30,\"category\":\"hingeless_jar\",\"model\":\"zdeyzf\",\"side\":\"right\"}],\"run_idx\":39,\"obj1\":{\"category\":\"water_glass\",\"model\":\"onbiqg\",\"side\":\"left\",\"capacity_from_json\":137,\"capacity_measured\":134},\"obj2\":{\"category\":\"hingeless_jar\",\"model\":\"zdeyzf\",\"side\":\"right\",\"capacity_from_json\":39,\"capacity_measured\":30},\"left_category\":\"water_glass\",\"left_model\":\"onbiqg\",\"right_category\":\"hingeless_jar\",\"right_model\":\"zdeyzf\",\"gt_larger\":\"left\",\"final_particles_obj1\":104,\"final_particles_obj2\":30,\"fixed_env\":{\"scene\":\"Rs_int\",\"room\":\"living_room_0\"}}","options_json":"[\"water glass\",\"hingeless jar\"]","question":"Which container has a larger volume: the water glass or the hingeless jar?","room":"living_room_0","runner_task":"pour","scene":"Rs_int","small_task":"Liquid Volume"},"observations":[],"question":{"answer_type":"choice","options":[],"original":"Which container has a larger volume: the water glass or the hingeless jar?","text":"Which container has a larger volume: the water glass or the hingeless jar?"},"reference_media":[],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":52,"stratum_pool":136},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Physical Structure/Liquid Volume/unknown_scene/unknown_room/run_39.json","annotation_sha256":"d4fa251ea8bd012e006845d87993dcf84a7adde7383ac1e9a897a17cbb0b1e46","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"899a63305fedf884b766db96ac1dc3f6035b89e41214cfc4c8dff32d2729205a","sample_id":"2040","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"left","metric":"official_esi_task","original_answer":"left"},"task":{"category":"Physical Structure","role":"spatial_core","skill_tags":["Physical Structure","Liquid Volume"],"stratum":"ESI-Bench/Physical Structure/Liquid Volume","subcategory":"Liquid Volume"},"transforms":[]}
{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Physical Structure","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"left","id":"d621f8cfc7246b39","metadata":"vendor/ESI-Bench/dataset/json_clean/Physical Structure/Liquid Volume/unknown_scene/unknown_room/run_118.json","metadata_sha256":"de0b9ee1ee4df591b3092a31e084c876b1b3d91e417d414e25b4198b22d569f4","observation_policy":"runtime camera observations; no oracle poses","question":"Which container has a larger volume: the crock pot or the bowl?","room":"living_room_0","scene":"Rs_int","subcategory":"Liquid Volume","task":"physical_structure.liquid_volume"},"group":{"id":"ESI-liquid/30b2c7c4ff9e393c","kind":"object_model_pair","room":"living_room_0","scene":"Rs_int","split_limitation":"same scene in dev/eval; distinct object-model pairs"},"id":"da497dd06fb9b3a351c6","native_annotation":{"answer":"left","answer_type":"choice","big_task":"Physical Structure","gt_camera_poses":[{"baseline_selected":true,"camera_pose":null,"camera_pose_rule":{"coordinate_frame":"world","implementation":"BEHAVIOR-ESI/tasks/task_capacity/batch_pour.py:set_side_camera","inputs":["obj1.aabb","obj2.aabb"],"position_formula":"[mean(center1.x, center2.x), mean(center1.y, center2.y) - 1.0, max(center1.z, center2.z) + 0.1]","quaternion_order":"xyzw","quaternion_rule":"look_at_quaternion(position, target)","rule":"side_camera_from_live_pair_aabb","target_formula":"[mean(center1.x, center2.x), mean(center1.y, center2.y), max(center1.z, center2.z) + 0.1]"},"fov_deg":null,"group":"pour_trajectory","metadata_pointer":"/regeneration_contract/before_fill_left","original_image_path":"00_before_fill_left.png","phase":"before_fill_left","pose_source":"live_AABB_in_BEHAVIOR-ESI/tasks/task_capacity/batch_pour.py","render_mode":"full_regeneration","role":"gt_dynamics","state_key":"pour:before_fill_left","view_id":"pour_trajectory/00_before_fill_left.png"},{"baseline_selected":true,"camera_pose":null,"camera_pose_rule":{"coordinate_frame":"world","implementation":"BEHAVIOR-ESI/tasks/task_capacity/batch_pour.py:set_side_camera","inputs":["obj1.aabb","obj2.aabb"],"position_formula":"[mean(center1.x, center2.x), mean(center1.y, center2.y) - 1.0, max(center1.z, center2.z) + 0.1]","quaternion_order":"xyzw","quaternion_rule":"look_at_quaternion(position, target)","rule":"side_camera_from_live_pair_aabb","target_formula":"[mean(center1.x, center2.x), mean(center1.y, center2.y), max(center1.z, center2.z) + 0.1]"},"fov_deg":null,"group":"pour_trajectory","metadata_pointer":"/regeneration_contract/after_fill_left","original_image_path":"01_after_fill_left.png","phase":"after_fill_left","pose_source":"live_AABB_in_BEHAVIOR-ESI/tasks/task_capacity/batch_pour.py","render_mode":"full_regeneration","role":"gt_dynamics","state_key":"pour:after_fill_left","view_id":"pour_trajectory/01_after_fill_left.png"},{"baseline_selected":true,"camera_pose":null,"camera_pose_rule":{"coordinate_frame":"world","implementation":"BEHAVIOR-ESI/tasks/task_capacity/batch_pour.py:set_side_camera","inputs":["obj1.aabb","obj2.aabb"],"position_formula":"[mean(center1.x, center2.x), mean(center1.y, center2.y) - 1.0, max(center1.z, center2.z) + 0.1]","quaternion_order":"xyzw","quaternion_rule":"look_at_quaternion(position, target)","rule":"side_camera_from_live_pair_aabb","target_formula":"[mean(center1.x, center2.x), mean(center1.y, center2.y), max(center1.z, center2.z) + 0.1]"},"fov_deg":null,"group":"pour_trajectory","metadata_pointer":"/regeneration_contract/after_fill_right","original_image_path":"02_after_fill_right.png","phase":"after_fill_right","pose_source":"live_AABB_in_BEHAVIOR-ESI/tasks/task_capacity/batch_pour.py","render_mode":"full_regeneration","role":"gt_dynamics","state_key":"pour:after_fill_right","view_id":"pour_trajectory/02_after_fill_right.png"},{"baseline_selected":true,"camera_pose":null,"camera_pose_rule":{"coordinate_frame":"world","implementation":"BEHAVIOR-ESI/tasks/task_capacity/batch_pour.py:set_side_camera","inputs":["obj1.aabb","obj2.aabb"],"position_formula":"[mean(center1.x, center2.x), mean(center1.y, center2.y) - 1.0, max(center1.z, center2.z) + 0.1]","quaternion_order":"xyzw","quaternion_rule":"look_at_quaternion(position, target)","rule":"side_camera_from_live_pair_aabb","target_formula":"[mean(center1.x, center2.x), mean(center1.y, center2.y), max(center1.z, center2.z) + 0.1]"},"fov_deg":null,"group":"pour_trajectory","metadata_pointer":"/regeneration_contract/final","original_image_path":"03_final.png","phase":"final","pose_source":"live_AABB_in_BEHAVIOR-ESI/tasks/task_capacity/batch_pour.py","render_mode":"full_regeneration","role":"gt_dynamics","state_key":"pour:final","view_id":"pour_trajectory/03_final.png"}],"id":"1935","image_paths_json":"[]","metadata_json":"{\"answer\":\"obj1 poured into obj2 but obj1 still has leftover water\",\"capacity_diff_measured\":178,\"final_particles_obj\":[{\"_indices\":[1],\"_key\":\"final_particles_obj1\",\"value\":178},{\"_indices\":[2],\"_key\":\"final_particles_obj2\",\"value\":821}],\"obj\":[{\"_indices\":[1],\"_key\":\"obj1\",\"capacity_from_json\":925,\"capacity_measured\":999,\"category\":\"crock_pot\",\"model\":\"xdahvv\",\"side\":\"left\"},{\"_indices\":[2],\"_key\":\"obj2\",\"capacity_from_json\":827,\"capacity_measured\":821,\"category\":\"bowl\",\"model\":\"kdkrov\",\"side\":\"right\"}],\"run_idx\":118,\"obj1\":{\"category\":\"crock_pot\",\"model\":\"xdahvv\",\"side\":\"left\",\"capacity_from_json\":925,\"capacity_measured\":999},\"obj2\":{\"category\":\"bowl\",\"model\":\"kdkrov\",\"side\":\"right\",\"capacity_from_json\":827,\"capacity_measured\":821},\"left_category\":\"crock_pot\",\"left_model\":\"xdahvv\",\"right_category\":\"bowl\",\"right_model\":\"kdkrov\",\"gt_larger\":\"left\",\"final_particles_obj1\":178,\"final_particles_obj2\":821,\"fixed_env\":{\"scene\":\"Rs_int\",\"room\":\"living_room_0\"}}","options_json":"[\"crock pot\",\"bowl\"]","question":"Which container has a larger volume: the crock pot or the bowl?","room":"living_room_0","runner_task":"pour","scene":"Rs_int","small_task":"Liquid Volume"},"observations":[],"question":{"answer_type":"choice","options":[],"original":"Which container has a larger volume: the crock pot or the bowl?","text":"Which container has a larger volume: the crock pot or the bowl?"},"reference_media":[],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":52,"stratum_pool":136},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Physical Structure/Liquid Volume/unknown_scene/unknown_room/run_118.json","annotation_sha256":"de0b9ee1ee4df591b3092a31e084c876b1b3d91e417d414e25b4198b22d569f4","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"35209d9f8814d56268196bf7c63b649fa3dc79cea0b8e0dbd0748652aed081aa","sample_id":"1935","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"left","metric":"official_esi_task","original_answer":"left"},"task":{"category":"Physical Structure","role":"spatial_core","skill_tags":["Physical Structure","Liquid Volume"],"stratum":"ESI-Bench/Physical Structure/Liquid Volume","subcategory":"Liquid Volume"},"transforms":[]}
{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Physical Structure","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"[{\"_key\":\"box of vegetable juice\",\"value\":\"bucket\"},{\"_key\":\"doll\",\"value\":\"toy box\"},{\"_key\":\"white turnip\",\"value\":\"bucket\"}]","id":"88afb9176c958ee5","metadata":"vendor/ESI-Bench/dataset/json_clean/Physical Structure/Rigid Containment/restaurant_hotel/lobby_0/restaurant_hotel_scene_dict_storage2_1_revised__criterion_4.json","metadata_sha256":"d6eac491cb3589575e8e4664745e3ca1af5cda3e9a094268368b01aa4c42d4ba","observation_policy":"runtime camera observations; no oracle poses","question":"Which container does each object best fit inside?\n- doll\n- box of vegetable juice\n- white turnip\nContainers: bucket, toy box, saucer","room":"lobby_0","scene":"restaurant_hotel","subcategory":"Rigid Containment","task":"physical_structure.rigid_containment"},"group":{"id":"ESI-scene/restaurant_hotel","kind":"scene","room":"lobby_0","scene":"restaurant_hotel"},"id":"4e936427d3479ee5d510","native_annotation":{"answer":"[{\"_key\":\"box of vegetable juice\",\"value\":\"bucket\"},{\"_key\":\"doll\",\"value\":\"toy box\"},{\"_key\":\"white turnip\",\"value\":\"bucket\"}]","answer_type":"sequence","big_task":"Physical Structure","gt_camera_poses":[{"baseline_selected":true,"camera_pose":{"position":[-13.653030911522553,-8.846402207451508,0.8515216112136841],"quaternion_xyzw":[0.13919926811730624,0.3360567609612095,0.8605923797045465,0.35646903534855945]},"camera_pose_rule":null,"fov_deg":null,"group":"initial_inspection/objects","metadata_pointer":"/initial_poses/containee","original_image_path":"gt_closeup_containee.png","phase":"initial_inspection","pose_source":"derived_exactly_from_saved_AABB_using_BEHAVIOR-1K/batch_storage.py","render_mode":"rigid_initial_snapshot","role":"gt_inspection","state_key":"rigid_initial","view_id":"initial_inspection/objects/gt_closeup_containee.png"},{"baseline_selected":true,"camera_pose":{"position":[-11.435239257739118,-10.196208419726423,0.7260593920946121],"quaternion_xyzw":[0.1499778733636609,0.3620786159304246,0.8499720386454968,0.3520699460448732]},"camera_pose_rule":null,"fov_deg":null,"group":"initial_inspection/objects","metadata_pointer":"/initial_poses/extra1","original_image_path":"gt_closeup_extra1.png","phase":"initial_inspection","pose_source":"derived_exactly_from_saved_AABB_using_BEHAVIOR-1K/batch_storage.py","render_mode":"rigid_initial_snapshot","role":"gt_inspection","state_key":"rigid_initial","view_id":"initial_inspection/objects/gt_closeup_extra1.png"},{"baseline_selected":true,"camera_pose":{"position":[-13.070177439668925,-10.210187319734843,0.7301449924707413],"quaternion_xyzw":[0.15025276029725,0.3627422516936147,0.8496890310163596,0.3519527204466295]},"camera_pose_rule":null,"fov_deg":null,"group":"initial_inspection/objects","metadata_pointer":"/initial_poses/extra2","original_image_path":"gt_closeup_extra2.png","phase":"initial_inspection","pose_source":"derived_exactly_from_saved_AABB_using_BEHAVIOR-1K/batch_storage.py","render_mode":"rigid_initial_snapshot","role":"gt_inspection","state_key":"rigid_initial","view_id":"initial_inspection/objects/gt_closeup_extra2.png"},{"baseline_selected":true,"camera_pose":{"position":[-12.159092092102572,-10.093820714539095,1.1068751215934753],"quaternion_xyzw":[0.14411068806447336,0.3479139776081701,0.8558675451132234,0.35451194478086395]},"camera_pose_rule":null,"fov_deg":null,"group":"initial_inspection/containers","metadata_pointer":"/containers/0","original_image_path":"gt_closeup_container_big.png","phase":"initial_inspection","pose_source":"derived_exactly_from_saved_AABB_using_BEHAVIOR-1K/batch_storage.py","render_mode":"rigid_initial_snapshot","role":"gt_inspection","state_key":"rigid_initial","view_id":"initial_inspection/containers/gt_closeup_container_big.png"},{"baseline_selected":true,"camera_pose":{"position":[-13.011203234228054,-9.398283426793972,0.9880853891372681],"quaternion_xyzw":[0.14206147207488753,0.3429667325738802,0.8578619999398914,0.35533807501961023]},"camera_pose_rule":null,"fov_deg":null,"group":"initial_inspection/containers","metadata_pointer":"/containers/1","original_image_path":"gt_closeup_container_fit.png","phase":"initial_inspection","pose_source":"derived_exactly_from_saved_AABB_using_BEHAVIOR-1K/batch_storage.py","render_mode":"rigid_initial_snapshot","role":"gt_inspection","state_key":"rigid_initial","view_id":"initial_inspection/containers/gt_closeup_container_fit.png"},{"baseline_selected":true,"camera_pose":{"position":[-11.581700544689944,-10.87637160334473,0.8690453767776489],"quaternion_xyzw":[0.13540183776193368,0.32688895309510185,0.864116313315321,0.35792869644304476]},"camera_pose_rule":null,"fov_deg":null,"group":"initial_inspection/containers","metadata_pointer":"/containers/2","original_image_path":"gt_closeup_container_small.png","phase":"initial_inspection","pose_source":"derived_exactly_from_saved_AABB_using_BEHAVIOR-1K/batch_storage.py","render_mode":"rigid_initial_snapshot","role":"gt_inspection","state_key":"rigid_initial","view_id":"initial_inspection/containers/gt_closeup_container_small.png"},{"baseline_selected":true,"camera_pose":{"position":[-13.007554061270211,-9.500456340170357,1.002882719039917],"quaternion_xyzw":[0.12978196835884237,0.3133213881633931,0.8691277801984229,0.3600045139934091]},"camera_pose_rule":null,"fov_deg":null,"group":"correct_placements/containee","metadata_pointer":"/containee/placement/object_pose_after","original_image_path":"gt_closeup_placed_containee.png","phase":"post_placement","pose_source":"derived_exactly_from_saved_AABB_using_BEHAVIOR-1K/batch_storage.py","render_mode":"placement_snapshot","role":"gt_outcome_object","state_key":"placement:containee","view_id":"correct_placements/containee/gt_closeup_placed_containee.png"},{"baseline_selected":true,"camera_pose":{"position":[-13.511375427246094,-9.902095794677734,1.2880935549736023],"quaternion_xyzw":[0.0,-0.0,-0.0,1.0]},"camera_pose_rule":null,"fov_deg":null,"group":"correct_placements/containee","metadata_pointer":"/containee/placement/container_pose_after","original_image_path":"container_final_containee.png","phase":"post_placement","pose_source":"derived_exactly_from_saved_AABB_using_BEHAVIOR-1K/batch_storage.py","render_mode":"placement_snapshot","role":"gt_outcome_container","state_key":"placement:containee","view_id":"correct_placements/containee/container_final_containee.png"},{"baseline_selected":true,"camera_pose":{"position":[-12.294877073257164,-10.17538168141146,0.7603640854358673],"quaternion_xyzw":[0.1480026047560488,0.35730989566859767,0.8519876930159083,0.35290485742215427]},"camera_pose_rule":null,"fov_deg":null,"group":"correct_placements/extra1","metadata_pointer":"/extras/0/placement/object_pose_after","original_image_path":"gt_closeup_placed_extra1.png","phase":"post_placement","pose_source":"derived_exactly_from_saved_AABB_using_BEHAVIOR-1K/batch_storage.py","render_mode":"placement_snapshot","role":"gt_outcome_object","state_key":"placement:extra1","view_id":"correct_placements/extra1/gt_closeup_placed_extra1.png"},{"baseline_selected":true,"camera_pose":{"position":[-12.719629287719727,-10.642266273498535,1.4068748235702515],"quaternion_xyzw":[0.0,-0.0,-0.0,1.0]},"camera_pose_rule":null,"fov_deg":null,"group":"correct_placements/extra1","metadata_pointer":"/extras/0/placement/container_pose_after","original_image_path":"container_final_extra1.png","phase":"post_placement","pose_source":"derived_exactly_from_saved_AABB_using_BEHAVIOR-1K/batch_storage.py","render_mode":"placement_snapshot","role":"gt_outcome_container","state_key":"placement:extra1","view_id":"correct_placements/extra1/container_final_extra1.png"},{"baseline_selected":true,"camera_pose":{"position":[-12.352881371628245,-10.18740028108259,1.0168993473052979],"quaternion_xyzw":[0.14033977530875624,0.3388101888907922,0.8595120979352527,0.35602156798853357]},"camera_pose_rule":null,"fov_deg":null,"group":"correct_placements/extra2","metadata_pointer":"/extras/1/placement/object_pose_after","original_image_path":"gt_closeup_placed_extra2.png","phase":"post_placement","pose_source":"derived_exactly_from_saved_AABB_using_BEHAVIOR-1K/batch_storage.py","render_mode":"placement_snapshot","role":"gt_outcome_object","state_key":"placement:extra2","view_id":"correct_placements/extra2/gt_closeup_placed_extra2.png"},{"baseline_selected":true,"camera_pose":{"position":[-12.719685554504395,-10.64221715927124,1.4068748235702515],"quaternion_xyzw":[0.0,-0.0,-0.0,1.0]},"camera_pose_rule":null,"fov_deg":null,"group":"correct_placements/extra2","metadata_pointer":"/extras/1/placement/container_pose_after","original_image_path":"container_final_extra2.png","phase":"post_placement","pose_source":"derived_exactly_from_saved_AABB_using_BEHAVIOR-1K/batch_storage.py","render_mode":"placement_snapshot","role":"gt_outcome_container","state_key":"placement:extra2","view_id":"correct_placements/extra2/container_final_extra2.png"}],"id":"2139","image_paths_json":"[]","metadata_json":"{\"containee\":{\"bbox_inventory\":[0.44590550231933596,0.3702107086181641,0.351507568359375],\"cat\":\"doll\",\"final_pose\":{\"aabb_max\":[-13.244739532470703,-9.723556518554688,0.502882719039917],\"aabb_min\":[-13.624516487121582,-10.13150405883789,0.04524223506450653],\"position\":[-13.431695938110352,-9.937498092651367,0.21768687665462494],\"quaternion_xyzw\":[-0.5653183460235596,-0.4182010293006897,-0.6577404737472534,0.2700008153915405]},\"model\":\"fhdgrp\",\"placement\":{\"aabb\":{\"aabb_difference_container_minus_object\":[0.2392568588256836,0.10322380065917969,0.030434370040893555],\"container\":{\"extent\":[0.6190338134765625,0.5111713409423828,0.488074854016304],\"max\":[-13.201858520507812,-9.646510124206543,0.4880935549736023],\"min\":[-13.820892333984375,-10.157681465148926,1.870095729827881e-05]},\"object\":{\"extent\":[0.3797769546508789,0.4079475402832031,0.45764048397541046],\"max\":[-13.244739532470703,-9.723556518554688,0.502882719039917],\"min\":[-13.624516487121582,-10.13150405883789,0.04524223506450653]}},\"bbox_check\":true,\"container_pose_after\":{\"aabb_max\":[-13.201858520507812,-9.646510124206543,0.4880935549736023],\"aabb_min\":[-13.820892333984375,-10.157681465148926,1.870095729827881e-05],\"position\":[-13.511362075805664,-9.902114868164062,0.17194098234176636],\"quaternion_xyzw\":[-8.798218914307654e-06,8.81633604876697e-06,-0.00521139707416296,0.9999865293502808]},\"container_pose_before\":{\"aabb_max\":[-13.20380687713623,-9.645588874816895,0.48808538913726807],\"aabb_min\":[-13.819997787475586,-10.152376174926758,1.8849968910217285e-05],\"position\":[-13.511876106262207,-9.898996353149414,0.1719411164522171],\"quaternion_xyzw\":[-1.2946038623340428e-06,1.9505678210407495e-06,-6.933696568012238e-07,1.0000001192092896]},\"grasp_success\":true,\"images\":{\"after_place\":\"robot_eye_containee_after_place.png\",\"before_pickup\":\"robot_eye_containee_before_pickup.png\",\"before_place\":\"robot_eye_containee_before_place.png\"},\"label\":\"containee\",\"method_used\":\"inside\",\"object_pose_after\":{\"aabb_max\":[-13.244739532470703,-9.723556518554688,0.502882719039917],\"aabb_min\":[-13.624516487121582,-10.13150405883789,0.04524223506450653],\"position\":[-13.431695938110352,-9.937498092651367,0.21768687665462494],\"quaternion_xyzw\":[-0.5653184056282043,-0.4182010889053345,-0.6577405333518982,0.2700008749961853]},\"object_pose_before\":{\"aabb_max\":[-13.870643615722656,-9.101380348205566,0.3515216112136841],\"aabb_min\":[-14.316061973571777,-9.472067832946777,1.8805265426635742e-05],\"position\":[-14.1594820022583,-9.29259204864502,0.1288999617099762],\"quaternion_xyzw\":[0.0005507767200469971,0.00024743564426898956,-4.6892091631889343e-07,0.9999998211860657]},\"orbital_views_after\":[{\"_key\":\"0\",\"azimuth_deg\":0.0,\"cam_height\":2.6529199410637063,\"exist_obj_containee\":true,\"exist_obj_container\":[{\"_indices\":[0],\"_key\":\"exist_obj_container_0\",\"value\":true},{\"_indices\":[1],\"_key\":\"exist_obj_container_1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_container_2\",\"value\":true}],\"exist_obj_extra\":[{\"_indices\":[1],\"_key\":\"exist_obj_extra1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_extra2\",\"value\":true}],\"eye\":[-10.735168775211132,-10.298756517527366,2.6529199410637063],\"image\":\"orbital_after_containee_0.png\",\"quaternion_xyzw\":[0.27059805007309845,0.27059805007309845,0.6532814824381882,0.6532814824381882],\"radius\":2.3498501856287164},{\"_key\":\"1\",\"azimuth_deg\":59.99999999999999,\"cam_height\":2.6529199410637063,\"exist_obj_containee\":true,\"exist_obj_container\":[{\"_indices\":[0],\"_key\":\"exist_obj_container_0\",\"value\":true},{\"_indices\":[1],\"_key\":\"exist_obj_container_1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_container_2\",\"value\":true}],\"exist_obj_extra\":[{\"_indices\":[1],\"_key\":\"exist_obj_extra1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_extra2\",\"value\":true}],\"eye\":[-11.91009386802549,-8.263726561685319,2.6529199410637063],\"image\":\"orbital_after_containee_1.png\",\"quaternion_xyzw\":[0.09904576054128768,0.36964381061438617,0.8923991008325227,0.23911761839433465],\"radius\":2.3498501856287164},{\"_key\":\"2\",\"azimuth_deg\":119.99999999999999,\"cam_height\":2.6529199410637063,\"exist_obj_containee\":true,\"exist_obj_container\":[{\"_indices\":[0],\"_key\":\"exist_obj_container_0\",\"value\":true},{\"_indices\":[1],\"_key\":\"exist_obj_container_1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_container_2\",\"value\":true}],\"exist_obj_extra\":[{\"_indices\":[1],\"_key\":\"exist_obj_extra1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_extra2\",\"value\":true}],\"eye\":[-14.259944053654205,-8.263726561685319,2.6529199410637063],\"image\":\"orbital_after_containee_2.png\",\"quaternion_xyzw\":[-0.09904576054128755,0.3696438106143861,0.8923991008325228,-0.23911761839433437],\"radius\":2.3498501856287164},{\"_key\":\"3\",\"azimuth_deg\":180.0,\"cam_height\":2.6529199410637063,\"exist_obj_containee\":true,\"exist_obj_container\":[{\"_indices\":[0],\"_key\":\"exist_obj_container_0\",\"value\":true},{\"_indices\":[1],\"_key\":\"exist_obj_container_1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_container_2\",\"value\":true}],\"exist_obj_extra\":[{\"_indices\":[1],\"_key\":\"exist_obj_extra1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_extra2\",\"value\":true}],\"eye\":[-15.434869146468564,-10.298756517527366,2.6529199410637063],\"image\":\"orbital_after_containee_3.png\",\"quaternion_xyzw\":[-0.27059805007309845,0.27059805007309845,0.6532814824381882,-0.6532814824381882],\"radius\":2.3498501856287164},{\"_key\":\"4\",\"azimuth_deg\":239.99999999999997,\"cam_height\":2.6529199410637063,\"exist_obj_containee\":true,\"exist_obj_container\":[{\"_indices\":[0],\"_key\":\"exist_obj_container_0\",\"value\":true},{\"_indices\":[1],\"_key\":\"exist_obj_container_1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_container_2\",\"value\":true}],\"exist_obj_extra\":[{\"_indices\":[1],\"_key\":\"exist_obj_extra1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_extra2\",\"value\":true}],\"eye\":[-14.259944053654207,-12.333786473369413,2.6529199410637063],\"image\":\"orbital_after_containee_4.png\",\"quaternion_xyzw\":[0.36964381061438617,-0.09904576054128768,-0.23911761839433465,0.8923991008325227],\"radius\":2.3498501856287164},{\"_key\":\"5\",\"azimuth_deg\":300.0,\"cam_height\":2.6529199410637063,\"exist_obj_containee\":true,\"exist_obj_container\":[{\"_indices\":[0],\"_key\":\"exist_obj_container_0\",\"value\":false},{\"_indices\":[1],\"_key\":\"exist_obj_container_1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_container_2\",\"value\":true}],\"exist_obj_extra\":[{\"_indices\":[1],\"_key\":\"exist_obj_extra1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_extra2\",\"value\":true}],\"eye\":[-11.91009386802549,-12.333786473369413,2.6529199410637063],\"image\":\"orbital_after_containee_5.png\",\"quaternion_xyzw\":[0.36964381061438617,0.09904576054128768,0.23911761839433465,0.8923991008325227],\"radius\":2.3498501856287164}],\"robot_pose_after_place\":{\"robot_position\":[-14.798480033874512,-10.203400611877441,0.003783509135246277],\"robot_quaternion_xyzw\":[0.0036939680576324463,0.003449295647442341,0.2655893564224243,0.9640730619430542]},\"robot_pose_before_pickup\":{\"robot_position\":[-14.798480033874512,-10.203400611877441,0.003783673048019409],\"robot_quaternion_xyzw\":[0.003695353167131543,0.003448429284617305,0.26558807492256165,0.9640733003616333]},\"robot_pose_before_place\":{\"robot_position\":[-14.798480033874512,-10.203400611877441,0.0037838369607925415],\"robot_quaternion_xyzw\":[0.003695746185258031,0.003448470262810588,0.2655886113643646,0.9640731811523438]},\"state_returned\":true,\"success\":true},\"scale\":[1.0,1.0,1.0],\"target_container\":\"fit\"},\"containers\":[{\"_key\":\"big\",\"bbox_inventory\":[0.2492684860229492,0.3,0.19025335693359374],\"cat\":\"bucket\",\"final_pose\":{\"aabb_max\":[-12.336819648742676,-10.324289321899414,0.6068748235702515],\"aabb_min\":[-13.102551460266113,-10.960144996643066,-0.0007357299327850342],\"position\":[-12.71972942352295,-10.642234802246094,0.2766212522983551],\"quaternion_xyzw\":[-1.5754951164126396e-05,5.6070100981742144e-05,0.0005739170592278242,1.0]},\"fit_check\":\"big\",\"idx\":2,\"model\":\"wlilma\",\"scale\":[3.04450246633212,2.1002384105545038,3.144439379854273],\"scale_ratio\":1.7019267906056383},{\"_key\":\"fit\",\"bbox_inventory\":[0.191591552734375,0.29017268371582033,0.0895067138671875],\"cat\":\"toy_box\",\"final_pose\":{\"aabb_max\":[-13.201858520507812,-9.646510124206543,0.4880935549736023],\"aabb_min\":[-13.820892333984375,-10.157681465148926,1.870095729827881e-05],\"position\":[-13.511362075805664,-9.902114868164062,0.17194098234176636],\"quaternion_xyzw\":[-8.801936928648502e-06,8.816394256427884e-06,-0.005211395677179098,0.9999866485595703]},\"fit_check\":\"fit\",\"idx\":1,\"model\":\"aviadj\",\"scale\":[3.135094590279644,1.7186071918246768,5.290092206326876],\"scale_ratio\":1.3470514209772055},{\"_key\":\"small\",\"bbox_inventory\":[0.2673648834228516,0.2673662261962891,0.017963875096291302],\"cat\":\"saucer\",\"final_pose\":{\"aabb_max\":[-11.80465030670166,-11.134001731872559,0.3690453767776489],\"aabb_min\":[-12.213624954223633,-11.473615646362305,-0.00021661818027496338],\"position\":[-12.009737014770508,-11.304291725158691,0.1645994633436203],\"quaternion_xyzw\":[-0.002343197353184223,0.002290084958076477,3.5688281059265137e-06,0.9999951720237732]},\"fit_check\":\"small\",\"idx\":0,\"model\":\"oxivmf\",\"scale\":[1.519368501425524,1.2614414078885572,17.826221798197896],\"scale_ratio\":0.9110131634327058}],\"extra_inside_check\":[{\"_indices\":[1],\"_key\":\"extra1_inside_check\",\"value\":true},{\"_indices\":[2],\"_key\":\"extra2_inside_check\",\"value\":true},{\"_indices\":[3],\"_key\":\"extra3_inside_check\",\"value\":false}],\"extra_placement_success\":[{\"_indices\":[1],\"_key\":\"extra1_placement_success\",\"value\":true},{\"_indices\":[2],\"_key\":\"extra2_placement_success\",\"value\":true},{\"_indices\":[3],\"_key\":\"extra3_placement_success\",\"value\":false}],\"extras\":[{\"_key\":\"extra1\",\"bbox_inventory\":[0.05901409912109375,0.064867431640625,0.11035662841796876],\"cat\":\"box_of_vegetable_juice\",\"final_pose\":{\"aabb_max\":[-12.501594543457031,-10.481611251831055,0.2597920894622803],\"aabb_min\":[-12.970702171325684,-10.798044204711914,0.021986067295074463],\"position\":[-12.738504409790039,-10.63642406463623,0.15109919011592865],\"quaternion_xyzw\":[0.0059820907190442085,0.019416814669966698,-0.6179649233818054,0.7859432101249695]},\"model\":\"jsnnlv\",\"pair_ratio\":0.7556853543203382,\"placement\":{\"aabb\":{\"aabb_difference_container_minus_object\":[0.30621814727783203,0.30223941802978516,0.3700965344905853],\"container\":{\"extent\":[0.7657318115234375,0.6358528137207031,0.6076105535030365],\"max\":[-12.336763381958008,-10.324339866638184,0.6068748235702515],\"min\":[-13.102495193481445,-10.960192680358887,-0.0007357299327850342]},\"object\":{\"extent\":[0.45951366424560547,0.33361339569091797,0.23751401901245117],\"max\":[-12.510425567626953,-10.453880310058594,0.2603640854358673],\"min\":[-12.969939231872559,-10.787493705749512,0.022850066423416138]}},\"bbox_check\":true,\"container_pose_after\":{\"aabb_max\":[-12.336763381958008,-10.324339866638184,0.6068748235702515],\"aabb_min\":[-13.102495193481445,-10.960192680358887,-0.0007357299327850342],\"position\":[-12.719672203063965,-10.642285346984863,0.2766211926937103],\"quaternion_xyzw\":[-1.5736324712634087e-05,5.6764649343676865e-05,0.0006340969121083617,0.9999999403953552]},\"container_pose_before\":{\"aabb_max\":[-12.329795837402344,-10.329448699951172,0.6068751215934753],\"aabb_min\":[-13.095528602600098,-10.965332984924316,-0.0007356107234954834],\"position\":[-12.7127046585083,-10.647396087646484,0.2766212522983551],\"quaternion_xyzw\":[-1.5826895833015442e-05,5.689823592547327e-05,2.6298221200704575e-07,1.000000238418579]},\"grasp_success\":true,\"images\":{\"after_place\":\"robot_eye_extra1_after_place.png\",\"before_pickup\":\"robot_eye_extra1_before_pickup.png\",\"before_place\":\"robot_eye_extra1_before_place.png\"},\"label\":\"extra1\",\"method_used\":\"inside\",\"object_pose_after\":{\"aabb_max\":[-12.510425567626953,-10.453880310058594,0.2603640854358673],\"aabb_min\":[-12.969939231872559,-10.787493705749512,0.022850066423416138],\"position\":[-12.742548942565918,-10.617281913757324,0.151839941740036],\"quaternion_xyzw\":[0.0068273721262812614,0.019173262640833855,-0.581904411315918,0.8130024671554565]},\"object_pose_before\":{\"aabb_max\":[-11.743047714233398,-10.409322738647461,0.22605939209461212],\"aabb_min\":[-12.029794692993164,-10.885457992553711,1.8574297428131104e-05],\"position\":[-11.886422157287598,-10.647390365600586,0.12419196963310242],\"quaternion_xyzw\":[-2.795368345687166e-07,5.98535621065821e-07,5.1571358739010975e-08,1.0]},\"orbital_views_after\":[{\"_key\":\"0\",\"azimuth_deg\":0.0,\"cam_height\":2.6529199410637063,\"exist_obj_containee\":true,\"exist_obj_container\":[{\"_indices\":[0],\"_key\":\"exist_obj_container_0\",\"value\":true},{\"_indices\":[1],\"_key\":\"exist_obj_container_1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_container_2\",\"value\":true}],\"exist_obj_extra\":[{\"_indices\":[1],\"_key\":\"exist_obj_extra1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_extra2\",\"value\":true}],\"eye\":[-10.735168775211132,-10.298756517527366,2.6529199410637063],\"image\":\"orbital_after_extra1_0.png\",\"quaternion_xyzw\":[0.27059805007309845,0.27059805007309845,0.6532814824381882,0.6532814824381882],\"radius\":2.3498501856287164},{\"_key\":\"1\",\"azimuth_deg\":59.99999999999999,\"cam_height\":2.6529199410637063,\"exist_obj_containee\":true,\"exist_obj_container\":[{\"_indices\":[0],\"_key\":\"exist_obj_container_0\",\"value\":true},{\"_indices\":[1],\"_key\":\"exist_obj_container_1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_container_2\",\"value\":true}],\"exist_obj_extra\":[{\"_indices\":[1],\"_key\":\"exist_obj_extra1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_extra2\",\"value\":true}],\"eye\":[-11.91009386802549,-8.263726561685319,2.6529199410637063],\"image\":\"orbital_after_extra1_1.png\",\"quaternion_xyzw\":[0.09904576054128768,0.36964381061438617,0.8923991008325227,0.23911761839433465],\"radius\":2.3498501856287164},{\"_key\":\"2\",\"azimuth_deg\":119.99999999999999,\"cam_height\":2.6529199410637063,\"exist_obj_containee\":true,\"exist_obj_container\":[{\"_indices\":[0],\"_key\":\"exist_obj_container_0\",\"value\":true},{\"_indices\":[1],\"_key\":\"exist_obj_container_1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_container_2\",\"value\":true}],\"exist_obj_extra\":[{\"_indices\":[1],\"_key\":\"exist_obj_extra1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_extra2\",\"value\":true}],\"eye\":[-14.259944053654205,-8.263726561685319,2.6529199410637063],\"image\":\"orbital_after_extra1_2.png\",\"quaternion_xyzw\":[-0.09904576054128755,0.3696438106143861,0.8923991008325228,-0.23911761839433437],\"radius\":2.3498501856287164},{\"_key\":\"3\",\"azimuth_deg\":180.0,\"cam_height\":2.6529199410637063,\"exist_obj_containee\":true,\"exist_obj_container\":[{\"_indices\":[0],\"_key\":\"exist_obj_container_0\",\"value\":true},{\"_indices\":[1],\"_key\":\"exist_obj_container_1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_container_2\",\"value\":true}],\"exist_obj_extra\":[{\"_indices\":[1],\"_key\":\"exist_obj_extra1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_extra2\",\"value\":true}],\"eye\":[-15.434869146468564,-10.298756517527366,2.6529199410637063],\"image\":\"orbital_after_extra1_3.png\",\"quaternion_xyzw\":[-0.27059805007309845,0.27059805007309845,0.6532814824381882,-0.6532814824381882],\"radius\":2.3498501856287164},{\"_key\":\"4\",\"azimuth_deg\":239.99999999999997,\"cam_height\":2.6529199410637063,\"exist_obj_containee\":true,\"exist_obj_container\":[{\"_indices\":[0],\"_key\":\"exist_obj_container_0\",\"value\":true},{\"_indices\":[1],\"_key\":\"exist_obj_container_1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_container_2\",\"value\":true}],\"exist_obj_extra\":[{\"_indices\":[1],\"_key\":\"exist_obj_extra1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_extra2\",\"value\":true}],\"eye\":[-14.259944053654207,-12.333786473369413,2.6529199410637063],\"image\":\"orbital_after_extra1_4.png\",\"quaternion_xyzw\":[0.36964381061438617,-0.09904576054128768,-0.23911761839433465,0.8923991008325227],\"radius\":2.3498501856287164},{\"_key\":\"5\",\"azimuth_deg\":300.0,\"cam_height\":2.6529199410637063,\"exist_obj_containee\":true,\"exist_obj_container\":[{\"_indices\":[0],\"_key\":\"exist_obj_container_0\",\"value\":false},{\"_indices\":[1],\"_key\":\"exist_obj_container_1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_container_2\",\"value\":true}],\"exist_obj_extra\":[{\"_indices\":[1],\"_key\":\"exist_obj_extra1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_extra2\",\"value\":true}],\"eye\":[-11.91009386802549,-12.333786473369413,2.6529199410637063],\"image\":\"orbital_after_extra1_5.png\",\"quaternion_xyzw\":[0.36964381061438617,0.09904576054128768,0.23911761839433465,0.8923991008325227],\"radius\":2.3498501856287164}],\"robot_pose_after_place\":{\"robot_position\":[-14.798479080200195,-10.203400611877441,0.00378340482711792],\"robot_quaternion_xyzw\":[0.003693740349262953,0.0034490758553147316,0.2655894458293915,0.9640730619430542]},\"robot_pose_before_pickup\":{\"robot_position\":[-14.798480033874512,-10.203400611877441,0.003783777356147766],\"robot_quaternion_xyzw\":[0.0036954879760742188,0.0034487589728087187,0.2655892074108124,0.9640730619430542]},\"robot_pose_before_place\":{\"robot_position\":[-14.798480033874512,-10.203400611877441,0.00378340482711792],\"robot_quaternion_xyzw\":[0.0036937338300049305,0.0034492211416363716,0.2655893862247467,0.9640730619430542]},\"state_returned\":true,\"success\":true},\"scale\":[4.858910886380935,7.340136801915958,2.048274419297432],\"target_container\":\"big\"},{\"_key\":\"extra2\",\"bbox_inventory\":[0.04973468017578125,0.0285391845703125,0.019476553916931153],\"cat\":\"white_turnip\",\"final_pose\":{\"aabb_max\":[-12.579622268676758,-10.432319641113281,0.5168993473052979],\"aabb_min\":[-12.962709426879883,-10.77904987335205,0.2494194060564041],\"position\":[-12.716641426086426,-10.64318561553955,0.3578205406665802],\"quaternion_xyzw\":[0.08509267866611481,0.03183861821889877,-0.377152681350708,0.9216839671134949]},\"model\":\"nnvlrd\",\"pair_ratio\":0.7556853543203382,\"placement\":{\"aabb\":{\"aabb_difference_container_minus_object\":[0.3826446533203125,0.2891254425048828,0.34013061225414276],\"container\":{\"extent\":[0.7657318115234375,0.6358556747436523,0.6076105535030365],\"max\":[-12.336819648742676,-10.324289321899414,0.6068748235702515],\"min\":[-13.102551460266113,-10.960144996643066,-0.0007357299327850342]},\"object\":{\"extent\":[0.383087158203125,0.34673023223876953,0.26747994124889374],\"max\":[-12.579622268676758,-10.432319641113281,0.5168993473052979],\"min\":[-12.962709426879883,-10.77904987335205,0.2494194060564041]}},\"bbox_check\":true,\"container_pose_after\":{\"aabb_max\":[-12.336819648742676,-10.324289321899414,0.6068748235702515],\"aabb_min\":[-13.102551460266113,-10.960144996643066,-0.0007357299327850342],\"position\":[-12.71972942352295,-10.642234802246094,0.2766212522983551],\"quaternion_xyzw\":[-1.5754951164126396e-05,5.6070100981742144e-05,0.0005739170592278242,1.0]},\"container_pose_before\":{\"aabb_max\":[-12.336763381958008,-10.324339866638184,0.6068748235702515],\"aabb_min\":[-13.102495193481445,-10.960192680358887,-0.0007357299327850342],\"position\":[-12.719672203063965,-10.642285346984863,0.2766211926937103],\"quaternion_xyzw\":[-1.5736324712634087e-05,5.6764649343676865e-05,0.0006340969121083617,0.9999999403953552]},\"grasp_success\":true,\"images\":{\"after_place\":\"robot_eye_extra2_after_place.png\",\"before_pickup\":\"robot_eye_extra2_before_pickup.png\",\"before_place\":\"robot_eye_extra2_before_place.png\"},\"label\":\"extra2\",\"method_used\":\"inside\",\"object_pose_after\":{\"aabb_max\":[-12.579622268676758,-10.432319641113281,0.5168993473052979],\"aabb_min\":[-12.962709426879883,-10.77904987335205,0.2494194060564041],\"position\":[-12.716641426086426,-10.64318561553955,0.3578205406665802],\"quaternion_xyzw\":[0.08509267866611481,0.03183861821889877,-0.377152681350708,0.9216839671134949]},\"object_pose_before\":{\"aabb_max\":[-13.379940032958984,-10.422086715698242,0.23014499247074127],\"aabb_min\":[-13.668644905090332,-10.90651798248291,-1.4290213584899902e-05],\"position\":[-13.539660453796387,-10.647673606872559,0.09893476963043213],\"quaternion_xyzw\":[0.0014869682490825653,0.0011520273983478546,1.1957250535488129e-05,0.9999982714653015]},\"orbital_views_after\":[{\"_key\":\"0\",\"azimuth_deg\":0.0,\"cam_height\":2.6529199410637063,\"exist_obj_containee\":true,\"exist_obj_container\":[{\"_indices\":[0],\"_key\":\"exist_obj_container_0\",\"value\":true},{\"_indices\":[1],\"_key\":\"exist_obj_container_1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_container_2\",\"value\":true}],\"exist_obj_extra\":[{\"_indices\":[1],\"_key\":\"exist_obj_extra1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_extra2\",\"value\":true}],\"eye\":[-10.735168775211132,-10.298756517527366,2.6529199410637063],\"image\":\"orbital_after_extra2_0.png\",\"quaternion_xyzw\":[0.27059805007309845,0.27059805007309845,0.6532814824381882,0.6532814824381882],\"radius\":2.3498501856287164},{\"_key\":\"1\",\"azimuth_deg\":59.99999999999999,\"cam_height\":2.6529199410637063,\"exist_obj_containee\":true,\"exist_obj_container\":[{\"_indices\":[0],\"_key\":\"exist_obj_container_0\",\"value\":true},{\"_indices\":[1],\"_key\":\"exist_obj_container_1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_container_2\",\"value\":true}],\"exist_obj_extra\":[{\"_indices\":[1],\"_key\":\"exist_obj_extra1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_extra2\",\"value\":true}],\"eye\":[-11.91009386802549,-8.263726561685319,2.6529199410637063],\"image\":\"orbital_after_extra2_1.png\",\"quaternion_xyzw\":[0.09904576054128768,0.36964381061438617,0.8923991008325227,0.23911761839433465],\"radius\":2.3498501856287164},{\"_key\":\"2\",\"azimuth_deg\":119.99999999999999,\"cam_height\":2.6529199410637063,\"exist_obj_containee\":true,\"exist_obj_container\":[{\"_indices\":[0],\"_key\":\"exist_obj_container_0\",\"value\":true},{\"_indices\":[1],\"_key\":\"exist_obj_container_1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_container_2\",\"value\":true}],\"exist_obj_extra\":[{\"_indices\":[1],\"_key\":\"exist_obj_extra1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_extra2\",\"value\":true}],\"eye\":[-14.259944053654205,-8.263726561685319,2.6529199410637063],\"image\":\"orbital_after_extra2_2.png\",\"quaternion_xyzw\":[-0.09904576054128755,0.3696438106143861,0.8923991008325228,-0.23911761839433437],\"radius\":2.3498501856287164},{\"_key\":\"3\",\"azimuth_deg\":180.0,\"cam_height\":2.6529199410637063,\"exist_obj_containee\":true,\"exist_obj_container\":[{\"_indices\":[0],\"_key\":\"exist_obj_container_0\",\"value\":true},{\"_indices\":[1],\"_key\":\"exist_obj_container_1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_container_2\",\"value\":true}],\"exist_obj_extra\":[{\"_indices\":[1],\"_key\":\"exist_obj_extra1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_extra2\",\"value\":true}],\"eye\":[-15.434869146468564,-10.298756517527366,2.6529199410637063],\"image\":\"orbital_after_extra2_3.png\",\"quaternion_xyzw\":[-0.27059805007309845,0.27059805007309845,0.6532814824381882,-0.6532814824381882],\"radius\":2.3498501856287164},{\"_key\":\"4\",\"azimuth_deg\":239.99999999999997,\"cam_height\":2.6529199410637063,\"exist_obj_containee\":true,\"exist_obj_container\":[{\"_indices\":[0],\"_key\":\"exist_obj_container_0\",\"value\":true},{\"_indices\":[1],\"_key\":\"exist_obj_container_1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_container_2\",\"value\":true}],\"exist_obj_extra\":[{\"_indices\":[1],\"_key\":\"exist_obj_extra1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_extra2\",\"value\":true}],\"eye\":[-14.259944053654207,-12.333786473369413,2.6529199410637063],\"image\":\"orbital_after_extra2_4.png\",\"quaternion_xyzw\":[0.36964381061438617,-0.09904576054128768,-0.23911761839433465,0.8923991008325227],\"radius\":2.3498501856287164},{\"_key\":\"5\",\"azimuth_deg\":300.0,\"cam_height\":2.6529199410637063,\"exist_obj_containee\":true,\"exist_obj_container\":[{\"_indices\":[0],\"_key\":\"exist_obj_container_0\",\"value\":false},{\"_indices\":[1],\"_key\":\"exist_obj_container_1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_container_2\",\"value\":true}],\"exist_obj_extra\":[{\"_indices\":[1],\"_key\":\"exist_obj_extra1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_extra2\",\"value\":true}],\"eye\":[-11.91009386802549,-12.333786473369413,2.6529199410637063],\"image\":\"orbital_after_extra2_5.png\",\"quaternion_xyzw\":[0.36964381061438617,0.09904576054128768,0.23911761839433465,0.8923991008325227],\"radius\":2.3498501856287164}],\"robot_pose_after_place\":{\"robot_position\":[-14.798479080200195,-10.203400611877441,0.0037834346294403076],\"robot_quaternion_xyzw\":[0.003693968988955021,0.00344915222376585,0.2655893564224243,0.9640730619430542]},\"robot_pose_before_pickup\":{\"robot_position\":[-14.798479080200195,-10.203400611877441,0.003783479332923889],\"robot_quaternion_xyzw\":[0.0036939168348908424,0.0034492434933781624,0.2655894160270691,0.9640730619430542]},\"robot_pose_before_place\":{\"robot_position\":[-14.798479080200195,-10.203400611877441,0.003783494234085083],\"robot_quaternion_xyzw\":[0.003693976905196905,0.003449241630733013,0.2655894160270691,0.9640730619430542]},\"state_returned\":true,\"success\":true},\"scale\":[5.765478890303163,16.68358186822244,11.605783032897731],\"target_container\":\"big\"}],\"floor_name\":\"floors_wtwwvl_0\",\"initial_poses\":[{\"_key\":\"obj_containee\",\"aabb_max\":[-13.870643615722656,-9.101380348205566,0.3515216112136841],\"aabb_min\":[-14.316061973571777,-9.472067832946777,1.8805265426635742e-05],\"position\":[-14.1594820022583,-9.29259204864502,0.1288999617099762],\"quaternion_xyzw\":[0.0005507767200469971,0.00024743564426898956,-4.6892091631889343e-07,0.9999998211860657]},{\"_key\":\"obj_container_0\",\"aabb_max\":[-11.80465030670166,-11.134001731872559,0.3690453767776489],\"aabb_min\":[-12.213624954223633,-11.473615646362305,-0.00021661818027496338],\"position\":[-12.009737014770508,-11.304291725158691,0.1645994931459427],\"quaternion_xyzw\":[-0.0023431945592164993,0.0022900840267539024,3.5762786865234375e-06,0.9999947547912598]},{\"_key\":\"obj_container_1\",\"aabb_max\":[-13.20380687713623,-9.645588874816895,0.48808538913726807],\"aabb_min\":[-13.819997787475586,-10.152376174926758,1.8849968910217285e-05],\"position\":[-13.511876106262207,-9.898996353149414,0.1719411164522171],\"quaternion_xyzw\":[-1.2946038623340428e-06,1.9505678210407495e-06,-6.933696568012238e-07,1.0000001192092896]},{\"_key\":\"obj_container_2\",\"aabb_max\":[-12.329795837402344,-10.329448699951172,0.6068751215934753],\"aabb_min\":[-13.095528602600098,-10.965332984924316,-0.0007356107234954834],\"position\":[-12.7127046585083,-10.647396087646484,0.2766212522983551],\"quaternion_xyzw\":[-1.5827943570911884e-05,5.690565740223974e-05,2.6298221200704575e-07,1.0000001192092896]},{\"_key\":\"obj_extra1\",\"aabb_max\":[-11.743047714233398,-10.409322738647461,0.22605939209461212],\"aabb_min\":[-12.029794692993164,-10.885457992553711,1.8574297428131104e-05],\"position\":[-11.886422157287598,-10.647390365600586,0.12419196963310242],\"quaternion_xyzw\":[-2.795368345687166e-07,5.98535621065821e-07,5.1571358739010975e-08,1.0]},{\"_key\":\"obj_extra2\",\"aabb_max\":[-13.379940032958984,-10.422086715698242,0.23014499247074127],\"aabb_min\":[-13.668644905090332,-10.90651798248291,-1.4290213584899902e-05],\"position\":[-13.539660453796387,-10.647673606872559,0.09893476963043213],\"quaternion_xyzw\":[0.0014869831502437592,0.0011520348489284515,1.2017786502838135e-05,0.9999982714653015]}],\"orbital_views_before\":[{\"_key\":\"0\",\"azimuth_deg\":0.0,\"cam_height\":2.6529199410637063,\"exist_obj_containee\":true,\"exist_obj_container\":[{\"_indices\":[0],\"_key\":\"exist_obj_container_0\",\"value\":true},{\"_indices\":[1],\"_key\":\"exist_obj_container_1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_container_2\",\"value\":true}],\"exist_obj_extra\":[{\"_indices\":[1],\"_key\":\"exist_obj_extra1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_extra2\",\"value\":true}],\"eye\":[-10.735168775211132,-10.298756517527366,2.6529199410637063],\"image\":\"orbital_before_0.png\",\"quaternion_xyzw\":[0.27059805007309845,0.27059805007309845,0.6532814824381882,0.6532814824381882],\"radius\":2.3498501856287164},{\"_key\":\"1\",\"azimuth_deg\":59.99999999999999,\"cam_height\":2.6529199410637063,\"exist_obj_containee\":true,\"exist_obj_container\":[{\"_indices\":[0],\"_key\":\"exist_obj_container_0\",\"value\":true},{\"_indices\":[1],\"_key\":\"exist_obj_container_1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_container_2\",\"value\":true}],\"exist_obj_extra\":[{\"_indices\":[1],\"_key\":\"exist_obj_extra1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_extra2\",\"value\":true}],\"eye\":[-11.91009386802549,-8.263726561685319,2.6529199410637063],\"image\":\"orbital_before_1.png\",\"quaternion_xyzw\":[0.09904576054128768,0.36964381061438617,0.8923991008325227,0.23911761839433465],\"radius\":2.3498501856287164},{\"_key\":\"2\",\"azimuth_deg\":119.99999999999999,\"cam_height\":2.6529199410637063,\"exist_obj_containee\":false,\"exist_obj_container\":[{\"_indices\":[0],\"_key\":\"exist_obj_container_0\",\"value\":true},{\"_indices\":[1],\"_key\":\"exist_obj_container_1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_container_2\",\"value\":true}],\"exist_obj_extra\":[{\"_indices\":[1],\"_key\":\"exist_obj_extra1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_extra2\",\"value\":true}],\"eye\":[-14.259944053654205,-8.263726561685319,2.6529199410637063],\"image\":\"orbital_before_2.png\",\"quaternion_xyzw\":[-0.09904576054128755,0.3696438106143861,0.8923991008325228,-0.23911761839433437],\"radius\":2.3498501856287164},{\"_key\":\"3\",\"azimuth_deg\":180.0,\"cam_height\":2.6529199410637063,\"exist_obj_containee\":true,\"exist_obj_container\":[{\"_indices\":[0],\"_key\":\"exist_obj_container_0\",\"value\":true},{\"_indices\":[1],\"_key\":\"exist_obj_container_1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_container_2\",\"value\":true}],\"exist_obj_extra\":[{\"_indices\":[1],\"_key\":\"exist_obj_extra1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_extra2\",\"value\":true}],\"eye\":[-15.434869146468564,-10.298756517527366,2.6529199410637063],\"image\":\"orbital_before_3.png\",\"quaternion_xyzw\":[-0.27059805007309845,0.27059805007309845,0.6532814824381882,-0.6532814824381882],\"radius\":2.3498501856287164},{\"_key\":\"4\",\"azimuth_deg\":239.99999999999997,\"cam_height\":2.6529199410637063,\"exist_obj_containee\":true,\"exist_obj_container\":[{\"_indices\":[0],\"_key\":\"exist_obj_container_0\",\"value\":true},{\"_indices\":[1],\"_key\":\"exist_obj_container_1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_container_2\",\"value\":true}],\"exist_obj_extra\":[{\"_indices\":[1],\"_key\":\"exist_obj_extra1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_extra2\",\"value\":true}],\"eye\":[-14.259944053654207,-12.333786473369413,2.6529199410637063],\"image\":\"orbital_before_4.png\",\"quaternion_xyzw\":[0.36964381061438617,-0.09904576054128768,-0.23911761839433465,0.8923991008325227],\"radius\":2.3498501856287164},{\"_key\":\"5\",\"azimuth_deg\":300.0,\"cam_height\":2.6529199410637063,\"exist_obj_containee\":true,\"exist_obj_container\":[{\"_indices\":[0],\"_key\":\"exist_obj_container_0\",\"value\":false},{\"_indices\":[1],\"_key\":\"exist_obj_container_1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_container_2\",\"value\":true}],\"exist_obj_extra\":[{\"_indices\":[1],\"_key\":\"exist_obj_extra1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_extra2\",\"value\":true}],\"eye\":[-11.91009386802549,-12.333786473369413,2.6529199410637063],\"image\":\"orbital_before_5.png\",\"quaternion_xyzw\":[0.36964381061438617,0.09904576054128768,0.23911761839433465,0.8923991008325227],\"radius\":2.3498501856287164}],\"row_layout\":{\"anchor_xy\":[-13.09375,-10.290579795837402],\"collision_free\":true,\"initial_poses\":[{\"_key\":\"obj_containee\",\"aabb_max\":[-13.870643615722656,-9.101380348205566,0.3515216112136841],\"aabb_min\":[-14.316061973571777,-9.472067832946777,1.8805265426635742e-05],\"position\":[-14.1594820022583,-9.29259204864502,0.1288999617099762],\"quaternion_xyzw\":[0.0005507767200469971,0.00024743564426898956,-4.6892091631889343e-07,0.9999998211860657]},{\"_key\":\"obj_container_0\",\"aabb_max\":[-11.80465030670166,-11.134001731872559,0.3690453767776489],\"aabb_min\":[-12.213624954223633,-11.473615646362305,-0.00021661818027496338],\"position\":[-12.009737014770508,-11.304291725158691,0.1645994931459427],\"quaternion_xyzw\":[-0.0023431945592164993,0.0022900840267539024,3.5762786865234375e-06,0.9999947547912598]},{\"_key\":\"obj_container_1\",\"aabb_max\":[-13.20380687713623,-9.645588874816895,0.48808538913726807],\"aabb_min\":[-13.819997787475586,-10.152376174926758,1.8849968910217285e-05],\"position\":[-13.511876106262207,-9.898996353149414,0.1719411164522171],\"quaternion_xyzw\":[-1.2946038623340428e-06,1.9505678210407495e-06,-6.933696568012238e-07,1.0000001192092896]},{\"_key\":\"obj_container_2\",\"aabb_max\":[-12.329795837402344,-10.329448699951172,0.6068751215934753],\"aabb_min\":[-13.095528602600098,-10.965332984924316,-0.0007356107234954834],\"position\":[-12.7127046585083,-10.647396087646484,0.2766212522983551],\"quaternion_xyzw\":[-1.5827943570911884e-05,5.690565740223974e-05,2.6298221200704575e-07,1.0000001192092896]},{\"_key\":\"obj_extra1\",\"aabb_max\":[-11.743047714233398,-10.409322738647461,0.22605939209461212],\"aabb_min\":[-12.029794692993164,-10.885457992553711,1.8574297428131104e-05],\"position\":[-11.886422157287598,-10.647390365600586,0.12419196963310242],\"quaternion_xyzw\":[-2.795368345687166e-07,5.98535621065821e-07,5.1571358739010975e-08,1.0]},{\"_key\":\"obj_extra2\",\"aabb_max\":[-13.379940032958984,-10.422086715698242,0.23014499247074127],\"aabb_min\":[-13.668644905090332,-10.90651798248291,-1.4290213584899902e-05],\"position\":[-13.539660453796387,-10.647673606872559,0.09893476963043213],\"quaternion_xyzw\":[0.0014869831502437592,0.0011520348489284515,1.2017786502838135e-05,0.9999982714653015]}],\"row_angle_deg\":316.87775780281567,\"row_axis\":[0.729896975022392,-0.6835571708739231],\"row_centres\":[[-14.159544396228977,-9.292450707554483],[-13.511879229473887,-9.898996815033714],[-12.712735990389525,-10.647403933195523],[-12.01049352545072,-11.305062327500247]],\"row_gap_m\":0.2,\"row_half_along\":[0.2892511480215441,0.39808663925346144,0.49678464591640115,0.26532711638712425],\"row_midpoint\":[-13.085018960839848,-10.298756517527366],\"row_order\":[\"obj_containee\",\"obj_container_1\",\"obj_container_2\",\"obj_container_0\"],\"total_span_m\":3.498899099157062},\"visibility\":[{\"_key\":\"obj_containee\",\"value\":false},{\"_key\":\"obj_container_0\",\"value\":false},{\"_key\":\"obj_container_1\",\"value\":false},{\"_key\":\"obj_container_2\",\"value\":true},{\"_key\":\"obj_extra1\",\"value\":true},{\"_key\":\"obj_extra2\",\"value\":true}]}","options_json":"[\"bucket\",\"toy box\",\"saucer\"]","question":"Which container does each object best fit inside?\n- doll\n- box of vegetable juice\n- white turnip\nContainers: bucket, toy box, saucer","room":"lobby_0","runner_task":"storage","scene":"restaurant_hotel","small_task":"Rigid Containment"},"observations":[],"question":{"answer_type":"sequence","options":[],"original":"Which container does each object best fit inside?\n- doll\n- box of vegetable juice\n- white turnip\nContainers: bucket, toy box, saucer","text":"Which container does each object best fit inside?\n- doll\n- box of vegetable juice\n- white turnip\nContainers: bucket, toy box, saucer"},"reference_media":[],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":54,"stratum_pool":80},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Physical Structure/Rigid Containment/restaurant_hotel/lobby_0/restaurant_hotel_scene_dict_storage2_1_revised__criterion_4.json","annotation_sha256":"d6eac491cb3589575e8e4664745e3ca1af5cda3e9a094268368b01aa4c42d4ba","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"7d6718548ef48a5c6874d7493a2cf5693a54ffec4e027f67250c6fa4493af79f","sample_id":"2139","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"[{\"_key\":\"box of vegetable juice\",\"value\":\"bucket\"},{\"_key\":\"doll\",\"value\":\"toy box\"},{\"_key\":\"white turnip\",\"value\":\"bucket\"}]","metric":"official_esi_task","original_answer":"[{\"_key\":\"box of vegetable juice\",\"value\":\"bucket\"},{\"_key\":\"doll\",\"value\":\"toy box\"},{\"_key\":\"white turnip\",\"value\":\"bucket\"}]"},"task":{"category":"Physical Structure","role":"spatial_core","skill_tags":["Physical Structure","Rigid Containment"],"stratum":"ESI-Bench/Physical Structure/Rigid Containment","subcategory":"Rigid Containment"},"transforms":[]}
{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Physical Structure","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"wicker basket","id":"2624324d7bc09696","metadata":"vendor/ESI-Bench/dataset/json_clean/Physical Structure/Rigid Containment/grocery_store_half_stocked/grocery_store_0/grocery_store_half_stocked_scene_dict_storage2_2_revised__none.json","metadata_sha256":"d7f52ea80f5d70d1dc90a4eaa362294f2f0b2a14a7e67aaaed6c1463c2d7a742","observation_policy":"runtime camera observations; no oracle poses","question":"Which container does the soccer ball best fit inside: the trash can or the petri dish or the wicker basket?","room":"grocery_store_0","scene":"grocery_store_half_stocked","subcategory":"Rigid Containment","task":"physical_structure.rigid_containment"},"group":{"id":"ESI-scene/grocery_store_half_stocked","kind":"scene","room":"grocery_store_0","scene":"grocery_store_half_stocked"},"id":"0f0140a4287984069c67","native_annotation":{"answer":"wicker basket","answer_type":"choice","big_task":"Physical Structure","gt_camera_poses":[{"baseline_selected":true,"camera_pose":{"position":[3.8507777584081504,-2.1008081304544595,0.741553321480751],"quaternion_xyzw":[0.13082961105613283,0.31585062137171294,0.868211826441207,0.3596251135246637]},"camera_pose_rule":null,"fov_deg":null,"group":"initial_inspection/objects","metadata_pointer":"/initial_poses/containee","original_image_path":"gt_closeup_containee.png","phase":"initial_inspection","pose_source":"derived_exactly_from_saved_AABB_using_BEHAVIOR-1K/batch_storage.py","render_mode":"rigid_initial_snapshot","role":"gt_inspection","state_key":"rigid_initial","view_id":"initial_inspection/objects/gt_closeup_containee.png"},{"baseline_selected":true,"camera_pose":{"position":[4.810794350861773,-1.3876918580539375,0.9045279026031494],"quaternion_xyzw":[0.13271011081774084,0.32039054940022643,0.8665467595278946,0.35893542022691105]},"camera_pose_rule":null,"fov_deg":null,"group":"initial_inspection/containers","metadata_pointer":"/containers/0","original_image_path":"gt_closeup_container_big.png","phase":"initial_inspection","pose_source":"derived_exactly_from_saved_AABB_using_BEHAVIOR-1K/batch_storage.py","render_mode":"rigid_initial_snapshot","role":"gt_inspection","state_key":"rigid_initial","view_id":"initial_inspection/containers/gt_closeup_container_big.png"},{"baseline_selected":true,"camera_pose":{"position":[4.194355376436061,-1.787172905729467,0.8310653269290924],"quaternion_xyzw":[0.1318832516366377,0.3183943347510342,0.8672822136950118,0.35924005531743497]},"camera_pose_rule":null,"fov_deg":null,"group":"initial_inspection/containers","metadata_pointer":"/containers/1","original_image_path":"gt_closeup_container_fit.png","phase":"initial_inspection","pose_source":"derived_exactly_from_saved_AABB_using_BEHAVIOR-1K/batch_storage.py","render_mode":"rigid_initial_snapshot","role":"gt_inspection","state_key":"rigid_initial","view_id":"initial_inspection/containers/gt_closeup_container_fit.png"},{"baseline_selected":true,"camera_pose":{"position":[5.282082266369962,-1.1102809838856234,0.7316001355648041],"quaternion_xyzw":[0.13062831457247273,0.3153646486708026,0.8683884666219462,0.359698280283186]},"camera_pose_rule":null,"fov_deg":null,"group":"initial_inspection/containers","metadata_pointer":"/containers/2","original_image_path":"gt_closeup_container_small.png","phase":"initial_inspection","pose_source":"derived_exactly_from_saved_AABB_using_BEHAVIOR-1K/batch_storage.py","render_mode":"rigid_initial_snapshot","role":"gt_inspection","state_key":"rigid_initial","view_id":"initial_inspection/containers/gt_closeup_container_small.png"},{"baseline_selected":true,"camera_pose":{"position":[4.147848541368425,-1.8428686312542553,0.762993574142456],"quaternion_xyzw":[0.1310572173358316,0.3164001115390429,0.8680117280379078,0.35954223005220803]},"camera_pose_rule":null,"fov_deg":null,"group":"correct_placements/containee","metadata_pointer":"/containee/placement/object_pose_after","original_image_path":"gt_closeup_placed_containee.png","phase":"post_placement","pose_source":"derived_exactly_from_saved_AABB_using_BEHAVIOR-1K/batch_storage.py","render_mode":"placement_snapshot","role":"gt_outcome_object","state_key":"placement:containee","view_id":"correct_placements/containee/gt_closeup_placed_containee.png"},{"baseline_selected":true,"camera_pose":{"position":[3.79638934135437,-2.1862622499465942,1.1310653567314148],"quaternion_xyzw":[0.0,-0.0,-0.0,1.0]},"camera_pose_rule":null,"fov_deg":null,"group":"correct_placements/containee","metadata_pointer":"/containee/placement/container_pose_after","original_image_path":"container_final_containee.png","phase":"post_placement","pose_source":"derived_exactly_from_saved_AABB_using_BEHAVIOR-1K/batch_storage.py","render_mode":"placement_snapshot","role":"gt_outcome_container","state_key":"placement:containee","view_id":"correct_placements/containee/container_final_containee.png"}],"id":"2108","image_paths_json":"[]","metadata_json":"{\"containee\":{\"bbox_inventory\":[0.24265951538085936,0.24247017669677734,0.24287586212158202],\"cat\":\"soccer_ball\",\"final_pose\":{\"aabb_max\":[3.900620222091675,-2.0910484790802,0.26299357414245605],\"aabb_min\":[3.6574299335479736,-2.3323357105255127,0.022177353501319885],\"position\":[3.777470350265503,-2.211076021194458,0.14106549322605133],\"quaternion_xyzw\":[0.10828430205583572,-0.045856498181819916,-0.24437068402767181,0.9625253081321716]},\"model\":\"ikagkc\",\"placement\":{\"aabb\":{\"aabb_difference_container_minus_object\":[0.08235311508178711,0.08392739295959473,0.08487321436405182],\"container\":{\"extent\":[0.3255434036254883,0.3252146244049072,0.325689435005188],\"max\":[3.9591610431671143,-2.0236549377441406,0.3310653567314148],\"min\":[3.633617639541626,-2.348869562149048,0.005375921726226807]},\"object\":{\"extent\":[0.24319028854370117,0.2412872314453125,0.24081622064113617],\"max\":[3.900620222091675,-2.0910484790802,0.26299357414245605],\"min\":[3.6574299335479736,-2.3323357105255127,0.022177353501319885]}},\"bbox_check\":true,\"container_pose_after\":{\"aabb_max\":[3.9591610431671143,-2.0236549377441406,0.3310653567314148],\"aabb_min\":[3.633617639541626,-2.348869562149048,0.005375921726226807],\"position\":[3.79681396484375,-2.1876978874206543,0.14085303246974945],\"quaternion_xyzw\":[-0.00016783014871180058,-0.0002735871821641922,-0.0008980215061455965,0.9999995827674866]},\"container_pose_before\":{\"aabb_max\":[3.959105968475342,-2.0225822925567627,0.3310653269290924],\"aabb_min\":[3.6341185569763184,-2.347249746322632,0.005375981330871582],\"position\":[3.79704213142395,-2.1863577365875244,0.14085295796394348],\"quaternion_xyzw\":[-0.00016747531481087208,-0.0002738386392593384,6.984919309616089e-08,1.0]},\"grasp_success\":true,\"images\":{\"after_place\":\"robot_eye_containee_after_place.png\",\"before_pickup\":\"robot_eye_containee_before_pickup.png\",\"before_place\":\"robot_eye_containee_before_place.png\"},\"label\":\"containee\",\"method_used\":\"inside\",\"object_pose_after\":{\"aabb_max\":[3.900620222091675,-2.0910484790802,0.26299357414245605],\"aabb_min\":[3.6574299335479736,-2.3323357105255127,0.022177353501319885],\"position\":[3.777470350265503,-2.211076021194458,0.14106549322605133],\"quaternion_xyzw\":[0.10828430205583572,-0.045856475830078125,-0.24437068402767181,0.9625253081321716]},\"object_pose_before\":{\"aabb_max\":[3.602626085281372,-2.3478047847747803,0.24155332148075104],\"aabb_min\":[3.360163927078247,-2.5925769805908203,-0.004343144595623016],\"position\":[3.480470657348633,-2.470798969268799,0.11914350837469101],\"quaternion_xyzw\":[-0.19147448241710663,0.5901656746864319,-0.3427771329879761,0.7053694725036621]},\"orbital_views_after\":[{\"_key\":\"0\",\"azimuth_deg\":0.0,\"cam_height\":1.9703936982021761,\"exist_obj_containee\":true,\"exist_obj_container\":[{\"_indices\":[0],\"_key\":\"exist_obj_container_0\",\"value\":true},{\"_indices\":[1],\"_key\":\"exist_obj_container_1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_container_2\",\"value\":true}],\"exist_obj_extra\":[{\"_indices\":[1],\"_key\":\"exist_obj_extra1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_extra2\",\"value\":true}],\"eye\":[5.87855625222306,-1.988623889637311,1.9703936982021761],\"image\":\"orbital_after_containee_0.png\",\"quaternion_xyzw\":[0.27059805007309856,0.27059805007309856,0.6532814824381882,0.6532814824381882],\"radius\":1.770301319198413},{\"_key\":\"1\",\"azimuth_deg\":59.99999999999999,\"cam_height\":1.9703936982021761,\"exist_obj_containee\":false,\"exist_obj_container\":[{\"_indices\":[0],\"_key\":\"exist_obj_container_0\",\"value\":false},{\"_indices\":[1],\"_key\":\"exist_obj_container_1\",\"value\":false},{\"_indices\":[2],\"_key\":\"exist_obj_container_2\",\"value\":false}],\"exist_obj_extra\":[{\"_indices\":[1],\"_key\":\"exist_obj_extra1\",\"value\":false},{\"_indices\":[2],\"_key\":\"exist_obj_extra2\",\"value\":false}],\"eye\":[4.993405592623853,-0.45549797485838117,1.9703936982021761],\"image\":\"orbital_after_containee_1.png\",\"quaternion_xyzw\":[0.09904576054128765,0.36964381061438606,0.8923991008325227,0.23911761839433454],\"radius\":1.770301319198413},{\"_key\":\"2\",\"azimuth_deg\":119.99999999999999,\"cam_height\":1.9703936982021761,\"exist_obj_containee\":false,\"exist_obj_container\":[{\"_indices\":[0],\"_key\":\"exist_obj_container_0\",\"value\":false},{\"_indices\":[1],\"_key\":\"exist_obj_container_1\",\"value\":false},{\"_indices\":[2],\"_key\":\"exist_obj_container_2\",\"value\":false}],\"exist_obj_extra\":[{\"_indices\":[1],\"_key\":\"exist_obj_extra1\",\"value\":false},{\"_indices\":[2],\"_key\":\"exist_obj_extra2\",\"value\":false}],\"eye\":[3.2231042734254407,-0.45549797485838095,1.9703936982021761],\"image\":\"orbital_after_containee_2.png\",\"quaternion_xyzw\":[-0.09904576054128757,0.3696438106143861,0.8923991008325228,-0.2391176183943344],\"radius\":1.770301319198413},{\"_key\":\"3\",\"azimuth_deg\":180.0,\"cam_height\":1.9703936982021761,\"exist_obj_containee\":true,\"exist_obj_container\":[{\"_indices\":[0],\"_key\":\"exist_obj_container_0\",\"value\":true},{\"_indices\":[1],\"_key\":\"exist_obj_container_1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_container_2\",\"value\":true}],\"exist_obj_extra\":[{\"_indices\":[1],\"_key\":\"exist_obj_extra1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_extra2\",\"value\":true}],\"eye\":[2.3379536138262336,-1.9886238896373107,1.9703936982021761],\"image\":\"orbital_after_containee_3.png\",\"quaternion_xyzw\":[-0.27059805007309845,0.27059805007309856,0.6532814824381883,-0.6532814824381882],\"radius\":1.770301319198413},{\"_key\":\"4\",\"azimuth_deg\":239.99999999999997,\"cam_height\":1.9703936982021761,\"exist_obj_containee\":false,\"exist_obj_container\":[{\"_indices\":[0],\"_key\":\"exist_obj_container_0\",\"value\":false},{\"_indices\":[1],\"_key\":\"exist_obj_container_1\",\"value\":false},{\"_indices\":[2],\"_key\":\"exist_obj_container_2\",\"value\":false}],\"exist_obj_extra\":[{\"_indices\":[1],\"_key\":\"exist_obj_extra1\",\"value\":false},{\"_indices\":[2],\"_key\":\"exist_obj_extra2\",\"value\":false}],\"eye\":[3.2231042734254394,-3.5217498044162405,1.9703936982021761],\"image\":\"orbital_after_containee_4.png\",\"quaternion_xyzw\":[0.3696438106143861,-0.0990457605412877,-0.23911761839433476,0.8923991008325227],\"radius\":1.770301319198413},{\"_key\":\"5\",\"azimuth_deg\":300.0,\"cam_height\":1.9703936982021761,\"exist_obj_containee\":false,\"exist_obj_container\":[{\"_indices\":[0],\"_key\":\"exist_obj_container_0\",\"value\":false},{\"_indices\":[1],\"_key\":\"exist_obj_container_1\",\"value\":false},{\"_indices\":[2],\"_key\":\"exist_obj_container_2\",\"value\":false}],\"exist_obj_extra\":[{\"_indices\":[1],\"_key\":\"exist_obj_extra1\",\"value\":false},{\"_indices\":[2],\"_key\":\"exist_obj_extra2\",\"value\":false}],\"eye\":[4.993405592623853,-3.521749804416241,1.9703936982021761],\"image\":\"orbital_after_containee_5.png\",\"quaternion_xyzw\":[0.36964381061438617,0.09904576054128765,0.2391176183943346,0.8923991008325228],\"radius\":1.770301319198413}],\"robot_pose_after_place\":{\"robot_position\":[1.8644737005233765,-3.0436694622039795,0.009310275316238403],\"robot_quaternion_xyzw\":[0.00499481987208128,0.0007736249244771898,-0.32253918051719666,0.9465426802635193]},\"robot_pose_before_pickup\":{\"robot_position\":[1.8644737005233765,-3.0436692237854004,0.009310230612754822],\"robot_quaternion_xyzw\":[0.004995048511773348,0.0007736100233159959,-0.3225390613079071,0.9465426802635193]},\"robot_pose_before_place\":{\"robot_position\":[1.8644737005233765,-3.0436692237854004,0.009310245513916016],\"robot_quaternion_xyzw\":[0.004994998686015606,0.0007736211991868913,-0.32253900170326233,0.9465427398681641]},\"state_returned\":true,\"success\":true},\"scale\":[1.0,1.0,1.0],\"target_container\":\"fit\"},\"containers\":[{\"_key\":\"big\",\"bbox_inventory\":[0.28011561584472655,0.2793323516845703,0.28000004577636717],\"cat\":\"trash_can\",\"final_pose\":{\"aabb_max\":[4.311342239379883,-1.4891984462738037,0.39998650550842285],\"aabb_min\":[3.8619985580444336,-1.8868070840835571,0.005369946360588074],\"position\":[4.101961612701416,-1.704388976097107,0.1719285249710083],\"quaternion_xyzw\":[-0.1236821860074997,-0.6396596431732178,0.08312654495239258,0.7540745735168457]},\"fit_check\":\"big\",\"idx\":0,\"model\":\"jlawet\",\"scale\":[1.4075474963022039,1.4103930019611641,1.4093838998893915],\"scale_ratio\":1.6248117579010657},{\"_key\":\"fit\",\"bbox_inventory\":[0.3085646667480469,0.30861827087402344,0.28405615234375],\"cat\":\"wicker_basket\",\"final_pose\":{\"aabb_max\":[3.9591610431671143,-2.0236549377441406,0.3310653567314148],\"aabb_min\":[3.633617639541626,-2.348869562149048,0.005375921726226807],\"position\":[3.79681396484375,-2.1876981258392334,0.14085304737091064],\"quaternion_xyzw\":[-0.00016780034638941288,-0.0002735918387770653,-0.000898066908121109,0.9999999403953552]},\"fit_check\":\"fit\",\"idx\":1,\"model\":\"jqfftz\",\"scale\":[1.0411750107198503,1.040181917163462,1.1320165062307315],\"scale_ratio\":1.3239531106164324},{\"_key\":\"small\",\"bbox_inventory\":[0.1009066162109375,0.1009066162109375,0.013342339515686035],\"cat\":\"petri_dish\",\"final_pose\":{\"aabb_max\":[5.032310485839844,-1.3601429462432861,0.23160013556480408],\"aabb_min\":[4.806488037109375,-1.5857850313186646,0.005516435950994492],\"position\":[4.919409275054932,-1.4729933738708496,0.05646707862615585],\"quaternion_xyzw\":[-9.169941768050194e-05,-2.3912638425827026e-05,-3.350432962179184e-07,1.000000238418579]},\"fit_check\":\"small\",\"idx\":2,\"model\":\"vbiqcq\",\"scale\":[2.237945330635393,2.2361991406156654,16.940419380225],\"scale_ratio\":0.9306187322802915}],\"extra_inside_check\":[{\"_indices\":[1],\"_key\":\"extra1_inside_check\",\"value\":true},{\"_indices\":[2],\"_key\":\"extra2_inside_check\",\"value\":false},{\"_indices\":[3],\"_key\":\"extra3_inside_check\",\"value\":false}],\"extra_placement_success\":[{\"_indices\":[1],\"_key\":\"extra1_placement_success\",\"value\":true},{\"_indices\":[2],\"_key\":\"extra2_placement_success\",\"value\":false},{\"_indices\":[3],\"_key\":\"extra3_placement_success\",\"value\":false}],\"extras\":[{\"_key\":\"extra1\",\"bbox_inventory\":[1.446039794921875,1.4401991577148439,1.2113118286132813],\"cat\":\"cubicle\",\"final_pose\":{\"aabb_max\":[4.237451553344727,-1.6241412162780762,0.20869597792625427],\"aabb_min\":[3.917616605758667,-1.8088929653167725,0.025759007781744003],\"position\":[4.1032819747924805,-1.7186691761016846,0.08668968081474304],\"quaternion_xyzw\":[-0.5246813893318176,0.5487686991691589,0.436408668756485,0.4828145503997803]},\"model\":\"hzalfx\",\"pair_ratio\":0.7757509933543306,\"placement\":{\"aabb\":{\"aabb_difference_container_minus_object\":[0.13460612297058105,0.20137834548950195,0.19703876972198486],\"container\":{\"extent\":[0.4557812213897705,0.3958117961883545,0.39438648521900177],\"max\":[4.31604528427124,-1.4461318254470825,0.3997177481651306],\"min\":[3.8602640628814697,-1.841943621635437,0.005331262946128845]},\"object\":{\"extent\":[0.32117509841918945,0.19443345069885254,0.1973477154970169],\"max\":[4.2422590255737305,-1.5968143939971924,0.21809975802898407],\"min\":[3.921083927154541,-1.791247844696045,0.020752042531967163]}},\"bbox_check\":true,\"container_pose_after\":{\"aabb_max\":[4.31604528427124,-1.4461318254470825,0.3997177481651306],\"aabb_min\":[3.8602640628814697,-1.841943621635437,0.005331262946128845],\"position\":[4.104104518890381,-1.6695222854614258,0.17177098989486694],\"quaternion_xyzw\":[-0.19665482640266418,-0.6211053133010864,0.1358189582824707,0.746397078037262]},\"container_pose_before\":{\"aabb_max\":[4.586278438568115,-1.6122033596038818,0.4045279026031494],\"aabb_min\":[4.187976837158203,-2.0105137825012207,0.0055453479290008545],\"position\":[4.38712739944458,-1.811356782913208,0.19471842050552368],\"quaternion_xyzw\":[5.014240741729736e-06,-3.8603320717811584e-07,-2.682209014892578e-07,1.0000001192092896]},\"grasp_success\":true,\"images\":{\"after_place\":\"robot_eye_extra1_after_place.png\",\"before_pickup\":\"robot_eye_extra1_before_pickup.png\",\"before_place\":\"robot_eye_extra1_before_place.png\"},\"label\":\"extra1\",\"method_used\":\"inside\",\"object_pose_after\":{\"aabb_max\":[4.2422590255737305,-1.5968143939971924,0.21809975802898407],\"aabb_min\":[3.921083927154541,-1.791247844696045,0.020752042531967163],\"position\":[4.107420921325684,-1.6959127187728882,0.08986158668994904],\"quaternion_xyzw\":[-0.5457838773727417,0.5820426940917969,0.3995988667011261,0.45129498839378357]},\"object_pose_before\":{\"aabb_max\":[4.43243932723999,-0.9775261878967285,0.1606263518333435],\"aabb_min\":[4.277950286865234,-1.286241054534912,0.00553496927022934],\"position\":[4.3871283531188965,-1.1578471660614014,0.08193882554769516],\"quaternion_xyzw\":[8.916482329368591e-06,3.5348348319530487e-06,-1.1576339602470398e-06,1.0]},\"orbital_views_after\":[{\"_key\":\"0\",\"azimuth_deg\":0.0,\"cam_height\":1.9703936982021761,\"exist_obj_containee\":true,\"exist_obj_container\":[{\"_indices\":[0],\"_key\":\"exist_obj_container_0\",\"value\":true},{\"_indices\":[1],\"_key\":\"exist_obj_container_1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_container_2\",\"value\":true}],\"exist_obj_extra\":[{\"_indices\":[1],\"_key\":\"exist_obj_extra1\",\"value\":false},{\"_indices\":[2],\"_key\":\"exist_obj_extra2\",\"value\":true}],\"eye\":[5.87855625222306,-1.988623889637311,1.9703936982021761],\"image\":\"orbital_after_extra1_0.png\",\"quaternion_xyzw\":[0.27059805007309856,0.27059805007309856,0.6532814824381882,0.6532814824381882],\"radius\":1.770301319198413},{\"_key\":\"1\",\"azimuth_deg\":59.99999999999999,\"cam_height\":1.9703936982021761,\"exist_obj_containee\":false,\"exist_obj_container\":[{\"_indices\":[0],\"_key\":\"exist_obj_container_0\",\"value\":false},{\"_indices\":[1],\"_key\":\"exist_obj_container_1\",\"value\":false},{\"_indices\":[2],\"_key\":\"exist_obj_container_2\",\"value\":false}],\"exist_obj_extra\":[{\"_indices\":[1],\"_key\":\"exist_obj_extra1\",\"value\":false},{\"_indices\":[2],\"_key\":\"exist_obj_extra2\",\"value\":false}],\"eye\":[4.993405592623853,-0.45549797485838117,1.9703936982021761],\"image\":\"orbital_after_extra1_1.png\",\"quaternion_xyzw\":[0.09904576054128765,0.36964381061438606,0.8923991008325227,0.23911761839433454],\"radius\":1.770301319198413},{\"_key\":\"2\",\"azimuth_deg\":119.99999999999999,\"cam_height\":1.9703936982021761,\"exist_obj_containee\":false,\"exist_obj_container\":[{\"_indices\":[0],\"_key\":\"exist_obj_container_0\",\"value\":false},{\"_indices\":[1],\"_key\":\"exist_obj_container_1\",\"value\":false},{\"_indices\":[2],\"_key\":\"exist_obj_container_2\",\"value\":false}],\"exist_obj_extra\":[{\"_indices\":[1],\"_key\":\"exist_obj_extra1\",\"value\":false},{\"_indices\":[2],\"_key\":\"exist_obj_extra2\",\"value\":false}],\"eye\":[3.2231042734254407,-0.45549797485838095,1.9703936982021761],\"image\":\"orbital_after_extra1_2.png\",\"quaternion_xyzw\":[-0.09904576054128757,0.3696438106143861,0.8923991008325228,-0.2391176183943344],\"radius\":1.770301319198413},{\"_key\":\"3\",\"azimuth_deg\":180.0,\"cam_height\":1.9703936982021761,\"exist_obj_containee\":true,\"exist_obj_container\":[{\"_indices\":[0],\"_key\":\"exist_obj_container_0\",\"value\":true},{\"_indices\":[1],\"_key\":\"exist_obj_container_1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_container_2\",\"value\":true}],\"exist_obj_extra\":[{\"_indices\":[1],\"_key\":\"exist_obj_extra1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_extra2\",\"value\":true}],\"eye\":[2.3379536138262336,-1.9886238896373107,1.9703936982021761],\"image\":\"orbital_after_extra1_3.png\",\"quaternion_xyzw\":[-0.27059805007309845,0.27059805007309856,0.6532814824381883,-0.6532814824381882],\"radius\":1.770301319198413},{\"_key\":\"4\",\"azimuth_deg\":239.99999999999997,\"cam_height\":1.9703936982021761,\"exist_obj_containee\":false,\"exist_obj_container\":[{\"_indices\":[0],\"_key\":\"exist_obj_container_0\",\"value\":false},{\"_indices\":[1],\"_key\":\"exist_obj_container_1\",\"value\":false},{\"_indices\":[2],\"_key\":\"exist_obj_container_2\",\"value\":false}],\"exist_obj_extra\":[{\"_indices\":[1],\"_key\":\"exist_obj_extra1\",\"value\":false},{\"_indices\":[2],\"_key\":\"exist_obj_extra2\",\"value\":false}],\"eye\":[3.2231042734254394,-3.5217498044162405,1.9703936982021761],\"image\":\"orbital_after_extra1_4.png\",\"quaternion_xyzw\":[0.3696438106143861,-0.0990457605412877,-0.23911761839433476,0.8923991008325227],\"radius\":1.770301319198413},{\"_key\":\"5\",\"azimuth_deg\":300.0,\"cam_height\":1.9703936982021761,\"exist_obj_containee\":false,\"exist_obj_container\":[{\"_indices\":[0],\"_key\":\"exist_obj_container_0\",\"value\":false},{\"_indices\":[1],\"_key\":\"exist_obj_container_1\",\"value\":false},{\"_indices\":[2],\"_key\":\"exist_obj_container_2\",\"value\":false}],\"exist_obj_extra\":[{\"_indices\":[1],\"_key\":\"exist_obj_extra1\",\"value\":false},{\"_indices\":[2],\"_key\":\"exist_obj_extra2\",\"value\":false}],\"eye\":[4.993405592623853,-3.521749804416241,1.9703936982021761],\"image\":\"orbital_after_extra1_5.png\",\"quaternion_xyzw\":[0.36964381061438617,0.09904576054128765,0.2391176183943346,0.8923991008325228],\"radius\":1.770301319198413}],\"robot_pose_after_place\":{\"robot_position\":[1.8644740581512451,-3.0436699390411377,0.00931026041507721],\"robot_quaternion_xyzw\":[0.004994901362806559,0.0007736919797025621,-0.32253941893577576,0.9465425610542297]},\"robot_pose_before_pickup\":{\"robot_position\":[1.864473819732666,-3.0436694622039795,0.009310290217399597],\"robot_quaternion_xyzw\":[0.004994912073016167,0.0007736174738965929,-0.32253918051719666,0.9465426802635193]},\"robot_pose_before_place\":{\"robot_position\":[1.864473819732666,-3.0436694622039795,0.00931026041507721],\"robot_quaternion_xyzw\":[0.0049948180094361305,0.0007735355175100267,-0.32253921031951904,0.9465426802635193]},\"state_returned\":true,\"success\":true},\"scale\":[0.10575781728732757,0.21220771543121333,0.1263641251233736],\"target_container\":\"big\"},{\"_key\":\"extra2\",\"bbox_inventory\":[0.0588253116607666,0.053040916442871094,0.03571191120147705],\"cat\":\"mozzarella\",\"final_pose\":{\"aabb_max\":[4.302716255187988,-1.1925565004348755,0.1576840877532959],\"aabb_min\":[3.9838945865631104,-1.4948111772537231,0.005155827850103378],\"position\":[4.146655559539795,-1.3388615846633911,0.06243770569562912],\"quaternion_xyzw\":[-0.665905773639679,0.2547038495540619,-0.6230998039245605,-0.321624219417572]},\"model\":\"rsiccz\",\"pair_ratio\":0.7757509933543306,\"placement\":{\"aabb\":{\"aabb_difference_container_minus_object\":[0.11803579330444336,0.12085044384002686,0.2194785177707672],\"container\":{\"extent\":[0.447314977645874,0.3984771966934204,0.39458632469177246],\"max\":[4.308344841003418,-1.5230069160461426,0.4000610113143921],\"min\":[3.861029863357544,-1.921484112739563,0.005474686622619629]},\"object\":{\"extent\":[0.32927918434143066,0.27762675285339355,0.17510780692100525],\"max\":[4.297458648681641,-1.2087314128875732,0.18078157305717468],\"min\":[3.96817946434021,-1.4863581657409668,0.005673766136169434]}},\"bbox_check\":false,\"container_pose_after\":{\"aabb_max\":[4.308344841003418,-1.5230069160461426,0.4000610113143921],\"aabb_min\":[3.861029863357544,-1.921484112739563,0.005474686622619629],\"position\":[4.099639892578125,-1.7341042757034302,0.1718035638332367],\"quaternion_xyzw\":[-0.05428924411535263,-0.648963987827301,0.01878580078482628,0.7586472034454346]},\"container_pose_before\":{\"aabb_max\":[4.307900905609131,-1.5281891822814941,0.39955151081085205],\"aabb_min\":[3.861013889312744,-1.926807165145874,0.005537465214729309],\"position\":[4.099357604980469,-1.7385934591293335,0.1716240495443344],\"quaternion_xyzw\":[-0.043675921857357025,-0.6499055624008179,0.009334509260952473,0.7587016820907593]},\"grasp_success\":true,\"images\":{\"after_place\":\"robot_eye_extra2_after_place.png\",\"before_pickup\":\"robot_eye_extra2_before_pickup.png\",\"before_place\":\"robot_eye_extra2_before_place.png\"},\"label\":\"extra2\",\"method_used\":\"onTop\",\"object_pose_after\":{\"aabb_max\":[4.297458648681641,-1.2087314128875732,0.18078157305717468],\"aabb_min\":[3.96817946434021,-1.4863581657409668,0.005673766136169434],\"position\":[4.130136966705322,-1.338266134262085,0.07546578347682953],\"quaternion_xyzw\":[-0.5565488934516907,0.29460853338241577,-0.6800159811973572,-0.3755497336387634]},\"object_pose_before\":{\"aabb_max\":[4.485917091369629,-2.307894229888916,0.1609935164451599],\"aabb_min\":[4.329789638519287,-2.6153132915496826,0.005545355379581451],\"position\":[4.388479232788086,-2.4617226123809814,0.07462233304977417],\"quaternion_xyzw\":[-0.01139196939766407,0.008655015379190445,0.000142787117511034,0.9998976588249207]},\"orbital_views_after\":[{\"_key\":\"0\",\"azimuth_deg\":0.0,\"cam_height\":1.9703936982021761,\"exist_obj_containee\":true,\"exist_obj_container\":[{\"_indices\":[0],\"_key\":\"exist_obj_container_0\",\"value\":true},{\"_indices\":[1],\"_key\":\"exist_obj_container_1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_container_2\",\"value\":true}],\"exist_obj_extra\":[{\"_indices\":[1],\"_key\":\"exist_obj_extra1\",\"value\":false},{\"_indices\":[2],\"_key\":\"exist_obj_extra2\",\"value\":true}],\"eye\":[5.87855625222306,-1.988623889637311,1.9703936982021761],\"image\":\"orbital_after_extra2_0.png\",\"quaternion_xyzw\":[0.27059805007309856,0.27059805007309856,0.6532814824381882,0.6532814824381882],\"radius\":1.770301319198413},{\"_key\":\"1\",\"azimuth_deg\":59.99999999999999,\"cam_height\":1.9703936982021761,\"exist_obj_containee\":false,\"exist_obj_container\":[{\"_indices\":[0],\"_key\":\"exist_obj_container_0\",\"value\":false},{\"_indices\":[1],\"_key\":\"exist_obj_container_1\",\"value\":false},{\"_indices\":[2],\"_key\":\"exist_obj_container_2\",\"value\":false}],\"exist_obj_extra\":[{\"_indices\":[1],\"_key\":\"exist_obj_extra1\",\"value\":false},{\"_indices\":[2],\"_key\":\"exist_obj_extra2\",\"value\":false}],\"eye\":[4.993405592623853,-0.45549797485838117,1.9703936982021761],\"image\":\"orbital_after_extra2_1.png\",\"quaternion_xyzw\":[0.09904576054128765,0.36964381061438606,0.8923991008325227,0.23911761839433454],\"radius\":1.770301319198413},{\"_key\":\"2\",\"azimuth_deg\":119.99999999999999,\"cam_height\":1.9703936982021761,\"exist_obj_containee\":false,\"exist_obj_container\":[{\"_indices\":[0],\"_key\":\"exist_obj_container_0\",\"value\":false},{\"_indices\":[1],\"_key\":\"exist_obj_container_1\",\"value\":false},{\"_indices\":[2],\"_key\":\"exist_obj_container_2\",\"value\":false}],\"exist_obj_extra\":[{\"_indices\":[1],\"_key\":\"exist_obj_extra1\",\"value\":false},{\"_indices\":[2],\"_key\":\"exist_obj_extra2\",\"value\":false}],\"eye\":[3.2231042734254407,-0.45549797485838095,1.9703936982021761],\"image\":\"orbital_after_extra2_2.png\",\"quaternion_xyzw\":[-0.09904576054128757,0.3696438106143861,0.8923991008325228,-0.2391176183943344],\"radius\":1.770301319198413},{\"_key\":\"3\",\"azimuth_deg\":180.0,\"cam_height\":1.9703936982021761,\"exist_obj_containee\":true,\"exist_obj_container\":[{\"_indices\":[0],\"_key\":\"exist_obj_container_0\",\"value\":true},{\"_indices\":[1],\"_key\":\"exist_obj_container_1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_container_2\",\"value\":true}],\"exist_obj_extra\":[{\"_indices\":[1],\"_key\":\"exist_obj_extra1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_extra2\",\"value\":true}],\"eye\":[2.3379536138262336,-1.9886238896373107,1.9703936982021761],\"image\":\"orbital_after_extra2_3.png\",\"quaternion_xyzw\":[-0.27059805007309845,0.27059805007309856,0.6532814824381883,-0.6532814824381882],\"radius\":1.770301319198413},{\"_key\":\"4\",\"azimuth_deg\":239.99999999999997,\"cam_height\":1.9703936982021761,\"exist_obj_containee\":false,\"exist_obj_container\":[{\"_indices\":[0],\"_key\":\"exist_obj_container_0\",\"value\":false},{\"_indices\":[1],\"_key\":\"exist_obj_container_1\",\"value\":false},{\"_indices\":[2],\"_key\":\"exist_obj_container_2\",\"value\":false}],\"exist_obj_extra\":[{\"_indices\":[1],\"_key\":\"exist_obj_extra1\",\"value\":false},{\"_indices\":[2],\"_key\":\"exist_obj_extra2\",\"value\":false}],\"eye\":[3.2231042734254394,-3.5217498044162405,1.9703936982021761],\"image\":\"orbital_after_extra2_4.png\",\"quaternion_xyzw\":[0.3696438106143861,-0.0990457605412877,-0.23911761839433476,0.8923991008325227],\"radius\":1.770301319198413},{\"_key\":\"5\",\"azimuth_deg\":300.0,\"cam_height\":1.9703936982021761,\"exist_obj_containee\":false,\"exist_obj_container\":[{\"_indices\":[0],\"_key\":\"exist_obj_container_0\",\"value\":false},{\"_indices\":[1],\"_key\":\"exist_obj_container_1\",\"value\":false},{\"_indices\":[2],\"_key\":\"exist_obj_container_2\",\"value\":false}],\"exist_obj_extra\":[{\"_indices\":[1],\"_key\":\"exist_obj_extra1\",\"value\":false},{\"_indices\":[2],\"_key\":\"exist_obj_extra2\",\"value\":false}],\"eye\":[4.993405592623853,-3.521749804416241,1.9703936982021761],\"image\":\"orbital_after_extra2_5.png\",\"quaternion_xyzw\":[0.36964381061438617,0.09904576054128765,0.2391176183943346,0.8923991008325228],\"radius\":1.770301319198413}],\"robot_pose_after_place\":{\"robot_position\":[1.8644741773605347,-3.0436699390411377,0.009310290217399597],\"robot_quaternion_xyzw\":[0.0049949646927416325,0.0007737925625406206,-0.32253962755203247,0.946542501449585]},\"robot_pose_before_pickup\":{\"robot_position\":[1.8644740581512451,-3.0436697006225586,0.00931026041507721],\"robot_quaternion_xyzw\":[0.0049948133528232574,0.0007736193365417421,-0.32253938913345337,0.9465425610542297]},\"robot_pose_before_place\":{\"robot_position\":[1.8644740581512451,-3.0436699390411377,0.009310290217399597],\"robot_quaternion_xyzw\":[0.004994865041226149,0.0007737068808637559,-0.32253941893577576,0.9465425610542297]},\"state_returned\":true,\"success\":false},\"scale\":[2.599731443897281,5.761992693957335,4.286143035323753],\"target_container\":\"big\"}],\"floor_name\":\"floors_mdfbbc_0\",\"initial_poses\":[{\"_key\":\"obj_containee\",\"aabb_max\":[3.602626085281372,-2.3478047847747803,0.24155332148075104],\"aabb_min\":[3.360163927078247,-2.5925769805908203,-0.004343144595623016],\"position\":[3.480470657348633,-2.470798969268799,0.11914350837469101],\"quaternion_xyzw\":[-0.19147448241710663,0.5901656746864319,-0.3427771329879761,0.7053694725036621]},{\"_key\":\"obj_container_0\",\"aabb_max\":[4.586278438568115,-1.6122033596038818,0.4045279026031494],\"aabb_min\":[4.187976837158203,-2.0105137825012207,0.0055453479290008545],\"position\":[4.38712739944458,-1.811356782913208,0.19471842050552368],\"quaternion_xyzw\":[5.014240741729736e-06,-3.864988684654236e-07,-2.6833731681108475e-07,1.0000001192092896]},{\"_key\":\"obj_container_1\",\"aabb_max\":[3.959105968475342,-2.0225822925567627,0.3310653269290924],\"aabb_min\":[3.6341185569763184,-2.347249746322632,0.005375981330871582],\"position\":[3.79704213142395,-2.1863577365875244,0.14085295796394348],\"quaternion_xyzw\":[-0.00016747531481087208,-0.0002738386392593384,6.984919309616089e-08,1.0]},{\"_key\":\"obj_container_2\",\"aabb_max\":[5.032310485839844,-1.3601429462432861,0.23160013556480408],\"aabb_min\":[4.806488037109375,-1.5857850313186646,0.005516435950994492],\"position\":[4.919409275054932,-1.4729933738708496,0.056467097252607346],\"quaternion_xyzw\":[-9.171944111585617e-05,-2.3927539587020874e-05,-2.1443702280521393e-07,1.0000001192092896]},{\"_key\":\"obj_extra1\",\"aabb_max\":[4.43243932723999,-0.9775261878967285,0.1606263518333435],\"aabb_min\":[4.277950286865234,-1.286241054534912,0.00553496927022934],\"position\":[4.3871283531188965,-1.1578471660614014,0.08193882554769516],\"quaternion_xyzw\":[8.916482329368591e-06,3.564637154340744e-06,-1.1650845408439636e-06,1.0]},{\"_key\":\"obj_extra2\",\"aabb_max\":[4.485917091369629,-2.307894229888916,0.1609935164451599],\"aabb_min\":[4.329789638519287,-2.6153132915496826,0.005545355379581451],\"position\":[4.388479232788086,-2.4617226123809814,0.07462233304977417],\"quaternion_xyzw\":[-0.01139196939766407,0.008655015379190445,0.00014278327580541372,0.9998976588249207]}],\"orbital_views_before\":[{\"_key\":\"0\",\"azimuth_deg\":0.0,\"cam_height\":1.9703936982021761,\"exist_obj_containee\":true,\"exist_obj_container\":[{\"_indices\":[0],\"_key\":\"exist_obj_container_0\",\"value\":true},{\"_indices\":[1],\"_key\":\"exist_obj_container_1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_container_2\",\"value\":true}],\"exist_obj_extra\":[{\"_indices\":[1],\"_key\":\"exist_obj_extra1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_extra2\",\"value\":true}],\"eye\":[5.87855625222306,-1.988623889637311,1.9703936982021761],\"image\":\"orbital_before_0.png\",\"quaternion_xyzw\":[0.27059805007309856,0.27059805007309856,0.6532814824381882,0.6532814824381882],\"radius\":1.770301319198413},{\"_key\":\"1\",\"azimuth_deg\":59.99999999999999,\"cam_height\":1.9703936982021761,\"exist_obj_containee\":false,\"exist_obj_container\":[{\"_indices\":[0],\"_key\":\"exist_obj_container_0\",\"value\":false},{\"_indices\":[1],\"_key\":\"exist_obj_container_1\",\"value\":false},{\"_indices\":[2],\"_key\":\"exist_obj_container_2\",\"value\":false}],\"exist_obj_extra\":[{\"_indices\":[1],\"_key\":\"exist_obj_extra1\",\"value\":false},{\"_indices\":[2],\"_key\":\"exist_obj_extra2\",\"value\":false}],\"eye\":[4.993405592623853,-0.45549797485838117,1.9703936982021761],\"image\":\"orbital_before_1.png\",\"quaternion_xyzw\":[0.09904576054128765,0.36964381061438606,0.8923991008325227,0.23911761839433454],\"radius\":1.770301319198413},{\"_key\":\"2\",\"azimuth_deg\":119.99999999999999,\"cam_height\":1.9703936982021761,\"exist_obj_containee\":false,\"exist_obj_container\":[{\"_indices\":[0],\"_key\":\"exist_obj_container_0\",\"value\":false},{\"_indices\":[1],\"_key\":\"exist_obj_container_1\",\"value\":false},{\"_indices\":[2],\"_key\":\"exist_obj_container_2\",\"value\":false}],\"exist_obj_extra\":[{\"_indices\":[1],\"_key\":\"exist_obj_extra1\",\"value\":false},{\"_indices\":[2],\"_key\":\"exist_obj_extra2\",\"value\":false}],\"eye\":[3.2231042734254407,-0.45549797485838095,1.9703936982021761],\"image\":\"orbital_before_2.png\",\"quaternion_xyzw\":[-0.09904576054128757,0.3696438106143861,0.8923991008325228,-0.2391176183943344],\"radius\":1.770301319198413},{\"_key\":\"3\",\"azimuth_deg\":180.0,\"cam_height\":1.9703936982021761,\"exist_obj_containee\":true,\"exist_obj_container\":[{\"_indices\":[0],\"_key\":\"exist_obj_container_0\",\"value\":true},{\"_indices\":[1],\"_key\":\"exist_obj_container_1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_container_2\",\"value\":true}],\"exist_obj_extra\":[{\"_indices\":[1],\"_key\":\"exist_obj_extra1\",\"value\":true},{\"_indices\":[2],\"_key\":\"exist_obj_extra2\",\"value\":true}],\"eye\":[2.3379536138262336,-1.9886238896373107,1.9703936982021761],\"image\":\"orbital_before_3.png\",\"quaternion_xyzw\":[-0.27059805007309845,0.27059805007309856,0.6532814824381883,-0.6532814824381882],\"radius\":1.770301319198413},{\"_key\":\"4\",\"azimuth_deg\":239.99999999999997,\"cam_height\":1.9703936982021761,\"exist_obj_containee\":false,\"exist_obj_container\":[{\"_indices\":[0],\"_key\":\"exist_obj_container_0\",\"value\":false},{\"_indices\":[1],\"_key\":\"exist_obj_container_1\",\"value\":false},{\"_indices\":[2],\"_key\":\"exist_obj_container_2\",\"value\":false}],\"exist_obj_extra\":[{\"_indices\":[1],\"_key\":\"exist_obj_extra1\",\"value\":false},{\"_indices\":[2],\"_key\":\"exist_obj_extra2\",\"value\":false}],\"eye\":[3.2231042734254394,-3.5217498044162405,1.9703936982021761],\"image\":\"orbital_before_4.png\",\"quaternion_xyzw\":[0.3696438106143861,-0.0990457605412877,-0.23911761839433476,0.8923991008325227],\"radius\":1.770301319198413},{\"_key\":\"5\",\"azimuth_deg\":300.0,\"cam_height\":1.9703936982021761,\"exist_obj_containee\":false,\"exist_obj_container\":[{\"_indices\":[0],\"_key\":\"exist_obj_container_0\",\"value\":false},{\"_indices\":[1],\"_key\":\"exist_obj_container_1\",\"value\":false},{\"_indices\":[2],\"_key\":\"exist_obj_container_2\",\"value\":false}],\"exist_obj_extra\":[{\"_indices\":[1],\"_key\":\"exist_obj_extra1\",\"value\":false},{\"_indices\":[2],\"_key\":\"exist_obj_extra2\",\"value\":false}],\"eye\":[4.993405592623853,-3.521749804416241,1.9703936982021761],\"image\":\"orbital_before_5.png\",\"quaternion_xyzw\":[0.36964381061438617,0.09904576054128765,0.2391176183943346,0.8923991008325228],\"radius\":1.770301319198413}],\"row_layout\":{\"anchor_xy\":[4.102998733520508,-1.9919650554656982],\"collision_free\":true,\"initial_poses\":[{\"_key\":\"obj_containee\",\"aabb_max\":[3.602626085281372,-2.3478047847747803,0.24155332148075104],\"aabb_min\":[3.360163927078247,-2.5925769805908203,-0.004343144595623016],\"position\":[3.480470657348633,-2.470798969268799,0.11914350837469101],\"quaternion_xyzw\":[-0.19147448241710663,0.5901656746864319,-0.3427771329879761,0.7053694725036621]},{\"_key\":\"obj_container_0\",\"aabb_max\":[4.586278438568115,-1.6122033596038818,0.4045279026031494],\"aabb_min\":[4.187976837158203,-2.0105137825012207,0.0055453479290008545],\"position\":[4.38712739944458,-1.811356782913208,0.19471842050552368],\"quaternion_xyzw\":[5.014240741729736e-06,-3.864988684654236e-07,-2.6833731681108475e-07,1.0000001192092896]},{\"_key\":\"obj_container_1\",\"aabb_max\":[3.959105968475342,-2.0225822925567627,0.3310653269290924],\"aabb_min\":[3.6341185569763184,-2.347249746322632,0.005375981330871582],\"position\":[3.79704213142395,-2.1863577365875244,0.14085295796394348],\"quaternion_xyzw\":[-0.00016747531481087208,-0.0002738386392593384,6.984919309616089e-08,1.0]},{\"_key\":\"obj_container_2\",\"aabb_max\":[5.032310485839844,-1.3601429462432861,0.23160013556480408],\"aabb_min\":[4.806488037109375,-1.5857850313186646,0.005516435950994492],\"position\":[4.919409275054932,-1.4729933738708496,0.056467097252607346],\"quaternion_xyzw\":[-9.171944111585617e-05,-2.3927539587020874e-05,-2.1443702280521393e-07,1.0000001192092896]},{\"_key\":\"obj_extra1\",\"aabb_max\":[4.43243932723999,-0.9775261878967285,0.1606263518333435],\"aabb_min\":[4.277950286865234,-1.286241054534912,0.00553496927022934],\"position\":[4.3871283531188965,-1.1578471660614014,0.08193882554769516],\"quaternion_xyzw\":[8.916482329368591e-06,3.564637154340744e-06,-1.1650845408439636e-06,1.0]},{\"_key\":\"obj_extra2\",\"aabb_max\":[4.485917091369629,-2.307894229888916,0.1609935164451599],\"aabb_min\":[4.329789638519287,-2.6153132915496826,0.005545355379581451],\"position\":[4.388479232788086,-2.4617226123809814,0.07462233304977417],\"quaternion_xyzw\":[-0.01139196939766407,0.008655015379190445,0.00014278327580541372,0.9998976588249207]}],\"row_angle_deg\":32.44256610711401,\"row_axis\":[0.8439296167783623,0.5364539140730792],\"row_centres\":[[3.297098789395986,-2.5042449550943613],[3.797116163906976,-2.186402954614586],[4.387128094076338,-1.811354842785739],[4.919411076653306,-1.4730028241802606]],\"row_gap_m\":0.2,\"row_half_along\":[0.16826930642356366,0.2242177500442119,0.274906819634583,0.15581281858467685],\"row_midpoint\":[4.1082549330246465,-1.988623889637311],\"row_order\":[\"obj_containee\",\"obj_container_1\",\"obj_container_0\",\"obj_container_2\"],\"total_span_m\":2.246413389374071},\"visibility\":[{\"_key\":\"obj_containee\",\"value\":false},{\"_key\":\"obj_container_0\",\"value\":true},{\"_key\":\"obj_container_1\",\"value\":true},{\"_key\":\"obj_container_2\",\"value\":true},{\"_key\":\"obj_extra1\",\"value\":false},{\"_key\":\"obj_extra2\",\"value\":true}]}","options_json":"[\"trash can\",\"petri dish\",\"wicker basket\"]","question":"Which container does the soccer ball best fit inside: the trash can or the petri dish or the wicker basket?","room":"grocery_store_0","runner_task":"storage","scene":"grocery_store_half_stocked","small_task":"Rigid Containment"},"observations":[],"question":{"answer_type":"choice","options":[],"original":"Which container does the soccer ball best fit inside: the trash can or the petri dish or the wicker basket?","text":"Which container does the soccer ball best fit inside: the trash can or the petri dish or the wicker basket?"},"reference_media":[],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":54,"stratum_pool":80},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Physical Structure/Rigid Containment/grocery_store_half_stocked/grocery_store_0/grocery_store_half_stocked_scene_dict_storage2_2_revised__none.json","annotation_sha256":"d7f52ea80f5d70d1dc90a4eaa362294f2f0b2a14a7e67aaaed6c1463c2d7a742","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"df7c70ba00ed289e81cf0dd18998a00d8bf77abcc4bc26143013403115b25cec","sample_id":"2108","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"wicker basket","metric":"official_esi_task","original_answer":"wicker basket"},"task":{"category":"Physical Structure","role":"spatial_core","skill_tags":["Physical Structure","Rigid Containment"],"stratum":"ESI-Bench/Physical Structure/Rigid Containment","subcategory":"Rigid Containment"},"transforms":[]}
{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Spatial Relations","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"isosceles","id":"70286f4f2f683947","metadata":"vendor/ESI-Bench/dataset/json_clean/Spatial Relations/Geometric Configuration/Beechwood_0_int/corridor_0/Beechwood_0_int__corridor_0_5.json","metadata_sha256":"c63f5eaca07e4c52eb6f9288b655d6b9ec687b9806b00b05e746631e43e803a7","observation_policy":"runtime camera observations; no oracle poses","question":"Do the jar of tumeric, cumin shaker and mustard seed shaker form an equilateral triangle, an isosceles triangle or a random triangle?","room":"corridor_0","scene":"Beechwood_0_int","subcategory":"Geometric Configuration","task":"spatial_relations.geometric_configuration"},"group":{"id":"ESI-scene/Beechwood_0_int","kind":"scene","room":"corridor_0","scene":"Beechwood_0_int"},"id":"8452a8f5efad8a19ed82","native_annotation":{"answer":"isosceles","answer_type":"choice","big_task":"Spatial Relations","gt_camera_poses":[{"baseline_selected":true,"camera_pose":{"position":[1.8541173210023822,-3.4735739440557305,0.025],"quaternion_xyzw":[0.7480660247150474,0.0,0.0,0.6636243083756246]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_configuration_views","metadata_pointer":"/camera_poses/0","original_image_path":"1.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_configuration_views/1.png"},{"baseline_selected":true,"camera_pose":{"position":[2.461209286316073,-2.337082459608397,0.025],"quaternion_xyzw":[0.3374469186576579,0.6676319003922939,0.5922695905299385,0.29935589989262795]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_configuration_views","metadata_pointer":"/camera_poses/1","original_image_path":"2.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_configuration_views/2.png"},{"baseline_selected":true,"camera_pose":{"position":[1.2470253556886917,-2.337082459608397,0.025],"quaternion_xyzw":[-0.3374469186576579,0.6676319003922939,0.5922695905299385,-0.29935589989262795]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_configuration_views","metadata_pointer":"/camera_poses/2","original_image_path":"3.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_configuration_views/3.png"},{"baseline_selected":true,"camera_pose":{"position":[1.8541173210023822,-2.754656071104702,1.5],"quaternion_xyzw":[0.0,-0.0,-0.0,1.0]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_configuration_views","metadata_pointer":"/camera_poses/3","original_image_path":"4.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_configuration_views/4.png"}],"id":"2167","image_paths_json":"[]","metadata_json":"{\"camera_poses\":[{\"_key\":\"0.png\",\"position\":[1.8541173210023822,-2.820175521558287,0.025],\"quaternion_xyzw\":[0.7320692583871721,0.0,0.0,0.6812302114002695]},{\"_key\":\"0_1.png\",\"position\":[2.65757075064405,-2.4411751652186604,0.025],\"quaternion_xyzw\":[0.6621024667089672,0.31232310617923403,0.29063361589094794,0.6161223111027623]},{\"_key\":\"0_2.png\",\"position\":[1.0644748428932582,-2.4575864375582412,0.025],\"quaternion_xyzw\":[0.6652845628364356,-0.3054862509624238,-0.2842715507293515,0.6190834244028713]},{\"_key\":\"1.png\",\"position\":[1.8541173210023822,-3.4735739440557305,0.025],\"quaternion_xyzw\":[0.7480660247150474,0.0,0.0,0.6636243083756246]},{\"_key\":\"1_1.png\",\"position\":[1.5414484159529958,-3.3896925283999146,0.025],\"quaternion_xyzw\":[0.7225173137418891,-0.19383371398231664,-0.17195375826671475,0.6409595366986736]},{\"_key\":\"1_2.png\",\"position\":[2.1784805787906496,-3.382760423303937,0.025],\"quaternion_xyzw\":[0.720365389420224,0.20168411702070874,0.17891800756383705,0.639050521661952]},{\"_key\":\"2.png\",\"position\":[2.461209286316073,-2.337082459608397,0.025],\"quaternion_xyzw\":[0.3374469186576579,0.6676319003922939,0.5922695905299385,0.29935589989262795]},{\"_key\":\"2_1.png\",\"position\":[2.5812422858307302,-2.6619262520908338,0.025],\"quaternion_xyzw\":[0.509285693650228,0.5479332619728245,0.48608253817064623,0.4517975085728211]},{\"_key\":\"2_2.png\",\"position\":[2.151472551725756,-2.1134983895996227,0.025],\"quaternion_xyzw\":[0.11715115119491158,0.7388358309575144,0.6554360191790272,0.10392712557256659]},{\"_key\":\"3.png\",\"position\":[1.2470253556886917,-2.337082459608397,0.025],\"quaternion_xyzw\":[-0.3374469186576579,0.6676319003922939,0.5922695905299385,-0.29935589989262795]},{\"_key\":\"3_1.png\",\"position\":[1.1254854904044946,-2.721694764710863,0.025],\"quaternion_xyzw\":[0.5349233246001083,-0.5229338525394404,-0.463905062858426,0.4745411629367319]},{\"_key\":\"3_2.png\",\"position\":[1.5414085334063523,-2.118714250594985,0.025],\"quaternion_xyzw\":[-0.12673058018104927,0.7372531026587468,0.6540319493002804,-0.11242522831420708]},{\"_key\":\"4.png\",\"position\":[1.8541173210023822,-2.754656071104702,1.5],\"quaternion_xyzw\":[0.0,-0.0,-0.0,1.0]}],\"floor_name\":\"floors_dclqap_0\",\"layout\":\"equilateral_triangle\",\"objects\":[{\"_key\":\"obj1\",\"category\":\"jar_of_tumeric\",\"model\":\"miivhi\",\"position\":[1.6458909511566162,-2.8488948345184326,0.0531640462577343],\"quaternion_xyzw\":[2.2351741790771484e-07,-2.086162567138672e-07,0.9999448657035828,-0.010510779917240143]},{\"_key\":\"obj2\",\"category\":\"cumin_shaker\",\"model\":\"qmaqnw\",\"position\":[2.062345027923584,-2.848893880844116,0.10741984099149704],\"quaternion_xyzw\":[0.0009036629926413298,-0.0005288745160214603,0.9972126483917236,0.07460454106330872]},{\"_key\":\"obj3\",\"category\":\"mustard_seed_shaker\",\"model\":\"apuolt\",\"position\":[1.8541207313537598,-2.566176176071167,0.10741862654685974],\"quaternion_xyzw\":[0.0009781750850379467,-0.00035288132494315505,0.9961748123168945,-0.08737719058990479]}],\"run_idx\":5,\"seed\":3673023015,\"success\":false,\"success_list\":[{\"_indices\":[1],\"_key\":\"success_1\",\"value\":true},{\"_indices\":[2],\"_key\":\"success_2\",\"value\":true},{\"_indices\":[3],\"_key\":\"success_3\",\"value\":true},{\"_indices\":[4],\"_key\":\"success_4\",\"value\":true}]}","options_json":"[\"equilateral\",\"isosceles\",\"random\"]","question":"Do the jar of tumeric, cumin shaker and mustard seed shaker form an equilateral triangle, an isosceles triangle or a random triangle?","room":"corridor_0","runner_task":"triangle","scene":"Beechwood_0_int","small_task":"Geometric Configuration"},"observations":[],"question":{"answer_type":"choice","options":[],"original":"Do the jar of tumeric, cumin shaker and mustard seed shaker form an equilateral triangle, an isosceles triangle or a random triangle?","text":"Do the jar of tumeric, cumin shaker and mustard seed shaker form an equilateral triangle, an isosceles triangle or a random triangle?"},"reference_media":[],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":214,"stratum_pool":568},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Spatial Relations/Geometric Configuration/Beechwood_0_int/corridor_0/Beechwood_0_int__corridor_0_5.json","annotation_sha256":"c63f5eaca07e4c52eb6f9288b655d6b9ec687b9806b00b05e746631e43e803a7","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"f9b80f98e1d1cff3b6154859bc129350883478b862e515dfc92b22e580827498","sample_id":"2167","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"isosceles","metric":"official_esi_task","original_answer":"isosceles"},"task":{"category":"Spatial Relations","role":"spatial_core","skill_tags":["Spatial Relations","Geometric Configuration"],"stratum":"ESI-Bench/Spatial Relations/Geometric Configuration","subcategory":"Geometric Configuration"},"transforms":[]}
{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Spatial Relations","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"isosceles","id":"bf033714c301588a","metadata":"vendor/ESI-Bench/dataset/json_clean/Spatial Relations/Geometric Configuration/Ihlen_0_int/garage_0/Ihlen_0_int__garage_0_1.json","metadata_sha256":"bede92e3445ad7562892b5ece46a6d8bce9f0fb531ebc326be7ffb4de230fbca","observation_policy":"runtime camera observations; no oracle poses","question":"Do the vodka bottle, soap bottle and beeswax candle form an equilateral triangle, an isosceles triangle or a random triangle?","room":"garage_0","scene":"Ihlen_0_int","subcategory":"Geometric Configuration","task":"spatial_relations.geometric_configuration"},"group":{"id":"ESI-scene/Ihlen_0_int","kind":"scene","room":"garage_0","scene":"Ihlen_0_int"},"id":"9e879b227db59760bf2e","native_annotation":{"answer":"isosceles","answer_type":"choice","big_task":"Spatial Relations","gt_camera_poses":[{"baseline_selected":true,"camera_pose":{"position":[2.993241840515225,-1.361555021744039,0.025],"quaternion_xyzw":[0.7470303217204985,0.0,0.0,0.6647899656509328]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_configuration_views","metadata_pointer":"/camera_poses/0","original_image_path":"1.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_configuration_views/1.png"},{"baseline_selected":true,"camera_pose":{"position":[3.6083674806080825,-0.18960245417343824,0.025],"quaternion_xyzw":[0.32971575665052977,0.6703296363627377,0.5965332369722988,0.29341744259249447]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_configuration_views","metadata_pointer":"/camera_poses/1","original_image_path":"2.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_configuration_views/2.png"},{"baseline_selected":true,"camera_pose":{"position":[2.378116200422366,-0.18960245417343874,0.025],"quaternion_xyzw":[-0.3297157566505303,0.6703296363627375,0.5965332369722985,-0.2934174425924949]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_configuration_views","metadata_pointer":"/camera_poses/2","original_image_path":"3.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_configuration_views/3.png"},{"baseline_selected":true,"camera_pose":{"position":[2.993241840515225,-0.6274680910872702,1.5],"quaternion_xyzw":[0.0,-0.0,-0.0,1.0]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_configuration_views","metadata_pointer":"/camera_poses/3","original_image_path":"4.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_configuration_views/4.png"}],"id":"2213","image_paths_json":"[]","metadata_json":"{\"camera_poses\":[{\"_key\":\"0.png\",\"position\":[2.993241840515225,-1.4258097008534274,0.025],\"quaternion_xyzw\":[0.7314258866392026,0.0,0.0,0.6819209428915177]},{\"_key\":\"0_1.png\",\"position\":[2.079314517027244,-0.9116097950798294,0.025],\"quaternion_xyzw\":[0.6374583982513669,-0.35865110922001253,-0.33437660197148844,0.5943134361665209]},{\"_key\":\"0_2.png\",\"position\":[3.88377789558548,-0.9484092130090329,0.025],\"quaternion_xyzw\":[0.6446385306642001,0.34557921295854116,0.32218944810281525,0.6010075971942949]},{\"_key\":\"1.png\",\"position\":[2.993241840515225,-1.361555021744039,0.025],\"quaternion_xyzw\":[0.7470303217204985,0.0,0.0,0.6647899656509328]},{\"_key\":\"1_1.png\",\"position\":[2.443571022294364,-1.050861285623192,0.025],\"quaternion_xyzw\":[0.6503316526364538,-0.3675908637996466,-0.32712288994662136,0.5787368255979043]},{\"_key\":\"1_2.png\",\"position\":[3.5426115566680605,-1.0513609672527682,0.025],\"quaternion_xyzw\":[0.6504987115441552,0.3672951508653843,0.3268597319653523,0.5788854930378775]},{\"_key\":\"2.png\",\"position\":[3.6083674806080825,-0.18960245417343824,0.025],\"quaternion_xyzw\":[0.32971575665052977,0.6703296363627377,0.5965332369722988,0.29341744259249447]},{\"_key\":\"2_1.png\",\"position\":[3.144891750727057,0.05880395891590684,0.025],\"quaternion_xyzw\":[0.02605114970171544,0.7465759433366779,0.6643856096544093,0.02318318602581496]},{\"_key\":\"2_2.png\",\"position\":[3.7223425518477784,-0.7378205173278083,0.025],\"quaternion_xyzw\":[0.5891830276112902,0.45925772888937355,0.4086981758787615,0.5243200353443892]},{\"_key\":\"3.png\",\"position\":[2.378116200422366,-0.18960245417343874,0.025],\"quaternion_xyzw\":[-0.3297157566505303,0.6703296363627375,0.5965332369722985,-0.2934174425924949]},{\"_key\":\"3_1.png\",\"position\":[2.2873799581001757,-0.8112195737412272,0.025],\"quaternion_xyzw\":[0.6156772221150452,-0.423079023042425,-0.3765023734889799,0.547897491495748]},{\"_key\":\"3_2.png\",\"position\":[2.979477356942673,0.05356401456791593,0.025],\"quaternion_xyzw\":[0.05438339468226336,0.7450481514322848,0.6630260119270986,0.048396342198717114]},{\"_key\":\"4.png\",\"position\":[2.993241840515225,-0.6274680910872702,1.5],\"quaternion_xyzw\":[0.0,-0.0,-0.0,1.0]}],\"floor_name\":\"floors_bryjan_0\",\"layout\":\"equilateral_triangle\",\"objects\":[{\"_key\":\"obj1\",\"category\":\"vodka_bottle\",\"model\":\"bojwlu\",\"position\":[2.7793824672698975,-0.7199769020080566,0.1235603541135788],\"quaternion_xyzw\":[4.727195482701063e-05,2.991460496559739e-05,0.9215306043624878,0.3883056640625]},{\"_key\":\"obj2\",\"category\":\"soap_bottle\",\"model\":\"hamffy\",\"position\":[3.2070984840393066,-0.7199752330780029,0.12354840338230133],\"quaternion_xyzw\":[9.054550901055336e-06,5.669494566973299e-05,0.9997909069061279,0.020448625087738037]},{\"_key\":\"obj3\",\"category\":\"beeswax_candle\",\"model\":\"pfewit\",\"position\":[2.9932854175567627,-0.4424467980861664,0.11938077956438065],\"quaternion_xyzw\":[0.00014133562217466533,-0.0003269168082624674,0.8992332220077515,-0.43746963143348694]}],\"run_idx\":1,\"seed\":1386620734,\"success\":true,\"success_list\":[{\"_indices\":[1],\"_key\":\"success_1\",\"value\":true},{\"_indices\":[2],\"_key\":\"success_2\",\"value\":true},{\"_indices\":[3],\"_key\":\"success_3\",\"value\":true},{\"_indices\":[4],\"_key\":\"success_4\",\"value\":true}]}","options_json":"[\"equilateral\",\"isosceles\",\"random\"]","question":"Do the vodka bottle, soap bottle and beeswax candle form an equilateral triangle, an isosceles triangle or a random triangle?","room":"garage_0","runner_task":"triangle","scene":"Ihlen_0_int","small_task":"Geometric Configuration"},"observations":[],"question":{"answer_type":"choice","options":[],"original":"Do the vodka bottle, soap bottle and beeswax candle form an equilateral triangle, an isosceles triangle or a random triangle?","text":"Do the vodka bottle, soap bottle and beeswax candle form an equilateral triangle, an isosceles triangle or a random triangle?"},"reference_media":[],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":214,"stratum_pool":568},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Spatial Relations/Geometric Configuration/Ihlen_0_int/garage_0/Ihlen_0_int__garage_0_1.json","annotation_sha256":"bede92e3445ad7562892b5ece46a6d8bce9f0fb531ebc326be7ffb4de230fbca","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"82878715bc57e5cf871ff3a103244dd0fd4b20eeff10fdbece471caf17646328","sample_id":"2213","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"isosceles","metric":"official_esi_task","original_answer":"isosceles"},"task":{"category":"Spatial Relations","role":"spatial_core","skill_tags":["Spatial Relations","Geometric Configuration"],"stratum":"ESI-Bench/Spatial Relations/Geometric Configuration","subcategory":"Geometric Configuration"},"transforms":[]}
{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Spatial Relations","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"no","id":"cf0b3b40dd3746d7","metadata":"vendor/ESI-Bench/dataset/json_clean/Spatial Relations/Linear Alignment/house_double_floor_lower/corridor_0/house_double_floor_lower__corridor_0.json","metadata_sha256":"474deee26711b7713952f78c0f1b937c81c31181fffc70c2b21cf2bfc804daff","observation_policy":"runtime camera observations; no oracle poses","question":"Are the drill, pepper shaker and electric hand mixer in a line on the floor?","room":"corridor_0","scene":"house_double_floor_lower","subcategory":"Linear Alignment","task":"spatial_relations.linear_alignment"},"group":{"id":"ESI-scene/house_double_floor_lower","kind":"scene","room":"corridor_0","scene":"house_double_floor_lower"},"id":"e493dbf0926ba87ec9cf","native_annotation":{"answer":"no","answer_type":"choice","big_task":"Spatial Relations","gt_camera_poses":[{"baseline_selected":true,"camera_pose":{"position":[1.557575677141616,0.05021502325932178,0.025],"quaternion_xyzw":[0.516110407110773,0.516110407110773,0.483352922482064,0.48335292248206413]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_alignment_views","metadata_pointer":"/camera_poses/0","original_image_path":"3567944643_final_1.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_alignment_views/3567944643_final_1.png"},{"baseline_selected":true,"camera_pose":{"position":[-0.7282905422698152,0.050215023259322054,0.025],"quaternion_xyzw":[-0.5161104071107729,0.5161104071107729,0.4833529224820641,-0.4833529224820639]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_alignment_views","metadata_pointer":"/camera_poses/1","original_image_path":"3567944643_final_2.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_alignment_views/3567944643_final_2.png"},{"baseline_selected":true,"camera_pose":{"position":[1.4044516752673968,-0.5212515315935361,0.025],"quaternion_xyzw":[0.6321035741807443,0.36494516870897725,0.34178212919340306,0.5919840128820442]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_alignment_views","metadata_pointer":"/camera_poses/2","original_image_path":"3567944643_middle_1.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_alignment_views/3567944643_middle_1.png"},{"baseline_selected":true,"camera_pose":{"position":[-0.5751665403955961,-0.5212515315935361,0.025],"quaternion_xyzw":[0.6321035741807443,-0.3649451687089773,-0.34178212919340306,0.591984012882044]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_alignment_views","metadata_pointer":"/camera_poses/3","original_image_path":"3567944643_middle_2.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_alignment_views/3567944643_middle_2.png"}],"id":"2760","image_paths_json":"[]","metadata_json":"{\"camera_poses\":[{\"_key\":\"3567944643.png\",\"angle_deg\":0,\"position\":[0.4146425674359004,-1.0927180864463937,0.025],\"quaternion_xyzw\":[0.7298903374179546,0.0,0.0,0.6835642583868062]},{\"_key\":\"3567944643_final_1.png\",\"angle_deg\":90,\"position\":[1.557575677141616,0.05021502325932178,0.025],\"quaternion_xyzw\":[0.516110407110773,0.516110407110773,0.483352922482064,0.48335292248206413]},{\"_key\":\"3567944643_final_2.png\",\"angle_deg\":270,\"position\":[-0.7282905422698152,0.050215023259322054,0.025],\"quaternion_xyzw\":[-0.5161104071107729,0.5161104071107729,0.4833529224820641,-0.4833529224820639]},{\"_key\":\"3567944643_middle_1.png\",\"angle_deg\":60,\"position\":[1.4044516752673968,-0.5212515315935361,0.025],\"quaternion_xyzw\":[0.6321035741807443,0.36494516870897725,0.34178212919340306,0.5919840128820442]},{\"_key\":\"3567944643_middle_2.png\",\"angle_deg\":300,\"position\":[-0.5751665403955961,-0.5212515315935361,0.025],\"quaternion_xyzw\":[0.6321035741807443,-0.3649451687089773,-0.34178212919340306,0.591984012882044]}],\"floor_name\":\"floors_xorxro_0\",\"objects\":[{\"_key\":\"obj1\",\"category\":\"drill\",\"model\":\"nzgmza\",\"position\":[0.48702913522720337,0.12534365057945251,0.11017981916666031],\"quaternion_xyzw\":[-1.0045128874480724e-05,-1.37771712616086e-05,-0.5902400612831116,0.8072277903556824]},{\"_key\":\"obj2\",\"category\":\"pepper_shaker\",\"model\":\"ykujyn\",\"position\":[0.7574347257614136,0.14276601374149323,0.10741983354091644],\"quaternion_xyzw\":[3.6984420148655772e-06,-3.429397111176513e-06,0.41928598284721375,0.9078542590141296]},{\"_key\":\"obj3\",\"category\":\"electric_hand_mixer\",\"model\":\"prewfi\",\"position\":[0.013439836911857128,-0.17496001720428467,0.040197961032390594],\"quaternion_xyzw\":[-0.01590811461210251,-0.0016511384164914489,0.18330161273479462,0.9829266667366028]}],\"run_idx\":0,\"seed\":3567944643,\"success\":true}","options_json":"[\"yes\",\"no\"]","question":"Are the drill, pepper shaker and electric hand mixer in a line on the floor?","room":"corridor_0","runner_task":"line","scene":"house_double_floor_lower","small_task":"Linear Alignment"},"observations":[],"question":{"answer_type":"choice","options":[],"original":"Are the drill, pepper shaker and electric hand mixer in a line on the floor?","text":"Are the drill, pepper shaker and electric hand mixer in a line on the floor?"},"reference_media":[],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":31,"stratum_pool":94},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Spatial Relations/Linear Alignment/house_double_floor_lower/corridor_0/house_double_floor_lower__corridor_0.json","annotation_sha256":"474deee26711b7713952f78c0f1b937c81c31181fffc70c2b21cf2bfc804daff","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"6a7d15718e25cb13b2f15d69f2b9ef64855c89199034886cc5a75685b45cdfd3","sample_id":"2760","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"no","metric":"official_esi_task","original_answer":"no"},"task":{"category":"Spatial Relations","role":"spatial_core","skill_tags":["Spatial Relations","Linear Alignment"],"stratum":"ESI-Bench/Spatial Relations/Linear Alignment","subcategory":"Linear Alignment"},"transforms":[]}
{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Spatial Relations","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"yes","id":"907112dd84ea5d81","metadata":"vendor/ESI-Bench/dataset/json_clean/Spatial Relations/Linear Alignment/restaurant_hotel/kitchen_0/restaurant_hotel__kitchen_0.json","metadata_sha256":"0b6fb1ca3bf7f1fb5aa1f6b3e683e65cbb9006d427913d82285eef17d79d7507","observation_policy":"runtime camera observations; no oracle poses","question":"Are the pencil, bottle of maple syrup and vase in a line on the floor?","room":"kitchen_0","scene":"restaurant_hotel","subcategory":"Linear Alignment","task":"spatial_relations.linear_alignment"},"group":{"id":"ESI-scene/restaurant_hotel","kind":"scene","room":"kitchen_0","scene":"restaurant_hotel"},"id":"4ec7864fc25194c42bee","native_annotation":{"answer":"yes","answer_type":"choice","big_task":"Spatial Relations","gt_camera_poses":[{"baseline_selected":true,"camera_pose":{"position":[8.296825136104946,-0.6000641783078513,0.025],"quaternion_xyzw":[0.515006665415554,0.515006665415554,0.48452877579928283,0.48452877579928294]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_alignment_views","metadata_pointer":"/camera_poses/0","original_image_path":"165272616_final_1.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_alignment_views/165272616_final_1.png"},{"baseline_selected":true,"camera_pose":{"position":[5.839454923709506,-0.600064178307851,0.025],"quaternion_xyzw":[-0.5150066654155538,0.5150066654155538,0.48452877579928294,-0.48452877579928283]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_alignment_views","metadata_pointer":"/camera_poses/1","original_image_path":"165272616_final_2.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_alignment_views/165272616_final_2.png"},{"baseline_selected":true,"camera_pose":{"position":[8.132212545126034,-1.2144067314067115,0.025],"quaternion_xyzw":[0.6307517722001836,0.3641647054716097,0.3426135830476894,0.5934241332018169]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_alignment_views","metadata_pointer":"/camera_poses/2","original_image_path":"165272616_middle_1.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_alignment_views/165272616_middle_1.png"},{"baseline_selected":true,"camera_pose":{"position":[6.00406751468842,-1.2144067314067115,0.025],"quaternion_xyzw":[0.6307517722001835,-0.36416470547160945,-0.34261358304768924,0.5934241332018169]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_alignment_views","metadata_pointer":"/camera_poses/3","original_image_path":"165272616_middle_2.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_alignment_views/165272616_middle_2.png"}],"id":"2791","image_paths_json":"[]","metadata_json":"{\"camera_poses\":[{\"_key\":\"165272616.png\",\"angle_deg\":0,\"position\":[7.068140029907227,-1.8287492845055717,0.025],\"quaternion_xyzw\":[0.728329410943219,0.0,0.0,0.6852271660953786]},{\"_key\":\"165272616_final_1.png\",\"angle_deg\":90,\"position\":[8.296825136104946,-0.6000641783078513,0.025],\"quaternion_xyzw\":[0.515006665415554,0.515006665415554,0.48452877579928283,0.48452877579928294]},{\"_key\":\"165272616_final_2.png\",\"angle_deg\":270,\"position\":[5.839454923709506,-0.600064178307851,0.025],\"quaternion_xyzw\":[-0.5150066654155538,0.5150066654155538,0.48452877579928294,-0.48452877579928283]},{\"_key\":\"165272616_middle_1.png\",\"angle_deg\":60,\"position\":[8.132212545126034,-1.2144067314067115,0.025],\"quaternion_xyzw\":[0.6307517722001836,0.3641647054716097,0.3426135830476894,0.5934241332018169]},{\"_key\":\"165272616_middle_2.png\",\"angle_deg\":300,\"position\":[6.00406751468842,-1.2144067314067115,0.025],\"quaternion_xyzw\":[0.6307517722001835,-0.36416470547160945,-0.34261358304768924,0.5934241332018169]}],\"floor_name\":\"floors_ykbuit_0\",\"objects\":[{\"_key\":\"obj1\",\"category\":\"pencil\",\"model\":\"dcqvto\",\"position\":[7.114838123321533,-0.5993994474411011,0.007211958523839712],\"quaternion_xyzw\":[1.5525261005677748e-06,2.7453804705146467e-06,0.9976427555084229,-0.06862182915210724]},{\"_key\":\"obj2\",\"category\":\"bottle_of_maple_syrup\",\"model\":\"qfgewi\",\"position\":[7.528370380401611,-0.5996919274330139,0.07768893241882324],\"quaternion_xyzw\":[-0.0016296431422233582,-0.0007830867543816566,0.8796209096908569,-0.4756721258163452]},{\"_key\":\"obj3\",\"category\":\"vase\",\"model\":\"uuypot\",\"position\":[6.563753128051758,-0.5993824601173401,0.5738734006881714],\"quaternion_xyzw\":[4.482921212911606e-05,3.223773092031479e-05,-0.8550254702568054,0.5185860395431519]}],\"run_idx\":0,\"seed\":165272616,\"success\":true}","options_json":"[\"yes\",\"no\"]","question":"Are the pencil, bottle of maple syrup and vase in a line on the floor?","room":"kitchen_0","runner_task":"line","scene":"restaurant_hotel","small_task":"Linear Alignment"},"observations":[],"question":{"answer_type":"choice","options":[],"original":"Are the pencil, bottle of maple syrup and vase in a line on the floor?","text":"Are the pencil, bottle of maple syrup and vase in a line on the floor?"},"reference_media":[],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":31,"stratum_pool":94},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Spatial Relations/Linear Alignment/restaurant_hotel/kitchen_0/restaurant_hotel__kitchen_0.json","annotation_sha256":"0b6fb1ca3bf7f1fb5aa1f6b3e683e65cbb9006d427913d82285eef17d79d7507","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"6a8ac24b2e0e3e7a32bfcce7075e8bcf0ce0686757be33d9937d67b2d6a9e4bb","sample_id":"2791","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"yes","metric":"official_esi_task","original_answer":"yes"},"task":{"category":"Spatial Relations","role":"spatial_core","skill_tags":["Spatial Relations","Linear Alignment"],"stratum":"ESI-Bench/Spatial Relations/Linear Alignment","subcategory":"Linear Alignment"},"transforms":[]}
{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Spatial Relations","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"yes","id":"b94320a23ed37c4a","metadata":"vendor/ESI-Bench/dataset/json_clean/Spatial Relations/Physical Contact/Beechwood_1_int/playroom_0/Beechwood_1_int__playroom_0.json","metadata_sha256":"27c3a3e20fd0577966b73b8a18beb93de686703c647ce93106fbc1b23069bb31","observation_policy":"runtime camera observations; no oracle poses","question":"Are the bowling ball and skateboard deck touching each other?","room":"playroom_0","scene":"Beechwood_1_int","subcategory":"Physical Contact","task":"spatial_relations.physical_contact"},"group":{"id":"ESI-scene/Beechwood_1_int","kind":"scene","room":"playroom_0","scene":"Beechwood_1_int"},"id":"b7ae616b90f130a398ab","native_annotation":{"answer":"yes","answer_type":"choice","big_task":"Spatial Relations","gt_camera_poses":[{"baseline_selected":true,"camera_pose":{"position":[1.0755983650684358,6.334870338439941,0.4],"quaternion_xyzw":[0.3717480344601845,0.37174803446018456,0.6015009550075456,0.6015009550075456]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_contact_views","metadata_pointer":"/camera_poses/0.png","original_image_path":"0.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_contact_views/0.png"},{"baseline_selected":true,"camera_pose":{"position":[1.0551538608418767,6.490161765501454,0.4],"quaternion_xyzw":[0.32004482308798765,0.41709053389474043,0.6748666602275302,0.5178434016798111]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_contact_views","metadata_pointer":"/camera_poses/1.png","original_image_path":"1.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_contact_views/1.png"},{"baseline_selected":true,"camera_pose":{"position":[0.1755983650684354,5.815255096169278,0.4],"quaternion_xyzw":[0.5078172588795449,-0.13606922441936056,-0.22016462993336255,0.8216655849409079]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_contact_views","metadata_pointer":"/camera_poses/16.png","original_image_path":"16.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_contact_views/16.png"},{"baseline_selected":true,"camera_pose":{"position":[0.32030693800692334,5.7553148426665,0.4],"quaternion_xyzw":[0.5212334095748535,-0.06862168019652347,-0.11103221092310053,0.843373372764108]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_contact_views","metadata_pointer":"/camera_poses/17.png","original_image_path":"17.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_contact_views/17.png"},{"baseline_selected":true,"camera_pose":{"position":[0.47559836506843556,5.734870338439942,0.4],"quaternion_xyzw":[0.5257311121191335,-4.8639898786371005e-17,-7.870100944570307e-17,0.8506508083520401]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_contact_views","metadata_pointer":"/camera_poses/18.png","original_image_path":"18.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_contact_views/18.png"},{"baseline_selected":false,"camera_pose":{"position":[0.6308897921299479,5.7553148426665,0.4],"quaternion_xyzw":[0.5212334095748535,0.06862168019652341,0.11103221092310046,0.843373372764108]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_contact_views","metadata_pointer":"/camera_poses/19.png","original_image_path":"19.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_contact_views/19.png"},{"baseline_selected":false,"camera_pose":{"position":[0.9952136073390989,6.634870338439941,0.4],"quaternion_xyzw":[0.26286555605956685,0.45529649865501465,0.7366852097826345,0.42532540417602016]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_contact_views","metadata_pointer":"/camera_poses/2.png","original_image_path":"2.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_contact_views/2.png"},{"baseline_selected":false,"camera_pose":{"position":[0.7755983650684357,5.815255096169278,0.4],"quaternion_xyzw":[0.5078172588795449,0.13606922441936048,0.22016462993336247,0.8216655849409081]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_contact_views","metadata_pointer":"/camera_poses/20.png","original_image_path":"20.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_contact_views/20.png"},{"baseline_selected":false,"camera_pose":{"position":[0.899862433780364,5.910606269728013,0.4],"quaternion_xyzw":[0.48571221409126397,0.20118858648686577,0.3255299710842967,0.7858988711506308]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_contact_views","metadata_pointer":"/camera_poses/21.png","original_image_path":"21.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_contact_views/21.png"},{"baseline_selected":false,"camera_pose":{"position":[0.9952136073390987,6.034870338439941,0.4],"quaternion_xyzw":[0.4552964986550148,0.2628655560595665,0.4253254041760195,0.7366852097826347]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_contact_views","metadata_pointer":"/camera_poses/22.png","original_image_path":"22.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_contact_views/22.png"},{"baseline_selected":false,"camera_pose":{"position":[1.0551538608418767,6.179578911378429,0.4],"quaternion_xyzw":[0.41709053389474054,0.3200448230879877,0.5178434016798112,0.6748666602275303]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_contact_views","metadata_pointer":"/camera_poses/23.png","original_image_path":"23.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_contact_views/23.png"},{"baseline_selected":false,"camera_pose":{"position":[0.8998624337803642,6.75913440715187,0.4],"quaternion_xyzw":[0.20118858648686588,0.485712214091264,0.7858988711506308,0.3255299710842968]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_contact_views","metadata_pointer":"/camera_poses/3.png","original_image_path":"3.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_contact_views/3.png"},{"baseline_selected":false,"camera_pose":{"position":[0.7755983650684357,6.854485580710604,0.4],"quaternion_xyzw":[0.13606922441936048,0.5078172588795449,0.8216655849409081,0.22016462993336247]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_contact_views","metadata_pointer":"/camera_poses/4.png","original_image_path":"4.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_contact_views/4.png"},{"baseline_selected":false,"camera_pose":{"position":[0.6308897921299481,6.914425834213382,0.4],"quaternion_xyzw":[0.06862168019652351,0.5212334095748535,0.843373372764108,0.11103221092310062]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_contact_views","metadata_pointer":"/camera_poses/5.png","original_image_path":"5.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_contact_views/5.png"},{"baseline_selected":false,"camera_pose":{"position":[0.4755983650684357,6.934870338439941,0.4],"quaternion_xyzw":[2.4319949393185502e-17,0.5257311121191335,0.8506508083520401,3.9350504722851534e-17]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_contact_views","metadata_pointer":"/camera_poses/6.png","original_image_path":"6.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_contact_views/6.png"},{"baseline_selected":false,"camera_pose":{"position":[0.32030693800692317,6.914425834213382,0.4],"quaternion_xyzw":[-0.06862168019652354,0.5212334095748535,0.843373372764108,-0.11103221092310067]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_contact_views","metadata_pointer":"/camera_poses/7.png","original_image_path":"7.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_contact_views/7.png"},{"baseline_selected":false,"camera_pose":{"position":[0.1755983650684358,6.854485580710604,0.4],"quaternion_xyzw":[-0.1360692244193604,0.5078172588795449,0.8216655849409081,-0.22016462993336233]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_contact_views","metadata_pointer":"/camera_poses/8.png","original_image_path":"8.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_contact_views/8.png"}],"id":"2814","image_paths_json":"[]","metadata_json":"{\"camera_poses\":[{\"_key\":\"0.png\",\"azimuth_deg\":0.0,\"position\":[1.0755983650684358,6.334870338439941,0.4],\"quaternion_xyzw\":[0.3717480344601845,0.37174803446018456,0.6015009550075456,0.6015009550075456]},{\"_key\":\"1.png\",\"azimuth_deg\":15.0,\"position\":[1.0551538608418767,6.490161765501454,0.4],\"quaternion_xyzw\":[0.32004482308798765,0.41709053389474043,0.6748666602275302,0.5178434016798111]},{\"_key\":\"10.png\",\"azimuth_deg\":150.0,\"position\":[-0.04401687720222758,6.634870338439941,0.4],\"quaternion_xyzw\":[-0.26286555605956685,0.45529649865501465,0.7366852097826345,-0.42532540417602016]},{\"_key\":\"11.png\",\"azimuth_deg\":165.0,\"position\":[-0.10395713070500523,6.490161765501454,0.4],\"quaternion_xyzw\":[-0.32004482308798765,0.41709053389474043,0.6748666602275302,-0.5178434016798111]},{\"_key\":\"12.png\",\"azimuth_deg\":180.0,\"position\":[-0.12440163493156431,6.334870338439941,0.4],\"quaternion_xyzw\":[-0.3717480344601845,0.3717480344601845,0.6015009550075456,-0.6015009550075456]},{\"_key\":\"13.png\",\"azimuth_deg\":195.0,\"position\":[-0.10395713070500534,6.179578911378429,0.4],\"quaternion_xyzw\":[0.41709053389474054,-0.3200448230879877,-0.5178434016798112,0.6748666602275303]},{\"_key\":\"14.png\",\"azimuth_deg\":210.0,\"position\":[-0.04401687720222747,6.034870338439942,0.4],\"quaternion_xyzw\":[0.4552964986550146,-0.2628655560595668,-0.42532540417602005,0.7366852097826345]},{\"_key\":\"15.png\",\"azimuth_deg\":225.0,\"position\":[0.05133429635650705,5.910606269728013,0.4],\"quaternion_xyzw\":[0.485712214091264,-0.20118858648686588,-0.3255299710842968,0.7858988711506308]},{\"_key\":\"16.png\",\"azimuth_deg\":240.0,\"position\":[0.1755983650684354,5.815255096169278,0.4],\"quaternion_xyzw\":[0.5078172588795449,-0.13606922441936056,-0.22016462993336255,0.8216655849409079]},{\"_key\":\"17.png\",\"azimuth_deg\":255.0,\"position\":[0.32030693800692334,5.7553148426665,0.4],\"quaternion_xyzw\":[0.5212334095748535,-0.06862168019652347,-0.11103221092310053,0.843373372764108]},{\"_key\":\"18.png\",\"azimuth_deg\":270.0,\"position\":[0.47559836506843556,5.734870338439942,0.4],\"quaternion_xyzw\":[0.5257311121191335,-4.8639898786371005e-17,-7.870100944570307e-17,0.8506508083520401]},{\"_key\":\"19.png\",\"azimuth_deg\":285.0,\"position\":[0.6308897921299479,5.7553148426665,0.4],\"quaternion_xyzw\":[0.5212334095748535,0.06862168019652341,0.11103221092310046,0.843373372764108]},{\"_key\":\"2.png\",\"azimuth_deg\":30.0,\"position\":[0.9952136073390989,6.634870338439941,0.4],\"quaternion_xyzw\":[0.26286555605956685,0.45529649865501465,0.7366852097826345,0.42532540417602016]},{\"_key\":\"20.png\",\"azimuth_deg\":300.0,\"position\":[0.7755983650684357,5.815255096169278,0.4],\"quaternion_xyzw\":[0.5078172588795449,0.13606922441936048,0.22016462993336247,0.8216655849409081]},{\"_key\":\"21.png\",\"azimuth_deg\":315.0,\"position\":[0.899862433780364,5.910606269728013,0.4],\"quaternion_xyzw\":[0.48571221409126397,0.20118858648686577,0.3255299710842967,0.7858988711506308]},{\"_key\":\"22.png\",\"azimuth_deg\":330.0,\"position\":[0.9952136073390987,6.034870338439941,0.4],\"quaternion_xyzw\":[0.4552964986550148,0.2628655560595665,0.4253254041760195,0.7366852097826347]},{\"_key\":\"23.png\",\"azimuth_deg\":345.0,\"position\":[1.0551538608418767,6.179578911378429,0.4],\"quaternion_xyzw\":[0.41709053389474054,0.3200448230879877,0.5178434016798112,0.6748666602275303]},{\"_key\":\"3.png\",\"azimuth_deg\":45.0,\"position\":[0.8998624337803642,6.75913440715187,0.4],\"quaternion_xyzw\":[0.20118858648686588,0.485712214091264,0.7858988711506308,0.3255299710842968]},{\"_key\":\"4.png\",\"azimuth_deg\":60.0,\"position\":[0.7755983650684357,6.854485580710604,0.4],\"quaternion_xyzw\":[0.13606922441936048,0.5078172588795449,0.8216655849409081,0.22016462993336247]},{\"_key\":\"5.png\",\"azimuth_deg\":75.0,\"position\":[0.6308897921299481,6.914425834213382,0.4],\"quaternion_xyzw\":[0.06862168019652351,0.5212334095748535,0.843373372764108,0.11103221092310062]},{\"_key\":\"6.png\",\"azimuth_deg\":90.0,\"position\":[0.4755983650684357,6.934870338439941,0.4],\"quaternion_xyzw\":[2.4319949393185502e-17,0.5257311121191335,0.8506508083520401,3.9350504722851534e-17]},{\"_key\":\"7.png\",\"azimuth_deg\":105.0,\"position\":[0.32030693800692317,6.914425834213382,0.4],\"quaternion_xyzw\":[-0.06862168019652354,0.5212334095748535,0.843373372764108,-0.11103221092310067]},{\"_key\":\"8.png\",\"azimuth_deg\":120.0,\"position\":[0.1755983650684358,6.854485580710604,0.4],\"quaternion_xyzw\":[-0.1360692244193604,0.5078172588795449,0.8216655849409081,-0.22016462993336233]},{\"_key\":\"9.png\",\"azimuth_deg\":135.0,\"position\":[0.051334296356507214,6.75913440715187,0.4],\"quaternion_xyzw\":[-0.20118858648686586,0.485712214091264,0.7858988711506308,-0.3255299710842968]}],\"drift_x\":-0.018579283339714807,\"drift_y\":0.0,\"exist_obj\":[{\"_indices\":[1,0],\"_key\":\"exist_obj1_0\",\"value\":true},{\"_indices\":[1,1],\"_key\":\"exist_obj1_1\",\"value\":true},{\"_indices\":[1,2],\"_key\":\"exist_obj1_2\",\"value\":true},{\"_indices\":[1,3],\"_key\":\"exist_obj1_3\",\"value\":true},{\"_indices\":[1,4],\"_key\":\"exist_obj1_4\",\"value\":true},{\"_indices\":[1,5],\"_key\":\"exist_obj1_5\",\"value\":true},{\"_indices\":[1,6],\"_key\":\"exist_obj1_6\",\"value\":true},{\"_indices\":[1,7],\"_key\":\"exist_obj1_7\",\"value\":true},{\"_indices\":[1,8],\"_key\":\"exist_obj1_8\",\"value\":true},{\"_indices\":[1,9],\"_key\":\"exist_obj1_9\",\"value\":false},{\"_indices\":[1,10],\"_key\":\"exist_obj1_10\",\"value\":false},{\"_indices\":[1,11],\"_key\":\"exist_obj1_11\",\"value\":false},{\"_indices\":[1,12],\"_key\":\"exist_obj1_12\",\"value\":false},{\"_indices\":[1,13],\"_key\":\"exist_obj1_13\",\"value\":false},{\"_indices\":[1,14],\"_key\":\"exist_obj1_14\",\"value\":false},{\"_indices\":[1,15],\"_key\":\"exist_obj1_15\",\"value\":false},{\"_indices\":[1,16],\"_key\":\"exist_obj1_16\",\"value\":true},{\"_indices\":[1,17],\"_key\":\"exist_obj1_17\",\"value\":true},{\"_indices\":[1,18],\"_key\":\"exist_obj1_18\",\"value\":true},{\"_indices\":[1,19],\"_key\":\"exist_obj1_19\",\"value\":true},{\"_indices\":[1,20],\"_key\":\"exist_obj1_20\",\"value\":true},{\"_indices\":[1,21],\"_key\":\"exist_obj1_21\",\"value\":true},{\"_indices\":[1,22],\"_key\":\"exist_obj1_22\",\"value\":true},{\"_indices\":[1,23],\"_key\":\"exist_obj1_23\",\"value\":true},{\"_indices\":[2,0],\"_key\":\"exist_obj2_0\",\"value\":true},{\"_indices\":[2,1],\"_key\":\"exist_obj2_1\",\"value\":true},{\"_indices\":[2,2],\"_key\":\"exist_obj2_2\",\"value\":true},{\"_indices\":[2,3],\"_key\":\"exist_obj2_3\",\"value\":true},{\"_indices\":[2,4],\"_key\":\"exist_obj2_4\",\"value\":true},{\"_indices\":[2,5],\"_key\":\"exist_obj2_5\",\"value\":true},{\"_indices\":[2,6],\"_key\":\"exist_obj2_6\",\"value\":true},{\"_indices\":[2,7],\"_key\":\"exist_obj2_7\",\"value\":true},{\"_indices\":[2,8],\"_key\":\"exist_obj2_8\",\"value\":true},{\"_indices\":[2,9],\"_key\":\"exist_obj2_9\",\"value\":false},{\"_indices\":[2,10],\"_key\":\"exist_obj2_10\",\"value\":false},{\"_indices\":[2,11],\"_key\":\"exist_obj2_11\",\"value\":false},{\"_indices\":[2,12],\"_key\":\"exist_obj2_12\",\"value\":false},{\"_indices\":[2,13],\"_key\":\"exist_obj2_13\",\"value\":false},{\"_indices\":[2,14],\"_key\":\"exist_obj2_14\",\"value\":false},{\"_indices\":[2,15],\"_key\":\"exist_obj2_15\",\"value\":false},{\"_indices\":[2,16],\"_key\":\"exist_obj2_16\",\"value\":true},{\"_indices\":[2,17],\"_key\":\"exist_obj2_17\",\"value\":true},{\"_indices\":[2,18],\"_key\":\"exist_obj2_18\",\"value\":true},{\"_indices\":[2,19],\"_key\":\"exist_obj2_19\",\"value\":true},{\"_indices\":[2,20],\"_key\":\"exist_obj2_20\",\"value\":true},{\"_indices\":[2,21],\"_key\":\"exist_obj2_21\",\"value\":true},{\"_indices\":[2,22],\"_key\":\"exist_obj2_22\",\"value\":true},{\"_indices\":[2,23],\"_key\":\"exist_obj2_23\",\"value\":true}],\"floor_name\":\"floors_vlwrdh_0\",\"layout\":\"touching_pair\",\"obj_aabb\":[{\"_indices\":[1],\"_key\":\"obj1_aabb\",\"max\":[0.5549532771110535,6.344821453094482,0.22044476866722107],\"min\":[0.3348436653614044,6.124148845672607,-0.0035418346524238586]},{\"_indices\":[2],\"_key\":\"obj2_aabb\",\"max\":[0.6703093647956848,7.378551959991455,0.11683165282011032],\"min\":[0.39624345302581787,6.324919700622559,0.002000175416469574]}],\"objects\":[{\"_key\":\"obj1\",\"category\":\"bowling_ball\",\"model\":\"qzzett\",\"position\":[0.44542282819747925,6.234810829162598,0.1087595745921135],\"quaternion_xyzw\":[-0.03388480097055435,-0.13464060425758362,-0.10503572970628738,0.9847291707992554]},{\"_key\":\"obj2\",\"category\":\"skateboard_deck\",\"model\":\"tgfidu\",\"position\":[0.5331366658210754,6.840635776519775,0.06555527448654175],\"quaternion_xyzw\":[1.2966211215825751e-08,2.863624786186847e-07,0.0008719832403585315,0.9999997019767761]}],\"orientation\":\"square_axis_aligned\",\"run_idx\":0,\"seed\":694570393,\"touching\":[{\"_indices\":[0],\"_key\":\"touching_0\",\"value\":true},{\"_indices\":[1],\"_key\":\"touching_1\",\"value\":true},{\"_indices\":[2],\"_key\":\"touching_2\",\"value\":true},{\"_indices\":[3],\"_key\":\"touching_3\",\"value\":true},{\"_indices\":[4],\"_key\":\"touching_4\",\"value\":true},{\"_indices\":[5],\"_key\":\"touching_5\",\"value\":true},{\"_indices\":[6],\"_key\":\"touching_6\",\"value\":true},{\"_indices\":[7],\"_key\":\"touching_7\",\"value\":true},{\"_indices\":[8],\"_key\":\"touching_8\",\"value\":true},{\"_indices\":[9],\"_key\":\"touching_9\",\"value\":false},{\"_indices\":[10],\"_key\":\"touching_10\",\"value\":false},{\"_indices\":[11],\"_key\":\"touching_11\",\"value\":false},{\"_indices\":[12],\"_key\":\"touching_12\",\"value\":false},{\"_indices\":[13],\"_key\":\"touching_13\",\"value\":false},{\"_indices\":[14],\"_key\":\"touching_14\",\"value\":false},{\"_indices\":[15],\"_key\":\"touching_15\",\"value\":false},{\"_indices\":[16],\"_key\":\"touching_16\",\"value\":true},{\"_indices\":[17],\"_key\":\"touching_17\",\"value\":true},{\"_indices\":[18],\"_key\":\"touching_18\",\"value\":true},{\"_indices\":[19],\"_key\":\"touching_19\",\"value\":true},{\"_indices\":[20],\"_key\":\"touching_20\",\"value\":true},{\"_indices\":[21],\"_key\":\"touching_21\",\"value\":true},{\"_indices\":[22],\"_key\":\"touching_22\",\"value\":true},{\"_indices\":[23],\"_key\":\"touching_23\",\"value\":true}],\"x_gap\":-0.1587098240852356,\"y_gap\":-0.019901752471923828}","options_json":"[\"yes\",\"no\"]","question":"Are the bowling ball and skateboard deck touching each other?","room":"playroom_0","runner_task":"touching","scene":"Beechwood_1_int","small_task":"Physical Contact"},"observations":[],"question":{"answer_type":"choice","options":[],"original":"Are the bowling ball and skateboard deck touching each other?","text":"Are the bowling ball and skateboard deck touching each other?"},"reference_media":[],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":46,"stratum_pool":119},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Spatial Relations/Physical Contact/Beechwood_1_int/playroom_0/Beechwood_1_int__playroom_0.json","annotation_sha256":"27c3a3e20fd0577966b73b8a18beb93de686703c647ce93106fbc1b23069bb31","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"0ad6ea136b4ca8e1b973dc277083b56ff56eba8c0a1d2f955a539084936a7848","sample_id":"2814","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"yes","metric":"official_esi_task","original_answer":"yes"},"task":{"category":"Spatial Relations","role":"spatial_core","skill_tags":["Spatial Relations","Physical Contact"],"stratum":"ESI-Bench/Spatial Relations/Physical Contact","subcategory":"Physical Contact"},"transforms":[]}
{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Spatial Relations","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"no","id":"4f868ba8eabf122c","metadata":"vendor/ESI-Bench/dataset/json_clean/Spatial Relations/Physical Contact/restaurant_hotel/bathroom_0/restaurant_hotel__bathroom_0.json","metadata_sha256":"ba32558315a5609364868c0494815279b444ee3344c0e50f8fff7cb1034cc30a","observation_policy":"runtime camera observations; no oracle poses","question":"Are the doll and wicker basket touching each other?","room":"bathroom_0","scene":"restaurant_hotel","subcategory":"Physical Contact","task":"spatial_relations.physical_contact"},"group":{"id":"ESI-scene/restaurant_hotel","kind":"scene","room":"bathroom_0","scene":"restaurant_hotel"},"id":"79992ddf32388234a9e1","native_annotation":{"answer":"no","answer_type":"choice","big_task":"Spatial Relations","gt_camera_poses":[{"baseline_selected":true,"camera_pose":{"position":[5.912139511108398,-18.600711822509766,0.4],"quaternion_xyzw":[0.3717480344601844,0.3717480344601844,0.6015009550075457,0.6015009550075457]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_contact_views","metadata_pointer":"/camera_poses/0.png","original_image_path":"0.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_contact_views/0.png"},{"baseline_selected":true,"camera_pose":{"position":[4.732584015334957,-18.445420395448252,0.4],"quaternion_xyzw":[-0.32004482308798743,0.41709053389474077,0.6748666602275304,-0.5178434016798107]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_contact_views","metadata_pointer":"/camera_poses/11.png","original_image_path":"11.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_contact_views/11.png"},{"baseline_selected":true,"camera_pose":{"position":[4.712139511108399,-18.600711822509766,0.4],"quaternion_xyzw":[-0.3717480344601844,0.3717480344601844,0.6015009550075457,-0.6015009550075457]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_contact_views","metadata_pointer":"/camera_poses/12.png","original_image_path":"12.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_contact_views/12.png"},{"baseline_selected":true,"camera_pose":{"position":[4.732584015334957,-18.75600324957128,0.4],"quaternion_xyzw":[0.4170905338947408,-0.3200448230879875,-0.5178434016798107,0.6748666602275305]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_contact_views","metadata_pointer":"/camera_poses/13.png","original_image_path":"13.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_contact_views/13.png"},{"baseline_selected":true,"camera_pose":{"position":[5.156848084046886,-19.180267318283207,0.4],"quaternion_xyzw":[0.5212334095748535,-0.06862168019652351,-0.11103221092310062,0.843373372764108]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_contact_views","metadata_pointer":"/camera_poses/17.png","original_image_path":"17.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_contact_views/17.png"},{"baseline_selected":false,"camera_pose":{"position":[5.312139511108398,-19.200711822509767,0.4],"quaternion_xyzw":[0.5257311121191339,-0.0,-0.0,0.8506508083520397]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_contact_views","metadata_pointer":"/camera_poses/18.png","original_image_path":"18.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_contact_views/18.png"},{"baseline_selected":false,"camera_pose":{"position":[5.467430938169911,-19.180267318283207,0.4],"quaternion_xyzw":[0.5212334095748535,0.06862168019652351,0.11103221092310062,0.843373372764108]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_contact_views","metadata_pointer":"/camera_poses/19.png","original_image_path":"19.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_contact_views/19.png"},{"baseline_selected":false,"camera_pose":{"position":[5.612139511108398,-19.12032706478043,0.4],"quaternion_xyzw":[0.5078172588795452,0.13606922441936029,0.220164629933362,0.8216655849409081]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_contact_views","metadata_pointer":"/camera_poses/20.png","original_image_path":"20.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_contact_views/20.png"},{"baseline_selected":false,"camera_pose":{"position":[5.736403579820327,-19.024975891221693,0.4],"quaternion_xyzw":[0.48571221409126375,0.20118858648686605,0.32552997108429726,0.7858988711506308]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_contact_views","metadata_pointer":"/camera_poses/21.png","original_image_path":"21.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_contact_views/21.png"},{"baseline_selected":false,"camera_pose":{"position":[5.8317547533790615,-18.900711822509766,0.4],"quaternion_xyzw":[0.4552964986550148,0.2628655560595665,0.4253254041760195,0.7366852097826347]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_contact_views","metadata_pointer":"/camera_poses/22.png","original_image_path":"22.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_contact_views/22.png"},{"baseline_selected":false,"camera_pose":{"position":[5.8916950068818394,-18.75600324957128,0.4],"quaternion_xyzw":[0.4170905338947408,0.3200448230879875,0.5178434016798107,0.6748666602275305]},"camera_pose_rule":null,"fov_deg":null,"group":"gt_contact_views","metadata_pointer":"/camera_poses/23.png","original_image_path":"23.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt_view","state_key":null,"view_id":"gt_contact_views/23.png"}],"id":"2907","image_paths_json":"[]","metadata_json":"{\"camera_poses\":[{\"_key\":\"0.png\",\"azimuth_deg\":0.0,\"position\":[5.912139511108398,-18.600711822509766,0.4],\"quaternion_xyzw\":[0.3717480344601844,0.3717480344601844,0.6015009550075457,0.6015009550075457]},{\"_key\":\"1.png\",\"azimuth_deg\":15.0,\"position\":[5.8916950068818394,-18.445420395448252,0.4],\"quaternion_xyzw\":[0.32004482308798743,0.41709053389474077,0.6748666602275304,0.5178434016798107]},{\"_key\":\"10.png\",\"azimuth_deg\":150.0,\"position\":[4.792524268837735,-18.300711822509765,0.4],\"quaternion_xyzw\":[-0.2628655560595665,0.4552964986550148,0.7366852097826347,-0.4253254041760195]},{\"_key\":\"11.png\",\"azimuth_deg\":165.0,\"position\":[4.732584015334957,-18.445420395448252,0.4],\"quaternion_xyzw\":[-0.32004482308798743,0.41709053389474077,0.6748666602275304,-0.5178434016798107]},{\"_key\":\"12.png\",\"azimuth_deg\":180.0,\"position\":[4.712139511108399,-18.600711822509766,0.4],\"quaternion_xyzw\":[-0.3717480344601844,0.3717480344601844,0.6015009550075457,-0.6015009550075457]},{\"_key\":\"13.png\",\"azimuth_deg\":195.0,\"position\":[4.732584015334957,-18.75600324957128,0.4],\"quaternion_xyzw\":[0.4170905338947408,-0.3200448230879875,-0.5178434016798107,0.6748666602275305]},{\"_key\":\"14.png\",\"azimuth_deg\":210.0,\"position\":[4.792524268837735,-18.900711822509766,0.4],\"quaternion_xyzw\":[0.4552964986550148,-0.2628655560595665,-0.4253254041760195,0.7366852097826347]},{\"_key\":\"15.png\",\"azimuth_deg\":225.0,\"position\":[4.88787544239647,-19.024975891221693,0.4],\"quaternion_xyzw\":[0.48571221409126375,-0.20118858648686605,-0.32552997108429726,0.7858988711506308]},{\"_key\":\"16.png\",\"azimuth_deg\":240.0,\"position\":[5.012139511108398,-19.12032706478043,0.4],\"quaternion_xyzw\":[0.5078172588795451,-0.1360692244193606,-0.2201646299333625,0.8216655849409078]},{\"_key\":\"17.png\",\"azimuth_deg\":255.0,\"position\":[5.156848084046886,-19.180267318283207,0.4],\"quaternion_xyzw\":[0.5212334095748535,-0.06862168019652351,-0.11103221092310062,0.843373372764108]},{\"_key\":\"18.png\",\"azimuth_deg\":270.0,\"position\":[5.312139511108398,-19.200711822509767,0.4],\"quaternion_xyzw\":[0.5257311121191339,-0.0,-0.0,0.8506508083520397]},{\"_key\":\"19.png\",\"azimuth_deg\":285.0,\"position\":[5.467430938169911,-19.180267318283207,0.4],\"quaternion_xyzw\":[0.5212334095748535,0.06862168019652351,0.11103221092310062,0.843373372764108]},{\"_key\":\"2.png\",\"azimuth_deg\":30.0,\"position\":[5.8317547533790615,-18.300711822509765,0.4],\"quaternion_xyzw\":[0.2628655560595665,0.4552964986550148,0.7366852097826347,0.4253254041760195]},{\"_key\":\"20.png\",\"azimuth_deg\":300.0,\"position\":[5.612139511108398,-19.12032706478043,0.4],\"quaternion_xyzw\":[0.5078172588795452,0.13606922441936029,0.220164629933362,0.8216655849409081]},{\"_key\":\"21.png\",\"azimuth_deg\":315.0,\"position\":[5.736403579820327,-19.024975891221693,0.4],\"quaternion_xyzw\":[0.48571221409126375,0.20118858648686605,0.32552997108429726,0.7858988711506308]},{\"_key\":\"22.png\",\"azimuth_deg\":330.0,\"position\":[5.8317547533790615,-18.900711822509766,0.4],\"quaternion_xyzw\":[0.4552964986550148,0.2628655560595665,0.4253254041760195,0.7366852097826347]},{\"_key\":\"23.png\",\"azimuth_deg\":345.0,\"position\":[5.8916950068818394,-18.75600324957128,0.4],\"quaternion_xyzw\":[0.4170905338947408,0.3200448230879875,0.5178434016798107,0.6748666602275305]},{\"_key\":\"3.png\",\"azimuth_deg\":45.0,\"position\":[5.736403579820327,-18.176447753797838,0.4],\"quaternion_xyzw\":[0.20118858648686605,0.48571221409126375,0.7858988711506308,0.32552997108429726]},{\"_key\":\"4.png\",\"azimuth_deg\":60.0,\"position\":[5.612139511108398,-18.0810965802391,0.4],\"quaternion_xyzw\":[0.13606922441936029,0.5078172588795452,0.8216655849409081,0.220164629933362]},{\"_key\":\"5.png\",\"azimuth_deg\":75.0,\"position\":[5.467430938169911,-18.021156326736325,0.4],\"quaternion_xyzw\":[0.06862168019652351,0.5212334095748535,0.843373372764108,0.11103221092310062]},{\"_key\":\"6.png\",\"azimuth_deg\":90.0,\"position\":[5.312139511108398,-18.000711822509764,0.4],\"quaternion_xyzw\":[0.0,0.5257311121191339,0.8506508083520397,-0.0]},{\"_key\":\"7.png\",\"azimuth_deg\":105.0,\"position\":[5.156848084046886,-18.021156326736325,0.4],\"quaternion_xyzw\":[-0.06862168019652351,0.5212334095748535,0.843373372764108,-0.11103221092310062]},{\"_key\":\"8.png\",\"azimuth_deg\":120.0,\"position\":[5.012139511108399,-18.0810965802391,0.4],\"quaternion_xyzw\":[-0.13606922441936029,0.5078172588795452,0.8216655849409081,-0.220164629933362]},{\"_key\":\"9.png\",\"azimuth_deg\":135.0,\"position\":[4.88787544239647,-18.176447753797838,0.4],\"quaternion_xyzw\":[-0.20118858648686605,0.48571221409126375,0.7858988711506308,-0.32552997108429726]}],\"drift_x\":0.02772229129900429,\"drift_y\":0.0,\"exist_obj\":[{\"_indices\":[1,0],\"_key\":\"exist_obj1_0\",\"value\":true},{\"_indices\":[1,1],\"_key\":\"exist_obj1_1\",\"value\":true},{\"_indices\":[1,2],\"_key\":\"exist_obj1_2\",\"value\":true},{\"_indices\":[1,3],\"_key\":\"exist_obj1_3\",\"value\":true},{\"_indices\":[1,4],\"_key\":\"exist_obj1_4\",\"value\":true},{\"_indices\":[1,5],\"_key\":\"exist_obj1_5\",\"value\":true},{\"_indices\":[1,6],\"_key\":\"exist_obj1_6\",\"value\":true},{\"_indices\":[1,7],\"_key\":\"exist_obj1_7\",\"value\":true},{\"_indices\":[1,8],\"_key\":\"exist_obj1_8\",\"value\":true},{\"_indices\":[1,9],\"_key\":\"exist_obj1_9\",\"value\":true},{\"_indices\":[1,10],\"_key\":\"exist_obj1_10\",\"value\":true},{\"_indices\":[1,11],\"_key\":\"exist_obj1_11\",\"value\":true},{\"_indices\":[1,12],\"_key\":\"exist_obj1_12\",\"value\":true},{\"_indices\":[1,13],\"_key\":\"exist_obj1_13\",\"value\":true},{\"_indices\":[1,14],\"_key\":\"exist_obj1_14\",\"value\":true},{\"_indices\":[1,15],\"_key\":\"exist_obj1_15\",\"value\":true},{\"_indices\":[1,16],\"_key\":\"exist_obj1_16\",\"value\":true},{\"_indices\":[1,17],\"_key\":\"exist_obj1_17\",\"value\":true},{\"_indices\":[1,18],\"_key\":\"exist_obj1_18\",\"value\":true},{\"_indices\":[1,19],\"_key\":\"exist_obj1_19\",\"value\":true},{\"_indices\":[1,20],\"_key\":\"exist_obj1_20\",\"value\":true},{\"_indices\":[1,21],\"_key\":\"exist_obj1_21\",\"value\":true},{\"_indices\":[1,22],\"_key\":\"exist_obj1_22\",\"value\":true},{\"_indices\":[1,23],\"_key\":\"exist_obj1_23\",\"value\":true},{\"_indices\":[2,0],\"_key\":\"exist_obj2_0\",\"value\":true},{\"_indices\":[2,1],\"_key\":\"exist_obj2_1\",\"value\":true},{\"_indices\":[2,2],\"_key\":\"exist_obj2_2\",\"value\":true},{\"_indices\":[2,3],\"_key\":\"exist_obj2_3\",\"value\":true},{\"_indices\":[2,4],\"_key\":\"exist_obj2_4\",\"value\":true},{\"_indices\":[2,5],\"_key\":\"exist_obj2_5\",\"value\":true},{\"_indices\":[2,6],\"_key\":\"exist_obj2_6\",\"value\":true},{\"_indices\":[2,7],\"_key\":\"exist_obj2_7\",\"value\":true},{\"_indices\":[2,8],\"_key\":\"exist_obj2_8\",\"value\":true},{\"_indices\":[2,9],\"_key\":\"exist_obj2_9\",\"value\":true},{\"_indices\":[2,10],\"_key\":\"exist_obj2_10\",\"value\":true},{\"_indices\":[2,11],\"_key\":\"exist_obj2_11\",\"value\":true},{\"_indices\":[2,12],\"_key\":\"exist_obj2_12\",\"value\":true},{\"_indices\":[2,13],\"_key\":\"exist_obj2_13\",\"value\":true},{\"_indices\":[2,14],\"_key\":\"exist_obj2_14\",\"value\":true},{\"_indices\":[2,15],\"_key\":\"exist_obj2_15\",\"value\":true},{\"_indices\":[2,16],\"_key\":\"exist_obj2_16\",\"value\":true},{\"_indices\":[2,17],\"_key\":\"exist_obj2_17\",\"value\":true},{\"_indices\":[2,18],\"_key\":\"exist_obj2_18\",\"value\":true},{\"_indices\":[2,19],\"_key\":\"exist_obj2_19\",\"value\":true},{\"_indices\":[2,20],\"_key\":\"exist_obj2_20\",\"value\":true},{\"_indices\":[2,21],\"_key\":\"exist_obj2_21\",\"value\":true},{\"_indices\":[2,22],\"_key\":\"exist_obj2_22\",\"value\":true},{\"_indices\":[2,23],\"_key\":\"exist_obj2_23\",\"value\":true}],\"floor_name\":\"floors_ldvzya_0\",\"layout\":\"touching_pair\",\"obj_aabb\":[{\"_indices\":[1],\"_key\":\"obj1_aabb\",\"max\":[5.404715061187744,-18.553834915161133,1.1695690155029297],\"min\":[4.970723628997803,-19.11041259765625,0.0032996535301208496]},{\"_indices\":[2],\"_key\":\"obj2_aabb\",\"max\":[5.602874279022217,-18.070432662963867,0.24571606516838074],\"min\":[5.219563961029053,-18.6475887298584,0.0026011914014816284]}],\"objects\":[{\"_key\":\"obj1\",\"category\":\"electric_fan\",\"model\":\"qqphyr\",\"position\":[5.203578472137451,-18.833602905273438,0.6038195490837097],\"quaternion_xyzw\":[0.0006612453144043684,-0.006739618256688118,0.0008222645265050232,0.9999766945838928]},{\"_key\":\"obj2\",\"category\":\"pillowcase\",\"model\":\"yakvci\",\"position\":[5.4203972816467285,-18.352746963500977,0.10798215121030807],\"quaternion_xyzw\":[-0.019039439037442207,-0.010970600880682468,0.0001796991564333439,0.9997586011886597]}],\"orientation\":\"square_axis_aligned\",\"run_idx\":0,\"seed\":1448509661,\"touching\":[{\"_indices\":[0],\"_key\":\"touching_0\",\"value\":false},{\"_indices\":[1],\"_key\":\"touching_1\",\"value\":true},{\"_indices\":[2],\"_key\":\"touching_2\",\"value\":true},{\"_indices\":[3],\"_key\":\"touching_3\",\"value\":true},{\"_indices\":[4],\"_key\":\"touching_4\",\"value\":true},{\"_indices\":[5],\"_key\":\"touching_5\",\"value\":true},{\"_indices\":[6],\"_key\":\"touching_6\",\"value\":true},{\"_indices\":[7],\"_key\":\"touching_7\",\"value\":true},{\"_indices\":[8],\"_key\":\"touching_8\",\"value\":true},{\"_indices\":[9],\"_key\":\"touching_9\",\"value\":true},{\"_indices\":[10],\"_key\":\"touching_10\",\"value\":true},{\"_indices\":[11],\"_key\":\"touching_11\",\"value\":false},{\"_indices\":[12],\"_key\":\"touching_12\",\"value\":false},{\"_indices\":[13],\"_key\":\"touching_13\",\"value\":false},{\"_indices\":[14],\"_key\":\"touching_14\",\"value\":true},{\"_indices\":[15],\"_key\":\"touching_15\",\"value\":true},{\"_indices\":[16],\"_key\":\"touching_16\",\"value\":true},{\"_indices\":[17],\"_key\":\"touching_17\",\"value\":false},{\"_indices\":[18],\"_key\":\"touching_18\",\"value\":false},{\"_indices\":[19],\"_key\":\"touching_19\",\"value\":false},{\"_indices\":[20],\"_key\":\"touching_20\",\"value\":false},{\"_indices\":[21],\"_key\":\"touching_21\",\"value\":false},{\"_indices\":[22],\"_key\":\"touching_22\",\"value\":false},{\"_indices\":[23],\"_key\":\"touching_23\",\"value\":false}],\"x_gap\":-0.1851511001586914,\"y_gap\":-0.09375381469726562}","options_json":"[\"yes\",\"no\"]","question":"Are the doll and wicker basket touching each other?","room":"bathroom_0","runner_task":"touching","scene":"restaurant_hotel","small_task":"Physical Contact"},"observations":[],"question":{"answer_type":"choice","options":[],"original":"Are the doll and wicker basket touching each other?","text":"Are the doll and wicker basket touching each other?"},"reference_media":[],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":46,"stratum_pool":119},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Spatial Relations/Physical Contact/restaurant_hotel/bathroom_0/restaurant_hotel__bathroom_0.json","annotation_sha256":"ba32558315a5609364868c0494815279b444ee3344c0e50f8fff7cb1034cc30a","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"6ca623def3b40c4b7a84306bfdb142c728ce483a5ca23e7f8c6a65e416beb881","sample_id":"2907","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"no","metric":"official_esi_task","original_answer":"no"},"task":{"category":"Spatial Relations","role":"spatial_core","skill_tags":["Spatial Relations","Physical Contact"],"stratum":"ESI-Bench/Spatial Relations/Physical Contact","subcategory":"Physical Contact"},"transforms":[]}
{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Specular Reflection","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"middle","id":"c04eff5ecc041fe3","metadata":"vendor/ESI-Bench/dataset/json_clean/Specular Reflection/Correspondence/Wainscott_0_garden/living_room_2/q_007.json","metadata_sha256":"74bcceacbf980215d46b1c0954e222550441a193a22d39a8cd4abce0087af935","observation_policy":"runtime camera observations; no oracle poses","question":"You are given an image with a mirror and three pineapples. Based on the mirror reflection, which of the three pineapples in the same image corresponds to the reflected one: the left, middle, or right object?","room":"living_room_2","scene":"Wainscott_0_garden","subcategory":"Correspondence","task":"specular_reflection.correspondence"},"group":{"id":"ESI-scene/Wainscott_0_garden","kind":"scene","room":"living_room_2","scene":"Wainscott_0_garden"},"id":"995535b453c48b69e69c","native_annotation":{"answer":"middle","answer_type":"choice","big_task":"Specular Reflection","gt_camera_poses":[{"baseline_selected":true,"camera_pose":{"position":[5.053837751385594,-1.0187861659453228,0.8256930142641068],"quaternion_xyzw":[0.7538653012205995,0.08879191916694434,0.0761500251823937,0.6465325021767634]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/0","original_image_path":"orbit_-05.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_-05.png"},{"baseline_selected":true,"camera_pose":{"position":[5.2395285224914545,-0.9657682800292964,0.8256930142641068],"quaternion_xyzw":[0.7492747393796567,0.12159055152980282,0.10427889888861228,0.6425955290482531]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/1","original_image_path":"orbit_+00.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_+00.png"},{"baseline_selected":true,"camera_pose":{"position":[5.419891870925759,-0.8967681260986016,0.8256930142641068],"quaternion_xyzw":[0.7432578904863126,0.1541577293670692,0.13220927178397127,0.6374353388074573]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/2","original_image_path":"orbit_+05.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_+05.png"},{"baseline_selected":true,"camera_pose":{"position":[5.593555122700554,-0.8123108369880823,0.8256930142641068],"quaternion_xyzw":[0.7358262079544111,0.18643145920473278,0.15988797681620565,0.631061754169785]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/3","original_image_path":"orbit_+10.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_+10.png"},{"baseline_selected":true,"camera_pose":{"position":[5.759196595609096,-0.7130391836645755,0.8256930142641068],"quaternion_xyzw":[0.7269938384140406,0.21835030616372864,0.1872623259971318,0.6234869076158455]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/4","original_image_path":"orbit_+15.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_+15.png"},{"baseline_selected":true,"camera_pose":{"position":[5.915555658025495,-0.599708683351736,0.8256930142641068],"quaternion_xyzw":[0.7167775947826203,0.24985351090472183,0.2142802106972277,0.6147252182965797]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/5","original_image_path":"orbit_+20.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_+20.png"},{"baseline_selected":true,"camera_pose":{"position":[6.061442323072578,-0.4731818495877722,0.8256930142641068],"quaternion_xyzw":[0.705196924260556,0.28088110528696253,0.24089020083737028,0.6047933645855891]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/6","original_image_path":"orbit_+25.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_+25.png"},{"baseline_selected":true,"camera_pose":{"position":[6.1957463051405615,-0.3344216279766181,0.8256930142641068],"quaternion_xyzw":[0.6922738713123888,0.3113740265210512,0.267041642788915,0.593710252330902]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/7","original_image_path":"orbit_+30.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_+30.png"},{"baseline_selected":true,"camera_pose":{"position":[6.317445469830945,-0.18448406759044733,0.8256930142641068],"quaternion_xyzw":[0.6780330357039037,0.34127422959831416,0.2926847557957562,0.5814969788666183]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/8","original_image_path":"orbit_+35.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_+35.png"},{"baseline_selected":true,"camera_pose":{"position":[6.425613613016472,-0.02451028379857334,0.8256930142641068],"quaternion_xyzw":[0.6625015256750779,0.37052479778277775,0.3177707267348263,0.5681767928529342]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/9","original_image_path":"orbit_+40.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_+40.png"},{"baseline_selected":true,"camera_pose":{"position":[6.519427509813788,0.14428222630953647,0.8256930142641068],"quaternion_xyzw":[0.6457089063380043,0.399070050955409,0.3422518030346492,0.5537750500209968]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/10","original_image_path":"orbit_+45.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_+45.png"}],"id":"2960","image_paths_json":"[\"q_007.png\",\"q_007_map.png\",\"corner_00.png\",\"corner_01.png\",\"corner_02.png\",\"corner_03.png\",\"orbit_-05.png\",\"orbit_+00.png\",\"orbit_+05.png\",\"orbit_+10.png\",\"orbit_+15.png\",\"orbit_+20.png\",\"orbit_+25.png\",\"orbit_+30.png\",\"orbit_+35.png\",\"orbit_+40.png\",\"orbit_+45.png\"]","metadata_json":"{\"camera_poses\":{\"clear_radius_m\":1.0,\"context_render_enabled\":false,\"fov_deg\":100.0,\"height_m\":0.8,\"look_target\":\"mirror_center\",\"mode\":\"per_question_reset\",\"trav_map_pixel_occlusion_check\":true},\"floor_name\":\"floors_jrtshg_0\",\"image_paths\":[\"q_007.png\",\"q_007_map.png\",\"corner_00.png\",\"corner_01.png\",\"corner_02.png\",\"corner_03.png\",\"orbit_-05.png\",\"orbit_+00.png\",\"orbit_+05.png\",\"orbit_+10.png\",\"orbit_+15.png\",\"orbit_+20.png\",\"orbit_+25.png\",\"orbit_+30.png\",\"orbit_+35.png\",\"orbit_+40.png\",\"orbit_+45.png\"],\"mirror_setup\":{\"camera_forward_distance_m\":3.0,\"category\":\"mirror\",\"mode\":\"per_question_reset\",\"model\":\"tytkbq\",\"name\":\"render_mirror_main\"},\"question_data\":{\"answer\":\"middle\",\"evidence\":{\"mirror_label\":\"target_mirror_object\",\"only_target_visible_in_mirror\":false,\"other_object_distances_from_target_m\":[0.8513357220184916,0.766561963610124],\"other_objects_on_perpendicular_line\":true,\"real_object_name\":\"render_item_022\",\"shared_category\":\"pineapple\",\"shared_model\":\"ttviux\",\"target_distance_from_mirror_m\":1.680690553975496,\"target_generated_from_reflected_ray\":true,\"target_position_label\":\"middle\"},\"options\":[\"left\",\"middle\",\"right\"],\"placement\":[{\"alias\":\"A\",\"category\":\"pineapple\",\"line_offset_m\":-0.8513357220184916,\"model\":\"ttviux\",\"name\":\"render_item_021\",\"position_label\":\"right\",\"quaternion_xyzw\":[0.0,0.0,0.048894390917948484,0.9988039540053708],\"real_position\":[6.045598030090332,0.002309674397110939,0.09616359323263168],\"visible_in_mirror\":false,\"yaw_deg\":5.6051193213282104},{\"alias\":\"B\",\"category\":\"pineapple\",\"line_offset_m\":0.0,\"model\":\"ttviux\",\"name\":\"render_item_022\",\"position_label\":\"middle\",\"quaternion_xyzw\":[0.0,0.0,-0.18950131041764512,0.9818804679542186],\"real_position\":[5.281785488128662,-0.37367257475852966,0.09616359323263168],\"visible_in_mirror\":true,\"yaw_deg\":-21.847365365861236},{\"alias\":\"C\",\"category\":\"pineapple\",\"line_offset_m\":0.766561963610124,\"model\":\"ttviux\",\"name\":\"render_item_023\",\"position_label\":\"left\",\"quaternion_xyzw\":[0.0,0.0,-0.1264364795970518,0.9919747056387599],\"real_position\":[4.59403133392334,-0.7122155427932739,0.09616359323263168],\"visible_in_mirror\":false,\"yaw_deg\":-14.527436464717244}],\"question\":\"You are given an image with a mirror and three pineapples. Based on the mirror reflection, which of the three pineapples in the same image corresponds to the reflected one: the left, middle, or right object?\",\"render\":{\"camera_pose\":{\"position\":[5.2395285224914545,-0.9657682800292965,0.8256930142641068],\"quaternion_xyzw\":[0.6979762349196629,0.11326595025589785,0.11326595025589785,0.697976234919663]},\"gt_view_input\":{\"anchor_answer_label\":\"middle\",\"orbit_center\":[4.539528522491455,1.1342317199707033,1.167017782330513],\"orbit_radius_xy_m\":2.213594362117865,\"views\":[{\"camera_pose\":{\"position\":[5.053837751385594,-1.0187861659453228,0.8256930142641068],\"quaternion_xyzw\":[0.7538653012205995,0.08879191916694434,0.0761500251823937,0.6465325021767634]},\"image_path\":\"orbit_-05.png\",\"offset_deg\":-5,\"target\":[4.539528522491455,1.1342317199707033,1.167017782330513]},{\"camera_pose\":{\"position\":[5.2395285224914545,-0.9657682800292964,0.8256930142641068],\"quaternion_xyzw\":[0.7492747393796567,0.12159055152980282,0.10427889888861228,0.6425955290482531]},\"image_path\":\"orbit_+00.png\",\"offset_deg\":0,\"target\":[4.539528522491455,1.1342317199707033,1.167017782330513]},{\"camera_pose\":{\"position\":[5.419891870925759,-0.8967681260986016,0.8256930142641068],\"quaternion_xyzw\":[0.7432578904863126,0.1541577293670692,0.13220927178397127,0.6374353388074573]},\"image_path\":\"orbit_+05.png\",\"offset_deg\":5,\"target\":[4.539528522491455,1.1342317199707033,1.167017782330513]},{\"camera_pose\":{\"position\":[5.593555122700554,-0.8123108369880823,0.8256930142641068],\"quaternion_xyzw\":[0.7358262079544111,0.18643145920473278,0.15988797681620565,0.631061754169785]},\"image_path\":\"orbit_+10.png\",\"offset_deg\":10,\"target\":[4.539528522491455,1.1342317199707033,1.167017782330513]},{\"camera_pose\":{\"position\":[5.759196595609096,-0.7130391836645755,0.8256930142641068],\"quaternion_xyzw\":[0.7269938384140406,0.21835030616372864,0.1872623259971318,0.6234869076158455]},\"image_path\":\"orbit_+15.png\",\"offset_deg\":15,\"target\":[4.539528522491455,1.1342317199707033,1.167017782330513]},{\"camera_pose\":{\"position\":[5.915555658025495,-0.599708683351736,0.8256930142641068],\"quaternion_xyzw\":[0.7167775947826203,0.24985351090472183,0.2142802106972277,0.6147252182965797]},\"image_path\":\"orbit_+20.png\",\"offset_deg\":20,\"target\":[4.539528522491455,1.1342317199707033,1.167017782330513]},{\"camera_pose\":{\"position\":[6.061442323072578,-0.4731818495877722,0.8256930142641068],\"quaternion_xyzw\":[0.705196924260556,0.28088110528696253,0.24089020083737028,0.6047933645855891]},\"image_path\":\"orbit_+25.png\",\"offset_deg\":25,\"target\":[4.539528522491455,1.1342317199707033,1.167017782330513]},{\"camera_pose\":{\"position\":[6.1957463051405615,-0.3344216279766181,0.8256930142641068],\"quaternion_xyzw\":[0.6922738713123888,0.3113740265210512,0.267041642788915,0.593710252330902]},\"image_path\":\"orbit_+30.png\",\"offset_deg\":30,\"target\":[4.539528522491455,1.1342317199707033,1.167017782330513]},{\"camera_pose\":{\"position\":[6.317445469830945,-0.18448406759044733,0.8256930142641068],\"quaternion_xyzw\":[0.6780330357039037,0.34127422959831416,0.2926847557957562,0.5814969788666183]},\"image_path\":\"orbit_+35.png\",\"offset_deg\":35,\"target\":[4.539528522491455,1.1342317199707033,1.167017782330513]},{\"camera_pose\":{\"position\":[6.425613613016472,-0.02451028379857334,0.8256930142641068],\"quaternion_xyzw\":[0.6625015256750779,0.37052479778277775,0.3177707267348263,0.5681767928529342]},\"image_path\":\"orbit_+40.png\",\"offset_deg\":40,\"target\":[4.539528522491455,1.1342317199707033,1.167017782330513]},{\"camera_pose\":{\"position\":[6.519427509813788,0.14428222630953647,0.8256930142641068],\"quaternion_xyzw\":[0.6457089063380043,0.399070050955409,0.3422518030346492,0.5537750500209968]},\"image_path\":\"orbit_+45.png\",\"offset_deg\":45,\"target\":[4.539528522491455,1.1342317199707033,1.167017782330513]}]},\"image\":\"q_007.png\",\"mirror_pose\":{\"normal_xy\":[0.3798064763474387,-0.9250659654989705],\"position\":[4.539528522491455,1.1342317199707033,1.167017782330513],\"quaternion_xyzw\":[0.0,0.0,-0.5568633241885127,0.8306041404747025],\"tangent_xy\":[0.9250659654989705,0.3798064763474387]},\"multi_image_input\":{\"room_bbox_world_xy\":[5.0,-2.0,8.0,1.0],\"room_instance\":\"living_room_2\",\"views\":[{\"camera_pose\":{\"position\":[5.35,-1.65,1.3756930142641068],\"quaternion_xyzw\":[0.5594340480718192,-0.2317251699646296,-0.3045489369733374,0.7352461740473398]},\"image_path\":\"corner_00.png\",\"target\":[6.5,-0.5,0.9256930142641068],\"view_id\":\"corner_00\"},{\"camera_pose\":{\"position\":[5.35,0.65,1.3756930142641068],\"quaternion_xyzw\":[-0.2317251699646296,0.5594340480718192,0.7352461740473398,-0.3045489369733374]},\"image_path\":\"corner_01.png\",\"target\":[6.5,-0.5,0.9256930142641068],\"view_id\":\"corner_01\"},{\"camera_pose\":{\"position\":[7.65,-1.65,1.3756930142641068],\"quaternion_xyzw\":[0.5594340480718192,0.2317251699646296,0.3045489369733374,0.7352461740473398]},\"image_path\":\"corner_02.png\",\"target\":[6.5,-0.5,0.9256930142641068],\"view_id\":\"corner_02\"},{\"camera_pose\":{\"position\":[7.65,0.65,1.3756930142641068],\"quaternion_xyzw\":[0.2317251699646296,0.5594340480718192,0.7352461740473398,0.3045489369733374]},\"image_path\":\"corner_03.png\",\"target\":[6.5,-0.5,0.9256930142641068],\"view_id\":\"corner_03\"}]},\"topdown_map\":\"q_007_map.png\"},\"scene_setup\":{\"camera\":{\"forward_xy\":[-0.31622776601683766,0.9486832980505139],\"position\":[5.2395285224914545,-0.9657682800292965,0.8256930142641068],\"quaternion_xyzw\":[0.6979762349196629,0.11326595025589785,0.11326595025589785,0.697976234919663]},\"correspondence_geometry\":{\"answer_label\":\"middle\",\"line_dir_xy\":[-0.8971933010102586,-0.44163806518722487],\"line_offsets_m\":[-0.8513357220184916,0.0,0.766561963610124],\"reflected_dir_xy\":[0.44163806518722487,-0.8971933010102586],\"render_eye\":[5.2395285224914545,-0.9657682800292965,0.8256930142641068],\"render_target\":[4.539528522491455,1.1342317199707033,1.167017782330513],\"target_distance_m\":1.680690553975496,\"target_rank\":1,\"target_xy\":[5.281785446927638,-0.37367258612733223]},\"mirror\":{\"half_width_m\":0.4489922523498535,\"normal_xy\":[0.3798064763474387,-0.9250659654989705],\"normal_yaw_offset_deg\":-29.74580134132989,\"position\":[4.539528522491455,1.1342317199707033,1.167017782330513],\"quaternion_xyzw\":[0.0,0.0,-0.5568633241885127,0.8306041404747025],\"tangent_xy\":[0.9250659654989705,0.3798064763474387]}},\"task_type\":\"mirror_correspondence\"},\"question_id\":\"mirror_correspondence/q_007\",\"question_index\":7,\"seed\":1,\"task_type\":\"mirror_correspondence\"}","options_json":"[\"left\",\"middle\",\"right\"]","question":"You are given an image with a mirror and three pineapples. Based on the mirror reflection, which of the three pineapples in the same image corresponds to the reflected one: the left, middle, or right object?","room":"living_room_2","runner_task":"mirror","scene":"Wainscott_0_garden","small_task":"Correspondence"},"observations":[],"question":{"answer_type":"choice","options":[],"original":"You are given an image with a mirror and three pineapples. Based on the mirror reflection, which of the three pineapples in the same image corresponds to the reflected one: the left, middle, or right object?","text":"You are given an image with a mirror and three pineapples. Based on the mirror reflection, which of the three pineapples in the same image corresponds to the reflected one: the left, middle, or right object?"},"reference_media":["q_007.png","q_007_map.png","corner_00.png","corner_01.png","corner_02.png","corner_03.png","orbit_-05.png","orbit_+00.png","orbit_+05.png","orbit_+10.png","orbit_+15.png","orbit_+20.png","orbit_+25.png","orbit_+30.png","orbit_+35.png","orbit_+40.png","orbit_+45.png"],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":43,"stratum_pool":88},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Specular Reflection/Correspondence/Wainscott_0_garden/living_room_2/q_007.json","annotation_sha256":"74bcceacbf980215d46b1c0954e222550441a193a22d39a8cd4abce0087af935","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"5a31a52a10366456a516a064abf92640e129cee10ad8235b51927426039f670f","sample_id":"2960","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"middle","metric":"official_esi_task","original_answer":"middle"},"task":{"category":"Specular Reflection","role":"spatial_core","skill_tags":["Specular Reflection","Correspondence"],"stratum":"ESI-Bench/Specular Reflection/Correspondence","subcategory":"Correspondence"},"transforms":[]}
{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Specular Reflection","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"middle","id":"14c89cc0cf39f32d","metadata":"vendor/ESI-Bench/dataset/json_clean/Specular Reflection/Correspondence/Ihlen_0_int/storage_room_0/q_004.json","metadata_sha256":"5e112bd3809fa5225021eff8aa065f59468238be3b9a6e839ef0c5d42306c344","observation_policy":"runtime camera observations; no oracle poses","question":"You are given an image with a mirror and three bottle_of_garlic_sauces. Based on the mirror reflection, which of the three bottle_of_garlic_sauces in the same image corresponds to the reflected one: the left, middle, or right object?","room":"storage_room_0","scene":"Ihlen_0_int","subcategory":"Correspondence","task":"specular_reflection.correspondence"},"group":{"id":"ESI-scene/Ihlen_0_int","kind":"scene","room":"storage_room_0","scene":"Ihlen_0_int"},"id":"6a0ab35d1f4fc49faac9","native_annotation":{"answer":"middle","answer_type":"choice","big_task":"Specular Reflection","gt_camera_poses":[{"baseline_selected":true,"camera_pose":{"position":[-1.8622911577552255,6.470899979087275,0.7999999403953553],"quaternion_xyzw":[0.7351383971454306,0.12607104282455805,0.11258637831481352,0.6565073774311522]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/0","original_image_path":"orbit_-35.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_-35.png"},{"baseline_selected":true,"camera_pose":{"position":[-1.6186926633770498,6.569133869030306,0.7999999403953553],"quaternion_xyzw":[0.7289395666321637,0.15801733763906375,0.14111567063412697,0.6509715790301879]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/1","original_image_path":"orbit_-30.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_-30.png"},{"baseline_selected":true,"camera_pose":{"position":[-1.3845827824553565,6.6882249570742225,0.7999999403953553],"quaternion_xyzw":[0.7213531582235958,0.18966283747025503,0.16937634125389792,0.6441966192297338]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/2","original_image_path":"orbit_-25.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_-25.png"},{"baseline_selected":true,"camera_pose":{"position":[-1.16174323254337,6.827266888129846,0.7999999403953553],"quaternion_xyzw":[0.712393613079316,0.2209473033105907,0.19731459438137014,0.6361953945508337]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/3","original_image_path":"orbit_-20.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_-20.png"},{"baseline_selected":true,"camera_pose":{"position":[-0.951869957170119,6.985201469146029,0.7999999403953553],"quaternion_xyzw":[0.7020779862027338,0.251811183401251,0.2248772479638091,0.6269831357794236]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/4","original_image_path":"orbit_-15.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_-15.png"},{"baseline_selected":true,"camera_pose":{"position":[-0.4154549026489254,7.559678325653074,0.7999999403953553],"quaternion_xyzw":[0.6632036567765829,0.3412964700001932,0.30479111323307845,0.5922668372429072]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/5","original_image_path":"orbit_+00.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_+00.png"},{"baseline_selected":true,"camera_pose":{"position":[-0.2722553425157477,7.779869173724283,0.7999999403953553],"quaternion_xyzw":[0.6476852909178697,0.36990016859290403,0.33033533622680245,0.5784083288158124]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/6","original_image_path":"orbit_+05.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_+05.png"},{"baseline_selected":true,"camera_pose":{"position":[-0.14879159685188803,8.01170279316569,0.7999999403953553],"quaternion_xyzw":[0.630934019295869,0.397799741190947,0.3552507471329855,0.5634487872602364]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/7","original_image_path":"orbit_+10.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_+10.png"},{"baseline_selected":true,"camera_pose":{"position":[-0.04600329931129776,8.25341479014838,0.7999999403953553],"quaternion_xyzw":[0.6129817289081931,0.42494207937217365,0.37948991805086835,0.547416688913775]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/8","original_image_path":"orbit_+15.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_+15.png"},{"baseline_selected":true,"camera_pose":{"position":[0.03532726909646966,8.503165590425622,0.7999999403953553],"quaternion_xyzw":[0.5938625929599367,0.4512755161531866,0.4030067083409447,0.5303425517868355]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/9","original_image_path":"orbit_+20.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_+20.png"},{"baseline_selected":true,"camera_pose":{"position":[0.09458113363708964,8.75905443960365,0.7999999403953553],"quaternion_xyzw":[0.5736130058130376,0.4767499243403784,0.42575635245629,0.5122588774698696]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/10","original_image_path":"orbit_+25.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_+25.png"},{"baseline_selected":true,"camera_pose":{"position":[0.1313073366229478,9.019133869030306,0.7999999403953553],"quaternion_xyzw":[0.5522715137075415,0.501316811949894,0.44769554515632554,0.4932000892647488]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/11","original_image_path":"orbit_+30.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_+30.png"},{"baseline_selected":true,"camera_pose":{"position":[0.1452263694734337,9.281424517207402,0.7999999403953553],"quaternion_xyzw":[0.5298787413866421,0.5249294145148778,0.4687825239408047,0.47320246665805155]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/12","original_image_path":"orbit_+35.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_+35.png"}],"id":"2937","image_paths_json":"[\"q_004.png\",\"q_004_map.png\",\"corner_00.png\",\"corner_01.png\",\"corner_02.png\",\"corner_03.png\",\"orbit_-35.png\",\"orbit_-30.png\",\"orbit_-25.png\",\"orbit_-20.png\",\"orbit_-15.png\",\"orbit_+00.png\",\"orbit_+05.png\",\"orbit_+10.png\",\"orbit_+15.png\",\"orbit_+20.png\",\"orbit_+25.png\",\"orbit_+30.png\",\"orbit_+35.png\"]","metadata_json":"{\"camera_poses\":{\"clear_radius_m\":1.0,\"context_render_enabled\":false,\"fov_deg\":100.0,\"height_m\":0.8,\"look_target\":\"mirror_center\",\"mode\":\"per_question_reset\",\"trav_map_pixel_occlusion_check\":true},\"floor_name\":\"floors_qrzmkt_0\",\"image_paths\":[\"q_004.png\",\"q_004_map.png\",\"corner_00.png\",\"corner_01.png\",\"corner_02.png\",\"corner_03.png\",\"orbit_-35.png\",\"orbit_-30.png\",\"orbit_-25.png\",\"orbit_-20.png\",\"orbit_-15.png\",\"orbit_+00.png\",\"orbit_+05.png\",\"orbit_+10.png\",\"orbit_+15.png\",\"orbit_+20.png\",\"orbit_+25.png\",\"orbit_+30.png\",\"orbit_+35.png\"],\"mirror_setup\":{\"camera_forward_distance_m\":3.0,\"category\":\"mirror\",\"mode\":\"per_question_reset\",\"model\":\"tytkbq\",\"name\":\"render_mirror_main\"},\"question_data\":{\"answer\":\"middle\",\"evidence\":{\"mirror_label\":\"target_mirror_object\",\"only_target_visible_in_mirror\":false,\"other_object_distances_from_target_m\":[1.0374512887591345,1.1016927567170776],\"other_objects_on_perpendicular_line\":true,\"real_object_name\":\"render_item_013\",\"shared_category\":\"bottle_of_garlic_sauce\",\"shared_model\":\"ucnmax\",\"target_distance_from_mirror_m\":1.3120049267005705,\"target_generated_from_reflected_ray\":true,\"target_position_label\":\"middle\"},\"options\":[\"left\",\"middle\",\"right\"],\"placement\":[{\"alias\":\"A\",\"category\":\"bottle_of_garlic_sauce\",\"line_offset_m\":-1.0374512887591345,\"model\":\"ucnmax\",\"name\":\"render_item_012\",\"position_label\":\"right\",\"quaternion_xyzw\":[0.0,0.0,0.0780253010937785,0.9969513791500693],\"real_position\":[-1.3688006401062012,10.056463241577148,0.10553521662950516],\"visible_in_mirror\":false,\"yaw_deg\":8.950137938060465},{\"alias\":\"B\",\"category\":\"bottle_of_garlic_sauce\",\"line_offset_m\":0.0,\"model\":\"ucnmax\",\"name\":\"render_item_013\",\"position_label\":\"middle\",\"quaternion_xyzw\":[0.0,0.0,-0.03600913159883984,0.9993514609192791],\"real_position\":[-1.5812554359436035,9.040999412536621,0.10553520917892456],\"visible_in_mirror\":true,\"yaw_deg\":-4.127234792024147},{\"alias\":\"C\",\"category\":\"bottle_of_garlic_sauce\",\"line_offset_m\":1.1016927567170776,\"model\":\"ucnmax\",\"name\":\"render_item_014\",\"position_label\":\"left\",\"quaternion_xyzw\":[0.0,0.0,0.1157803244444022,0.9932748443766957],\"real_position\":[-1.8068658113479614,7.9626545906066895,0.10553521662950516],\"visible_in_mirror\":false,\"yaw_deg\":13.29727000535975}],\"question\":\"You are given an image with a mirror and three bottle_of_garlic_sauces. Based on the mirror reflection, which of the three bottle_of_garlic_sauces in the same image corresponds to the reflected one: the left, middle, or right object?\",\"render\":{\"camera_pose\":{\"position\":[-0.4154549026489256,7.559678325653074,0.7999999403953553],\"quaternion_xyzw\":[0.6287364697786935,0.32355903877071024,0.32355903877071024,0.6287364697786936]},\"gt_view_input\":{\"anchor_answer_label\":\"middle\",\"orbit_center\":[-2.865454902648926,9.309678325653072,1.1413247084617615],\"orbit_radius_xy_m\":3.0108138434649185,\"views\":[{\"camera_pose\":{\"position\":[-1.8622911577552255,6.470899979087275,0.7999999403953553],\"quaternion_xyzw\":[0.7351383971454306,0.12607104282455805,0.11258637831481352,0.6565073774311522]},\"image_path\":\"orbit_-35.png\",\"offset_deg\":-35,\"target\":[-2.865454902648926,9.309678325653072,1.1413247084617615]},{\"camera_pose\":{\"position\":[-1.6186926633770498,6.569133869030306,0.7999999403953553],\"quaternion_xyzw\":[0.7289395666321637,0.15801733763906375,0.14111567063412697,0.6509715790301879]},\"image_path\":\"orbit_-30.png\",\"offset_deg\":-30,\"target\":[-2.865454902648926,9.309678325653072,1.1413247084617615]},{\"camera_pose\":{\"position\":[-1.3845827824553565,6.6882249570742225,0.7999999403953553],\"quaternion_xyzw\":[0.7213531582235958,0.18966283747025503,0.16937634125389792,0.6441966192297338]},\"image_path\":\"orbit_-25.png\",\"offset_deg\":-25,\"target\":[-2.865454902648926,9.309678325653072,1.1413247084617615]},{\"camera_pose\":{\"position\":[-1.16174323254337,6.827266888129846,0.7999999403953553],\"quaternion_xyzw\":[0.712393613079316,0.2209473033105907,0.19731459438137014,0.6361953945508337]},\"image_path\":\"orbit_-20.png\",\"offset_deg\":-20,\"target\":[-2.865454902648926,9.309678325653072,1.1413247084617615]},{\"camera_pose\":{\"position\":[-0.951869957170119,6.985201469146029,0.7999999403953553],\"quaternion_xyzw\":[0.7020779862027338,0.251811183401251,0.2248772479638091,0.6269831357794236]},\"image_path\":\"orbit_-15.png\",\"offset_deg\":-15,\"target\":[-2.865454902648926,9.309678325653072,1.1413247084617615]},{\"camera_pose\":{\"position\":[-0.4154549026489254,7.559678325653074,0.7999999403953553],\"quaternion_xyzw\":[0.6632036567765829,0.3412964700001932,0.30479111323307845,0.5922668372429072]},\"image_path\":\"orbit_+00.png\",\"offset_deg\":0,\"target\":[-2.865454902648926,9.309678325653072,1.1413247084617615]},{\"camera_pose\":{\"position\":[-0.2722553425157477,7.779869173724283,0.7999999403953553],\"quaternion_xyzw\":[0.6476852909178697,0.36990016859290403,0.33033533622680245,0.5784083288158124]},\"image_path\":\"orbit_+05.png\",\"offset_deg\":5,\"target\":[-2.865454902648926,9.309678325653072,1.1413247084617615]},{\"camera_pose\":{\"position\":[-0.14879159685188803,8.01170279316569,0.7999999403953553],\"quaternion_xyzw\":[0.630934019295869,0.397799741190947,0.3552507471329855,0.5634487872602364]},\"image_path\":\"orbit_+10.png\",\"offset_deg\":10,\"target\":[-2.865454902648926,9.309678325653072,1.1413247084617615]},{\"camera_pose\":{\"position\":[-0.04600329931129776,8.25341479014838,0.7999999403953553],\"quaternion_xyzw\":[0.6129817289081931,0.42494207937217365,0.37948991805086835,0.547416688913775]},\"image_path\":\"orbit_+15.png\",\"offset_deg\":15,\"target\":[-2.865454902648926,9.309678325653072,1.1413247084617615]},{\"camera_pose\":{\"position\":[0.03532726909646966,8.503165590425622,0.7999999403953553],\"quaternion_xyzw\":[0.5938625929599367,0.4512755161531866,0.4030067083409447,0.5303425517868355]},\"image_path\":\"orbit_+20.png\",\"offset_deg\":20,\"target\":[-2.865454902648926,9.309678325653072,1.1413247084617615]},{\"camera_pose\":{\"position\":[0.09458113363708964,8.75905443960365,0.7999999403953553],\"quaternion_xyzw\":[0.5736130058130376,0.4767499243403784,0.42575635245629,0.5122588774698696]},\"image_path\":\"orbit_+25.png\",\"offset_deg\":25,\"target\":[-2.865454902648926,9.309678325653072,1.1413247084617615]},{\"camera_pose\":{\"position\":[0.1313073366229478,9.019133869030306,0.7999999403953553],\"quaternion_xyzw\":[0.5522715137075415,0.501316811949894,0.44769554515632554,0.4932000892647488]},\"image_path\":\"orbit_+30.png\",\"offset_deg\":30,\"target\":[-2.865454902648926,9.309678325653072,1.1413247084617615]},{\"camera_pose\":{\"position\":[0.1452263694734337,9.281424517207402,0.7999999403953553],\"quaternion_xyzw\":[0.5298787413866421,0.5249294145148778,0.4687825239408047,0.47320246665805155]},\"image_path\":\"orbit_+35.png\",\"offset_deg\":35,\"target\":[-2.865454902648926,9.309678325653072,1.1413247084617615]}]},\"image\":\"q_004.png\",\"mirror_pose\":{\"normal_xy\":[0.9158217504811502,-0.40158501135580466],\"position\":[-2.865454902648926,9.309678325653072,1.1413247084617615],\"quaternion_xyzw\":[0.0,0.0,-0.20515634223543974,0.9787292144615768],\"tangent_xy\":[0.40158501135580466,0.9158217504811502]},\"multi_image_input\":{\"room_bbox_world_xy\":[-4.5,5.5,4.5,9.5],\"room_instance\":\"storage_room_0\",\"views\":[{\"camera_pose\":{\"position\":[-4.15,5.85,1.3499999403953553],\"quaternion_xyzw\":[0.5550147977042881,-0.37660529561929584,-0.41645967973319364,0.6137494283478371]},\"image_path\":\"corner_00.png\",\"target\":[0.0,7.5,0.8999999403953552],\"view_id\":\"corner_00\"},{\"camera_pose\":{\"position\":[-4.15,9.15,1.3499999403953553],\"quaternion_xyzw\":[-0.3766052956192958,0.555014797704288,0.6137494283478372,-0.4164596797331936]},\"image_path\":\"corner_01.png\",\"target\":[0.0,7.5,0.8999999403953552],\"view_id\":\"corner_01\"},{\"camera_pose\":{\"position\":[4.15,5.85,1.3499999403953553],\"quaternion_xyzw\":[0.5550147977042881,0.37660529561929584,0.41645967973319364,0.6137494283478371]},\"image_path\":\"corner_02.png\",\"target\":[0.0,7.5,0.8999999403953552],\"view_id\":\"corner_02\"},{\"camera_pose\":{\"position\":[4.15,9.15,1.3499999403953553],\"quaternion_xyzw\":[0.3766052956192958,0.555014797704288,0.6137494283478372,0.4164596797331936]},\"image_path\":\"corner_03.png\",\"target\":[0.0,7.5,0.8999999403953552],\"view_id\":\"corner_03\"}]},\"topdown_map\":\"q_004_map.png\"},\"scene_setup\":{\"camera\":{\"forward_xy\":[-0.8137334712067352,0.581238193719096],\"position\":[-0.4154549026489256,7.559678325653074,0.7999999403953553],\"quaternion_xyzw\":[0.6287364697786935,0.32355903877071024,0.32355903877071024,0.6287364697786936]},\"correspondence_geometry\":{\"answer_label\":\"middle\",\"line_dir_xy\":[-0.20478524023518663,-0.9788069295738648],\"line_offsets_m\":[-1.0374512887591345,0.0,1.1016927567170776],\"reflected_dir_xy\":[0.9788069295738648,-0.20478524023518663],\"render_eye\":[-0.4154549026489256,7.559678325653074,0.7999999403953553],\"render_target\":[-2.865454902648926,9.309678325653072,1.1413247084617615],\"target_distance_m\":1.3120049267005705,\"target_rank\":1,\"target_xy\":[-1.581255388759357,9.040999081548948]},\"mirror\":{\"half_width_m\":0.4445781707763672,\"normal_xy\":[0.9158217504811502,-0.40158501135580466],\"normal_yaw_offset_deg\":-0.21038064043029792,\"position\":[-2.865454902648926,9.309678325653072,1.1413247084617615],\"quaternion_xyzw\":[0.0,0.0,-0.20515634223543974,0.9787292144615768],\"tangent_xy\":[0.40158501135580466,0.9158217504811502]}},\"task_type\":\"mirror_correspondence\"},\"question_id\":\"mirror_correspondence/q_004\",\"question_index\":4,\"seed\":1,\"task_type\":\"mirror_correspondence\"}","options_json":"[\"left\",\"middle\",\"right\"]","question":"You are given an image with a mirror and three bottle_of_garlic_sauces. Based on the mirror reflection, which of the three bottle_of_garlic_sauces in the same image corresponds to the reflected one: the left, middle, or right object?","room":"storage_room_0","runner_task":"mirror","scene":"Ihlen_0_int","small_task":"Correspondence"},"observations":[],"question":{"answer_type":"choice","options":[],"original":"You are given an image with a mirror and three bottle_of_garlic_sauces. Based on the mirror reflection, which of the three bottle_of_garlic_sauces in the same image corresponds to the reflected one: the left, middle, or right object?","text":"You are given an image with a mirror and three bottle_of_garlic_sauces. Based on the mirror reflection, which of the three bottle_of_garlic_sauces in the same image corresponds to the reflected one: the left, middle, or right object?"},"reference_media":["q_004.png","q_004_map.png","corner_00.png","corner_01.png","corner_02.png","corner_03.png","orbit_-35.png","orbit_-30.png","orbit_-25.png","orbit_-20.png","orbit_-15.png","orbit_+00.png","orbit_+05.png","orbit_+10.png","orbit_+15.png","orbit_+20.png","orbit_+25.png","orbit_+30.png","orbit_+35.png"],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":43,"stratum_pool":88},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Specular Reflection/Correspondence/Ihlen_0_int/storage_room_0/q_004.json","annotation_sha256":"5e112bd3809fa5225021eff8aa065f59468238be3b9a6e839ef0c5d42306c344","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"20d96472005905e08dab36906fe1e26c815d7e995d0d2486efedfe7dd14f4fea","sample_id":"2937","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"middle","metric":"official_esi_task","original_answer":"middle"},"task":{"category":"Specular Reflection","role":"spatial_core","skill_tags":["Specular Reflection","Correspondence"],"stratum":"ESI-Bench/Specular Reflection/Correspondence","subcategory":"Correspondence"},"transforms":[]}
{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Specular Reflection","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"No","id":"28fe5c8d4cfb3909","metadata":"vendor/ESI-Bench/dataset/json_clean/Specular Reflection/Reflection Authoring/school_computer_lab_and_infirmary/infirmary_0/q_007.json","metadata_sha256":"e4a89c7af661a81eeaa725801d386a82582f281918306d6dc7b886d5ff4016b9","observation_policy":"runtime camera observations; no oracle poses","question":"In this image, you can see a carton. Are you seeing it through the mirror?","room":"infirmary_0","scene":"school_computer_lab_and_infirmary","subcategory":"Reflection Authoring","task":"specular_reflection.reflection_authoring"},"group":{"id":"ESI-scene/school_computer_lab_and_infirmary","kind":"scene","room":"infirmary_0","scene":"school_computer_lab_and_infirmary"},"id":"935b45e40dc8b7ce4b87","native_annotation":{"answer":"No","answer_type":"choice","big_task":"Specular Reflection","gt_camera_poses":[{"baseline_selected":true,"camera_pose":{"position":[-2.944005031838661,-6.864539985150815,0.8001462233485654],"quaternion_xyzw":[-0.1744000071451215,0.7387702855431827,0.6335866639208895,-0.14956952232264353]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/0","original_image_path":"orbit_-45.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_-45.png"},{"baseline_selected":true,"camera_pose":{"position":[-3.1127975419467706,-6.95835388194813,0.8001462233485654],"quaternion_xyzw":[-0.2064587242413049,0.7304599184612575,0.6264594988759071,-0.1770638274023612]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/1","original_image_path":"orbit_-40.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_-40.png"},{"baseline_selected":true,"camera_pose":{"position":[-3.272771325738645,-7.066522025133657,0.8001462233485654],"quaternion_xyzw":[-0.23812443542154818,0.7207590794079135,0.6181398325691844,-0.2042210814229685]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/2","original_image_path":"orbit_-35.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_-35.png"},{"baseline_selected":true,"camera_pose":{"position":[-3.4227088861248154,-7.188221189824041,0.8001462233485654],"quaternion_xyzw":[-0.26933686320485845,0.7096862344816486,0.6086435019583946,-0.23098958900791963]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/3","original_image_path":"orbit_-30.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_-30.png"},{"baseline_selected":true,"camera_pose":{"position":[-3.5614691077359693,-7.322525171892024,0.8001462233485654],"quaternion_xyzw":[-0.3000365929609515,0.6972624614721192,0.5979885838485918,-0.25731839478160407]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/4","original_image_path":"orbit_-25.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_-25.png"},{"baseline_selected":true,"camera_pose":{"position":[-3.687995941499933,-7.468411836939108,0.8001462233485654],"quaternion_xyzw":[-0.3301651860093784,0.6835114097373699,0.5861953604819841,-0.28315738036580035]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/5","original_image_path":"orbit_-20.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_-20.png"},{"baseline_selected":true,"camera_pose":{"position":[-3.8013264418127726,-7.624770899355506,0.8001462233485654],"quaternion_xyzw":[-0.35966529086087395,0.6684592551859366,0.5732862809295326,-0.30845735978285693]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/6","original_image_path":"orbit_-15.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_-15.png"},{"baseline_selected":true,"camera_pose":{"position":[-3.9005980951362798,-7.790412372264049,0.8001462233485654],"quaternion_xyzw":[-0.3884807523891771,0.6521346504495165,0.5592859183578697,-0.33317017308399666]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/7","original_image_path":"orbit_-10.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_-10.png"},{"baseline_selected":true,"camera_pose":{"position":[-3.985055384246799,-7.964075624038845,0.8001462233485654],"quaternion_xyzw":[-0.41655671872550504,0.6345686703410551,0.5442209232528787,-0.35724877802451627]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/8","original_image_path":"orbit_-05.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_-05.png"},{"baseline_selected":true,"camera_pose":{"position":[-4.054055538177494,-8.144438972473148,0.8001462233485654],"quaternion_xyzw":[-0.4438397456722024,0.6157947527020743,0.5281199726889809,-0.38064733961137287]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/9","original_image_path":"orbit_+00.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_+00.png"},{"baseline_selected":true,"camera_pose":{"position":[-4.10707342409352,-8.330129743579008,0.8001462233485654],"quaternion_xyzw":[-0.47027789843681084,0.5958486347518394,0.5110137157406927,-0.40332131735269866]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/10","original_image_path":"orbit_+05.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_+05.png"},{"baseline_selected":true,"camera_pose":{"position":[-4.143705543869982,-8.519734718465156,0.8001462233485654],"quaternion_xyzw":[-0.4958208504928965,0.5747682850595316,0.49293471514037107,-0.4252275500431587]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/11","original_image_path":"orbit_+10.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_+10.png"},{"baseline_selected":true,"camera_pose":{"position":[-4.163673104956302,-8.711810888786095,0.8001462233485654],"quaternion_xyzw":[-0.5204199793794541,0.5525938312689191,0.47391738529320176,-0.44632433792375764]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/12","original_image_path":"orbit_+15.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_+15.png"},{"baseline_selected":true,"camera_pose":{"position":[-4.166824142155869,-8.904896438906917,0.8001462233485654],"quaternion_xyzw":[0.5440284592565249,-0.5293674837131063,-0.45399792676742395,0.46657152205970154]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/13","original_image_path":"orbit_+20.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_+20.png"},{"baseline_selected":true,"camera_pose":{"position":[-4.153134674172948,-9.097521871202963,0.8001462233485654],"quaternion_xyzw":[0.5666013500408446,-0.5051334550647645,-0.4332142573844889,0.4859305607852131]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/14","original_image_path":"orbit_+25.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_+25.png"},{"baseline_selected":true,"camera_pose":{"position":[-4.122708886124815,-9.288221189824041,0.8001462233485654],"quaternion_xyzw":[0.5880956829518459,-0.4799378761747985,-0.41160594004033374,0.5043646030697823]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/15","original_image_path":"orbit_+30.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_+30.png"},{"baseline_selected":true,"camera_pose":{"position":[-4.075778336630108,-9.47554305780805,0.8001462233485654],"quaternion_xyzw":[0.6084705423051748,-0.453828708259648,-0.3892141073951595,0.5218385586661981]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/16","original_image_path":"orbit_+35.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_+35.png"},{"baseline_selected":true,"camera_pose":{"position":[-4.012700195507925,-9.658061842631597,0.8001462233485654],"quaternion_xyzw":[0.6276871433980212,-0.42685565160438743,-0.36608138357507464,0.5383191649068282]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/17","original_image_path":"orbit_+40.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_+40.png"},{"baseline_selected":true,"camera_pose":{"position":[-3.9339545254998263,-9.834388466134316,0.8001462233485654],"quaternion_xyzw":[0.6457089063380043,-0.39907005095540876,-0.3422518030346491,0.5537750500209969]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/18","original_image_path":"orbit_+45.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_+45.png"}],"id":"3099","image_paths_json":"[\"q_007.png\",\"q_007_map.png\",\"corner_00.png\",\"corner_01.png\",\"corner_02.png\",\"corner_03.png\",\"orbit_-45.png\",\"orbit_-40.png\",\"orbit_-35.png\",\"orbit_-30.png\",\"orbit_-25.png\",\"orbit_-20.png\",\"orbit_-15.png\",\"orbit_-10.png\",\"orbit_-05.png\",\"orbit_+00.png\",\"orbit_+05.png\",\"orbit_+10.png\",\"orbit_+15.png\",\"orbit_+20.png\",\"orbit_+25.png\",\"orbit_+30.png\",\"orbit_+35.png\",\"orbit_+40.png\",\"orbit_+45.png\"]","metadata_json":"{\"camera_poses\":{\"fov_deg\":100.0,\"height_m\":0.8,\"look_target\":\"mirror_center\",\"mode\":\"per_question_reset\",\"trav_map_pixel_occlusion_check\":true},\"floor_name\":\"floors_qloiuu_0\",\"image_paths\":[\"q_007.png\",\"q_007_map.png\",\"corner_00.png\",\"corner_01.png\",\"corner_02.png\",\"corner_03.png\",\"orbit_-45.png\",\"orbit_-40.png\",\"orbit_-35.png\",\"orbit_-30.png\",\"orbit_-25.png\",\"orbit_-20.png\",\"orbit_-15.png\",\"orbit_-10.png\",\"orbit_-05.png\",\"orbit_+00.png\",\"orbit_+05.png\",\"orbit_+10.png\",\"orbit_+15.png\",\"orbit_+20.png\",\"orbit_+25.png\",\"orbit_+30.png\",\"orbit_+35.png\",\"orbit_+40.png\",\"orbit_+45.png\"],\"mirror_setup\":{\"camera_forward_distance_m\":2.0,\"category\":\"mirror\",\"mode\":\"per_question_reset\",\"model\":\"tytkbq\",\"name\":\"render_mirror_main\"},\"question_data\":{\"answer\":\"No\",\"answer_bool\":false,\"evidence\":{\"camera_angle_deg\":41.63353933657015,\"direct_only_preferred_layout\":\"beside_mirror\",\"distance_from_camera_m\":2.665520587052368,\"distance_from_mirror_m\":-0.26220538587081865,\"queried_object_label\":\"carton\",\"queried_object_name\":\"render_item_018\",\"seen_through_mirror\":false,\"visible_directly\":true,\"visible_in_mirror\":false},\"placement\":[{\"alias\":\"A\",\"category\":\"carton\",\"distance_from_camera_m\":2.665520587052368,\"distance_from_mirror_m\":-0.26220538587081865,\"model\":\"libote\",\"name\":\"render_item_018\",\"placement_mode\":\"beside_mirror\",\"real_position\":[-1.604055538177493,-7.094438972473149,0.0796805251063779],\"visible_directly\":true,\"visible_in_mirror\":false}],\"question\":\"In this image, you can see a carton. Are you seeing it through the mirror?\",\"render\":{\"camera_pose\":{\"position\":[-4.054055538177494,-8.144438972473148,0.8001462233485654],\"quaternion_xyzw\":[-0.41345260731526484,0.5736348503222318,0.5736348503222319,-0.41345260731526484]},\"gt_view_input\":{\"anchor_answer_label\":\"middle\",\"orbit_center\":[-1.9540555381774931,-8.844438972473148,1.1414709914149717],\"orbit_radius_xy_m\":2.213594362117866,\"views\":[{\"camera_pose\":{\"position\":[-2.944005031838661,-6.864539985150815,0.8001462233485654],\"quaternion_xyzw\":[-0.1744000071451215,0.7387702855431827,0.6335866639208895,-0.14956952232264353]},\"image_path\":\"orbit_-45.png\",\"offset_deg\":-45,\"target\":[-1.9540555381774931,-8.844438972473148,1.1414709914149717]},{\"camera_pose\":{\"position\":[-3.1127975419467706,-6.95835388194813,0.8001462233485654],\"quaternion_xyzw\":[-0.2064587242413049,0.7304599184612575,0.6264594988759071,-0.1770638274023612]},\"image_path\":\"orbit_-40.png\",\"offset_deg\":-40,\"target\":[-1.9540555381774931,-8.844438972473148,1.1414709914149717]},{\"camera_pose\":{\"position\":[-3.272771325738645,-7.066522025133657,0.8001462233485654],\"quaternion_xyzw\":[-0.23812443542154818,0.7207590794079135,0.6181398325691844,-0.2042210814229685]},\"image_path\":\"orbit_-35.png\",\"offset_deg\":-35,\"target\":[-1.9540555381774931,-8.844438972473148,1.1414709914149717]},{\"camera_pose\":{\"position\":[-3.4227088861248154,-7.188221189824041,0.8001462233485654],\"quaternion_xyzw\":[-0.26933686320485845,0.7096862344816486,0.6086435019583946,-0.23098958900791963]},\"image_path\":\"orbit_-30.png\",\"offset_deg\":-30,\"target\":[-1.9540555381774931,-8.844438972473148,1.1414709914149717]},{\"camera_pose\":{\"position\":[-3.5614691077359693,-7.322525171892024,0.8001462233485654],\"quaternion_xyzw\":[-0.3000365929609515,0.6972624614721192,0.5979885838485918,-0.25731839478160407]},\"image_path\":\"orbit_-25.png\",\"offset_deg\":-25,\"target\":[-1.9540555381774931,-8.844438972473148,1.1414709914149717]},{\"camera_pose\":{\"position\":[-3.687995941499933,-7.468411836939108,0.8001462233485654],\"quaternion_xyzw\":[-0.3301651860093784,0.6835114097373699,0.5861953604819841,-0.28315738036580035]},\"image_path\":\"orbit_-20.png\",\"offset_deg\":-20,\"target\":[-1.9540555381774931,-8.844438972473148,1.1414709914149717]},{\"camera_pose\":{\"position\":[-3.8013264418127726,-7.624770899355506,0.8001462233485654],\"quaternion_xyzw\":[-0.35966529086087395,0.6684592551859366,0.5732862809295326,-0.30845735978285693]},\"image_path\":\"orbit_-15.png\",\"offset_deg\":-15,\"target\":[-1.9540555381774931,-8.844438972473148,1.1414709914149717]},{\"camera_pose\":{\"position\":[-3.9005980951362798,-7.790412372264049,0.8001462233485654],\"quaternion_xyzw\":[-0.3884807523891771,0.6521346504495165,0.5592859183578697,-0.33317017308399666]},\"image_path\":\"orbit_-10.png\",\"offset_deg\":-10,\"target\":[-1.9540555381774931,-8.844438972473148,1.1414709914149717]},{\"camera_pose\":{\"position\":[-3.985055384246799,-7.964075624038845,0.8001462233485654],\"quaternion_xyzw\":[-0.41655671872550504,0.6345686703410551,0.5442209232528787,-0.35724877802451627]},\"image_path\":\"orbit_-05.png\",\"offset_deg\":-5,\"target\":[-1.9540555381774931,-8.844438972473148,1.1414709914149717]},{\"camera_pose\":{\"position\":[-4.054055538177494,-8.144438972473148,0.8001462233485654],\"quaternion_xyzw\":[-0.4438397456722024,0.6157947527020743,0.5281199726889809,-0.38064733961137287]},\"image_path\":\"orbit_+00.png\",\"offset_deg\":0,\"target\":[-1.9540555381774931,-8.844438972473148,1.1414709914149717]},{\"camera_pose\":{\"position\":[-4.10707342409352,-8.330129743579008,0.8001462233485654],\"quaternion_xyzw\":[-0.47027789843681084,0.5958486347518394,0.5110137157406927,-0.40332131735269866]},\"image_path\":\"orbit_+05.png\",\"offset_deg\":5,\"target\":[-1.9540555381774931,-8.844438972473148,1.1414709914149717]},{\"camera_pose\":{\"position\":[-4.143705543869982,-8.519734718465156,0.8001462233485654],\"quaternion_xyzw\":[-0.4958208504928965,0.5747682850595316,0.49293471514037107,-0.4252275500431587]},\"image_path\":\"orbit_+10.png\",\"offset_deg\":10,\"target\":[-1.9540555381774931,-8.844438972473148,1.1414709914149717]},{\"camera_pose\":{\"position\":[-4.163673104956302,-8.711810888786095,0.8001462233485654],\"quaternion_xyzw\":[-0.5204199793794541,0.5525938312689191,0.47391738529320176,-0.44632433792375764]},\"image_path\":\"orbit_+15.png\",\"offset_deg\":15,\"target\":[-1.9540555381774931,-8.844438972473148,1.1414709914149717]},{\"camera_pose\":{\"position\":[-4.166824142155869,-8.904896438906917,0.8001462233485654],\"quaternion_xyzw\":[0.5440284592565249,-0.5293674837131063,-0.45399792676742395,0.46657152205970154]},\"image_path\":\"orbit_+20.png\",\"offset_deg\":20,\"target\":[-1.9540555381774931,-8.844438972473148,1.1414709914149717]},{\"camera_pose\":{\"position\":[-4.153134674172948,-9.097521871202963,0.8001462233485654],\"quaternion_xyzw\":[0.5666013500408446,-0.5051334550647645,-0.4332142573844889,0.4859305607852131]},\"image_path\":\"orbit_+25.png\",\"offset_deg\":25,\"target\":[-1.9540555381774931,-8.844438972473148,1.1414709914149717]},{\"camera_pose\":{\"position\":[-4.122708886124815,-9.288221189824041,0.8001462233485654],\"quaternion_xyzw\":[0.5880956829518459,-0.4799378761747985,-0.41160594004033374,0.5043646030697823]},\"image_path\":\"orbit_+30.png\",\"offset_deg\":30,\"target\":[-1.9540555381774931,-8.844438972473148,1.1414709914149717]},{\"camera_pose\":{\"position\":[-4.075778336630108,-9.47554305780805,0.8001462233485654],\"quaternion_xyzw\":[0.6084705423051748,-0.453828708259648,-0.3892141073951595,0.5218385586661981]},\"image_path\":\"orbit_+35.png\",\"offset_deg\":35,\"target\":[-1.9540555381774931,-8.844438972473148,1.1414709914149717]},{\"camera_pose\":{\"position\":[-4.012700195507925,-9.658061842631597,0.8001462233485654],\"quaternion_xyzw\":[0.6276871433980212,-0.42685565160438743,-0.36608138357507464,0.5383191649068282]},\"image_path\":\"orbit_+40.png\",\"offset_deg\":40,\"target\":[-1.9540555381774931,-8.844438972473148,1.1414709914149717]},{\"camera_pose\":{\"position\":[-3.9339545254998263,-9.834388466134316,0.8001462233485654],\"quaternion_xyzw\":[0.6457089063380043,-0.39907005095540876,-0.3422518030346491,0.5537750500209969]},\"image_path\":\"orbit_+45.png\",\"offset_deg\":45,\"target\":[-1.9540555381774931,-8.844438972473148,1.1414709914149717]}]},\"image\":\"q_007.png\",\"mirror_pose\":{\"normal_xy\":[-0.9987532693115203,0.049919004793264915],\"position\":[-1.9540555381774931,-8.844438972473148,1.1414709914149717],\"quaternion_xyzw\":[0.0,0.0,0.9996882687396907,0.02496728548000156],\"tangent_xy\":[-0.049919004793264915,-0.9987532693115203]},\"multi_image_input\":{\"room_bbox_world_xy\":[-7.71405553817749,-12.154438972473145,0.002440214157104492,-5.61672306060791],\"views\":[{\"camera_pose\":{\"position\":[-7.191038265228271,-11.631421699523926,1.3501462233485655],\"quaternion_xyzw\":[0.6054215827727206,-0.28576746445454154,-0.31708022951414,0.6717602186967135]},\"image_path\":\"corner_00.png\",\"target\":[-3.855807662010193,-8.885581016540527,0.9001462233485654],\"view_id\":\"corner_00\"},{\"camera_pose\":{\"position\":[-7.191038265228271,-6.139740333557129,1.3501462233485655],\"quaternion_xyzw\":[-0.2857674644545417,0.6054215827727207,0.6717602186967134,-0.3170802295141401]},\"image_path\":\"corner_01.png\",\"target\":[-3.855807662010193,-8.885581016540527,0.9001462233485654],\"view_id\":\"corner_01\"},{\"camera_pose\":{\"position\":[-0.5205770587921142,-11.631421699523926,1.3501462233485655],\"quaternion_xyzw\":[0.6054215827727206,0.2857674644545416,0.31708022951414,0.6717602186967135]},\"image_path\":\"corner_02.png\",\"target\":[-3.855807662010193,-8.885581016540527,0.9001462233485654],\"view_id\":\"corner_02\"},{\"camera_pose\":{\"position\":[-0.5205770587921142,-6.139740333557129,1.3501462233485655],\"quaternion_xyzw\":[0.2857674644545417,0.6054215827727207,0.6717602186967134,0.3170802295141401]},\"image_path\":\"corner_03.png\",\"target\":[-3.855807662010193,-8.885581016540527,0.9001462233485654],\"view_id\":\"corner_03\"}]},\"topdown_map\":\"q_007_map.png\"},\"scene_setup\":{\"camera\":{\"forward_xy\":[0.9486832980505139,-0.31622776601683755],\"position\":[-4.054055538177494,-8.144438972473148,0.8001462233485654],\"quaternion_xyzw\":[-0.41345260731526484,0.5736348503222318,0.5736348503222319,-0.41345260731526484]},\"mirror\":{\"half_width_m\":0.4837050437927246,\"normal_xy\":[-0.9987532693115203,0.049919004793264915],\"normal_yaw_offset_deg\":-4.100667171013509,\"position\":[-1.9540555381774931,-8.844438972473148,1.1414709914149717],\"quaternion_xyzw\":[0.0,0.0,0.9996882687396907,0.02496728548000156],\"tangent_xy\":[-0.049919004793264915,-0.9987532693115203]}},\"task_type\":\"mirror_object_reality\"},\"question_id\":\"mirror_object_reality/q_007\",\"question_index\":7,\"seed\":1,\"task_type\":\"mirror_object_reality\"}","options_json":"[\"yes\",\"no\"]","question":"In this image, you can see a carton. Are you seeing it through the mirror?","room":"infirmary_0","runner_task":"mirror","scene":"school_computer_lab_and_infirmary","small_task":"Reflection Authoring"},"observations":[],"question":{"answer_type":"choice","options":[],"original":"In this image, you can see a carton. Are you seeing it through the mirror?","text":"In this image, you can see a carton. Are you seeing it through the mirror?"},"reference_media":["q_007.png","q_007_map.png","corner_00.png","corner_01.png","corner_02.png","corner_03.png","orbit_-45.png","orbit_-40.png","orbit_-35.png","orbit_-30.png","orbit_-25.png","orbit_-20.png","orbit_-15.png","orbit_-10.png","orbit_-05.png","orbit_+00.png","orbit_+05.png","orbit_+10.png","orbit_+15.png","orbit_+20.png","orbit_+25.png","orbit_+30.png","orbit_+35.png","orbit_+40.png","orbit_+45.png"],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":42,"stratum_pool":99},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Specular Reflection/Reflection Authoring/school_computer_lab_and_infirmary/infirmary_0/q_007.json","annotation_sha256":"e4a89c7af661a81eeaa725801d386a82582f281918306d6dc7b886d5ff4016b9","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"fa455484cd37fdc6ff37c331a4f01c539b95462ce80a1b5ae3caf31ae8abfbb2","sample_id":"3099","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"No","metric":"official_esi_task","original_answer":"No"},"task":{"category":"Specular Reflection","role":"spatial_core","skill_tags":["Specular Reflection","Reflection Authoring"],"stratum":"ESI-Bench/Specular Reflection/Reflection Authoring","subcategory":"Reflection Authoring"},"transforms":[]}
{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Specular Reflection","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"Yes","id":"793fe2b1ab93136a","metadata":"vendor/ESI-Bench/dataset/json_clean/Specular Reflection/Reflection Authoring/Benevolence_1_int/kitchen_0/q_004.json","metadata_sha256":"342cbaf17557ff2996cb4a6dd67eb889e10c0c87088a99ffccfbacfef6811d28","observation_policy":"runtime camera observations; no oracle poses","question":"In this image, you can see a bottle of orange juice. Are you seeing it through the mirror?","room":"kitchen_0","scene":"Benevolence_1_int","subcategory":"Reflection Authoring","task":"specular_reflection.reflection_authoring"},"group":{"id":"ESI-scene/Benevolence_1_int","kind":"scene","room":"kitchen_0","scene":"Benevolence_1_int"},"id":"89139275936b5b0af83f","native_annotation":{"answer":"Yes","answer_type":"choice","big_task":"Specular Reflection","gt_camera_poses":[{"baseline_selected":true,"camera_pose":{"position":[1.6929133247872243,7.156117575409722,0.7990000128746033],"quaternion_xyzw":[0.4273801947431524,0.6510567942296843,0.524384268806757,0.34422719017630554]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/0","original_image_path":"orbit_-40.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_-40.png"},{"baseline_selected":true,"camera_pose":{"position":[1.6331930029365433,7.278916038382586,0.7990000128746033],"quaternion_xyzw":[0.3985747249931162,0.6690791946907259,0.5389001503268749,0.32102624161638765]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/1","original_image_path":"orbit_-35.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_-35.png"},{"baseline_selected":true,"camera_pose":{"position":[1.5629973436918918,7.396042247121944,0.7990000128746033],"quaternion_xyzw":[0.3690105456005488,0.6858279648766983,0.5523902047817634,0.29721420135961407]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/2","original_image_path":"orbit_-30.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_-30.png"},{"baseline_selected":true,"camera_pose":{"position":[1.482860578405419,7.50660480045655,0.7990000128746033],"quaternion_xyzw":[0.33874393366124245,0.7012712225516146,0.5648287530860429,0.27283639697800155]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/3","original_image_path":"orbit_-25.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_-25.png"},{"baseline_selected":true,"camera_pose":{"position":[1.3933925962488571,7.609762250596033,0.7990000128746033],"quaternion_xyzw":[0.30783250339126556,0.7153795705967532,0.5761921177560554,0.24793923300773446]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/4","original_image_path":"orbit_-20.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_-20.png"},{"baseline_selected":true,"camera_pose":{"position":[1.295274302588662,7.70472950705666,0.7990000128746033],"quaternion_xyzw":[0.2763350964550275,0.728126152969744,0.5864586679813001,0.2225701026154923]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/5","original_image_path":"orbit_-15.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_-15.png"},{"baseline_selected":true,"camera_pose":{"position":[1.1892524368850335,7.790783811673969,0.7990000128746033],"quaternion_xyzw":[0.24431166995682724,0.7394867058265718,0.5956088607999108,0.19677729738286384]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/6","original_image_path":"orbit_-10.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_-10.png"},{"baseline_selected":true,"camera_pose":{"position":[1.0761338895537285,7.867270239228812,0.7990000128746033],"quaternion_xyzw":[0.21182318230909644,0.749439603709182,0.6036252782997943,0.1706099153805766]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/7","original_image_path":"orbit_-05.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_-05.png"},{"baseline_selected":true,"camera_pose":{"position":[0.9567795610427855,7.933606681823729,0.7990000128746033],"quaternion_xyzw":[0.17893147719459782,0.7579659007107691,0.610492660774616,0.14411776770752888]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/8","original_image_path":"orbit_+00.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_+00.png"},{"baseline_selected":true,"camera_pose":{"position":[0.8320978098602861,7.9892882790755335,0.7990000128746033],"quaternion_xyzw":[0.14569916584345888,0.7650493665403878,0.6161979357715187,0.1173512836725314]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/9","original_image_path":"orbit_+05.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_+05.png"},{"baseline_selected":true,"camera_pose":{"position":[0.7030375394176289,8.033891260407671,0.7990000128746033],"quaternion_xyzw":[0.11218950784913767,0.7706765174182334,0.6207302429752792,0.09036141479925233]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/10","original_image_path":"orbit_+10.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_+10.png"},{"baseline_selected":true,"camera_pose":{"position":[0.5705809763016048,8.06707617020019,0.7990000128746033],"quaternion_xyzw":[0.07846629075019075,0.7748366417427837,0.6240809548815355,0.06319953783709573]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/11","original_image_path":"orbit_+15.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_+15.png"},{"baseline_selected":true,"camera_pose":{"position":[0.43573619493698557,8.088590451251969,0.7990000128746033],"quaternion_xyzw":[0.044593708607068475,0.7775218204809408,0.6262436932197322,0.03591735696263931]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/12","original_image_path":"orbit_+20.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_+20.png"},{"baseline_selected":true,"camera_pose":{"position":[0.299529445531462,8.098270366893528,0.7990000128746033],"quaternion_xyzw":[0.010636239805071997,0.7787269422423609,0.6272143410945203,0.008566805357795469]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/13","original_image_path":"orbit_+25.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_+25.png"},{"baseline_selected":true,"camera_pose":{"position":[0.1629973436918932,8.096042247121943,0.7990000128746033],"quaternion_xyzw":[-0.02334147568391789,0.7784497130092768,0.6269910508225024,-0.018800053647952418]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/14","original_image_path":"orbit_+30.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_+30.png"},{"baseline_selected":true,"camera_pose":{"position":[0.02717898115361614,8.08192304927405,0.7990000128746033],"quaternion_xyzw":[-0.05727475934730063,0.7766906605032902,0.625574247449402,-0.04613112568305616]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/15","original_image_path":"orbit_+35.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_+35.png"},{"baseline_selected":true,"camera_pose":{"position":[-0.10689198233508374,8.056020228970876,0.7990000128746033],"quaternion_xyzw":[-0.09109901725098117,0.7734531331808243,0.6229666279409658,-0.07337438449850038]},"camera_pose_rule":null,"fov_deg":100.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/16","original_image_path":"orbit_+40.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_+40.png"}],"id":"3021","image_paths_json":"[\"q_004.png\",\"q_004_map.png\",\"corner_00.png\",\"corner_01.png\",\"corner_02.png\",\"corner_03.png\",\"orbit_-40.png\",\"orbit_-35.png\",\"orbit_-30.png\",\"orbit_-25.png\",\"orbit_-20.png\",\"orbit_-15.png\",\"orbit_-10.png\",\"orbit_-05.png\",\"orbit_+00.png\",\"orbit_+05.png\",\"orbit_+10.png\",\"orbit_+15.png\",\"orbit_+20.png\",\"orbit_+25.png\",\"orbit_+30.png\",\"orbit_+35.png\",\"orbit_+40.png\"]","metadata_json":"{\"camera_poses\":{\"fov_deg\":100.0,\"height_m\":0.8,\"look_target\":\"mirror_center\",\"mode\":\"per_question_reset\",\"trav_map_pixel_occlusion_check\":true},\"floor_name\":\"floors_gabzai_0\",\"image_paths\":[\"q_004.png\",\"q_004_map.png\",\"corner_00.png\",\"corner_01.png\",\"corner_02.png\",\"corner_03.png\",\"orbit_-40.png\",\"orbit_-35.png\",\"orbit_-30.png\",\"orbit_-25.png\",\"orbit_-20.png\",\"orbit_-15.png\",\"orbit_-10.png\",\"orbit_-05.png\",\"orbit_+00.png\",\"orbit_+05.png\",\"orbit_+10.png\",\"orbit_+15.png\",\"orbit_+20.png\",\"orbit_+25.png\",\"orbit_+30.png\",\"orbit_+35.png\",\"orbit_+40.png\"],\"mirror_setup\":{\"camera_forward_distance_m\":2.0,\"category\":\"mirror\",\"mode\":\"per_question_reset\",\"model\":\"tytkbq\",\"name\":\"render_mirror_main\"},\"question_data\":{\"answer\":\"Yes\",\"answer_bool\":true,\"evidence\":{\"distance_from_camera_m\":0.7,\"distance_from_mirror_m\":1.245754206011483,\"mirror_hit_xy\":[-0.06602675648065559,6.69914215562857],\"queried_object_label\":\"bottle of orange juice\",\"queried_object_name\":\"render_item_014\",\"seen_through_mirror\":true,\"visible_directly\":false,\"visible_in_mirror\":true},\"placement\":[{\"alias\":\"A\",\"category\":\"bottle_of_orange_juice\",\"distance_from_camera_m\":0.7,\"distance_from_mirror_m\":1.245754206011483,\"mirror_hit_xy\":[-0.06602675648065559,6.69914215562857],\"mirror_position\":[-0.8801033407603052,5.716601622116155,0.10521049261093139],\"model\":\"edltwh\",\"name\":\"render_item_014\",\"real_position\":[0.25677956104278565,7.933606681823729,0.10521049261093139],\"visible_directly\":false,\"visible_in_mirror\":true}],\"question\":\"In this image, you can see a bottle of orange juice. Are you seeing it through the mirror?\",\"render\":{\"camera_pose\":{\"position\":[0.9567795610427856,7.933606681823729,0.7990000128746033],\"quaternion_xyzw\":[0.16245984811645328,0.6881909602355867,0.6881909602355868,0.16245984811645328]},\"gt_view_input\":{\"anchor_answer_label\":\"middle\",\"orbit_center\":[0.25677956104278565,6.533606681823731,1.1403247809410095],\"orbit_radius_xy_m\":1.5652475842498514,\"views\":[{\"camera_pose\":{\"position\":[1.6929133247872243,7.156117575409722,0.7990000128746033],\"quaternion_xyzw\":[0.4273801947431524,0.6510567942296843,0.524384268806757,0.34422719017630554]},\"image_path\":\"orbit_-40.png\",\"offset_deg\":-40,\"target\":[0.25677956104278565,6.533606681823731,1.1403247809410095]},{\"camera_pose\":{\"position\":[1.6331930029365433,7.278916038382586,0.7990000128746033],\"quaternion_xyzw\":[0.3985747249931162,0.6690791946907259,0.5389001503268749,0.32102624161638765]},\"image_path\":\"orbit_-35.png\",\"offset_deg\":-35,\"target\":[0.25677956104278565,6.533606681823731,1.1403247809410095]},{\"camera_pose\":{\"position\":[1.5629973436918918,7.396042247121944,0.7990000128746033],\"quaternion_xyzw\":[0.3690105456005488,0.6858279648766983,0.5523902047817634,0.29721420135961407]},\"image_path\":\"orbit_-30.png\",\"offset_deg\":-30,\"target\":[0.25677956104278565,6.533606681823731,1.1403247809410095]},{\"camera_pose\":{\"position\":[1.482860578405419,7.50660480045655,0.7990000128746033],\"quaternion_xyzw\":[0.33874393366124245,0.7012712225516146,0.5648287530860429,0.27283639697800155]},\"image_path\":\"orbit_-25.png\",\"offset_deg\":-25,\"target\":[0.25677956104278565,6.533606681823731,1.1403247809410095]},{\"camera_pose\":{\"position\":[1.3933925962488571,7.609762250596033,0.7990000128746033],\"quaternion_xyzw\":[0.30783250339126556,0.7153795705967532,0.5761921177560554,0.24793923300773446]},\"image_path\":\"orbit_-20.png\",\"offset_deg\":-20,\"target\":[0.25677956104278565,6.533606681823731,1.1403247809410095]},{\"camera_pose\":{\"position\":[1.295274302588662,7.70472950705666,0.7990000128746033],\"quaternion_xyzw\":[0.2763350964550275,0.728126152969744,0.5864586679813001,0.2225701026154923]},\"image_path\":\"orbit_-15.png\",\"offset_deg\":-15,\"target\":[0.25677956104278565,6.533606681823731,1.1403247809410095]},{\"camera_pose\":{\"position\":[1.1892524368850335,7.790783811673969,0.7990000128746033],\"quaternion_xyzw\":[0.24431166995682724,0.7394867058265718,0.5956088607999108,0.19677729738286384]},\"image_path\":\"orbit_-10.png\",\"offset_deg\":-10,\"target\":[0.25677956104278565,6.533606681823731,1.1403247809410095]},{\"camera_pose\":{\"position\":[1.0761338895537285,7.867270239228812,0.7990000128746033],\"quaternion_xyzw\":[0.21182318230909644,0.749439603709182,0.6036252782997943,0.1706099153805766]},\"image_path\":\"orbit_-05.png\",\"offset_deg\":-5,\"target\":[0.25677956104278565,6.533606681823731,1.1403247809410095]},{\"camera_pose\":{\"position\":[0.9567795610427855,7.933606681823729,0.7990000128746033],\"quaternion_xyzw\":[0.17893147719459782,0.7579659007107691,0.610492660774616,0.14411776770752888]},\"image_path\":\"orbit_+00.png\",\"offset_deg\":0,\"target\":[0.25677956104278565,6.533606681823731,1.1403247809410095]},{\"camera_pose\":{\"position\":[0.8320978098602861,7.9892882790755335,0.7990000128746033],\"quaternion_xyzw\":[0.14569916584345888,0.7650493665403878,0.6161979357715187,0.1173512836725314]},\"image_path\":\"orbit_+05.png\",\"offset_deg\":5,\"target\":[0.25677956104278565,6.533606681823731,1.1403247809410095]},{\"camera_pose\":{\"position\":[0.7030375394176289,8.033891260407671,0.7990000128746033],\"quaternion_xyzw\":[0.11218950784913767,0.7706765174182334,0.6207302429752792,0.09036141479925233]},\"image_path\":\"orbit_+10.png\",\"offset_deg\":10,\"target\":[0.25677956104278565,6.533606681823731,1.1403247809410095]},{\"camera_pose\":{\"position\":[0.5705809763016048,8.06707617020019,0.7990000128746033],\"quaternion_xyzw\":[0.07846629075019075,0.7748366417427837,0.6240809548815355,0.06319953783709573]},\"image_path\":\"orbit_+15.png\",\"offset_deg\":15,\"target\":[0.25677956104278565,6.533606681823731,1.1403247809410095]},{\"camera_pose\":{\"position\":[0.43573619493698557,8.088590451251969,0.7990000128746033],\"quaternion_xyzw\":[0.044593708607068475,0.7775218204809408,0.6262436932197322,0.03591735696263931]},\"image_path\":\"orbit_+20.png\",\"offset_deg\":20,\"target\":[0.25677956104278565,6.533606681823731,1.1403247809410095]},{\"camera_pose\":{\"position\":[0.299529445531462,8.098270366893528,0.7990000128746033],\"quaternion_xyzw\":[0.010636239805071997,0.7787269422423609,0.6272143410945203,0.008566805357795469]},\"image_path\":\"orbit_+25.png\",\"offset_deg\":25,\"target\":[0.25677956104278565,6.533606681823731,1.1403247809410095]},{\"camera_pose\":{\"position\":[0.1629973436918932,8.096042247121943,0.7990000128746033],\"quaternion_xyzw\":[-0.02334147568391789,0.7784497130092768,0.6269910508225024,-0.018800053647952418]},\"image_path\":\"orbit_+30.png\",\"offset_deg\":30,\"target\":[0.25677956104278565,6.533606681823731,1.1403247809410095]},{\"camera_pose\":{\"position\":[0.02717898115361614,8.08192304927405,0.7990000128746033],\"quaternion_xyzw\":[-0.05727475934730063,0.7766906605032902,0.625574247449402,-0.04613112568305616]},\"image_path\":\"orbit_+35.png\",\"offset_deg\":35,\"target\":[0.25677956104278565,6.533606681823731,1.1403247809410095]},{\"camera_pose\":{\"position\":[-0.10689198233508374,8.056020228970876,0.7990000128746033],\"quaternion_xyzw\":[-0.09109901725098117,0.7734531331808243,0.6229666279409658,-0.07337438449850038]},\"image_path\":\"orbit_+40.png\",\"offset_deg\":40,\"target\":[0.25677956104278565,6.533606681823731,1.1403247809410095]}]},\"image\":\"q_004.png\",\"mirror_pose\":{\"normal_xy\":[0.45630305573803187,0.889824432865346],\"position\":[0.25677956104278565,6.533606681823731,1.1403247809410095],\"quaternion_xyzw\":[0.0,0.0,0.5213909014654783,0.8533179523888009],\"tangent_xy\":[-0.889824432865346,0.45630305573803187]},\"multi_image_input\":{\"room_bbox_world_xy\":[-0.25322043895721436,6.3736066818237305,3.366779327392578,9.288606643676758],\"views\":[{\"camera_pose\":{\"position\":[0.09677956104278562,6.72360668182373,1.3490000128746034],\"quaternion_xyzw\":[0.5526648156205173,-0.2744500380390613,-0.3499983621072618,0.7047977899495227]},\"image_path\":\"corner_00.png\",\"target\":[1.5567794442176819,7.831106662750244,0.8990000128746033],\"view_id\":\"corner_00\"},{\"camera_pose\":{\"position\":[0.09677956104278562,8.938606643676758,1.3490000128746034],\"quaternion_xyzw\":[-0.2744500380390613,0.5526648156205173,0.7047977899495227,-0.3499983621072618]},\"image_path\":\"corner_01.png\",\"target\":[1.5567794442176819,7.831106662750244,0.8990000128746033],\"view_id\":\"corner_01\"},{\"camera_pose\":{\"position\":[3.016779327392578,6.72360668182373,1.3490000128746034],\"quaternion_xyzw\":[0.5526648156205173,0.2744500380390613,0.3499983621072618,0.7047977899495227]},\"image_path\":\"corner_02.png\",\"target\":[1.5567794442176819,7.831106662750244,0.8990000128746033],\"view_id\":\"corner_02\"},{\"camera_pose\":{\"position\":[3.016779327392578,8.938606643676758,1.3490000128746034],\"quaternion_xyzw\":[0.2744500380390613,0.5526648156205173,0.7047977899495227,0.3499983621072618]},\"image_path\":\"corner_03.png\",\"target\":[1.5567794442176819,7.831106662750244,0.8990000128746033],\"view_id\":\"corner_03\"}]},\"topdown_map\":\"q_004_map.png\"},\"scene_setup\":{\"camera\":{\"forward_xy\":[-0.4472135954999583,-0.8944271909999157],\"position\":[0.9567795610427856,7.933606681823729,0.7990000128746033],\"quaternion_xyzw\":[0.16245984811645328,0.6881909602355867,0.6881909602355868,0.16245984811645328]},\"mirror\":{\"half_width_m\":0.4321509599685669,\"normal_xy\":[0.45630305573803187,0.889824432865346],\"normal_yaw_offset_deg\":17.90633643464556,\"position\":[0.25677956104278565,6.533606681823731,1.1403247809410095],\"quaternion_xyzw\":[0.0,0.0,0.5213909014654783,0.8533179523888009],\"tangent_xy\":[-0.889824432865346,0.45630305573803187]}},\"task_type\":\"mirror_object_reality\"},\"question_id\":\"mirror_object_reality/q_004\",\"question_index\":4,\"seed\":1,\"task_type\":\"mirror_object_reality\"}","options_json":"[\"yes\",\"no\"]","question":"In this image, you can see a bottle of orange juice. Are you seeing it through the mirror?","room":"kitchen_0","runner_task":"mirror","scene":"Benevolence_1_int","small_task":"Reflection Authoring"},"observations":[],"question":{"answer_type":"choice","options":[],"original":"In this image, you can see a bottle of orange juice. Are you seeing it through the mirror?","text":"In this image, you can see a bottle of orange juice. Are you seeing it through the mirror?"},"reference_media":["q_004.png","q_004_map.png","corner_00.png","corner_01.png","corner_02.png","corner_03.png","orbit_-40.png","orbit_-35.png","orbit_-30.png","orbit_-25.png","orbit_-20.png","orbit_-15.png","orbit_-10.png","orbit_-05.png","orbit_+00.png","orbit_+05.png","orbit_+10.png","orbit_+15.png","orbit_+20.png","orbit_+25.png","orbit_+30.png","orbit_+35.png","orbit_+40.png"],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":42,"stratum_pool":99},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Specular Reflection/Reflection Authoring/Benevolence_1_int/kitchen_0/q_004.json","annotation_sha256":"342cbaf17557ff2996cb4a6dd67eb889e10c0c87088a99ffccfbacfef6811d28","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"95e050f3106beefd60a98937475efcd150c5562ced022581c6eb517d430acb0a","sample_id":"3021","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"Yes","metric":"official_esi_task","original_answer":"Yes"},"task":{"category":"Specular Reflection","role":"spatial_core","skill_tags":["Specular Reflection","Reflection Authoring"],"stratum":"ESI-Bench/Specular Reflection/Reflection Authoring","subcategory":"Reflection Authoring"},"transforms":[]}
{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Specular Reflection","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"A","id":"5123e94c0dfa223e","metadata":"vendor/ESI-Bench/dataset/json_clean/Specular Reflection/Spatial Relations/grocery_store_half_stocked/bathroom_0/q_002.json","metadata_sha256":"80a1807f291c62b983984fe85c6f7b8096c214fcb826972505bbd424236d4d45","observation_policy":"runtime camera observations; no oracle poses","question":"In the mirror, you can see two reflected objects: object A (desk organizer) and object B (salad). In the real world, which object is closer to the observation position, A or B?","room":"bathroom_0","scene":"grocery_store_half_stocked","subcategory":"Spatial Relations","task":"specular_reflection.spatial_relations"},"group":{"id":"ESI-scene/grocery_store_half_stocked","kind":"scene","room":"bathroom_0","scene":"grocery_store_half_stocked"},"id":"c987bf1151aad2ec44ec","native_annotation":{"answer":"A","answer_type":"choice","big_task":"Specular Reflection","gt_camera_poses":[{"baseline_selected":true,"camera_pose":{"position":[14.729907493970751,-5.899568004861119,0.8661522299051285],"quaternion_xyzw":[0.6794761133527502,0.3636445801469408,0.3006867493208516,0.5618383303902067]},"camera_pose_rule":null,"fov_deg":70.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/0","original_image_path":"orbit_-45.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_-45.png"},{"baseline_selected":true,"camera_pose":{"position":[14.810536692327501,-5.766381273059754,0.8661522299051285],"quaternion_xyzw":[0.6629674488476835,0.392936802877509,0.3249076059322106,0.5481878129986064]},"camera_pose_rule":null,"fov_deg":70.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/1","original_image_path":"orbit_-40.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_-40.png"},{"baseline_selected":true,"camera_pose":{"position":[14.879251083707603,-5.626674059313136,0.8661522299051285],"quaternion_xyzw":[0.6451967881231288,0.42148104807073217,0.3485099824491368,0.5334937889480046]},"camera_pose_rule":null,"fov_deg":70.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/2","original_image_path":"orbit_-35.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_-35.png"},{"baseline_selected":true,"camera_pose":{"position":[14.935527710101768,-5.481509619875399,0.8661522299051285],"quaternion_xyzw":[0.6261979586417934,0.44922298013353595,0.37144895040645837,0.5177842291483356]},"camera_pose_rule":null,"fov_deg":70.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/3","original_image_path":"orbit_-30.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_-30.png"},{"baseline_selected":true,"camera_pose":{"position":[14.978938272402383,-5.331992743783349,0.8661522299051285],"quaternion_xyzw":[0.606007125755418,0.47610979072149023,0.39368084417490307,0.501089037639551]},"camera_pose_rule":null,"fov_deg":70.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/4","original_image_path":"orbit_-25.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_-25.png"},{"baseline_selected":true,"camera_pose":{"position":[15.009152390018325,-5.1792613447448055,0.8661522299051285],"quaternion_xyzw":[0.5846627238619739,0.5020902992624947,0.41516334408110434,0.4834399946675804]},"camera_pose_rule":null,"fov_deg":70.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/5","original_image_path":"orbit_-20.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_-20.png"},{"baseline_selected":true,"camera_pose":{"position":[15.025940115270753,-5.0244778009281905,0.8661522299051285],"quaternion_xyzw":[0.5622053832436016,0.5271150503819061,0.4358555569655054,0.46487069618882704]},"camera_pose_rule":null,"fov_deg":70.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/6","original_image_path":"orbit_-15.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_-15.png"},{"baseline_selected":true,"camera_pose":{"position":[15.02917368343379,-4.868820108562809,0.8661522299051285],"quaternion_xyzw":[0.53867785272456,0.5511364080436545,0.45571809402481206,0.44541648991835514]},"camera_pose_rule":null,"fov_deg":70.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/7","original_image_path":"orbit_-10.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_-10.png"},{"baseline_selected":true,"camera_pose":{"position":[15.018828485101237,-4.713472916676245,0.8661522299051285],"quaternion_xyzw":[0.5141249182964095,0.5741086462281461,0.4747131457908194,0.42511440804350537]},"camera_pose_rule":null,"fov_deg":70.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/8","original_image_path":"orbit_-05.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_-05.png"},{"baseline_selected":true,"camera_pose":{"position":[14.994983253479,-4.559618511199954,0.8661522299051285],"quaternion_xyzw":[0.4885933178653318,0.59598803597434,0.49280455410288243,0.4040030967310213]},"camera_pose_rule":null,"fov_deg":70.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/9","original_image_path":"orbit_+00.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_+00.png"},{"baseline_selected":true,"camera_pose":{"position":[14.957819465177876,-4.408427817059441,0.8661522299051285],"quaternion_xyzw":[0.4621316522838684,0.6167329286203114,0.5099578809370309,0.38212274256187473]},"camera_pose_rule":null,"fov_deg":70.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/10","original_image_path":"orbit_+05.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_+05.png"},{"baseline_selected":true,"camera_pose":{"position":[14.90761995906694,-4.261051486728554,0.8661522299051285],"quaternion_xyzw":[0.43479029283643683,0.6363038350838457,0.5261404739607043,0.3595149960338248]},"camera_pose_rule":null,"fov_deg":70.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/11","original_image_path":"orbit_+10.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_+10.png"},{"baseline_selected":true,"camera_pose":{"position":[14.844766783698988,-4.118611143069369,0.8661522299051285],"quaternion_xyzw":[0.40662128535472625,0.6546635010321521,0.5413215286883242,0.3362228922773279]},"camera_pose_rule":null,"fov_deg":70.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/12","original_image_path":"orbit_+15.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_+15.png"},{"baseline_selected":true,"camera_pose":{"position":[14.769738289690357,-3.9821908431049664,0.8661522299051285],"quaternion_xyzw":[0.37767825114549985,0.6717769777976029,0.5554721471193812,0.3122907691357211]},"camera_pose_rule":null,"fov_deg":70.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/13","original_image_path":"orbit_+20.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_+20.png"},{"baseline_selected":true,"camera_pose":{"position":[14.683105489183895,-3.852828827690903,0.8661522299051285],"quaternion_xyzw":[0.34801628491938946,0.6876116889045085,0.5685653927474236,0.28776418276561755]},"camera_pose_rule":null,"fov_deg":70.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/14","original_image_path":"orbit_+25.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_+25.png"}],"id":"3168","image_paths_json":"[\"q_002.png\",\"q_002_map.png\",\"corner_02.png\",\"corner_03.png\",\"orbit_-45.png\",\"orbit_-40.png\",\"orbit_-35.png\",\"orbit_-30.png\",\"orbit_-25.png\",\"orbit_-20.png\",\"orbit_-15.png\",\"orbit_-10.png\",\"orbit_-05.png\",\"orbit_+00.png\",\"orbit_+05.png\",\"orbit_+10.png\",\"orbit_+15.png\",\"orbit_+20.png\",\"orbit_+25.png\"]","metadata_json":"{\"camera_poses\":{\"fov_deg\":70.0,\"height_m\":0.8,\"look_target\":\"mirror_center\",\"mode\":\"per_question_reset\",\"render_view_groups\":{\"gt_view\":{\"look_target\":\"observer_position\",\"side_offset_m\":1.0,\"type\":\"observer_perpendicular_side_views\"},\"multi_view\":{\"angle_range_deg\":[-45,45],\"step_deg\":5,\"type\":\"arc_around_mirror_center\"},\"single_view\":\"observer_view\"},\"trav_map_pixel_occlusion_check\":true},\"floor_name\":\"floors_sqkllg_0\",\"image_paths\":[\"q_002.png\",\"q_002_map.png\",\"corner_02.png\",\"corner_03.png\",\"orbit_-45.png\",\"orbit_-40.png\",\"orbit_-35.png\",\"orbit_-30.png\",\"orbit_-25.png\",\"orbit_-20.png\",\"orbit_-15.png\",\"orbit_-10.png\",\"orbit_-05.png\",\"orbit_+00.png\",\"orbit_+05.png\",\"orbit_+10.png\",\"orbit_+15.png\",\"orbit_+20.png\",\"orbit_+25.png\"],\"mirror_setup\":{\"camera_forward_distance_m\":2.0,\"category\":\"mirror\",\"mode\":\"per_question_reset\",\"model\":\"tytkbq\",\"name\":\"render_mirror_main\"},\"question_data\":{\"answer\":\"A\",\"evidence\":{\"a_distance_to_observer\":1.3395748844871926,\"a_mirror_u\":-0.03164228635245615,\"a_real_u\":-0.03164228635245652,\"b_distance_to_observer\":1.3402887422554342,\"b_mirror_u\":-0.7625690396526559,\"b_real_u\":-0.7625690396526554,\"closer_object\":\"A\",\"closer_real_label\":\"desk organizer\",\"closer_real_name\":\"render_item_004\",\"mirror_relation\":\"right\",\"observation_position\":[14.994983253479,-4.559618511199954,0.8661522299051285],\"real_a_label\":\"desk organizer\",\"real_a_name\":\"render_item_004\",\"real_b_label\":\"salad\",\"real_b_name\":\"render_item_005\"},\"placement\":[{\"alias\":\"A\",\"category\":\"desk_organizer\",\"mirror_hit_xy\":[13.242535948670636,-4.855533853115654],\"mirror_position\":[12.547843922866463,-4.972838395042769,0.1115259176492691],\"mirror_u\":-0.03164228635245615,\"model\":\"yidrel\",\"name\":\"render_item_004\",\"real_position\":[13.944983253479002,-4.9096185111999535,0.1115259176492691],\"real_u\":-0.03164228635245652},{\"alias\":\"B\",\"category\":\"salad\",\"mirror_hit_xy\":[13.259065502161558,-5.220831729287859],\"mirror_position\":[11.913924476096739,-5.7331976094981245,0.1102594381570816],\"mirror_u\":-0.7625690396526559,\"model\":\"nffvob\",\"name\":\"render_item_005\",\"real_position\":[14.644983253479001,-5.609618511199953,0.1102594381570816],\"real_u\":-0.7625690396526554}],\"question\":\"In the mirror, you can see two reflected objects: object A (desk organizer) and object B (salad). In the real world, which object is closer to the observation position, A or B?\",\"render\":{\"camera_pose\":{\"position\":[14.994983253479,-4.559618511199954,0.8661522299051285],\"quaternion_xyzw\":[0.448297854350714,0.5468354723173562,0.5468354723173562,0.448297854350714]},\"gt_view_input\":{\"anchor_answer_label\":\"middle\",\"orbit_center\":[13.244983253479003,-4.9096185111999535,1.2074769979715347],\"orbit_radius_xy_m\":1.784656829757473,\"views\":[{\"camera_pose\":{\"position\":[14.729907493970751,-5.899568004861119,0.8661522299051285],\"quaternion_xyzw\":[0.6794761133527502,0.3636445801469408,0.3006867493208516,0.5618383303902067]},\"image_path\":\"orbit_-45.png\",\"offset_deg\":-45,\"target\":[13.244983253479003,-4.9096185111999535,1.2074769979715347]},{\"camera_pose\":{\"position\":[14.810536692327501,-5.766381273059754,0.8661522299051285],\"quaternion_xyzw\":[0.6629674488476835,0.392936802877509,0.3249076059322106,0.5481878129986064]},\"image_path\":\"orbit_-40.png\",\"offset_deg\":-40,\"target\":[13.244983253479003,-4.9096185111999535,1.2074769979715347]},{\"camera_pose\":{\"position\":[14.879251083707603,-5.626674059313136,0.8661522299051285],\"quaternion_xyzw\":[0.6451967881231288,0.42148104807073217,0.3485099824491368,0.5334937889480046]},\"image_path\":\"orbit_-35.png\",\"offset_deg\":-35,\"target\":[13.244983253479003,-4.9096185111999535,1.2074769979715347]},{\"camera_pose\":{\"position\":[14.935527710101768,-5.481509619875399,0.8661522299051285],\"quaternion_xyzw\":[0.6261979586417934,0.44922298013353595,0.37144895040645837,0.5177842291483356]},\"image_path\":\"orbit_-30.png\",\"offset_deg\":-30,\"target\":[13.244983253479003,-4.9096185111999535,1.2074769979715347]},{\"camera_pose\":{\"position\":[14.978938272402383,-5.331992743783349,0.8661522299051285],\"quaternion_xyzw\":[0.606007125755418,0.47610979072149023,0.39368084417490307,0.501089037639551]},\"image_path\":\"orbit_-25.png\",\"offset_deg\":-25,\"target\":[13.244983253479003,-4.9096185111999535,1.2074769979715347]},{\"camera_pose\":{\"position\":[15.009152390018325,-5.1792613447448055,0.8661522299051285],\"quaternion_xyzw\":[0.5846627238619739,0.5020902992624947,0.41516334408110434,0.4834399946675804]},\"image_path\":\"orbit_-20.png\",\"offset_deg\":-20,\"target\":[13.244983253479003,-4.9096185111999535,1.2074769979715347]},{\"camera_pose\":{\"position\":[15.025940115270753,-5.0244778009281905,0.8661522299051285],\"quaternion_xyzw\":[0.5622053832436016,0.5271150503819061,0.4358555569655054,0.46487069618882704]},\"image_path\":\"orbit_-15.png\",\"offset_deg\":-15,\"target\":[13.244983253479003,-4.9096185111999535,1.2074769979715347]},{\"camera_pose\":{\"position\":[15.02917368343379,-4.868820108562809,0.8661522299051285],\"quaternion_xyzw\":[0.53867785272456,0.5511364080436545,0.45571809402481206,0.44541648991835514]},\"image_path\":\"orbit_-10.png\",\"offset_deg\":-10,\"target\":[13.244983253479003,-4.9096185111999535,1.2074769979715347]},{\"camera_pose\":{\"position\":[15.018828485101237,-4.713472916676245,0.8661522299051285],\"quaternion_xyzw\":[0.5141249182964095,0.5741086462281461,0.4747131457908194,0.42511440804350537]},\"image_path\":\"orbit_-05.png\",\"offset_deg\":-5,\"target\":[13.244983253479003,-4.9096185111999535,1.2074769979715347]},{\"camera_pose\":{\"position\":[14.994983253479,-4.559618511199954,0.8661522299051285],\"quaternion_xyzw\":[0.4885933178653318,0.59598803597434,0.49280455410288243,0.4040030967310213]},\"image_path\":\"orbit_+00.png\",\"offset_deg\":0,\"target\":[13.244983253479003,-4.9096185111999535,1.2074769979715347]},{\"camera_pose\":{\"position\":[14.957819465177876,-4.408427817059441,0.8661522299051285],\"quaternion_xyzw\":[0.4621316522838684,0.6167329286203114,0.5099578809370309,0.38212274256187473]},\"image_path\":\"orbit_+05.png\",\"offset_deg\":5,\"target\":[13.244983253479003,-4.9096185111999535,1.2074769979715347]},{\"camera_pose\":{\"position\":[14.90761995906694,-4.261051486728554,0.8661522299051285],\"quaternion_xyzw\":[0.43479029283643683,0.6363038350838457,0.5261404739607043,0.3595149960338248]},\"image_path\":\"orbit_+10.png\",\"offset_deg\":10,\"target\":[13.244983253479003,-4.9096185111999535,1.2074769979715347]},{\"camera_pose\":{\"position\":[14.844766783698988,-4.118611143069369,0.8661522299051285],\"quaternion_xyzw\":[0.40662128535472625,0.6546635010321521,0.5413215286883242,0.3362228922773279]},\"image_path\":\"orbit_+15.png\",\"offset_deg\":15,\"target\":[13.244983253479003,-4.9096185111999535,1.2074769979715347]},{\"camera_pose\":{\"position\":[14.769738289690357,-3.9821908431049664,0.8661522299051285],\"quaternion_xyzw\":[0.37767825114549985,0.6717769777976029,0.5554721471193812,0.3122907691357211]},\"image_path\":\"orbit_+20.png\",\"offset_deg\":20,\"target\":[13.244983253479003,-4.9096185111999535,1.2074769979715347]},{\"camera_pose\":{\"position\":[14.683105489183895,-3.852828827690903,0.8661522299051285],\"quaternion_xyzw\":[0.34801628491938946,0.6876116889045085,0.5685653927474236,0.28776418276561755]},\"image_path\":\"orbit_+25.png\",\"offset_deg\":25,\"target\":[13.244983253479003,-4.9096185111999535,1.2074769979715347]}]},\"image\":\"q_002.png\",\"mirror_pose\":{\"normal_xy\":[0.9989778099253472,0.04520326621779508],\"position\":[13.244983253479003,-4.9096185111999535,1.2074769979715347],\"quaternion_xyzw\":[0.0,0.0,0.022607411115083326,0.9997444198207228],\"tangent_xy\":[-0.04520326621779508,0.9989778099253472]},\"multi_image_input\":{\"room_bbox_world_xy\":[11.5,-6.5,17.5,-3.5],\"room_instance\":\"bathroom_0\",\"views\":[{\"camera_pose\":{\"position\":[17.15,-6.15,1.4161522299051286],\"quaternion_xyzw\":[0.5438059542929295,0.35681291377819074,0.41669891474505183,0.6350760923597815]},\"image_path\":\"corner_02.png\",\"target\":[14.5,-5.0,0.9661522299051285],\"view_id\":\"corner_02\"},{\"camera_pose\":{\"position\":[17.15,-3.85,1.4161522299051286],\"quaternion_xyzw\":[0.35681291377819085,0.5438059542929295,0.6350760923597814,0.4166989147450519]},\"image_path\":\"corner_03.png\",\"target\":[14.5,-5.0,0.9661522299051285],\"view_id\":\"corner_03\"}]},\"topdown_map\":\"q_002_map.png\"},\"scene_setup\":{\"camera\":{\"forward_xy\":[-0.9805806756909201,-0.19611613513818402],\"position\":[14.994983253479,-4.559618511199954,0.8661522299051285],\"quaternion_xyzw\":[0.448297854350714,0.5468354723173562,0.5468354723173562,0.448297854350714]},\"mirror\":{\"half_width_m\":0.48379945755004883,\"normal_xy\":[0.9989778099253472,0.04520326621779508],\"normal_yaw_offset_deg\":8.972768131529904,\"position\":[13.244983253479003,-4.9096185111999535,1.2074769979715347],\"quaternion_xyzw\":[0.0,0.0,0.022607411115083326,0.9997444198207228],\"tangent_xy\":[-0.04520326621779508,0.9989778099253472]},\"render_views\":{\"gt_view\":[{\"forward_xy\":[0.19611613513818335,-0.9805806756909203],\"offset_m\":1.0,\"position\":[14.798867118340818,-3.579037835509034,0.8661522299051285],\"quaternion_xyzw\":[-0.0696766178661818,0.7036655234717202,0.7036655234717203,-0.0696766178661818],\"side\":\"left\",\"target\":[14.994983253479,-4.559618511199954,0.8661522299051285]},{\"forward_xy\":[-0.19611613513818335,0.9805806756909203],\"offset_m\":1.0,\"position\":[15.191099388617184,-5.540199186890874,0.8661522299051285],\"quaternion_xyzw\":[0.7036655234717202,0.0696766178661818,0.0696766178661818,0.7036655234717203],\"side\":\"right\",\"target\":[14.994983253479,-4.559618511199954,0.8661522299051285]}],\"multi_view\":[{\"forward_xy\":[-0.8320502943378437,0.554700196225229],\"position\":[14.729907493970751,-5.899568004861119,0.8661522299051285],\"quaternion_xyzw\":[0.6234380875887414,0.3336539389003114,0.3336539389003114,0.6234380875887414],\"relative_angle_deg\":-45.0,\"target\":[13.244983253479003,-4.9096185111999535,0.8661522299051285]},{\"forward_xy\":[-0.8772293993693177,0.4800714331036019],\"position\":[14.810536692327501,-5.766381273059754,0.8661522299051285],\"quaternion_xyzw\":[0.6082909322650639,0.3605303617229754,0.3605303617229754,0.6082909322650638],\"relative_angle_deg\":-40.0,\"target\":[13.244983253479003,-4.9096185111999535,0.8661522299051285]},{\"forward_xy\":[-0.9157322589859979,0.4017890365009991],\"position\":[14.879251083707603,-5.626674059313136,0.8661522299051285],\"quaternion_xyzw\":[0.5919858605788231,0.38672049451089374,0.3867204945108938,0.5919858605788231],\"relative_angle_deg\":-35.0,\"target\":[13.244983253479003,-4.9096185111999535,0.8661522299051285]},{\"forward_xy\":[-0.9472658431775388,0.3204487827237706],\"position\":[14.935527710101768,-5.481509619875399,0.8661522299051285],\"quaternion_xyzw\":[0.5745539101606939,0.4121744828577545,0.41217448285775454,0.5745539101606938],\"relative_angle_deg\":-30.0,\"target\":[13.244983253479003,-4.9096185111999535,0.8661522299051285]},{\"forward_xy\":[-0.9715901623277442,0.23666972021774885],\"position\":[14.978938272402383,-5.331992743783349,0.8661522299051285],\"quaternion_xyzw\":[0.5560282637190642,0.43684387365002936,0.43684387365002936,0.5560282637190642],\"relative_angle_deg\":-25.0,\"target\":[13.244983253479003,-4.9096185111999535,0.8661522299051285]},{\"forward_xy\":[-0.9885200936804557,0.15108945823578596],\"position\":[15.009152390018325,-5.1792613447448055,0.8661522299051285],\"quaternion_xyzw\":[0.5364441858748649,0.4606817073002286,0.4606817073002286,0.5364441858748648],\"relative_angle_deg\":-20.0,\"target\":[13.244983253479003,-4.9096185111999535,0.8661522299051285]},{\"forward_xy\":[-0.9979267902355067,0.06435931424633937],\"position\":[15.025940115270753,-5.0244778009281905,0.8661522299051285],\"quaternion_xyzw\":[0.5158389560333583,0.48364260713714535,0.4836426071371454,0.5158389560333582],\"relative_angle_deg\":-15.0,\"target\":[13.244983253479003,-4.9096185111999535,0.8661522299051285]},{\"forward_xy\":[-0.9997386613521948,-0.02286064298573803],\"position\":[15.02917368343379,-4.868820108562809,0.8661522299051285],\"quaternion_xyzw\":[0.49425179742067255,0.5056828657829278,0.5056828657829278,0.49425179742067255],\"relative_angle_deg\":-10.0,\"target\":[13.244983253479003,-4.9096185111999535,0.8661522299051285]},{\"forward_xy\":[-0.9939419175972846,-0.1099066169210605],\"position\":[15.018828485101237,-4.713472916676245,0.8661522299051285],\"quaternion_xyzw\":[0.4717238024201607,0.526760528352557,0.5267605283525572,0.4717238024201607],\"relative_angle_deg\":-5.0,\"target\":[13.244983253479003,-4.9096185111999535,0.8661522299051285]},{\"forward_xy\":[-0.9805806756909201,-0.19611613513818402],\"position\":[14.994983253479,-4.559618511199954,0.8661522299051285],\"quaternion_xyzw\":[0.448297854350714,0.5468354723173562,0.5468354723173562,0.448297854350714],\"relative_angle_deg\":0.0,\"target\":[13.244983253479003,-4.9096185111999535,0.8661522299051285]},{\"forward_xy\":[-0.9597566227517476,-0.28083309114874594],\"position\":[14.957819465177876,-4.408427817059441,0.8661522299051285],\"quaternion_xyzw\":[0.42401854583592624,0.5658694838805026,0.5658694838805027,0.42401854583592624],\"relative_angle_deg\":5.0,\"target\":[13.244983253479003,-4.9096185111999535,0.8661522299051285]},{\"forward_xy\":[-0.9316282423965407,-0.3634127377640088],\"position\":[14.90761995906694,-4.261051486728554,0.8661522299051285],\"quaternion_xyzw\":[0.3989320939195013,0.5838263307191637,0.5838263307191636,0.3989320939195013],\"relative_angle_deg\":10.0,\"target\":[13.244983253479003,-4.9096185111999535,0.8661522299051285]},{\"forward_xy\":[-0.8964096085841833,-0.4432265940102775],\"position\":[14.844766783698988,-4.118611143069369,0.8661522299051285],\"quaternion_xyzw\":[0.3730862520884824,0.6006718309547814,0.6006718309547813,0.3730862520884824],\"relative_angle_deg\":15.0,\"target\":[13.244983253479003,-4.9096185111999535,0.8661522299051285]},{\"forward_xy\":[-0.8543687563835799,-0.5196672282485929],\"position\":[14.769738289690357,-3.9821908431049664,0.8661522299051285],\"quaternion_xyzw\":[0.3465302193717768,0.6163739182202215,0.6163739182202215,0.3465302193717768],\"relative_angle_deg\":20.0,\"target\":[13.244983253479003,-4.9096185111999535,0.8661522299051285]},{\"forward_xy\":[-0.8058256420649376,-0.5921528810962852],\"position\":[14.683105489183895,-3.852828827690903,0.8661522299051285],\"quaternion_xyzw\":[0.3193145466870069,0.6309027026999261,0.6309027026999261,0.31931454668700693],\"relative_angle_deg\":25.0,\"target\":[13.244983253479003,-4.9096185111999535,0.8661522299051285]},{\"forward_xy\":[-0.7511497080393547,-0.6601318929671496],\"position\":[14.585527710101768,-3.731509619875401,0.8661522299051285],\"quaternion_xyzw\":[0.2914910406139657,0.644230528026876,0.644230528026876,0.2914910406139657],\"relative_angle_deg\":30.0,\"target\":[13.244983253479003,-4.9096185111999535,0.8661522299051285]},{\"forward_xy\":[-0.6907570711789985,-0.7230869025339983],\"position\":[14.477747578261871,-3.619156532084477,0.8661522299051285],\"quaternion_xyzw\":[0.2631126647778484,0.656332023928057,0.656332023928057,0.2631126647778484],\"relative_angle_deg\":35.0,\"target\":[13.244983253479003,-4.9096185111999535,0.8661522299051285]},{\"forward_xy\":[-0.6251073559164467,-0.7805387841607545],\"position\":[14.360585365546925,-3.516624639156869,0.8661522299051285],\"quaternion_xyzw\":[0.23423343902998006,0.6671841545182174,0.6671841545182174,0.23423343902998006],\"relative_angle_deg\":40.0,\"target\":[13.244983253479003,-4.9096185111999535,0.8661522299051285]},{\"forward_xy\":[-0.5547001962252294,-0.8320502943378435],\"position\":[14.234932747140169,-3.424694270708205,0.8661522299051285],\"quaternion_xyzw\":[0.2049083366179598,0.676766262149984,0.676766262149984,0.2049083366179598],\"relative_angle_deg\":45.0,\"target\":[13.244983253479003,-4.9096185111999535,0.8661522299051285]}],\"single_view\":{\"forward_xy\":[-0.9805806756909201,-0.19611613513818402],\"position\":[14.994983253479,-4.559618511199954,0.8661522299051285],\"quaternion_xyzw\":[0.448297854350714,0.5468354723173562,0.5468354723173562,0.448297854350714],\"target\":[13.244983253479003,-4.9096185111999535,0.8661522299051285]}}},\"task_type\":\"mirror_distance\"},\"question_id\":\"mirror_distance/q_002\",\"question_index\":2,\"seed\":1,\"task_type\":\"mirror_distance\"}","options_json":"[\"A\",\"B\"]","question":"In the mirror, you can see two reflected objects: object A (desk organizer) and object B (salad). In the real world, which object is closer to the observation position, A or B?","room":"bathroom_0","runner_task":"mirror","scene":"grocery_store_half_stocked","small_task":"Spatial Relations"},"observations":[],"question":{"answer_type":"choice","options":[],"original":"In the mirror, you can see two reflected objects: object A (desk organizer) and object B (salad). In the real world, which object is closer to the observation position, A or B?","text":"In the mirror, you can see two reflected objects: object A (desk organizer) and object B (salad). In the real world, which object is closer to the observation position, A or B?"},"reference_media":["q_002.png","q_002_map.png","corner_02.png","corner_03.png","orbit_-45.png","orbit_-40.png","orbit_-35.png","orbit_-30.png","orbit_-25.png","orbit_-20.png","orbit_-15.png","orbit_-10.png","orbit_-05.png","orbit_+00.png","orbit_+05.png","orbit_+10.png","orbit_+15.png","orbit_+20.png","orbit_+25.png"],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":53,"stratum_pool":113},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Specular Reflection/Spatial Relations/grocery_store_half_stocked/bathroom_0/q_002.json","annotation_sha256":"80a1807f291c62b983984fe85c6f7b8096c214fcb826972505bbd424236d4d45","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"c268480b857aab897d7b9026247d75c8ec008fe030f95a43f8e49fe844df4334","sample_id":"3168","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"A","metric":"official_esi_task","original_answer":"A"},"task":{"category":"Specular Reflection","role":"spatial_core","skill_tags":["Specular Reflection","Spatial Relations"],"stratum":"ESI-Bench/Specular Reflection/Spatial Relations","subcategory":"Spatial Relations"},"transforms":[]}
{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Specular Reflection","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"B","id":"30d8303f4362e250","metadata":"vendor/ESI-Bench/dataset/json_clean/Specular Reflection/Spatial Relations/house_double_floor_lower/living_room_0/q_003.json","metadata_sha256":"b0ee7c5ec2ee1828e64094d16d886b2804738e8148b6bb99822534618b28216c","observation_policy":"runtime camera observations; no oracle poses","question":"In the mirror, you can see two reflected objects: object A (vodka bottle) and object B (bottle of supplements). In the real world, which object is closer to the observation position, A or B?","room":"living_room_0","scene":"house_double_floor_lower","subcategory":"Spatial Relations","task":"specular_reflection.spatial_relations"},"group":{"id":"ESI-scene/house_double_floor_lower","kind":"scene","room":"living_room_0","scene":"house_double_floor_lower"},"id":"b5b1101dceccbf79ae40","native_annotation":{"answer":"B","answer_type":"choice","big_task":"Specular Reflection","gt_camera_poses":[{"baseline_selected":true,"camera_pose":{"position":[6.3625961402240385,5.764155388321102,0.7999999403953553],"quaternion_xyzw":[0.23224609533377086,0.7247158242796171,0.6177812797763321,0.19797731081830935]},"camera_pose_rule":null,"fov_deg":70.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/0","original_image_path":"orbit_-45.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_-45.png"},{"baseline_selected":true,"camera_pose":{"position":[5.514509156856418,6.124805328228452,0.7999999403953553],"quaternion_xyzw":[0.06988372232164165,0.7578044207534946,0.6459875294410942,0.05957211635928102]},"camera_pose_rule":null,"fov_deg":70.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/1","original_image_path":"orbit_-20.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_-20.png"},{"baseline_selected":true,"camera_pose":{"position":[5.330605228661701,6.150774675406986,0.7999999403953553],"quaternion_xyzw":[0.03676224392694572,0.7601314440151279,0.6479711916718315,0.031337836624739726]},"camera_pose_rule":null,"fov_deg":70.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/2","original_image_path":"orbit_-15.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_-15.png"},{"baseline_selected":true,"camera_pose":{"position":[5.145137732693863,6.1606169179231225,0.7999999403953553],"quaternion_xyzw":[0.003570786511505525,0.7610115138700315,0.6487214039109463,0.003043903537057058]},"camera_pose_rule":null,"fov_deg":70.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/3","original_image_path":"orbit_-10.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_-10.png"},{"baseline_selected":true,"camera_pose":{"position":[4.9595181885855535,6.154257150368407,0.7999999403953553],"quaternion_xyzw":[-0.02962746809900958,0.7604429550552164,0.6482367380868027,-0.025255823794012578]},"camera_pose_rule":null,"fov_deg":70.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/4","original_image_path":"orbit_-05.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_-05.png"},{"baseline_selected":true,"camera_pose":{"position":[4.775159273147582,6.13174377441406,0.7999999403953553],"quaternion_xyzw":[-0.06276932514008307,0.7584268498547018,0.6465181167883429,-0.05350747522904317]},"camera_pose_rule":null,"fov_deg":70.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/5","original_image_path":"orbit_+00.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_+00.png"},{"baseline_selected":true,"camera_pose":{"position":[4.59346406904539,6.093248130445046,0.7999999403953553],"quaternion_xyzw":[-0.09579169720317707,0.7549670360393244,0.6435688115088892,-0.08165727214380908]},"camera_pose_rule":null,"fov_deg":70.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/6","original_image_path":"orbit_+05.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_+05.png"},{"baseline_selected":true,"camera_pose":{"position":[4.415815386492756,6.039063193556272,0.7999999403953553],"quaternion_xyzw":[-0.1286317243262008,0.7500700995613251,0.639394436418668,-0.1096516297999534]},"camera_pose_rule":null,"fov_deg":70.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/7","original_image_path":"orbit_+10.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_+10.png"},{"baseline_selected":true,"camera_pose":{"position":[4.243565239231115,5.969601343835222,0.7999999403953553],"quaternion_xyzw":[-0.16122689365102033,0.7437453620176131,0.63400293767792,-0.13743725934658232]},"camera_pose_rule":null,"fov_deg":70.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/8","original_image_path":"orbit_+15.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_+15.png"},{"baseline_selected":true,"camera_pose":{"position":[4.078024554888611,5.885391227900484,0.7999999403953553],"quaternion_xyzw":[-0.19351515842023748,0.7360048629055778,0.6274045783109305,-0.1649612692586218]},"camera_pose_rule":null,"fov_deg":70.0,"group":"gt_orbit","metadata_pointer":"/question_data/render/gt_view_input/views/9","original_image_path":"orbit_+20.png","phase":null,"pose_source":"saved","render_mode":"static_objects","role":"gt","state_key":null,"view_id":"gt_orbit/orbit_+20.png"}],"id":"3180","image_paths_json":"[\"q_003.png\",\"q_003_map.png\",\"corner_00.png\",\"corner_01.png\",\"corner_02.png\",\"orbit_-45.png\",\"orbit_-20.png\",\"orbit_-15.png\",\"orbit_-10.png\",\"orbit_-05.png\",\"orbit_+00.png\",\"orbit_+05.png\",\"orbit_+10.png\",\"orbit_+15.png\",\"orbit_+20.png\"]","metadata_json":"{\"camera_poses\":{\"fov_deg\":70.0,\"height_m\":0.8,\"look_target\":\"mirror_center\",\"mode\":\"per_question_reset\",\"render_view_groups\":{\"gt_view\":{\"look_target\":\"observer_position\",\"side_offset_m\":1.0,\"type\":\"observer_perpendicular_side_views\"},\"multi_view\":{\"angle_range_deg\":[-45,45],\"step_deg\":5,\"type\":\"arc_around_mirror_center\"},\"single_view\":\"observer_view\"},\"trav_map_pixel_occlusion_check\":true},\"floor_name\":\"floors_ulujpr_0\",\"image_paths\":[\"q_003.png\",\"q_003_map.png\",\"corner_00.png\",\"corner_01.png\",\"corner_02.png\",\"orbit_-45.png\",\"orbit_-20.png\",\"orbit_-15.png\",\"orbit_-10.png\",\"orbit_-05.png\",\"orbit_+00.png\",\"orbit_+05.png\",\"orbit_+10.png\",\"orbit_+15.png\",\"orbit_+20.png\"],\"mirror_setup\":{\"camera_forward_distance_m\":2.0,\"category\":\"mirror\",\"mode\":\"per_question_reset\",\"model\":\"tytkbq\",\"name\":\"render_mirror_main\"},\"question_data\":{\"answer\":\"B\",\"evidence\":{\"a_distance_to_observer\":1.4197938156881893,\"a_mirror_u\":-0.5155980141606147,\"a_real_u\":-0.5155980141606149,\"b_distance_to_observer\":1.2795872399422201,\"b_mirror_u\":0.17514147227459587,\"b_real_u\":0.1751414722745956,\"closer_object\":\"B\",\"closer_real_label\":\"bottle of supplements\",\"closer_real_name\":\"render_item_006\",\"mirror_relation\":\"left\",\"observation_position\":[4.775159273147582,6.13174377441406,0.7999999403953553],\"real_a_label\":\"vodka bottle\",\"real_a_name\":\"render_item_005\",\"real_b_label\":\"bottle of supplements\",\"real_b_name\":\"render_item_006\"},\"placement\":[{\"alias\":\"A\",\"category\":\"vodka_bottle\",\"mirror_hit_xy\":[5.472104146380825,4.088745318452838],\"mirror_position\":[5.792713294599919,3.1489235047992272,0.14937371969223023],\"mirror_u\":-0.5155980141606147,\"model\":\"bojwlu\",\"name\":\"render_item_005\",\"real_position\":[5.4751592731475816,5.081743774414061,0.14937371969223023],\"real_u\":-0.5155980141606149},{\"alias\":\"B\",\"category\":\"bottle_of_supplements\",\"mirror_hit_xy\":[5.009313026443406,4.0127107364801216],\"mirror_position\":[5.12951032854055,2.9249551458507916,0.06866998434066772],\"mirror_u\":0.17514147227459587,\"model\":\"oqakev\",\"name\":\"render_item_006\",\"real_position\":[4.775159273147582,5.081743774414061,0.06866998434066772],\"real_u\":0.1751414722745956}],\"question\":\"In the mirror, you can see two reflected objects: object A (vodka bottle) and object B (bottle of supplements). In the real world, which object is closer to the observation position, A or B?\",\"render\":{\"camera_pose\":{\"position\":[4.775159273147582,6.13174377441406,0.7999999403953553],\"quaternion_xyzw\":[-0.05832254317126497,0.7046974393014607,0.7046974393014608,-0.05832254317126498]},\"gt_view_input\":{\"anchor_answer_label\":\"middle\",\"orbit_center\":[5.125159273147582,4.031743774414062,1.1413247084617615],\"orbit_radius_xy_m\":2.128966885604375,\"views\":[{\"camera_pose\":{\"position\":[6.3625961402240385,5.764155388321102,0.7999999403953553],\"quaternion_xyzw\":[0.23224609533377086,0.7247158242796171,0.6177812797763321,0.19797731081830935]},\"image_path\":\"orbit_-45.png\",\"offset_deg\":-45,\"target\":[5.125159273147582,4.031743774414062,1.1413247084617615]},{\"camera_pose\":{\"position\":[5.514509156856418,6.124805328228452,0.7999999403953553],\"quaternion_xyzw\":[0.06988372232164165,0.7578044207534946,0.6459875294410942,0.05957211635928102]},\"image_path\":\"orbit_-20.png\",\"offset_deg\":-20,\"target\":[5.125159273147582,4.031743774414062,1.1413247084617615]},{\"camera_pose\":{\"position\":[5.330605228661701,6.150774675406986,0.7999999403953553],\"quaternion_xyzw\":[0.03676224392694572,0.7601314440151279,0.6479711916718315,0.031337836624739726]},\"image_path\":\"orbit_-15.png\",\"offset_deg\":-15,\"target\":[5.125159273147582,4.031743774414062,1.1413247084617615]},{\"camera_pose\":{\"position\":[5.145137732693863,6.1606169179231225,0.7999999403953553],\"quaternion_xyzw\":[0.003570786511505525,0.7610115138700315,0.6487214039109463,0.003043903537057058]},\"image_path\":\"orbit_-10.png\",\"offset_deg\":-10,\"target\":[5.125159273147582,4.031743774414062,1.1413247084617615]},{\"camera_pose\":{\"position\":[4.9595181885855535,6.154257150368407,0.7999999403953553],\"quaternion_xyzw\":[-0.02962746809900958,0.7604429550552164,0.6482367380868027,-0.025255823794012578]},\"image_path\":\"orbit_-05.png\",\"offset_deg\":-5,\"target\":[5.125159273147582,4.031743774414062,1.1413247084617615]},{\"camera_pose\":{\"position\":[4.775159273147582,6.13174377441406,0.7999999403953553],\"quaternion_xyzw\":[-0.06276932514008307,0.7584268498547018,0.6465181167883429,-0.05350747522904317]},\"image_path\":\"orbit_+00.png\",\"offset_deg\":0,\"target\":[5.125159273147582,4.031743774414062,1.1413247084617615]},{\"camera_pose\":{\"position\":[4.59346406904539,6.093248130445046,0.7999999403953553],\"quaternion_xyzw\":[-0.09579169720317707,0.7549670360393244,0.6435688115088892,-0.08165727214380908]},\"image_path\":\"orbit_+05.png\",\"offset_deg\":5,\"target\":[5.125159273147582,4.031743774414062,1.1413247084617615]},{\"camera_pose\":{\"position\":[4.415815386492756,6.039063193556272,0.7999999403953553],\"quaternion_xyzw\":[-0.1286317243262008,0.7500700995613251,0.639394436418668,-0.1096516297999534]},\"image_path\":\"orbit_+10.png\",\"offset_deg\":10,\"target\":[5.125159273147582,4.031743774414062,1.1413247084617615]},{\"camera_pose\":{\"position\":[4.243565239231115,5.969601343835222,0.7999999403953553],\"quaternion_xyzw\":[-0.16122689365102033,0.7437453620176131,0.63400293767792,-0.13743725934658232]},\"image_path\":\"orbit_+15.png\",\"offset_deg\":15,\"target\":[5.125159273147582,4.031743774414062,1.1413247084617615]},{\"camera_pose\":{\"position\":[4.078024554888611,5.885391227900484,0.7999999403953553],\"quaternion_xyzw\":[-0.19351515842023748,0.7360048629055778,0.6274045783109305,-0.1649612692586218]},\"image_path\":\"orbit_+20.png\",\"offset_deg\":20,\"target\":[5.125159273147582,4.031743774414062,1.1413247084617615]}]},\"image\":\"q_003.png\",\"mirror_pose\":{\"normal_xy\":[-0.16212216280286648,0.9867706949074445],\"position\":[5.125159273147582,4.031743774414062,1.1413247084617615],\"quaternion_xyzw\":[0.0,0.0,0.7622736263320627,0.6472549100613814],\"tangent_xy\":[-0.9867706949074445,-0.16212216280286648]},\"multi_image_input\":{\"room_bbox_world_xy\":[1.5,4.5,6.5,7.5],\"room_instance\":\"living_room_0\",\"views\":[{\"camera_pose\":{\"position\":[1.85,4.85,1.3499999403953553],\"quaternion_xyzw\":[0.5487612410111846,-0.32880677775732936,-0.3950442731293062,0.659308141563901]},\"image_path\":\"corner_00.png\",\"target\":[4.0,6.0,0.8999999403953552],\"view_id\":\"corner_00\"},{\"camera_pose\":{\"position\":[1.85,7.15,1.3499999403953553],\"quaternion_xyzw\":[-0.3288067777573294,0.5487612410111847,0.6593081415639009,-0.39504427312930623]},\"image_path\":\"corner_01.png\",\"target\":[4.0,6.0,0.8999999403953552],\"view_id\":\"corner_01\"},{\"camera_pose\":{\"position\":[6.15,4.85,1.3499999403953553],\"quaternion_xyzw\":[0.5487612410111847,0.3288067777573294,0.39504427312930623,0.6593081415639009]},\"image_path\":\"corner_02.png\",\"target\":[4.0,6.0,0.8999999403953552],\"view_id\":\"corner_02\"}]},\"topdown_map\":\"q_003_map.png\"},\"scene_setup\":{\"camera\":{\"forward_xy\":[0.1643989873053573,-0.9863939238321436],\"position\":[4.775159273147582,6.13174377441406,0.7999999403953553],\"quaternion_xyzw\":[-0.05832254317126497,0.7046974393014607,0.7046974393014608,-0.05832254317126498]},\"mirror\":{\"half_width_m\":0.47823119163513184,\"normal_xy\":[-0.16212216280286648,0.9867706949074445],\"normal_yaw_offset_deg\":-28.257552745507926,\"position\":[5.125159273147582,4.031743774414062,1.1413247084617615],\"quaternion_xyzw\":[0.0,0.0,0.7622736263320627,0.6472549100613814],\"tangent_xy\":[-0.9867706949074445,-0.16212216280286648]},\"render_views\":{\"gt_view\":[{\"forward_xy\":[0.9863939238321437,0.16439898730535774],\"offset_m\":1.0,\"position\":[3.7887653493154385,5.967344787108702,0.7999999403953553],\"quaternion_xyzw\":[0.5395366037873052,-0.4570560722424117,-0.4570560722424117,0.5395366037873051],\"side\":\"left\",\"target\":[4.775159273147582,6.13174377441406,0.7999999403953553]},{\"forward_xy\":[-0.9863939238321437,-0.16439898730535774],\"offset_m\":1.0,\"position\":[5.761553196979726,6.296142761719418,0.7999999403953553],\"quaternion_xyzw\":[0.4570560722424117,0.5395366037873052,0.5395366037873051,0.4570560722424117],\"side\":\"right\",\"target\":[4.775159273147582,6.13174377441406,0.7999999403953553]}],\"multi_view\":[{\"forward_xy\":[-0.5812381937190962,-0.813733471206735],\"position\":[6.3625961402240385,5.764155388321102,0.7999999403953553],\"quaternion_xyzw\":[0.21579303093083482,0.6733746117887752,0.6733746117887752,0.21579303093083485],\"relative_angle_deg\":-45.0,\"target\":[5.125159273147582,4.031743774414062,0.7999999403953553]},{\"forward_xy\":[-0.5081048618297337,-0.8612952161628364],\"position\":[6.206897698397671,5.8654127683542026,0.7999999403953553],\"quaternion_xyzw\":[0.1862154557476121,0.6821464681728617,0.6821464681728618,0.1862154557476121],\"relative_angle_deg\":-40.0,\"target\":[5.125159273147582,4.031743774414062,0.7999999403953553]},{\"forward_xy\":[-0.4311045451397426,-0.9023019844596684],\"position\":[6.04296657398363,5.952714820143809,0.7999999403953553],\"quaternion_xyzw\":[0.156283408860579,0.6896198199841106,0.6896198199841106,0.156283408860579],\"relative_angle_deg\":-35.0,\"target\":[5.125159273147582,4.031743774414062,0.7999999403953553]},{\"forward_xy\":[-0.35082326255319685,-0.9364416898299278],\"position\":[5.872050381823027,6.025397122361381,0.7999999403953553],\"quaternion_xyzw\":[0.12605386762221163,0.6957804412725914,0.6957804412725913,0.12605386762221163],\"relative_angle_deg\":-30.0,\"target\":[5.125159273147582,4.031743774414062,0.7999999403953553]},{\"forward_xy\":[-0.2678720031057438,-0.9634545085016295],\"position\":[5.6954498973402226,6.08290651880027,0.7999999403953553],\"quaternion_xyzw\":[0.0955843756823919,0.7006166049455347,0.7006166049455347,0.0955843756823919],\"relative_angle_deg\":-25.0,\"target\":[5.125159273147582,4.031743774414062,0.7999999403953553]},{\"forward_xy\":[-0.1828820759691181,-0.9831348566138959],\"position\":[5.514509156856418,6.124805328228452,0.7999999403953553],\"quaternion_xyzw\":[0.06493293345079997,0.7041191050905194,0.7041191050905194,0.06493293345079997],\"relative_angle_deg\":-20.0,\"target\":[5.125159273147582,4.031743774414062,0.7999999403953553]},{\"forward_xy\":[-0.09650030580715076,-0.9953329548342738],\"position\":[5.330605228661701,6.150774675406986,0.7999999403953553],\"quaternion_xyzw\":[0.03415788768983773,0.7062812744994508,0.7062812744994507,0.03415788768983773],\"relative_angle_deg\":-15.0,\"target\":[5.125159273147582,4.031743774414062,0.7999999403953553]},{\"forward_xy\":[-0.009384110049513318,-0.9999559682698927],\"position\":[5.145137732693863,6.1606169179231225,0.7999999403953553],\"quaternion_xyzw\":[0.003317820448250498,0.7070989973599687,0.7070989973599688,0.003317820448250498],\"relative_angle_deg\":-10.0,\"target\":[5.125159273147582,4.031743774414062,0.7999999403953553]},{\"forward_xy\":[0.07780350445188154,-0.9969687129970558],\"position\":[4.9595181885855535,6.154257150368407,0.7999999403953553],\"quaternion_xyzw\":[-0.027528562453132586,0.7065707170901324,0.7065707170901324,-0.02752856245313259],\"relative_angle_deg\":-5.0,\"target\":[5.125159273147582,4.031743774414062,0.7999999403953553]},{\"forward_xy\":[0.1643989873053573,-0.9863939238321436],\"position\":[4.775159273147582,6.13174377441406,0.7999999403953553],\"quaternion_xyzw\":[-0.05832254317126497,0.7046974393014607,0.7046974393014608,-0.05832254317126498],\"relative_angle_deg\":0.0,\"target\":[5.125159273147582,4.031743774414062,0.7999999403953553]},{\"forward_xy\":[0.2497432945986163,-0.9683120813059336],\"position\":[4.59346406904539,6.093248130445046,0.7999999403953553],\"quaternion_xyzw\":[-0.08900550361363406,0.7014827298846945,0.7014827298846946,-0.08900550361363406],\"relative_angle_deg\":5.0,\"target\":[5.125159273147582,4.031743774414062,0.7999999403953553]},{\"forward_xy\":[0.333186904620856,-0.9428607991581646],\"position\":[4.415815386492756,6.039063193556272,0.7999999403953553],\"quaternion_xyzw\":[-0.1195190370211326,0.6969327082219209,0.6969327082219209,-0.11951903702113262],\"relative_angle_deg\":10.0,\"target\":[5.125159273147582,4.031743774414062,0.7999999403953553]},{\"forward_xy\":[0.41409476111517735,-0.9102337770138857],\"position\":[4.243565239231115,5.969601343835222,0.7999999403953553],\"quaternion_xyzw\":[-0.14980505914864348,0.6910560355379811,0.6910560355379811,-0.14980505914864348],\"relative_angle_deg\":15.0,\"target\":[5.125159273147582,4.031743774414062,0.7999999403953553]},{\"forward_xy\":[0.4918511064401591,-0.8706793262123497],\"position\":[4.078024554888611,5.885391227900484,0.7999999403953553],\"quaternion_xyzw\":[-0.1798059188317019,0.6838638984133373,0.6838638984133374,-0.1798059188317019],\"relative_angle_deg\":20.0,\"target\":[5.125159273147582,4.031743774414062,0.7999999403953553]},{\"forward_xy\":[0.5658641678573131,-0.8244984800077866],\"position\":[3.920453198029287,5.787073735581781,0.7999999403953553],\"quaternion_xyzw\":[-0.20946450772876374,0.6753699874897807,0.6753699874897808,-0.2094645077287638],\"relative_angle_deg\":25.0,\"target\":[5.125159273147582,4.031743774414062,0.7999999403953553]},{\"forward_xy\":[0.6355706612789466,-0.7720427025245705],\"position\":[3.77205038182303,5.675397122361382,0.7999999403953553],\"quaternion_xyzw\":[-0.23872436903017957,0.6655904714095167,0.6655904714095167,-0.23872436903017957],\"relative_angle_deg\":30.0,\"target\":[5.125159273147582,4.031743774414062,0.7999999403953553]},{\"forward_xy\":[0.7004400782001898,-0.7137112139030126],\"position\":[3.633945541309239,5.551211314698077,0.7999999403953553],\"quaternion_xyzw\":[-0.2675298049269405,0.6545439660372351,0.6545439660372351,-0.2675298049269405],\"relative_angle_deg\":35.0,\"target\":[5.125159273147582,4.031743774414062,0.7999999403953553]},{\"forward_xy\":[0.7599787231890464,-0.6499479519930398],\"position\":[3.5071897377142083,5.415461441573626,0.7999999403953553],\"quaternion_xyzw\":[-0.2958259826346226,0.6422514990237547,0.6422514990237547,-0.2958259826346226],\"relative_angle_deg\":40.0,\"target\":[5.125159273147582,4.031743774414062,0.7999999403953553]},{\"forward_xy\":[0.8137334712067348,-0.5812381937190966],\"position\":[3.392747659240542,5.26918064149052,0.7999999403953553],\"quaternion_xyzw\":[-0.32355903877071,0.6287364697786937,0.6287364697786937,-0.3235590387707101],\"relative_angle_deg\":45.0,\"target\":[5.125159273147582,4.031743774414062,0.7999999403953553]}],\"single_view\":{\"forward_xy\":[0.1643989873053573,-0.9863939238321436],\"position\":[4.775159273147582,6.13174377441406,0.7999999403953553],\"quaternion_xyzw\":[-0.05832254317126497,0.7046974393014607,0.7046974393014608,-0.05832254317126498],\"target\":[5.125159273147582,4.031743774414062,0.7999999403953553]}}},\"task_type\":\"mirror_distance\"},\"question_id\":\"mirror_distance/q_003\",\"question_index\":3,\"seed\":1,\"task_type\":\"mirror_distance\"}","options_json":"[\"A\",\"B\"]","question":"In the mirror, you can see two reflected objects: object A (vodka bottle) and object B (bottle of supplements). In the real world, which object is closer to the observation position, A or B?","room":"living_room_0","runner_task":"mirror","scene":"house_double_floor_lower","small_task":"Spatial Relations"},"observations":[],"question":{"answer_type":"choice","options":[],"original":"In the mirror, you can see two reflected objects: object A (vodka bottle) and object B (bottle of supplements). In the real world, which object is closer to the observation position, A or B?","text":"In the mirror, you can see two reflected objects: object A (vodka bottle) and object B (bottle of supplements). In the real world, which object is closer to the observation position, A or B?"},"reference_media":["q_003.png","q_003_map.png","corner_00.png","corner_01.png","corner_02.png","orbit_-45.png","orbit_-20.png","orbit_-15.png","orbit_-10.png","orbit_-05.png","orbit_+00.png","orbit_+05.png","orbit_+10.png","orbit_+15.png","orbit_+20.png"],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":53,"stratum_pool":113},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Specular Reflection/Spatial Relations/house_double_floor_lower/living_room_0/q_003.json","annotation_sha256":"b0ee7c5ec2ee1828e64094d16d886b2804738e8148b6bb99822534618b28216c","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"2269133df760a400f7de32e871e1719c38a390a5c5cff9ae0df145bd26f10ba3","sample_id":"3180","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"B","metric":"official_esi_task","original_answer":"B"},"task":{"category":"Specular Reflection","role":"spatial_core","skill_tags":["Specular Reflection","Spatial Relations"],"stratum":"ESI-Bench/Specular Reflection/Spatial Relations","subcategory":"Spatial Relations"},"transforms":[]}
{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Temporal Understanding","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"1","id":"04f1d2da0ccf5252","metadata":"vendor/ESI-Bench/dataset/json_clean/Temporal Understanding/Agent Observation/restaurant_brunch/kitchen_0/restaurant_brunch__kitchen_0__run_000.json","metadata_sha256":"6703818dd45be2164affc7cbcea29984d21c9bedd29f0dc4a8648562b6117a9e","observation_policy":"runtime camera observations; no oracle poses","question":"How many 'vase' objects did the robot pass within 1.0m during its walk? Answer 0, 1, 2, or 3.","room":"kitchen_0","scene":"restaurant_brunch","subcategory":"Agent Observation","task":"temporal_understanding.agent_observation"},"group":{"id":"ESI-scene/restaurant_brunch","kind":"scene","room":"kitchen_0","scene":"restaurant_brunch"},"id":"eb76c927561a68abe867","native_annotation":{"answer":"1","answer_type":"count","big_task":"Temporal Understanding","gt_camera_poses":[{"baseline_selected":true,"camera_pose":{"position":[-5.150000095367432,-9.949999809265137,1.1877694129943848],"quaternion_xyzw":[0.0,2.1153333749929196e-07,0.0,0.9999999999999777]},"camera_pose_rule":null,"fov_deg":null,"group":"trajectory","metadata_pointer":"/observer_poses/0","original_image_path":"step_00000.png","phase":null,"pose_source":"saved","render_mode":"dynamic_replay","role":"gt_trajectory","state_key":null,"view_id":"trajectory/step_00000.png"},{"baseline_selected":true,"camera_pose":{"position":[-5.150000095367432,-9.949999809265137,1.1877694129943848],"quaternion_xyzw":[-0.07000145893431955,0.13321711125341731,0.8751457092637722,-0.4598619190295828]},"camera_pose_rule":null,"fov_deg":null,"group":"trajectory","metadata_pointer":"/observer_poses/1","original_image_path":"step_00050.png","phase":null,"pose_source":"saved","render_mode":"dynamic_replay","role":"gt_trajectory","state_key":null,"view_id":"trajectory/step_00050.png"},{"baseline_selected":true,"camera_pose":{"position":[-5.150000095367432,-9.949999809265137,1.1877694129943848],"quaternion_xyzw":[-0.1641873492349954,0.22804250750218832,0.7788411394087769,-0.5607544994806001]},"camera_pose_rule":null,"fov_deg":null,"group":"trajectory","metadata_pointer":"/observer_poses/2","original_image_path":"step_00100.png","phase":null,"pose_source":"saved","render_mode":"dynamic_replay","role":"gt_trajectory","state_key":null,"view_id":"trajectory/step_00100.png"},{"baseline_selected":true,"camera_pose":{"position":[-5.150000095367432,-9.949999809265137,1.1877694129943848],"quaternion_xyzw":[-0.23453708009576807,0.29414836319099025,0.724441186194609,-0.5776279652485332]},"camera_pose_rule":null,"fov_deg":null,"group":"trajectory","metadata_pointer":"/observer_poses/3","original_image_path":"step_00150.png","phase":null,"pose_source":"saved","render_mode":"dynamic_replay","role":"gt_trajectory","state_key":null,"view_id":"trajectory/step_00150.png"},{"baseline_selected":true,"camera_pose":{"position":[-5.150000095367432,-9.949999809265137,1.1877694129943848],"quaternion_xyzw":[-0.2832856453825923,0.3393184496693249,0.6885763537507611,-0.5748694094222451]},"camera_pose_rule":null,"fov_deg":null,"group":"trajectory","metadata_pointer":"/observer_poses/4","original_image_path":"step_00200.png","phase":null,"pose_source":"saved","render_mode":"dynamic_replay","role":"gt_trajectory","state_key":null,"view_id":"trajectory/step_00200.png"},{"baseline_selected":true,"camera_pose":{"position":[-5.150000095367432,-9.949999809265137,1.1877694129943848],"quaternion_xyzw":[-0.31931732927053075,0.3707198235348943,0.6607935265239803,-0.5691705991790109]},"camera_pose_rule":null,"fov_deg":null,"group":"trajectory","metadata_pointer":"/observer_poses/5","original_image_path":"step_00250.png","phase":null,"pose_source":"saved","render_mode":"dynamic_replay","role":"gt_trajectory","state_key":null,"view_id":"trajectory/step_00250.png"},{"baseline_selected":true,"camera_pose":{"position":[-5.150000095367432,-9.949999809265137,1.1877694129943848],"quaternion_xyzw":[-0.3454999950383377,0.39302297151612947,0.6400127096849283,-0.5626245895185314]},"camera_pose_rule":null,"fov_deg":null,"group":"trajectory","metadata_pointer":"/observer_poses/6","original_image_path":"step_00300.png","phase":null,"pose_source":"saved","render_mode":"dynamic_replay","role":"gt_trajectory","state_key":null,"view_id":"trajectory/step_00300.png"},{"baseline_selected":true,"camera_pose":{"position":[-5.150000095367432,-9.949999809265137,1.1877694129943848],"quaternion_xyzw":[-0.35873054417480205,0.41542583889437434,0.6326654888138119,-0.5463223849696589]},"camera_pose_rule":null,"fov_deg":null,"group":"trajectory","metadata_pointer":"/observer_poses/7","original_image_path":"step_00350.png","phase":null,"pose_source":"saved","render_mode":"dynamic_replay","role":"gt_trajectory","state_key":null,"view_id":"trajectory/step_00350.png"},{"baseline_selected":true,"camera_pose":{"position":[-5.150000095367432,-9.949999809265137,1.1877694129943848],"quaternion_xyzw":[-0.35882840590108767,0.4384336543117615,0.6376821978912194,-0.521899914138662]},"camera_pose_rule":null,"fov_deg":null,"group":"trajectory","metadata_pointer":"/observer_poses/8","original_image_path":"step_00400.png","phase":null,"pose_source":"saved","render_mode":"dynamic_replay","role":"gt_trajectory","state_key":null,"view_id":"trajectory/step_00400.png"},{"baseline_selected":true,"camera_pose":{"position":[-5.150000095367432,-9.949999809265137,1.1877694129943848],"quaternion_xyzw":[-0.3368163829485852,0.47071995656874316,0.6631763755783283,-0.4745255962960741]},"camera_pose_rule":null,"fov_deg":null,"group":"trajectory","metadata_pointer":"/observer_poses/9","original_image_path":"step_00450.png","phase":null,"pose_source":"saved","render_mode":"dynamic_replay","role":"gt_trajectory","state_key":null,"view_id":"trajectory/step_00450.png"},{"baseline_selected":true,"camera_pose":{"position":[-5.150000095367432,-9.949999809265137,1.1877694129943848],"quaternion_xyzw":[-0.3088063279297258,0.49791136805765,0.6886851627226394,-0.42712488575966845]},"camera_pose_rule":null,"fov_deg":null,"group":"trajectory","metadata_pointer":"/observer_poses/10","original_image_path":"step_00500.png","phase":null,"pose_source":"saved","render_mode":"dynamic_replay","role":"gt_trajectory","state_key":null,"view_id":"trajectory/step_00500.png"},{"baseline_selected":true,"camera_pose":{"position":[-5.150000095367432,-9.949999809265137,1.1877694129943848],"quaternion_xyzw":[-0.27912053156175165,0.5207481970467652,0.7110865298280186,-0.38114169442659396]},"camera_pose_rule":null,"fov_deg":null,"group":"trajectory","metadata_pointer":"/observer_poses/11","original_image_path":"step_00550.png","phase":null,"pose_source":"saved","render_mode":"dynamic_replay","role":"gt_trajectory","state_key":null,"view_id":"trajectory/step_00550.png"},{"baseline_selected":true,"camera_pose":{"position":[-5.150000095367432,-9.949999809265137,1.1877694129943848],"quaternion_xyzw":[-0.2704990014104194,0.5363964140269207,0.7138146772439267,-0.35996914285279374]},"camera_pose_rule":null,"fov_deg":null,"group":"trajectory","metadata_pointer":"/observer_poses/12","original_image_path":"step_00600.png","phase":null,"pose_source":"saved","render_mode":"dynamic_replay","role":"gt_trajectory","state_key":null,"view_id":"trajectory/step_00600.png"}],"id":"3326","image_paths_json":"[]","metadata_json":"{\"goal_xy\":[-1.850000023841858,-12.75],\"navigation\":{\"final_dist\":0.1942794425248236,\"final_xy\":[-2.010200262069702,-12.465283393859863],\"forced_to_goal\":false,\"goal_xy\":[-1.9500000476837158,-12.65000057220459],\"ok\":true,\"total_steps\":626},\"object_category\":\"vase\",\"objects_meta\":[{\"_key\":\"hidden_obj_0\",\"aabb_centre\":[-2.4073007106781006,-9.779241561889648,0.08415243029594421],\"aabb_max\":[-2.3353865146636963,-9.707291603088379,0.17928656935691833],\"aabb_min\":[-2.479214906692505,-9.851191520690918,-0.010981716215610504],\"category\":\"vase\",\"dist_to_path\":0.5707948981219493,\"placed_on\":\"floor\",\"position\":[-2.4072859287261963,-9.779282569885254,0.0731210708618164],\"quaternion_xyzw\":[0.0001509765861555934,0.0001612217165529728,-1.6995345504255965e-05,1.0],\"model\":\"ipbgrw\"}],\"observer_poses\":[{\"_key\":\"step_00000.png\",\"position\":[-5.150000095367432,-9.949999809265137,1.1877694129943848],\"quaternion_xyzw\":[0.0,2.1153333749929196e-07,0.0,0.9999999999999777],\"visibility\":[{\"_key\":\"hidden_obj_0\",\"value\":false},{\"_key\":\"robot\",\"value\":true}]},{\"_key\":\"step_00050.png\",\"position\":[-5.150000095367432,-9.949999809265137,1.1877694129943848],\"quaternion_xyzw\":[-0.07000145893431955,0.13321711125341731,0.8751457092637722,-0.4598619190295828],\"visibility\":[{\"_key\":\"hidden_obj_0\",\"value\":false},{\"_key\":\"robot\",\"value\":true}]},{\"_key\":\"step_00100.png\",\"position\":[-5.150000095367432,-9.949999809265137,1.1877694129943848],\"quaternion_xyzw\":[-0.1641873492349954,0.22804250750218832,0.7788411394087769,-0.5607544994806001],\"visibility\":[{\"_key\":\"hidden_obj_0\",\"value\":false},{\"_key\":\"robot\",\"value\":true}]},{\"_key\":\"step_00150.png\",\"position\":[-5.150000095367432,-9.949999809265137,1.1877694129943848],\"quaternion_xyzw\":[-0.23453708009576807,0.29414836319099025,0.724441186194609,-0.5776279652485332],\"visibility\":[{\"_key\":\"hidden_obj_0\",\"value\":false},{\"_key\":\"robot\",\"value\":true}]},{\"_key\":\"step_00200.png\",\"position\":[-5.150000095367432,-9.949999809265137,1.1877694129943848],\"quaternion_xyzw\":[-0.2832856453825923,0.3393184496693249,0.6885763537507611,-0.5748694094222451],\"visibility\":[{\"_key\":\"hidden_obj_0\",\"value\":true},{\"_key\":\"robot\",\"value\":true}]},{\"_key\":\"step_00250.png\",\"position\":[-5.150000095367432,-9.949999809265137,1.1877694129943848],\"quaternion_xyzw\":[-0.31931732927053075,0.3707198235348943,0.6607935265239803,-0.5691705991790109],\"visibility\":[{\"_key\":\"hidden_obj_0\",\"value\":true},{\"_key\":\"robot\",\"value\":true}]},{\"_key\":\"step_00300.png\",\"position\":[-5.150000095367432,-9.949999809265137,1.1877694129943848],\"quaternion_xyzw\":[-0.3454999950383377,0.39302297151612947,0.6400127096849283,-0.5626245895185314],\"visibility\":[{\"_key\":\"hidden_obj_0\",\"value\":true},{\"_key\":\"robot\",\"value\":true}]},{\"_key\":\"step_00350.png\",\"position\":[-5.150000095367432,-9.949999809265137,1.1877694129943848],\"quaternion_xyzw\":[-0.35873054417480205,0.41542583889437434,0.6326654888138119,-0.5463223849696589],\"visibility\":[{\"_key\":\"hidden_obj_0\",\"value\":true},{\"_key\":\"robot\",\"value\":true}]},{\"_key\":\"step_00400.png\",\"position\":[-5.150000095367432,-9.949999809265137,1.1877694129943848],\"quaternion_xyzw\":[-0.35882840590108767,0.4384336543117615,0.6376821978912194,-0.521899914138662],\"visibility\":[{\"_key\":\"hidden_obj_0\",\"value\":true},{\"_key\":\"robot\",\"value\":true}]},{\"_key\":\"step_00450.png\",\"position\":[-5.150000095367432,-9.949999809265137,1.1877694129943848],\"quaternion_xyzw\":[-0.3368163829485852,0.47071995656874316,0.6631763755783283,-0.4745255962960741],\"visibility\":[{\"_key\":\"hidden_obj_0\",\"value\":true},{\"_key\":\"robot\",\"value\":true}]},{\"_key\":\"step_00500.png\",\"position\":[-5.150000095367432,-9.949999809265137,1.1877694129943848],\"quaternion_xyzw\":[-0.3088063279297258,0.49791136805765,0.6886851627226394,-0.42712488575966845],\"visibility\":[{\"_key\":\"hidden_obj_0\",\"value\":true},{\"_key\":\"robot\",\"value\":true}]},{\"_key\":\"step_00550.png\",\"position\":[-5.150000095367432,-9.949999809265137,1.1877694129943848],\"quaternion_xyzw\":[-0.27912053156175165,0.5207481970467652,0.7110865298280186,-0.38114169442659396],\"visibility\":[{\"_key\":\"hidden_obj_0\",\"value\":false},{\"_key\":\"robot\",\"value\":true}]},{\"_key\":\"step_00600.png\",\"position\":[-5.150000095367432,-9.949999809265137,1.1877694129943848],\"quaternion_xyzw\":[-0.2704990014104194,0.5363964140269207,0.7138146772439267,-0.35996914285279374],\"visibility\":[{\"_key\":\"hidden_obj_0\",\"value\":false},{\"_key\":\"robot\",\"value\":true}]}],\"path_waypoints\":[[-5.150000095367432,-9.949999809265137],[-5.116666793823242,-9.966666539510092],[-5.083333492279053,-9.983333269755047],[-5.050000190734863,-10.0],[-5.016666889190674,-10.016666730244955],[-4.983333587646484,-10.03333346048991],[-4.950000286102295,-10.050000190734863],[-4.916666905085246,-10.083333492279055],[-4.883333524068197,-10.116666793823242],[-4.8500001430511475,-10.150000095367432],[-4.816666762034099,-10.183333396911621],[-4.783333381017049,-10.21666669845581],[-4.75,-10.25],[-4.7166666984558105,-10.250000000000002],[-4.683333396911621,-10.25],[-4.650000095367432,-10.25],[-4.616666793823242,-10.25],[-4.583333492279053,-10.25],[-4.550000190734863,-10.25],[-4.516666809717814,-10.250000000000002],[-4.483333428700766,-10.25],[-4.450000047683716,-10.25],[-4.416666666666666,-10.25],[-4.383333285649618,-10.25],[-4.349999904632568,-10.25],[-4.316666603088379,-10.250000000000002],[-4.2833333015441895,-10.25],[-4.25,-10.25],[-4.2166666984558105,-10.25],[-4.183333396911621,-10.25],[-4.150000095367432,-10.25],[-4.116666754086813,-10.250000000000002],[-4.083333412806193,-10.25],[-4.050000071525574,-10.25],[-4.016666730244954,-10.25],[-3.983333388964335,-10.25],[-3.950000047683716,-10.25],[-3.9166667064030967,-10.250000000000002],[-3.8833333651224775,-10.25],[-3.850000023841858,-10.25],[-3.8166666825612388,-10.25],[-3.783333341280619,-10.25],[-3.75,-10.25],[-3.7166666587193804,-10.250000000000002],[-3.6833333174387617,-10.25],[-3.649999976158142,-10.25],[-3.6166666348775225,-10.25],[-3.583333293596904,-10.25],[-3.549999952316284,-10.25],[-3.5166666507720947,-10.250000000000002],[-3.4833333492279053,-10.25],[-3.450000047683716,-10.25],[-3.4166667461395264,-10.25],[-3.383333444595337,-10.25],[-3.3500001430511475,-10.25],[-3.3166668017705283,-10.250000000000002],[-3.283333460489909,-10.25],[-3.2500001192092896,-10.25],[-3.21666677792867,-10.25],[-3.1833334366480512,-10.25],[-3.1500000953674316,-10.25],[-3.1166667540868125,-10.250000000000002],[-3.0833334128061933,-10.25],[-3.0500000715255737,-10.25],[-3.0166667302449546,-10.25],[-2.983333388964335,-10.25],[-2.950000047683716,-10.25],[-2.9166667064030967,-10.250000000000002],[-2.8833333651224775,-10.25],[-2.850000023841858,-10.25],[-2.8166666825612388,-10.25],[-2.7833333412806196,-10.25],[-2.75,-10.25],[-2.716666658719381,-10.266666730244955],[-2.6833333174387617,-10.28333346048991],[-2.649999976158142,-10.300000190734863],[-2.6166666348775225,-10.316666920979817],[-2.583333293596904,-10.333333651224773],[-2.549999952316284,-10.350000381469727],[-2.5166666507720947,-10.350000381469727],[-2.4833333492279053,-10.350000381469727],[-2.450000047683716,-10.350000381469727],[-2.4166667461395264,-10.350000381469727],[-2.383333444595337,-10.350000381469727],[-2.3500001430511475,-10.350000381469727],[-2.3166668017705283,-10.366666952768963],[-2.283333460489909,-10.383333524068197],[-2.2500001192092896,-10.400000095367432],[-2.2166667779286704,-10.416666666666668],[-2.183333436648051,-10.433333237965902],[-2.1500000953674316,-10.449999809265137],[-2.1500000953674316,-10.483333269755047],[-2.1500000953674316,-10.516666730244955],[-2.1500000953674316,-10.550000190734863],[-2.1500000953674316,-10.583333651224773],[-2.1500000953674316,-10.61666711171468],[-2.1500000953674316,-10.65000057220459],[-2.1500000953674316,-10.68333387374878],[-2.1500000953674316,-10.716667175292969],[-2.1500000953674316,-10.750000476837158],[-2.1500000953674316,-10.783333778381348],[-2.1500000953674316,-10.816667079925537],[-2.1500000953674316,-10.850000381469727],[-2.1500000953674316,-10.883333683013916],[-2.1500000953674316,-10.916666984558105],[-2.1500000953674316,-10.950000286102295],[-2.1500000953674316,-10.983333587646484],[-2.1500000953674316,-11.016666889190674],[-2.1500000953674316,-11.050000190734863],[-2.1500000953674316,-11.083333492279053],[-2.1500000953674316,-11.116666793823242],[-2.1500000953674316,-11.150000095367432],[-2.1500000953674316,-11.183333396911621],[-2.1500000953674316,-11.21666669845581],[-2.1500000953674316,-11.25],[-2.1500000953674316,-11.28333330154419],[-2.1500000953674316,-11.316666603088379],[-2.1500000953674316,-11.349999904632568],[-2.1500000953674316,-11.383333206176758],[-2.1500000953674316,-11.416666507720947],[-2.1500000953674316,-11.449999809265137],[-2.1500000953674316,-11.483333269755045],[-2.1500000953674316,-11.516666730244955],[-2.1500000953674316,-11.550000190734863],[-2.1500000953674316,-11.583333651224772],[-2.1500000953674316,-11.616667111714682],[-2.1500000953674316,-11.65000057220459],[-2.1500000953674316,-11.68333387374878],[-2.1500000953674316,-11.716667175292969],[-2.1500000953674316,-11.750000476837158],[-2.1500000953674316,-11.783333778381348],[-2.1500000953674316,-11.816667079925537],[-2.1500000953674316,-11.850000381469727],[-2.1500000953674316,-11.883333683013916],[-2.1500000953674316,-11.916666984558105],[-2.1500000953674316,-11.950000286102295],[-2.1500000953674316,-11.983333587646484],[-2.1500000953674316,-12.016666889190674],[-2.1500000953674316,-12.050000190734863],[-2.133333404858907,-12.083333492279053],[-2.116666714350383,-12.116666793823242],[-2.100000023841858,-12.150000095367432],[-2.0833333333333335,-12.183333396911621],[-2.0666666428248086,-12.21666669845581],[-2.049999952316284,-12.25],[-2.0333333015441895,-12.28333330154419],[-2.0166666507720947,-12.316666603088379],[-2.0,-12.349999904632568],[-1.9833333492279053,-12.383333206176758],[-1.9666666984558105,-12.416666507720947],[-1.9500000476837158,-12.449999809265137],[-1.9500000476837158,-12.483333269755047],[-1.9500000476837158,-12.516666730244955],[-1.9500000476837158,-12.550000190734863],[-1.9500000476837158,-12.583333651224772],[-1.9500000476837158,-12.616667111714682],[-1.9500000476837158,-12.65000057220459]],\"proximity_thresh\":1.0,\"qa\":{\"answer_count\":1,\"answer_label\":\"B\",\"choices\":{\"A\":0,\"B\":1,\"C\":2,\"D\":3},\"question\":\"How many vase objects did the robot pass within 1.0m during its walk?\"},\"robot_bbox_top_z\":1.1877694129943848,\"robot_start_z\":0.1,\"run_idx\":0,\"seed\":3148478813,\"start_xy\":[-5.150000095367432,-9.949999809265137],\"step_log\":[{\"robot_quat_xyzw\":[0.0004705260507762432,0.0016084745293483138,-0.22975198924541473,0.973247766494751],\"robot_xy\":[-5.15000057220459,-9.949999809265137],\"robot_yaw_deg\":-26.564962563298998,\"robot_z\":1.1877694129943848,\"step\":0},{\"robot_quat_xyzw\":[0.01374523714184761,-0.00696592079475522,-0.229861319065094,0.9731014370918274],\"robot_xy\":[-5.149990081787109,-9.950018882751465],\"robot_yaw_deg\":-26.587241993165964,\"robot_z\":1.1877694129943848,\"step\":1},{\"robot_quat_xyzw\":[0.01374523714184761,-0.00696592079475522,-0.229861319065094,0.9731014370918274],\"robot_xy\":[-5.149990081787109,-9.950018882751465],\"robot_yaw_deg\":-26.587241993165964,\"robot_z\":1.1877694129943848,\"step\":2},{\"robot_quat_xyzw\":[0.01374523714184761,-0.00696592079475522,-0.229861319065094,0.9731014370918274],\"robot_xy\":[-5.149990081787109,-9.950018882751465],\"robot_yaw_deg\":-26.587241993165964,\"robot_z\":1.1877694129943848,\"step\":3},{\"robot_quat_xyzw\":[0.01374523714184761,-0.00696592079475522,-0.229861319065094,0.9731014370918274],\"robot_xy\":[-5.149990081787109,-9.950018882751465],\"robot_yaw_deg\":-26.587241993165964,\"robot_z\":1.1877694129943848,\"step\":4},{\"robot_quat_xyzw\":[0.01374523714184761,-0.00696592079475522,-0.229861319065094,0.9731014370918274],\"robot_xy\":[-5.149990081787109,-9.950018882751465],\"robot_yaw_deg\":-26.587241993165964,\"robot_z\":1.1877694129943848,\"step\":5},{\"robot_quat_xyzw\":[0.01374523714184761,-0.00696592079475522,-0.229861319065094,0.9731014370918274],\"robot_xy\":[-5.149990081787109,-9.950018882751465],\"robot_yaw_deg\":-26.587241993165964,\"robot_z\":1.1877694129943848,\"step\":6},{\"robot_quat_xyzw\":[0.011863624677062035,-0.008350388146936893,-0.2296464890241623,0.9731660485267639],\"robot_xy\":[-5.1413116455078125,-9.954256057739258],\"robot_yaw_deg\":-26.56370346931505,\"robot_z\":1.1877694129943848,\"step\":7},{\"robot_quat_xyzw\":[0.010174538940191269,-0.008750326931476593,-0.22981701791286469,0.9731413125991821],\"robot_xy\":[-5.132683753967285,-9.958662986755371],\"robot_yaw_deg\":-26.58346866837731,\"robot_z\":1.1877694129943848,\"step\":8},{\"robot_quat_xyzw\":[0.008903621695935726,-0.007666038349270821,-0.22964327037334442,0.9732040166854858],\"robot_xy\":[-5.124003887176514,-9.962932586669922],\"robot_yaw_deg\":-26.560480558825944,\"robot_z\":1.1877694129943848,\"step\":9},{\"robot_quat_xyzw\":[0.008903621695935726,-0.007666038349270821,-0.22964327037334442,0.9732040166854858],\"robot_xy\":[-5.124003887176514,-9.962932586669922],\"robot_yaw_deg\":-26.560480558825944,\"robot_z\":1.1877694129943848,\"step\":10},{\"robot_quat_xyzw\":[0.003922248724848032,-0.004200938157737255,-0.23430484533309937,0.9721463322639465],\"robot_xy\":[-5.119683265686035,-9.975909233093262],\"robot_yaw_deg\":-27.10349826477667,\"robot_z\":1.1877694129943848,\"step\":11},{\"robot_quat_xyzw\":[0.0021492536179721355,-9.198317275149748e-05,-0.23897968232631683,0.9710221886634827],\"robot_xy\":[-5.112443447113037,-9.983027458190918],\"robot_yaw_deg\":-27.652619246922484,\"robot_z\":1.1877694129943848,\"step\":12},{\"robot_quat_xyzw\":[0.00307823671028018,0.0036311864387243986,-0.23465792834758759,0.972066342830658],\"robot_xy\":[-5.102991104125977,-9.985776901245117],\"robot_yaw_deg\":-27.142189685376774,\"robot_z\":1.1877694129943848,\"step\":13},{\"robot_quat_xyzw\":[0.004213087726384401,0.0066229719668626785,-0.2386314421892166,0.9710785746574402],\"robot_xy\":[-5.095162391662598,-9.991722106933594],\"robot_yaw_deg\":-27.61029178070513,\"robot_z\":1.1877694129943848,\"step\":14},{\"robot_quat_xyzw\":[0.006936497520655394,0.007825497537851334,-0.23503971099853516,0.9719295501708984],\"robot_xy\":[-5.08595609664917,-9.994901657104492],\"robot_yaw_deg\":-27.1842531050219,\"robot_z\":1.1877694129943848,\"step\":15},{\"robot_quat_xyzw\":[0.006936497520655394,0.007825497537851334,-0.23503971099853516,0.9719295501708984],\"robot_xy\":[-5.08595609664917,-9.994901657104492],\"robot_yaw_deg\":-27.1842531050219,\"robot_z\":1.1877694129943848,\"step\":16},{\"robot_quat_xyzw\":[0.005249389447271824,0.009428592398762703,-0.2396954447031021,0.9707881212234497],\"robot_xy\":[-5.0817437171936035,-10.007925033569336],\"robot_yaw_deg\":-27.73539393094996,\"robot_z\":1.1877694129943848,\"step\":17},{\"robot_quat_xyzw\":[0.006847855634987354,0.008935807272791862,-0.2443348467350006,0.9696255922317505],\"robot_xy\":[-5.074925422668457,-10.015754699707031],\"robot_yaw_deg\":-28.281606879521664,\"robot_z\":1.1877694129943848,\"step\":18},{\"robot_quat_xyzw\":[0.009571956470608711,0.0067087262868881226,-0.24025468528270721,0.9706394672393799],\"robot_xy\":[-5.065540313720703,-10.018742561340332],\"robot_yaw_deg\":-27.797325850224198,\"robot_z\":1.1877694129943848,\"step\":19},{\"robot_quat_xyzw\":[0.009777162224054337,0.004169936757534742,-0.24404320120811462,0.969706118106842],\"robot_xy\":[-5.057742118835449,-10.02467155456543],\"robot_yaw_deg\":-28.24598647055428,\"robot_z\":1.1877694129943848,\"step\":20},{\"robot_quat_xyzw\":[0.009777162224054337,0.004169936757534742,-0.24404320120811462,0.969706118106842],\"robot_xy\":[-5.057742118835449,-10.02467155456543],\"robot_yaw_deg\":-28.24598647055428,\"robot_z\":1.1877694129943848,\"step\":21},{\"robot_quat_xyzw\":[0.005480781197547913,0.0023052289616316557,-0.2487216293811798,0.9685567617416382],\"robot_xy\":[-5.053745746612549,-10.037775993347168],\"robot_yaw_deg\":-28.80232431082842,\"robot_z\":1.1877694129943848,\"step\":22},{\"robot_quat_xyzw\":[0.004540059715509415,0.0007620856631547213,-0.24908751249313354,0.9684700965881348],\"robot_xy\":[-5.045383930206299,-10.042572975158691],\"robot_yaw_deg\":-28.84645760559128,\"robot_z\":1.1877694129943848,\"step\":23},{\"robot_quat_xyzw\":[0.003935921937227249,-3.6538109270622954e-05,-0.2487374246120453,0.9685630202293396],\"robot_xy\":[-5.036808490753174,-10.047112464904785],\"robot_yaw_deg\":-28.805440466162953,\"robot_z\":1.1877694129943848,\"step\":24},{\"robot_quat_xyzw\":[0.0036856243386864662,0.0008400670485571027,-0.2490054965019226,0.9684948325157166],\"robot_xy\":[-5.028410911560059,-10.051871299743652],\"robot_yaw_deg\":-28.836888069412336,\"robot_z\":1.1877694129943848,\"step\":25},{\"robot_quat_xyzw\":[0.004252521321177483,0.0015770562458783388,-0.2487550675868988,0.9685559272766113],\"robot_xy\":[-5.019881248474121,-10.056443214416504],\"robot_yaw_deg\":-28.80691322398656,\"robot_z\":1.1877694129943848,\"step\":26},{\"robot_quat_xyzw\":[0.004252521321177483,0.0015770562458783388,-0.2487550675868988,0.9685559272766113],\"robot_xy\":[-5.019881248474121,-10.056443214416504],\"robot_yaw_deg\":-28.80691322398656,\"robot_z\":1.1877694129943848,\"step\":27},{\"robot_quat_xyzw\":[0.002147093415260315,0.002664920873939991,-0.2533995509147644,0.9673557877540588],\"robot_xy\":[-5.016039848327637,-10.069578170776367],\"robot_yaw_deg\":-29.357221157576387,\"robot_z\":1.1877694129943848,\"step\":28},{\"robot_quat_xyzw\":[0.004231954924762249,0.0016492650611326098,-0.25621530413627625,0.9666091203689575],\"robot_xy\":[-5.008265495300293,-10.075478553771973],\"robot_yaw_deg\":-29.690407900842203,\"robot_z\":1.1877694129943848,\"step\":29},{\"robot_quat_xyzw\":[0.007361139170825481,0.0001905112439999357,-0.2537170946598053,0.9672504663467407],\"robot_xy\":[-4.999330997467041,-10.0792875289917],\"robot_yaw_deg\":-29.3943132680552,\"robot_z\":1.1877694129943848,\"step\":30},{\"robot_quat_xyzw\":[0.008253665640950203,-0.0015447615878656507,-0.25596773624420166,0.9666489362716675],\"robot_xy\":[-4.99139404296875,-10.08488655090332],\"robot_yaw_deg\":-29.662348677844523,\"robot_z\":1.1877694129943848,\"step\":31},{\"robot_quat_xyzw\":[0.009026038460433483,-0.0028671654872596264,-0.25386592745780945,0.967193067073822],\"robot_xy\":[-4.982569694519043,-10.08891487121582],\"robot_yaw_deg\":-29.414664179002283,\"robot_z\":1.1877694129943848,\"step\":32},{\"robot_quat_xyzw\":[0.009026038460433483,-0.0028671654872596264,-0.25386592745780945,0.967193067073822],\"robot_xy\":[-4.982569694519043,-10.08891487121582],\"robot_yaw_deg\":-29.414664179002283,\"robot_z\":1.1877694129943848,\"step\":33},{\"robot_quat_xyzw\":[0.0051962221041321754,-0.0024804268032312393,-0.25851088762283325,0.965991199016571],\"robot_xy\":[-4.978877067565918,-10.102116584777832],\"robot_yaw_deg\":-29.964635300363703,\"robot_z\":1.1877694129943848,\"step\":34},{\"robot_quat_xyzw\":[0.00525171123445034,-0.0015378525713458657,-0.26173529028892517,0.965124249458313],\"robot_xy\":[-4.971280097961426,-10.108258247375488],\"robot_yaw_deg\":-30.346641876518856,\"robot_z\":1.1877694129943848,\"step\":35},{\"robot_quat_xyzw\":[0.006409443914890289,-2.3798154870746657e-05,-0.2587921917438507,0.9659117460250854],\"robot_xy\":[-4.962281703948975,-10.112016677856445],\"robot_yaw_deg\":-29.996283045976867,\"robot_z\":1.1877694129943848,\"step\":36},{\"robot_quat_xyzw\":[0.005501124542206526,0.001834886148571968,-0.2614365816116333,0.9652032852172852],\"robot_xy\":[-4.954491138458252,-10.117835998535156],\"robot_yaw_deg\":-30.309388668375885,\"robot_z\":1.1877694129943848,\"step\":37},{\"robot_quat_xyzw\":[0.005501124542206526,0.001834886148571968,-0.2614365816116333,0.9652032852172852],\"robot_xy\":[-4.954491138458252,-10.117835998535156],\"robot_yaw_deg\":-30.309388668375885,\"robot_z\":1.1877694129943848,\"step\":38},{\"robot_quat_xyzw\":[0.0009605628438293934,0.00330870202742517,-0.26606589555740356,0.9639487862586975],\"robot_xy\":[-4.950988292694092,-10.131068229675293],\"robot_yaw_deg\":-30.860768550813166,\"robot_z\":1.1877694129943848,\"step\":39},{\"robot_quat_xyzw\":[0.0013009323738515377,0.002240090863779187,-0.2640395164489746,0.9645084142684937],\"robot_xy\":[-4.9421868324279785,-10.13517951965332],\"robot_yaw_deg\":-30.619692756897233,\"robot_z\":1.1877694129943848,\"step\":40},{\"robot_quat_xyzw\":[0.002168695442378521,0.0003771063347812742,-0.265929251909256,0.9639900922775269],\"robot_xy\":[-4.9343037605285645,-10.140851974487305],\"robot_yaw_deg\":-30.844216443922868,\"robot_z\":1.1877694129943848,\"step\":41},{\"robot_quat_xyzw\":[0.004529452417045832,-0.0009547381778247654,-0.26423710584640503,0.9644466638565063],\"robot_xy\":[-4.925612449645996,-10.145160675048828],\"robot_yaw_deg\":-30.643443653255407,\"robot_z\":1.1877694129943848,\"step\":42},{\"robot_quat_xyzw\":[0.006724818609654903,-0.0010934702586382627,-0.2658120393753052,0.9640008211135864],\"robot_xy\":[-4.917611598968506,-10.150678634643555],\"robot_yaw_deg\":-30.830584409640828,\"robot_z\":1.1877694129943848,\"step\":43},{\"robot_quat_xyzw\":[0.006724818609654903,-0.0010934702586382627,-0.2658120393753052,0.9640008211135864],\"robot_xy\":[-4.917611598968506,-10.150678634643555],\"robot_yaw_deg\":-30.830584409640828,\"robot_z\":1.1877694129943848,\"step\":44},{\"robot_quat_xyzw\":[0.012392546981573105,-0.0017268175724893808,-0.2612074911594391,0.9652016758918762],\"robot_xy\":[-4.904348373413086,-10.147368431091309],\"robot_yaw_deg\":-30.283641134853433,\"robot_z\":1.1877694129943848,\"step\":45},{\"robot_quat_xyzw\":[0.014997351914644241,-0.002377219032496214,-0.2565980553627014,0.9663988947868347],\"robot_xy\":[-4.893059730529785,-10.147257804870605],\"robot_yaw_deg\":-29.737418641509038,\"robot_z\":1.1877694129943848,\"step\":46},{\"robot_quat_xyzw\":[0.01359473168849945,-0.0026802890934050083,-0.260528564453125,0.965366780757904],\"robot_xy\":[-4.885495185852051,-10.153498649597168],\"robot_yaw_deg\":-30.204314337461174,\"robot_z\":1.1877694129943848,\"step\":47},{\"robot_quat_xyzw\":[0.01359473168849945,-0.0026802890934050083,-0.260528564453125,0.965366780757904],\"robot_xy\":[-4.885495185852051,-10.153498649597168],\"robot_yaw_deg\":-30.204314337461174,\"robot_z\":1.1877694129943848,\"step\":48},{\"robot_quat_xyzw\":[0.014798449352383614,-0.004777191672474146,-0.2559158205986023,0.9665740728378296],\"robot_xy\":[-4.872247219085693,-10.150041580200195],\"robot_yaw_deg\":-29.66086556231788,\"robot_z\":1.1877694129943848,\"step\":49},{\"robot_quat_xyzw\":[0.013310177251696587,-0.00699981115758419,-0.2512643337249756,0.9678017497062683],\"robot_xy\":[-4.860706329345703,-10.149264335632324],\"robot_yaw_deg\":-29.113805350394262,\"robot_z\":1.1877694129943848,\"step\":50},{\"robot_quat_xyzw\":[0.006735789589583874,-0.0016813048860058188,-0.25491902232170105,0.9669374823570251],\"robot_xy\":[-4.852608680725098,-10.15542221069336],\"robot_yaw_deg\":-29.53822916377347,\"robot_z\":1.1877694129943848,\"step\":51},{\"robot_quat_xyzw\":[0.006735789589583874,-0.0016813048860058188,-0.25491902232170105,0.9669374823570251],\"robot_xy\":[-4.852608680725098,-10.15542221069336],\"robot_yaw_deg\":-29.53822916377347,\"robot_z\":1.1877694129943848,\"step\":52},{\"robot_quat_xyzw\":[0.011494021862745285,-0.003979197237640619,-0.2503233850002289,0.9680858850479126],\"robot_xy\":[-4.8394455909729,-10.151822090148926],\"robot_yaw_deg\":-28.996845463114315,\"robot_z\":1.1877694129943848,\"step\":53},{\"robot_quat_xyzw\":[0.013396672904491425,-0.005808564834296703,-0.24571020901203156,0.9692333936691284],\"robot_xy\":[-4.8281941413879395,-10.151504516601562],\"robot_yaw_deg\":-28.45457790914409,\"robot_z\":1.1877694129943848,\"step\":54},{\"robot_quat_xyzw\":[0.012112954631447792,-0.005914425011724234,-0.24958674609661102,0.9682586193084717],\"robot_xy\":[-4.820498943328857,-10.157543182373047],\"robot_yaw_deg\":-28.91289385983371,\"robot_z\":1.1877694129943848,\"step\":55},{\"robot_quat_xyzw\":[0.012112954631447792,-0.005914425011724234,-0.24958674609661102,0.9682586193084717],\"robot_xy\":[-4.820498943328857,-10.157543182373047],\"robot_yaw_deg\":-28.91289385983371,\"robot_z\":1.1877694129943848,\"step\":56},{\"robot_quat_xyzw\":[0.015119084157049656,-0.006965003442019224,-0.24497811496257782,0.9693856835365295],\"robot_xy\":[-4.807368278503418,-10.153793334960938],\"robot_yaw_deg\":-28.37080958222156,\"robot_z\":1.1877694129943848,\"step\":57},{\"robot_quat_xyzw\":[0.015273389406502247,-0.007467546500265598,-0.2403363436460495,0.9705408215522766],\"robot_xy\":[-4.796117782592773,-10.153352737426758],\"robot_yaw_deg\":-27.82370074748318,\"robot_z\":1.1877694129943848,\"step\":58},{\"robot_quat_xyzw\":[0.012256254442036152,-0.006188120227307081,-0.2442346215248108,0.9696190357208252],\"robot_xy\":[-4.788365364074707,-10.159323692321777],\"robot_yaw_deg\":-28.28055212208587,\"robot_z\":1.1877694129943848,\"step\":59},{\"robot_quat_xyzw\":[0.012256254442036152,-0.006188120227307081,-0.2442346215248108,0.9696190357208252],\"robot_xy\":[-4.788365364074707,-10.159323692321777],\"robot_yaw_deg\":-28.28055212208587,\"robot_z\":1.1877694129943848,\"step\":60},{\"robot_quat_xyzw\":[0.013621445745229721,-0.005798996426165104,-0.2395990788936615,0.9707590937614441],\"robot_xy\":[-4.77528190612793,-10.155431747436523],\"robot_yaw_deg\":-27.732821028632948,\"robot_z\":1.1877694129943848,\"step\":61},{\"robot_quat_xyzw\":[0.012170410715043545,-0.0045765298418700695,-0.23492823541164398,0.9719257950782776],\"robot_xy\":[-4.764199256896973,-10.155163764953613],\"robot_yaw_deg\":-27.17947751605865,\"robot_z\":1.1877694129943848,\"step\":62},{\"robot_quat_xyzw\":[0.007629089988768101,-0.0016876860754564404,-0.2388972043991089,0.9710134267807007],\"robot_xy\":[-4.7563934326171875,-10.161078453063965],\"robot_yaw_deg\":-27.643619337717652,\"robot_z\":1.1877694129943848,\"step\":63},{\"robot_quat_xyzw\":[0.007629089988768101,-0.0016876860754564404,-0.2388972043991089,0.9710134267807007],\"robot_xy\":[-4.7563934326171875,-10.161078453063965],\"robot_yaw_deg\":-27.643619337717652,\"robot_z\":1.1877694129943848,\"step\":64},{\"robot_quat_xyzw\":[0.00745868356898427,0.0003647797857411206,-0.2342316061258316,0.9721522331237793],\"robot_xy\":[-4.743348121643066,-10.157037734985352],\"robot_yaw_deg\":-27.091712016024573,\"robot_z\":1.1877694129943848,\"step\":65},{\"robot_quat_xyzw\":[0.004355747718364,0.0024421357084065676,-0.22954659163951874,0.973284900188446],\"robot_xy\":[-4.732424259185791,-10.156920433044434],\"robot_yaw_deg\":-26.539672627546214,\"robot_z\":1.1877694129943848,\"step\":66},{\"robot_quat_xyzw\":[-1.3960525393486023e-05,0.0038880230858922005,-0.2335481494665146,0.972337543964386],\"robot_xy\":[-4.72450590133667,-10.162741661071777],\"robot_yaw_deg\":-27.012722061065748,\"robot_z\":1.1877694129943848,\"step\":67},{\"robot_quat_xyzw\":[-1.3960525393486023e-05,0.0038880230858922005,-0.2335481494665146,0.972337543964386],\"robot_xy\":[-4.72450590133667,-10.162741661071777],\"robot_yaw_deg\":-27.012722061065748,\"robot_z\":1.1877694129943848,\"step\":68},{\"robot_quat_xyzw\":[0.0007621953263878822,0.003278726013377309,-0.22886796295642853,0.9734517931938171],\"robot_xy\":[-4.711424827575684,-10.15856647491455],\"robot_yaw_deg\":-26.46102546164705,\"robot_z\":1.1877694129943848,\"step\":69},{\"robot_quat_xyzw\":[0.0004775817506015301,0.0013679282274097204,-0.22417154908180237,0.9745486974716187],\"robot_xy\":[-4.7006425857543945,-10.158622741699219],\"robot_yaw_deg\":-25.908337325375697,\"robot_z\":1.1877694129943848,\"step\":70},{\"robot_quat_xyzw\":[-0.0009552533738315105,-0.0004424179787747562,-0.22827330231666565,0.9735965728759766],\"robot_xy\":[-4.69268274307251,-10.16440200805664],\"robot_yaw_deg\":-26.390824651580985,\"robot_z\":1.1877694129943848,\"step\":71},{\"robot_quat_xyzw\":[-0.0009552533738315105,-0.0004424179787747562,-0.22827330231666565,0.9735965728759766],\"robot_xy\":[-4.69268274307251,-10.16440200805664],\"robot_yaw_deg\":-26.390824651580985,\"robot_z\":1.1877694129943848,\"step\":72},{\"robot_quat_xyzw\":[0.002992083318531513,-0.0027452223002910614,-0.2235822230577469,0.9746766686439514],\"robot_xy\":[-4.679677963256836,-10.160046577453613],\"robot_yaw_deg\":-25.84007333198393,\"robot_z\":1.1877694129943848,\"step\":73},{\"robot_quat_xyzw\":[0.004958752542734146,-0.0032748545054346323,-0.2188865691423416,0.9757322669029236],\"robot_xy\":[-4.669018745422363,-10.160238265991211],\"robot_yaw_deg\":-25.289086842267636,\"robot_z\":1.1877694129943848,\"step\":74},{\"robot_quat_xyzw\":[0.0049245296977460384,-0.0018767754081636667,-0.2230702042579651,0.974788248538971],\"robot_xy\":[-4.6610212326049805,-10.16598892211914],\"robot_yaw_deg\":-25.779654167230603,\"robot_z\":1.1877694129943848,\"step\":75},{\"robot_quat_xyzw\":[0.0049245296977460384,-0.0018767754081636667,-0.2230702042579651,0.974788248538971],\"robot_xy\":[-4.6610212326049805,-10.16598892211914],\"robot_yaw_deg\":-25.779654167230603,\"robot_z\":1.1877694129943848,\"step\":76},{\"robot_quat_xyzw\":[0.009213646873831749,-0.0009258513455279171,-0.2184322327375412,0.9758082032203674],\"robot_xy\":[-4.6481499671936035,-10.1615571975708],\"robot_yaw_deg\":-25.23386607163383,\"robot_z\":1.1877694129943848,\"step\":77},{\"robot_quat_xyzw\":[0.009470386430621147,0.0003650090075097978,-0.2137458771467209,0.9768432974815369],\"robot_xy\":[-4.637555122375488,-10.161803245544434],\"robot_yaw_deg\":-24.682544837613477,\"robot_z\":1.1877694129943848,\"step\":78},{\"robot_quat_xyzw\":[0.006238418165594339,0.0013477846514433622,-0.21788187325000763,0.9759542942047119],\"robot_xy\":[-4.629507064819336,-10.167442321777344],\"robot_yaw_deg\":-25.16805649750015,\"robot_z\":1.1877694129943848,\"step\":79},{\"robot_quat_xyzw\":[0.006238418165594339,0.0013477846514433622,-0.21788187325000763,0.9759542942047119],\"robot_xy\":[-4.629507064819336,-10.167442321777344],\"robot_yaw_deg\":-25.16805649750015,\"robot_z\":1.1877694129943848,\"step\":80},{\"robot_quat_xyzw\":[0.006296603940427303,0.001435828977264464,-0.2131904512643814,0.9769893884658813],\"robot_xy\":[-4.616616725921631,-10.162830352783203],\"robot_yaw_deg\":-24.61745747588204,\"robot_z\":1.1877694129943848,\"step\":81},{\"robot_quat_xyzw\":[0.003766941372305155,0.001487050554715097,-0.20847031474113464,0.9780203700065613],\"robot_xy\":[-4.6062092781066895,-10.163313865661621],\"robot_yaw_deg\":-24.064783297329136,\"robot_z\":1.1877694129943848,\"step\":82},{\"robot_quat_xyzw\":[0.0007294765673577785,0.0012915986590087414,-0.21263983845710754,0.9771296381950378],\"robot_xy\":[-4.598090171813965,-10.168864250183105],\"robot_yaw_deg\":-24.554155988167054,\"robot_z\":1.1877694129943848,\"step\":83},{\"robot_quat_xyzw\":[0.0007294765673577785,0.0012915986590087414,-0.21263983845710754,0.9771296381950378],\"robot_xy\":[-4.598090171813965,-10.168864250183105],\"robot_yaw_deg\":-24.554155988167054,\"robot_z\":1.1877694129943848,\"step\":84},{\"robot_quat_xyzw\":[0.0031676176004111767,0.00011151966464240104,-0.20790912210941315,0.978143036365509],\"robot_xy\":[-4.585292339324951,-10.164093017578125],\"robot_yaw_deg\":-23.999551444504668,\"robot_z\":1.1877694129943848,\"step\":85},{\"robot_quat_xyzw\":[0.0030887462198734283,0.0002143972524208948,-0.20319083333015442,0.9791342616081238],\"robot_xy\":[-4.574985027313232,-10.164801597595215],\"robot_yaw_deg\":-23.447053171029058,\"robot_z\":1.1877694129943848,\"step\":86},{\"robot_quat_xyzw\":[0.001664882991462946,0.001474481076002121,-0.20741556584835052,0.9782503843307495],\"robot_xy\":[-4.566845417022705,-10.170278549194336],\"robot_yaw_deg\":-23.94167012821872,\"robot_z\":1.1877694129943848,\"step\":87},{\"robot_quat_xyzw\":[0.0026251268573105335,0.0016531620640307665,-0.2036013901233673,0.979049026966095],\"robot_xy\":[-4.557371616363525,-10.172774314880371],\"robot_yaw_deg\":-23.494841223312857,\"robot_z\":1.1877694129943848,\"step\":88},{\"robot_quat_xyzw\":[0.0026251268573105335,0.0016531620640307665,-0.2036013901233673,0.979049026966095],\"robot_xy\":[-4.557371616363525,-10.172774314880371],\"robot_yaw_deg\":-23.494841223312857,\"robot_z\":1.1877694129943848,\"step\":89},{\"robot_quat_xyzw\":[0.007332175970077515,0.00017846471746452153,-0.19893574714660645,0.9799851179122925],\"robot_xy\":[-4.544665336608887,-10.167821884155273],\"robot_yaw_deg\":-22.94875045859792,\"robot_z\":1.1877694129943848,\"step\":90},{\"robot_quat_xyzw\":[0.006980332545936108,-0.00043987578828819096,-0.19846564531326294,0.9800828695297241],\"robot_xy\":[-4.535672187805176,-10.171414375305176],\"robot_yaw_deg\":-22.894306450475305,\"robot_z\":1.1877694129943848,\"step\":91},{\"robot_quat_xyzw\":[0.006012145895510912,-0.0002717890893109143,-0.19884411990642548,0.9800126552581787],\"robot_xy\":[-4.526790618896484,-10.175338745117188],\"robot_yaw_deg\":-22.938536967696823,\"robot_z\":1.1877694129943848,\"step\":92},{\"robot_quat_xyzw\":[0.006012145895510912,-0.0002717890893109143,-0.19884411990642548,0.9800126552581787],\"robot_xy\":[-4.526790618896484,-10.175338745117188],\"robot_yaw_deg\":-22.938536967696823,\"robot_z\":1.1877694129943848,\"step\":93},{\"robot_quat_xyzw\":[0.008874138817191124,-0.0003915776906069368,-0.19415253400802612,0.9809312224388123],\"robot_xy\":[-4.514121055603027,-10.170243263244629],\"robot_yaw_deg\":-22.389991857743095,\"robot_z\":1.1877694129943848,\"step\":94},{\"robot_quat_xyzw\":[0.007014554925262928,-0.00011271321272943169,-0.19092358648777008,0.9815798997879028],\"robot_xy\":[-4.504652976989746,-10.172640800476074],\"robot_yaw_deg\":-22.01295450659952,\"robot_z\":1.1877694129943848,\"step\":95},{\"robot_quat_xyzw\":[0.0037368484772741795,0.0010671709896996617,-0.1937769204378128,0.981037974357605],\"robot_xy\":[-4.496119499206543,-10.177350044250488],\"robot_yaw_deg\":-22.34603706101773,\"robot_z\":1.1877694129943848,\"step\":96},{\"robot_quat_xyzw\":[0.0037368484772741795,0.0010671709896996617,-0.1937769204378128,0.981037974357605],\"robot_xy\":[-4.496119499206543,-10.177350044250488],\"robot_yaw_deg\":-22.34603706101773,\"robot_z\":1.1877694129943848,\"step\":97},{\"robot_quat_xyzw\":[0.005767840426415205,0.0011843688553199172,-0.1890791356563568,0.9819443225860596],\"robot_xy\":[-4.4834513664245605,-10.172114372253418],\"robot_yaw_deg\":-21.797077166581055,\"robot_z\":1.1877694129943848,\"step\":98},{\"robot_quat_xyzw\":[0.004270166624337435,0.0019363792380318046,-0.18466675281524658,0.9827900528907776],\"robot_xy\":[-4.473773002624512,-10.173911094665527],\"robot_yaw_deg\":-21.28246131104239,\"robot_z\":1.1877694129943848,\"step\":99},{\"robot_quat_xyzw\":[0.00303271459415555,0.0021823321003466845,-0.18872766196727753,0.9820224642753601],\"robot_xy\":[-4.465367794036865,-10.178985595703125],\"robot_yaw_deg\":-21.756439922114815,\"robot_z\":1.1877694129943848,\"step\":100},{\"robot_quat_xyzw\":[0.004836590029299259,0.0014635664410889149,-0.18893121182918549,0.9819774031639099],\"robot_xy\":[-4.465116500854492,-10.179184913635254],\"robot_yaw_deg\":-21.779913086318857,\"robot_z\":1.1877694129943848,\"step\":101},{\"robot_quat_xyzw\":[0.00821168627589941,-0.0009411495411768556,-0.1842418760061264,0.982846200466156],\"robot_xy\":[-4.452536582946777,-10.173835754394531],\"robot_yaw_deg\":-21.23404938318065,\"robot_z\":1.1877694129943848,\"step\":102},{\"robot_quat_xyzw\":[0.008024711161851883,-0.0019732641521841288,-0.17951084673404694,0.9837213158607483],\"robot_xy\":[-4.442709922790527,-10.175198554992676],\"robot_yaw_deg\":-20.683726449050162,\"robot_z\":1.1877694129943848,\"step\":103},{\"robot_quat_xyzw\":[0.006642692722380161,-0.001640646019950509,-0.18389210104942322,0.9829227328300476],\"robot_xy\":[-4.434288501739502,-10.180359840393066],\"robot_yaw_deg\":-21.193902871615308,\"robot_z\":1.1877694129943848,\"step\":104},{\"robot_quat_xyzw\":[0.006642692722380161,-0.001640646019950509,-0.18389210104942322,0.9829227328300476],\"robot_xy\":[-4.434288501739502,-10.180359840393066],\"robot_yaw_deg\":-21.193902871615308,\"robot_z\":1.1877694129943848,\"step\":105},{\"robot_quat_xyzw\":[0.009767360985279083,-0.0013202126137912273,-0.17920061945915222,0.9837632775306702],\"robot_xy\":[-4.421794414520264,-10.174891471862793],\"robot_yaw_deg\":-20.646909556878462,\"robot_z\":1.1877694129943848,\"step\":106},{\"robot_quat_xyzw\":[0.008249280042946339,-0.0005840692319907248,-0.17478759586811066,0.9845714569091797],\"robot_xy\":[-4.412060260772705,-10.176480293273926],\"robot_yaw_deg\":-20.132474658697433,\"robot_z\":1.1877694129943848,\"step\":107},{\"robot_quat_xyzw\":[0.004898152779787779,0.0012505392078310251,-0.17880494892597198,0.9838716983795166],\"robot_xy\":[-4.403597831726074,-10.181415557861328],\"robot_yaw_deg\":-20.599478102302708,\"robot_z\":1.1877694129943848,\"step\":108},{\"robot_quat_xyzw\":[0.004898152779787779,0.0012505392078310251,-0.17880494892597198,0.9838716983795166],\"robot_xy\":[-4.403597831726074,-10.181415557861328],\"robot_yaw_deg\":-20.599478102302708,\"robot_z\":1.1877694129943848,\"step\":109},{\"robot_quat_xyzw\":[0.005883634090423584,0.0024952180683612823,-0.17407932877540588,0.9847109913825989],\"robot_xy\":[-4.391141891479492,-10.175800323486328],\"robot_yaw_deg\":-20.048447810319168,\"robot_z\":1.1877694129943848,\"step\":110},{\"robot_quat_xyzw\":[0.003624620148912072,0.0034123873338103294,-0.17074386775493622,0.9853028655052185],\"robot_xy\":[-4.381552696228027,-10.177701950073242],\"robot_yaw_deg\":-19.661026221059522,\"robot_z\":1.1877694129943848,\"step\":111},{\"robot_quat_xyzw\":[0.0018321126699447632,0.0033594458363950253,-0.1738405078649521,0.98476642370224],\"robot_xy\":[-4.372880935668945,-10.182190895080566],\"robot_yaw_deg\":-20.022021470010518,\"robot_z\":1.1877694129943848,\"step\":112},{\"robot_quat_xyzw\":[0.001847843173891306,0.0019389434019103646,-0.17101910710334778,0.9852641224861145],\"robot_xy\":[-4.363399505615234,-10.184408187866211],\"robot_yaw_deg\":-19.69384713789452,\"robot_z\":1.1877694129943848,\"step\":113},{\"robot_quat_xyzw\":[0.001847843173891306,0.0019389434019103646,-0.17101910710334778,0.9852641224861145],\"robot_xy\":[-4.363399505615234,-10.184408187866211],\"robot_yaw_deg\":-19.69384713789452,\"robot_z\":1.1877694129943848,\"step\":114},{\"robot_quat_xyzw\":[0.0064262584783136845,0.0002498340327292681,-0.16629834473133087,0.9860546588897705],\"robot_xy\":[-4.351040840148926,-10.178618431091309],\"robot_yaw_deg\":-19.14478615252351,\"robot_z\":1.1877694129943848,\"step\":115},{\"robot_quat_xyzw\":[0.006101849488914013,-6.944908091099933e-05,-0.1696435660123825,0.985486626625061],\"robot_xy\":[-4.342348575592041,-10.183176040649414],\"robot_yaw_deg\":-19.533892222948516,\"robot_z\":1.1877694129943848,\"step\":116},{\"robot_quat_xyzw\":[0.006666690111160278,0.0003151649434585124,-0.1665780246257782,0.9860056638717651],\"robot_xy\":[-4.332838535308838,-10.185223579406738],\"robot_yaw_deg\":-19.17720346245761,\"robot_z\":1.1877694129943848,\"step\":117},{\"robot_quat_xyzw\":[0.006666690111160278,0.0003151649434585124,-0.1665780246257782,0.9860056638717651],\"robot_xy\":[-4.332838535308838,-10.185223579406738],\"robot_yaw_deg\":-19.17720346245761,\"robot_z\":1.1877694129943848,\"step\":118},{\"robot_quat_xyzw\":[0.009451628662645817,0.00029406495741568506,-0.161848783493042,0.9867702722549438],\"robot_xy\":[-4.320560455322266,-10.179452896118164],\"robot_yaw_deg\":-18.627350312512593,\"robot_z\":1.1877694129943848,\"step\":119},{\"robot_quat_xyzw\":[0.0066258544102311134,0.00021896483667660505,-0.16567036509513855,0.9861589670181274],\"robot_xy\":[-4.311936378479004,-10.184126853942871],\"robot_yaw_deg\":-19.071805108852637,\"robot_z\":1.1877694129943848,\"step\":120},{\"robot_quat_xyzw\":[0.004250590689480305,0.0010893604485318065,-0.16209560632705688,0.9867653250694275],\"robot_xy\":[-4.30230712890625,-10.185870170593262],\"robot_yaw_deg\":-18.656476866677547,\"robot_z\":1.1877694129943848,\"step\":121},{\"robot_quat_xyzw\":[0.004250590689480305,0.0010893604485318065,-0.16209560632705688,0.9867653250694275],\"robot_xy\":[-4.30230712890625,-10.185870170593262],\"robot_yaw_deg\":-18.656476866677547,\"robot_z\":1.1877694129943848,\"step\":122},{\"robot_quat_xyzw\":[0.0051092724315822124,0.0019756669644266367,-0.1573754847049713,0.9875237345695496],\"robot_xy\":[-4.290283203125,-10.180509567260742],\"robot_yaw_deg\":-18.107966025658754,\"robot_z\":1.1877694129943848,\"step\":123},{\"robot_quat_xyzw\":[0.001825922168791294,0.0032568012829869986,-0.1610984206199646,0.986931324005127],\"robot_xy\":[-4.281596660614014,-10.185064315795898],\"robot_yaw_deg\":-18.54093396181019,\"robot_z\":1.1877694129943848,\"step\":124},{\"robot_quat_xyzw\":[0.0006774209905415773,0.003184253815561533,-0.15770477056503296,0.9874810576438904],\"robot_xy\":[-4.271972179412842,-10.186772346496582],\"robot_yaw_deg\":-18.147432712492094,\"robot_z\":1.1877694129943848,\"step\":125},{\"robot_quat_xyzw\":[0.0006774209905415773,0.003184253815561533,-0.15770477056503296,0.9874810576438904],\"robot_xy\":[-4.271972179412842,-10.186772346496582],\"robot_yaw_deg\":-18.147432712492094,\"robot_z\":1.1877694129943848,\"step\":126},{\"robot_quat_xyzw\":[0.00358563638292253,0.0019005094654858112,-0.15294885635375977,0.9882258176803589],\"robot_xy\":[-4.260005474090576,-10.181500434875488],\"robot_yaw_deg\":-17.594954243520466,\"robot_z\":1.1877694129943848,\"step\":127},{\"robot_quat_xyzw\":[0.0033192685805261135,0.0011038031661882997,-0.15681660175323486,0.987621545791626],\"robot_xy\":[-4.2513108253479,-10.186057090759277],\"robot_yaw_deg\":-18.043875055447465,\"robot_z\":1.1877694129943848,\"step\":128},{\"robot_quat_xyzw\":[0.004959600046277046,0.0007486687391065061,-0.1533077508211136,0.9881657958030701],\"robot_xy\":[-4.241609573364258,-10.187631607055664],\"robot_yaw_deg\":-17.63673044006232,\"robot_z\":1.1877694129943848,\"step\":129},{\"robot_quat_xyzw\":[0.005622381344437599,0.0012495156843215227,-0.15660390257835388,0.9876447916030884],\"robot_xy\":[-4.232809066772461,-10.191842079162598],\"robot_yaw_deg\":-18.01866323800084,\"robot_z\":1.1877694129943848,\"step\":130},{\"robot_quat_xyzw\":[0.005622381344437599,0.0012495156843215227,-0.15660390257835388,0.9876447916030884],\"robot_xy\":[-4.232809066772461,-10.191842079162598],\"robot_yaw_deg\":-18.01866323800084,\"robot_z\":1.1877694129943848,\"step\":131},{\"robot_quat_xyzw\":[0.009264658205211163,0.001006720238365233,-0.15186509490013123,0.9883573651313782],\"robot_xy\":[-4.220597267150879,-10.18566608428955],\"robot_yaw_deg\":-17.468341267546766,\"robot_z\":1.1877694129943848,\"step\":132},{\"robot_quat_xyzw\":[0.007695980370044708,0.0005509033799171448,-0.1522383838891983,0.9883137941360474],\"robot_xy\":[-4.211430549621582,-10.188727378845215],\"robot_yaw_deg\":-17.512380943632145,\"robot_z\":1.1877694129943848,\"step\":133},{\"robot_quat_xyzw\":[0.005555592942982912,0.0010253663640469313,-0.1518455147743225,0.988388180732727],\"robot_xy\":[-4.20217227935791,-10.19148063659668],\"robot_yaw_deg\":-17.466930979858514,\"robot_z\":1.1877694129943848,\"step\":134},{\"robot_quat_xyzw\":[0.005555592942982912,0.0010253663640469313,-0.1518455147743225,0.988388180732727],\"robot_xy\":[-4.20217227935791,-10.19148063659668],\"robot_yaw_deg\":-17.466930979858514,\"robot_z\":1.1877694129943848,\"step\":135},{\"robot_quat_xyzw\":[0.006984224542975426,0.0010621006367728114,-0.14710961282253265,0.9890950322151184],\"robot_xy\":[-4.190079212188721,-10.185322761535645],\"robot_yaw_deg\":-16.917741219306333,\"robot_z\":1.1877694129943848,\"step\":136},{\"robot_quat_xyzw\":[0.0036807283759117126,0.001671104459092021,-0.15080247819423676,0.9885557293891907],\"robot_xy\":[-4.18131160736084,-10.1896390914917],\"robot_yaw_deg\":-17.34615600949641,\"robot_z\":1.1877694129943848,\"step\":137},{\"robot_quat_xyzw\":[0.002800086745992303,0.0014805992832407355,-0.14753185212612152,0.989052414894104],\"robot_xy\":[-4.171671390533447,-10.191214561462402],\"robot_yaw_deg\":-16.967381354522818,\"robot_z\":1.1877694129943848,\"step\":138},{\"robot_quat_xyzw\":[0.002800086745992303,0.0014805992832407355,-0.14753185212612152,0.989052414894104],\"robot_xy\":[-4.171671390533447,-10.191214561462402],\"robot_yaw_deg\":-16.967381354522818,\"robot_z\":1.1877694129943848,\"step\":139},{\"robot_quat_xyzw\":[0.0057750483974814415,0.0008993277442641556,-0.14279574155807495,0.9897350668907166],\"robot_xy\":[-4.160045623779297,-10.186260223388672],\"robot_yaw_deg\":-16.41849917171021,\"robot_z\":1.1877694129943848,\"step\":140},{\"robot_quat_xyzw\":[0.004354087635874748,0.001333797350525856,-0.1466423124074936,0.9891791343688965],\"robot_xy\":[-4.151220321655273,-10.190649032592773],\"robot_yaw_deg\":-16.8640411338284,\"robot_z\":1.1877694129943848,\"step\":141},{\"robot_quat_xyzw\":[0.00444904575124383,0.002220683265477419,-0.14302876591682434,0.9897060990333557],\"robot_xy\":[-4.14154052734375,-10.19198226928711],\"robot_yaw_deg\":-16.4451707134529,\"robot_z\":1.1877694129943848,\"step\":142},{\"robot_quat_xyzw\":[0.004924163222312927,0.002757621929049492,-0.14636680483818054,0.9892143607139587],\"robot_xy\":[-4.132646083831787,-10.196002960205078],\"robot_yaw_deg\":-16.831377352535643,\"robot_z\":1.1877694129943848,\"step\":143},{\"robot_quat_xyzw\":[0.004924163222312927,0.002757621929049492,-0.14636680483818054,0.9892143607139587],\"robot_xy\":[-4.132646083831787,-10.196002960205078],\"robot_yaw_deg\":-16.831377352535643,\"robot_z\":1.1877694129943848,\"step\":144},{\"robot_quat_xyzw\":[0.009352357126772404,0.001216424978338182,-0.14162364602088928,0.9898756742477417],\"robot_xy\":[-4.120553493499756,-10.1895751953125],\"robot_yaw_deg\":-16.28171782241554,\"robot_z\":1.1877694129943848,\"step\":145},{\"robot_quat_xyzw\":[0.008409205824136734,-0.0005704887444153428,-0.1435534656047821,0.9896065592765808],\"robot_xy\":[-4.111514091491699,-10.19307804107666],\"robot_yaw_deg\":-16.507014926725766,\"robot_z\":1.1877694129943848,\"step\":146},{\"robot_quat_xyzw\":[0.0073883989825844765,-0.0011202337918803096,-0.14170880615711212,0.9898802638053894],\"robot_xy\":[-4.102046966552734,-10.195083618164062],\"robot_yaw_deg\":-16.29399151087477,\"robot_z\":1.1877694129943848,\"step\":147},{\"robot_quat_xyzw\":[0.0073883989825844765,-0.0011202337918803096,-0.14170880615711212,0.9898802638053894],\"robot_xy\":[-4.102046966552734,-10.195083618164062],\"robot_yaw_deg\":-16.29399151087477,\"robot_z\":1.1877694129943848,\"step\":148},{\"robot_quat_xyzw\":[0.009651241824030876,-0.0016724609304219484,-0.13699288666248322,0.990523636341095],\"robot_xy\":[-4.090414524078369,-10.189823150634766],\"robot_yaw_deg\":-15.748885425291437,\"robot_z\":1.1877694129943848,\"step\":149},{\"robot_quat_xyzw\":[0.0074143921956419945,-0.0004783115873578936,-0.1407671868801117,0.9900147914886475],\"robot_xy\":[-4.081550121307373,-10.194046020507812],\"robot_yaw_deg\":-16.184449775763966,\"robot_z\":1.1877694129943848,\"step\":150},{\"robot_quat_xyzw\":[0.0026511044707149267,-0.0015713648172095418,-0.13740408420562744,0.9905104041099548],\"robot_xy\":[-4.071581840515137,-10.195454597473145],\"robot_yaw_deg\":-15.795784572790549,\"robot_z\":1.1877694129943848,\"step\":151},{\"robot_quat_xyzw\":[0.0026511044707149267,-0.0015713648172095418,-0.13740408420562744,0.9905104041099548],\"robot_xy\":[-4.071581840515137,-10.195454597473145],\"robot_yaw_deg\":-15.795784572790549,\"robot_z\":1.1877694129943848,\"step\":152},{\"robot_quat_xyzw\":[0.005666558630764484,-0.0035918536596000195,-0.1326414942741394,0.9911413788795471],\"robot_xy\":[-4.060177326202393,-10.190800666809082],\"robot_yaw_deg\":-15.246828033334351,\"robot_z\":1.1877694129943848,\"step\":153},{\"robot_quat_xyzw\":[0.005137729924172163,-0.0034948622342199087,-0.13667111098766327,0.9905970096588135],\"robot_xy\":[-4.051313877105713,-10.195067405700684],\"robot_yaw_deg\":-15.712592714610492,\"robot_z\":1.1877694129943848,\"step\":154},{\"robot_quat_xyzw\":[0.005934262648224831,-0.0022316896356642246,-0.13291893899440765,0.9911067485809326],\"robot_xy\":[-4.041543483734131,-10.1961669921875],\"robot_yaw_deg\":-15.277916837358289,\"robot_z\":1.1877694129943848,\"step\":155},{\"robot_quat_xyzw\":[0.005934262648224831,-0.0022316896356642246,-0.13291893899440765,0.9911067485809326],\"robot_xy\":[-4.041543483734131,-10.1961669921875],\"robot_yaw_deg\":-15.277916837358289,\"robot_z\":1.1877694129943848,\"step\":156},{\"robot_quat_xyzw\":[0.009000314399600029,-0.0005533424555324018,-0.12821325659751892,0.9917055368423462],\"robot_xy\":[-4.030390739440918,-10.19196891784668],\"robot_yaw_deg\":-14.732687935635129,\"robot_z\":1.1877694129943848,\"step\":157},{\"robot_quat_xyzw\":[0.006999456323683262,0.0013142087263986468,-0.13204042613506317,0.9912188053131104],\"robot_xy\":[-4.0214762687683105,-10.196088790893555],\"robot_yaw_deg\":-15.173695057445356,\"robot_z\":1.1877694129943848,\"step\":158},{\"robot_quat_xyzw\":[0.004741881042718887,0.0022303436417132616,-0.1284562647342682,0.9917013645172119],\"robot_xy\":[-4.011739730834961,-10.197164535522461],\"robot_yaw_deg\":-14.759566430260984,\"robot_z\":1.1877694129943848,\"step\":159},{\"robot_quat_xyzw\":[0.0023679404985159636,0.0022263473365455866,-0.13171277940273285,0.9912826418876648],\"robot_xy\":[-4.002722263336182,-10.20089054107666],\"robot_yaw_deg\":-15.136645256916477,\"robot_z\":1.1877694129943848,\"step\":160},{\"robot_quat_xyzw\":[0.0023679404985159636,0.0022263473365455866,-0.13171277940273285,0.9912826418876648],\"robot_xy\":[-4.002722263336182,-10.20089054107666],\"robot_yaw_deg\":-15.136645256916477,\"robot_z\":1.1877694129943848,\"step\":161},{\"robot_quat_xyzw\":[0.005220900289714336,0.001396660809405148,-0.12695932388305664,0.9918932318687439],\"robot_xy\":[-3.990896224975586,-10.194242477416992],\"robot_yaw_deg\":-14.586877538092692,\"robot_z\":1.1877694129943848,\"step\":162},{\"robot_quat_xyzw\":[0.003132004989311099,0.0015071219531819224,-0.13064926862716675,0.9914226531982422],\"robot_xy\":[-3.981924295425415,-10.198212623596191],\"robot_yaw_deg\":-15.013683596173099,\"robot_z\":1.1877694129943848,\"step\":163},{\"robot_quat_xyzw\":[0.0029737434815615416,0.001411834848113358,-0.12730318307876587,0.9918584227561951],\"robot_xy\":[-3.9722182750701904,-10.199384689331055],\"robot_yaw_deg\":-14.627077994842363,\"robot_z\":1.1877694129943848,\"step\":164},{\"robot_quat_xyzw\":[0.0029737434815615416,0.001411834848113358,-0.12730318307876587,0.9918584227561951],\"robot_xy\":[-3.9722182750701904,-10.199384689331055],\"robot_yaw_deg\":-14.627077994842363,\"robot_z\":1.1877694129943848,\"step\":165},{\"robot_quat_xyzw\":[0.005959637463092804,0.0009943934855982661,-0.1225869432091713,0.9924395084381104],\"robot_xy\":[-3.961116313934326,-10.19521713256836],\"robot_yaw_deg\":-14.081972056996362,\"robot_z\":1.1877694129943848,\"step\":166},{\"robot_quat_xyzw\":[0.00477925781160593,0.001564126112498343,-0.12646551430225372,0.9919583201408386],\"robot_xy\":[-3.9521138668060303,-10.19924259185791],\"robot_yaw_deg\":-14.529853698158034,\"robot_z\":1.1877694129943848,\"step\":167},{\"robot_quat_xyzw\":[0.004822433460503817,0.002450317610055208,-0.12285158783197403,0.9924103617668152],\"robot_xy\":[-3.9423840045928955,-10.200217247009277],\"robot_yaw_deg\":-14.112063069148897,\"robot_z\":1.1877694129943848,\"step\":168},{\"robot_quat_xyzw\":[0.004822433460503817,0.002450317610055208,-0.12285158783197403,0.9924103617668152],\"robot_xy\":[-3.9423840045928955,-10.200217247009277],\"robot_yaw_deg\":-14.112063069148897,\"robot_z\":1.1877694129943848,\"step\":169},{\"robot_quat_xyzw\":[0.006862985901534557,0.002646557055413723,-0.11808959394693375,0.9929757714271545],\"robot_xy\":[-3.931394577026367,-10.196273803710938],\"robot_yaw_deg\":-13.561528250185662,\"robot_z\":1.1877694129943848,\"step\":170},{\"robot_quat_xyzw\":[0.00462350994348526,0.0021411962807178497,-0.1221039891242981,0.9925042986869812],\"robot_xy\":[-3.9224319458007812,-10.200255393981934],\"robot_yaw_deg\":-14.025940789479218,\"robot_z\":1.1877694129943848,\"step\":171},{\"robot_quat_xyzw\":[0.003971138969063759,0.001503475708886981,-0.11844801902770996,0.9929512143135071],\"robot_xy\":[-3.912651300430298,-10.20108699798584],\"robot_yaw_deg\":-13.604360308183125,\"robot_z\":1.1877694129943848,\"step\":172},{\"robot_quat_xyzw\":[0.003122607246041298,0.0012870128266513348,-0.12186527252197266,0.9925408959388733],\"robot_xy\":[-3.9035415649414062,-10.204729080200195],\"robot_yaw_deg\":-13.999051089793914,\"robot_z\":1.1877694129943848,\"step\":173},{\"robot_quat_xyzw\":[0.003122607246041298,0.0012870128266513348,-0.12186527252197266,0.9925408959388733],\"robot_xy\":[-3.9035415649414062,-10.204729080200195],\"robot_yaw_deg\":-13.999051089793914,\"robot_z\":1.1877694129943848,\"step\":174},{\"robot_quat_xyzw\":[0.006604141555726528,0.00090514135081321,-0.11713393032550812,0.9930937886238098],\"robot_xy\":[-3.891981601715088,-10.198370933532715],\"robot_yaw_deg\":-13.45250850812529,\"robot_z\":1.1877694129943848,\"step\":175},{\"robot_quat_xyzw\":[0.004952880088239908,0.0016229230677708983,-0.12087623029947281,0.9926539659500122],\"robot_xy\":[-3.8829362392425537,-10.202202796936035],\"robot_yaw_deg\":-13.88434509403926,\"robot_z\":1.1877694129943848,\"step\":176},{\"robot_quat_xyzw\":[0.0038718178402632475,0.0021950474474579096,-0.11735682934522629,0.9930799603462219],\"robot_xy\":[-3.8732028007507324,-10.20311164855957],\"robot_yaw_deg\":-13.478216996994881,\"robot_z\":1.1877694129943848,\"step\":177},{\"robot_quat_xyzw\":[0.0038718178402632475,0.0021950474474579096,-0.11735682934522629,0.9930799603462219],\"robot_xy\":[-3.8732028007507324,-10.20311164855957],\"robot_yaw_deg\":-13.478216996994881,\"robot_z\":1.1877694129943848,\"step\":178},{\"robot_quat_xyzw\":[0.005438635591417551,0.001967164222151041,-0.11261425912380219,0.9936220049858093],\"robot_xy\":[-3.8623552322387695,-10.19937515258789],\"robot_yaw_deg\":-12.930769753020297,\"robot_z\":1.1877694129943848,\"step\":179},{\"robot_quat_xyzw\":[0.003380423178896308,0.0018199447076767683,-0.11655714362859726,0.9931765794754028],\"robot_xy\":[-3.853320837020874,-10.203202247619629],\"robot_yaw_deg\":-13.386199511353277,\"robot_z\":1.1877694129943848,\"step\":180},{\"robot_quat_xyzw\":[0.003423747606575489,0.0012794432695955038,-0.11298886686563492,0.9935895204544067],\"robot_xy\":[-3.84354305267334,-10.203987121582031],\"robot_yaw_deg\":-12.97474705384593,\"robot_z\":1.1877694129943848,\"step\":181},{\"robot_quat_xyzw\":[0.003423747606575489,0.0012794432695955038,-0.11298886686563492,0.9935895204544067],\"robot_xy\":[-3.84354305267334,-10.203987121582031],\"robot_yaw_deg\":-12.97474705384593,\"robot_z\":1.1877694129943848,\"step\":182},{\"robot_quat_xyzw\":[0.006197723560035229,0.0009629321866668761,-0.10819758474826813,0.9941096901893616],\"robot_xy\":[-3.8327510356903076,-10.20041275024414],\"robot_yaw_deg\":-12.421965486479216,\"robot_z\":1.1877694129943848,\"step\":183},{\"robot_quat_xyzw\":[0.0057267965748906136,0.0015846535097807646,-0.11241592466831207,0.993643581867218],\"robot_xy\":[-3.8237226009368896,-10.204326629638672],\"robot_yaw_deg\":-12.908032645513712,\"robot_z\":1.1877694129943848,\"step\":184},{\"robot_quat_xyzw\":[0.005368445068597794,0.0021567579824477434,-0.108541339635849,0.9940751791000366],\"robot_xy\":[-3.813936471939087,-10.204893112182617],\"robot_yaw_deg\":-12.461090006053801,\"robot_z\":1.1877694129943848,\"step\":185},{\"robot_quat_xyzw\":[0.0036063191946595907,0.0023391046561300755,-0.11199145764112473,0.9936999082565308],\"robot_xy\":[-3.804802179336548,-10.208328247070312],\"robot_yaw_deg\":-12.85933555124226,\"robot_z\":1.1877694129943848,\"step\":186},{\"robot_quat_xyzw\":[0.0036063191946595907,0.0023391046561300755,-0.11199145764112473,0.9936999082565308],\"robot_xy\":[-3.804802179336548,-10.208328247070312],\"robot_yaw_deg\":-12.85933555124226,\"robot_z\":1.1877694129943848,\"step\":187},{\"robot_quat_xyzw\":[0.006309007294476032,0.0012771179899573326,-0.1072424128651619,0.9942121505737305],\"robot_xy\":[-3.7935047149658203,-10.202362060546875],\"robot_yaw_deg\":-12.311642636522029,\"robot_z\":1.1877694129943848,\"step\":188},{\"robot_quat_xyzw\":[0.00426066666841507,0.001478648860938847,-0.11108242720365524,0.9938010573387146],\"robot_xy\":[-3.784437417984009,-10.206053733825684],\"robot_yaw_deg\":-12.754658328693615,\"robot_z\":1.1877694129943848,\"step\":189},{\"robot_quat_xyzw\":[0.0035068877041339874,0.001886139390990138,-0.10747705399990082,0.9941996335983276],\"robot_xy\":[-3.7746806144714355,-10.2067289352417],\"robot_yaw_deg\":-12.339049447351647,\"robot_z\":1.1877694129943848,\"step\":190},{\"robot_quat_xyzw\":[0.0035068877041339874,0.001886139390990138,-0.10747705399990082,0.9941996335983276],\"robot_xy\":[-3.7746806144714355,-10.2067289352417],\"robot_yaw_deg\":-12.339049447351647,\"robot_z\":1.1877694129943848,\"step\":191},{\"robot_quat_xyzw\":[0.005194715224206448,0.0020719587337225676,-0.10274095833301544,0.9946925044059753],\"robot_xy\":[-3.7640604972839355,-10.2034330368042],\"robot_yaw_deg\":-11.792771017195168,\"robot_z\":1.1877694129943848,\"step\":192},{\"robot_quat_xyzw\":[0.003535171039402485,0.00224963272921741,-0.10670827329158783,0.9942816495895386],\"robot_xy\":[-3.7549545764923096,-10.207098007202148],\"robot_yaw_deg\":-12.250321111567509,\"robot_z\":1.1877694129943848,\"step\":193},{\"robot_quat_xyzw\":[0.004038061480969191,0.0016338360728695989,-0.10311750322580338,0.9946596622467041],\"robot_xy\":[-3.7451744079589844,-10.207674026489258],\"robot_yaw_deg\":-11.836650061600903,\"robot_z\":1.1877694129943848,\"step\":194},{\"robot_quat_xyzw\":[0.004038061480969191,0.0016338360728695989,-0.10311750322580338,0.9946596622467041],\"robot_xy\":[-3.7451744079589844,-10.207674026489258],\"robot_yaw_deg\":-11.836650061600903,\"robot_z\":1.1877694129943848,\"step\":195},{\"robot_quat_xyzw\":[0.006859894841909409,0.0009112752741202712,-0.09837844222784042,0.9951251149177551],\"robot_xy\":[-3.7346343994140625,-10.204562187194824],\"robot_yaw_deg\":-11.290654487487988,\"robot_z\":1.1877694129943848,\"step\":196},{\"robot_quat_xyzw\":[0.006177961826324463,0.0008196233538910747,-0.10245286673307419,0.9947183728218079],\"robot_xy\":[-3.725504159927368,-10.208247184753418],\"robot_yaw_deg\":-11.76009372830141,\"robot_z\":1.1877694129943848,\"step\":197},{\"robot_quat_xyzw\":[0.0061851125210523605,0.0010897587053477764,-0.09865082800388336,0.9951024651527405],\"robot_xy\":[-3.7156636714935303,-10.208622932434082],\"robot_yaw_deg\":-11.322020518244045,\"robot_z\":1.1877694129943848,\"step\":198},{\"robot_quat_xyzw\":[0.004983802326023579,0.002180067589506507,-0.10221577435731888,0.9947474598884583],\"robot_xy\":[-3.7064874172210693,-10.211946487426758],\"robot_yaw_deg\":-11.732280000522762,\"robot_z\":1.1877694129943848,\"step\":199},{\"robot_quat_xyzw\":[0.004983802326023579,0.002180067589506507,-0.10221577435731888,0.9947474598884583],\"robot_xy\":[-3.7064874172210693,-10.211946487426758],\"robot_yaw_deg\":-11.732280000522762,\"robot_z\":1.1877694129943848,\"step\":200},{\"robot_quat_xyzw\":[0.0073106116615235806,-0.005857536569237709,-0.09757543355226517,0.9951841831207275],\"robot_xy\":[-3.695085287094116,-10.206334114074707],\"robot_yaw_deg\":-11.204235787709202,\"robot_z\":1.1877694129943848,\"step\":201},{\"robot_quat_xyzw\":[0.006484027951955795,-0.009179052896797657,-0.10132897645235062,0.9947895407676697],\"robot_xy\":[-3.6859347820281982,-10.20981502532959],\"robot_yaw_deg\":-11.639314375234482,\"robot_z\":1.1877694129943848,\"step\":202},{\"robot_quat_xyzw\":[0.0068001942709088326,-0.011385397985577583,-0.09782006591558456,0.9951158761978149],\"robot_xy\":[-3.6761345863342285,-10.210333824157715],\"robot_yaw_deg\":-11.237934473858182,\"robot_z\":1.1877694129943848,\"step\":203},{\"robot_quat_xyzw\":[0.0068001942709088326,-0.011385397985577583,-0.09782006591558456,0.9951158761978149],\"robot_xy\":[-3.6761345863342285,-10.210333824157715],\"robot_yaw_deg\":-11.237934473858182,\"robot_z\":1.1877694129943848,\"step\":204},{\"robot_quat_xyzw\":[0.008823595009744167,-0.012163033708930016,-0.09304777532815933,0.9955483078956604],\"robot_xy\":[-3.6656782627105713,-10.207317352294922],\"robot_yaw_deg\":-10.691978039960869,\"robot_z\":1.1877694129943848,\"step\":205},{\"robot_quat_xyzw\":[0.00841266755014658,-0.011207062751054764,-0.09724263101816177,0.9951620101928711],\"robot_xy\":[-3.6565277576446533,-10.210944175720215],\"robot_yaw_deg\":-11.173130779364785,\"robot_z\":1.1877694129943848,\"step\":206},{\"robot_quat_xyzw\":[0.009280005469918251,-0.009053363464772701,-0.09335005283355713,0.9955489039421082],\"robot_xy\":[-3.6466901302337646,-10.211201667785645],\"robot_yaw_deg\":-10.723044861345839,\"robot_z\":1.1877694129943848,\"step\":207},{\"robot_quat_xyzw\":[0.009312428534030914,-0.005187076050788164,-0.09697133302688599,0.9952300786972046],\"robot_xy\":[-3.637465000152588,-10.214451789855957],\"robot_yaw_deg\":-11.134989633282078,\"robot_z\":1.1877694129943848,\"step\":208},{\"robot_quat_xyzw\":[0.009312428534030914,-0.005187076050788164,-0.09697133302688599,0.9952300786972046],\"robot_xy\":[-3.637465000152588,-10.214451789855957],\"robot_yaw_deg\":-11.134989633282078,\"robot_z\":1.1877694129943848,\"step\":209},{\"robot_quat_xyzw\":[0.01242909301072359,-0.0014933752827346325,-0.0922265350818634,0.9956592917442322],\"robot_xy\":[-3.6265745162963867,-10.209050178527832],\"robot_yaw_deg\":-10.584741574985978,\"robot_z\":1.1877694129943848,\"step\":210},{\"robot_quat_xyzw\":[0.010141422040760517,0.002405765699222684,-0.09600420296192169,0.9953263401985168],\"robot_xy\":[-3.6173670291900635,-10.212443351745605],\"robot_yaw_deg\":-11.015034157782777,\"robot_z\":1.1877694129943848,\"step\":211},{\"robot_quat_xyzw\":[0.007445557042956352,0.0050111254677176476,-0.09253895282745361,0.9956687092781067],\"robot_xy\":[-3.6076037883758545,-10.21291732788086],\"robot_yaw_deg\":-10.615283397327229,\"robot_z\":1.1877694129943848,\"step\":212},{\"robot_quat_xyzw\":[0.007445557042956352,0.0050111254677176476,-0.09253895282745361,0.9956687092781067],\"robot_xy\":[-3.6076037883758545,-10.21291732788086],\"robot_yaw_deg\":-10.615283397327229,\"robot_z\":1.1877694129943848,\"step\":213},{\"robot_quat_xyzw\":[0.004772307351231575,0.006297168787568808,-0.08774786442518234,0.9961113929748535],\"robot_xy\":[-3.5972070693969727,-10.210105895996094],\"robot_yaw_deg\":-10.065206437143498,\"robot_z\":1.1877694129943848,\"step\":214},{\"robot_quat_xyzw\":[0.0009218910709023476,0.006430462002754211,-0.09193029999732971,0.9957442879676819],\"robot_xy\":[-3.5879874229431152,-10.21357536315918],\"robot_yaw_deg\":-10.549311767870778,\"robot_z\":1.1877694129943848,\"step\":215},{\"robot_quat_xyzw\":[-0.0007212918717414141,0.005239654332399368,-0.08808696269989014,0.9960987567901611],\"robot_xy\":[-3.5781867504119873,-10.213752746582031],\"robot_yaw_deg\":-10.107961010245708,\"robot_z\":1.1877694129943848,\"step\":216},{\"robot_quat_xyzw\":[-0.0007212918717414141,0.005239654332399368,-0.08808696269989014,0.9960987567901611],\"robot_xy\":[-3.5781867504119873,-10.213752746582031],\"robot_yaw_deg\":-10.107961010245708,\"robot_z\":1.1877694129943848,\"step\":217},{\"robot_quat_xyzw\":[-0.00012988573871552944,0.00308585399761796,-0.0832776203751564,0.9965215921401978],\"robot_xy\":[-3.567915916442871,-10.211304664611816],\"robot_yaw_deg\":-9.554158487377876,\"robot_z\":1.1877694129943848,\"step\":218},{\"robot_quat_xyzw\":[-0.00041848933324217796,4.0325372538063675e-05,-0.08755885064601898,0.9961594343185425],\"robot_xy\":[-3.558685541152954,-10.214776992797852],\"robot_yaw_deg\":-10.046372817640442,\"robot_z\":1.1877694129943848,\"step\":219},{\"robot_quat_xyzw\":[0.0013587059220299125,-0.002049635164439678,-0.08365754783153534,0.9964916706085205],\"robot_xy\":[-3.548893928527832,-10.214812278747559],\"robot_yaw_deg\":-9.598033700667514,\"robot_z\":1.1877694129943848,\"step\":220},{\"robot_quat_xyzw\":[0.0021680453792214394,-0.0031964106019586325,-0.08730529248714447,0.996174156665802],\"robot_xy\":[-3.5395734310150146,-10.217893600463867],\"robot_yaw_deg\":-10.018115029302251,\"robot_z\":1.1877694129943848,\"step\":221},{\"robot_quat_xyzw\":[0.0021680453792214394,-0.0031964106019586325,-0.08730529248714447,0.996174156665802],\"robot_xy\":[-3.5395734310150146,-10.217893600463867],\"robot_yaw_deg\":-10.018115029302251,\"robot_z\":1.1877694129943848,\"step\":222},{\"robot_quat_xyzw\":[0.0065057664178311825,-0.0029912986792623997,-0.08250905573368073,0.9965646862983704],\"robot_xy\":[-3.5288515090942383,-10.212757110595703],\"robot_yaw_deg\":-9.467731321304955,\"robot_z\":1.1877694129943848,\"step\":223},{\"robot_quat_xyzw\":[0.007480558939278126,-0.0011251898249611259,-0.08658628910779953,0.9962156414985657],\"robot_xy\":[-3.519571304321289,-10.216103553771973],\"robot_yaw_deg\":-9.935192258453641,\"robot_z\":1.1877694129943848,\"step\":224},{\"robot_quat_xyzw\":[0.00905654951930046,0.0011808985145762563,-0.0828440934419632,0.9965206980705261],\"robot_xy\":[-3.5098180770874023,-10.216272354125977],\"robot_yaw_deg\":-9.502552482758686,\"robot_z\":1.1877694129943848,\"step\":225},{\"robot_quat_xyzw\":[0.00905654951930046,0.0011808985145762563,-0.0828440934419632,0.9965206980705261],\"robot_xy\":[-3.5098180770874023,-10.216272354125977],\"robot_yaw_deg\":-9.502552482758686,\"robot_z\":1.1877694129943848,\"step\":226},{\"robot_quat_xyzw\":[0.009979654103517532,0.0028770319186151028,-0.07805276662111282,0.9968951344490051],\"robot_xy\":[-3.4996068477630615,-10.213969230651855],\"robot_yaw_deg\":-8.949714426066732,\"robot_z\":1.1877694129943848,\"step\":227},{\"robot_quat_xyzw\":[0.007567394524812698,0.003789948532357812,-0.08233582973480225,0.9965687990188599],\"robot_xy\":[-3.4903485774993896,-10.21733570098877],\"robot_yaw_deg\":-9.44237848706353,\"robot_z\":1.1877694129943848,\"step\":228},{\"robot_quat_xyzw\":[0.004922300111502409,0.003844888648018241,-0.07839037477970123,0.9969032406806946],\"robot_xy\":[-3.4805338382720947,-10.21728801727295],\"robot_yaw_deg\":-8.990050454073044,\"robot_z\":1.1877694129943848,\"step\":229},{\"robot_quat_xyzw\":[0.004922300111502409,0.003844888648018241,-0.07839037477970123,0.9969032406806946],\"robot_xy\":[-3.4805338382720947,-10.21728801727295],\"robot_yaw_deg\":-8.990050454073044,\"robot_z\":1.1877694129943848,\"step\":230},{\"robot_quat_xyzw\":[0.003248351626098156,0.0026573475915938616,-0.0735844150185585,0.9972802400588989],\"robot_xy\":[-3.47041392326355,-10.215253829956055],\"robot_yaw_deg\":-8.438848293785234,\"robot_z\":1.1877694129943848,\"step\":231},{\"robot_quat_xyzw\":[0.0008881102548912168,0.0007202618289738894,-0.07791160047054291,0.9969597458839417],\"robot_xy\":[-3.461122512817383,-10.218570709228516],\"robot_yaw_deg\":-8.937001212489465,\"robot_z\":1.1877694129943848,\"step\":232},{\"robot_quat_xyzw\":[0.0005719205364584923,-0.0006206855177879333,-0.07397423684597015,0.9972599148750305],\"robot_xy\":[-3.4513280391693115,-10.218398094177246],\"robot_yaw_deg\":-8.484618107807208,\"robot_z\":1.1877694129943848,\"step\":233},{\"robot_quat_xyzw\":[-0.0007511062431149185,-0.0009721908718347549,-0.07763176411390305,0.9969813823699951],\"robot_xy\":[-3.4419519901275635,-10.221315383911133],\"robot_yaw_deg\":-8.904832501788672,\"robot_z\":1.1877694129943848,\"step\":234},{\"robot_quat_xyzw\":[-0.0007511062431149185,-0.0009721908718347549,-0.07763176411390305,0.9969813823699951],\"robot_xy\":[-3.4419519901275635,-10.221315383911133],\"robot_yaw_deg\":-8.904832501788672,\"robot_z\":1.1877694129943848,\"step\":235},{\"robot_quat_xyzw\":[0.0011882638791576028,5.020898242946714e-05,-0.07282055169343948,0.997344434261322],\"robot_xy\":[-3.431410789489746,-10.216567993164062],\"robot_yaw_deg\":-8.352001341072343,\"robot_z\":1.1877694129943848,\"step\":236},{\"robot_quat_xyzw\":[0.00045807298738509417,0.0018351145554333925,-0.07693778723478317,0.9970340728759766],\"robot_xy\":[-3.4221198558807373,-10.2197265625],\"robot_yaw_deg\":-8.825090398463903,\"robot_z\":1.1877694129943848,\"step\":237},{\"robot_quat_xyzw\":[0.0021489374339580536,0.0028716556262224913,-0.07319518178701401,0.9973111748695374],\"robot_xy\":[-3.4123237133026123,-10.219672203063965],\"robot_yaw_deg\":-8.394442318172445,\"robot_z\":1.1877694129943848,\"step\":238},{\"robot_quat_xyzw\":[0.0021489374339580536,0.0028716556262224913,-0.07319518178701401,0.9973111748695374],\"robot_xy\":[-3.4123237133026123,-10.219672203063965],\"robot_yaw_deg\":-8.394442318172445,\"robot_z\":1.1877694129943848,\"step\":239},{\"robot_quat_xyzw\":[0.0048929727636277676,0.002593823941424489,-0.06845908612012863,0.9976386427879333],\"robot_xy\":[-3.4023098945617676,-10.217883110046387],\"robot_yaw_deg\":-7.849519845344393,\"robot_z\":1.1877694129943848,\"step\":240},{\"robot_quat_xyzw\":[0.004675648175179958,0.0021638970356434584,-0.07259456813335419,0.9973482489585876],\"robot_xy\":[-3.3929619789123535,-10.221001625061035],\"robot_yaw_deg\":-8.324869858050574,\"robot_z\":1.1877694129943848,\"step\":241},{\"robot_quat_xyzw\":[0.0053450604900717735,0.0017258714651688933,-0.0688771978020668,0.9976094961166382],\"robot_xy\":[-3.3831541538238525,-10.220858573913574],\"robot_yaw_deg\":-7.897876944587545,\"robot_z\":1.1877694129943848,\"step\":242},{\"robot_quat_xyzw\":[0.0043881358578801155,0.0018445354653522372,-0.0722307339310646,0.9973766803741455],\"robot_xy\":[-3.3737220764160156,-10.223544120788574],\"robot_yaw_deg\":-8.283292658732698,\"robot_z\":1.1877694129943848,\"step\":243},{\"robot_quat_xyzw\":[0.0043881358578801155,0.0018445354653522372,-0.0722307339310646,0.9973766803741455],\"robot_xy\":[-3.3737220764160156,-10.223544120788574],\"robot_yaw_deg\":-8.283292658732698,\"robot_z\":1.1877694129943848,\"step\":244},{\"robot_quat_xyzw\":[0.006019303109496832,0.0023339111357927322,-0.06745769828557968,0.9977013468742371],\"robot_xy\":[-3.3633196353912354,-10.219192504882812],\"robot_yaw_deg\":-7.7342871033380405,\"robot_z\":1.1877694129943848,\"step\":245},{\"robot_quat_xyzw\":[0.004360392689704895,0.0024949198123067617,-0.07145753502845764,0.9974310398101807],\"robot_xy\":[-3.3539834022521973,-10.222176551818848],\"robot_yaw_deg\":-8.1941806265652,\"robot_z\":1.1877694129943848,\"step\":246},{\"robot_quat_xyzw\":[0.00463238637894392,0.002204869408160448,-0.06791902333498001,0.997677743434906],\"robot_xy\":[-3.3442094326019287,-10.222125053405762],\"robot_yaw_deg\":-7.787757906677597,\"robot_z\":1.1877694129943848,\"step\":247},{\"robot_quat_xyzw\":[0.00463238637894392,0.002204869408160448,-0.06791902333498001,0.997677743434906],\"robot_xy\":[-3.3442094326019287,-10.222125053405762],\"robot_yaw_deg\":-7.787757906677597,\"robot_z\":1.1877694129943848,\"step\":248},{\"robot_quat_xyzw\":[0.004985141102224588,0.002041679574176669,-0.06315784156322479,0.9979890584945679],\"robot_xy\":[-3.334198474884033,-10.220396995544434],\"robot_yaw_deg\":-7.240974857344771,\"robot_z\":1.1877694129943848,\"step\":249},{\"robot_quat_xyzw\":[0.0031228349544107914,0.0019752252846956253,-0.06737257540225983,0.9977211952209473],\"robot_xy\":[-3.324845314025879,-10.223437309265137],\"robot_yaw_deg\":-7.725489411392948,\"robot_z\":1.1877694129943848,\"step\":250},{\"robot_quat_xyzw\":[0.005109887570142746,0.0005788130802102387,-0.06379222869873047,0.9979500770568848],\"robot_xy\":[-3.314751148223877,-10.223291397094727],\"robot_yaw_deg\":-7.314591583304757,\"robot_z\":1.1877694129943848,\"step\":251},{\"robot_quat_xyzw\":[0.005109887570142746,0.0005788130802102387,-0.06379222869873047,0.9979500770568848],\"robot_xy\":[-3.314751148223877,-10.223291397094727],\"robot_yaw_deg\":-7.314591583304757,\"robot_z\":1.1877694129943848,\"step\":252},{\"robot_quat_xyzw\":[0.006187939550727606,-0.00031867140205577016,-0.05898604914546013,0.9982396960258484],\"robot_xy\":[-3.3047587871551514,-10.221671104431152],\"robot_yaw_deg\":-6.763326634862046,\"robot_z\":1.1877694129943848,\"step\":253},{\"robot_quat_xyzw\":[0.005605611950159073,0.0004534443432930857,-0.06341006606817245,0.9979718327522278],\"robot_xy\":[-3.2953662872314453,-10.224787712097168],\"robot_yaw_deg\":-7.270737281592726,\"robot_z\":1.1877694129943848,\"step\":254},{\"robot_quat_xyzw\":[0.006129524204879999,0.0019219989189878106,-0.05935059115290642,0.9982166290283203],\"robot_xy\":[-3.285585403442383,-10.224309921264648],\"robot_yaw_deg\":-6.803646642055948,\"robot_z\":1.1877694129943848,\"step\":255},{\"robot_quat_xyzw\":[0.004446805454790592,0.002957591088488698,-0.06296688318252563,0.9980014562606812],\"robot_xy\":[-3.276183605194092,-10.226901054382324],\"robot_yaw_deg\":-7.218779304239145,\"robot_z\":1.1877694129943848,\"step\":256},{\"robot_quat_xyzw\":[0.004446805454790592,0.002957591088488698,-0.06296688318252563,0.9980014562606812],\"robot_xy\":[-3.276183605194092,-10.226901054382324],\"robot_yaw_deg\":-7.218779304239145,\"robot_z\":1.1877694129943848,\"step\":257},{\"robot_quat_xyzw\":[0.005136215593665838,0.002918618032708764,-0.05818858742713928,0.9982882142066956],\"robot_xy\":[-3.2659053802490234,-10.222872734069824],\"robot_yaw_deg\":-6.669981530068872,\"robot_z\":1.1877694129943848,\"step\":258},{\"robot_quat_xyzw\":[0.002896706573665142,0.00224332045763731,-0.062277182936668396,0.998052179813385],\"robot_xy\":[-3.2565085887908936,-10.225741386413574],\"robot_yaw_deg\":-7.14034588646413,\"robot_z\":1.1877694129943848,\"step\":259},{\"robot_quat_xyzw\":[0.0028032951522618532,0.0012045498006045818,-0.05855898559093475,0.998279333114624],\"robot_xy\":[-3.246701240539551,-10.225404739379883],\"robot_yaw_deg\":-6.713810910505788,\"robot_z\":1.1877694129943848,\"step\":260},{\"robot_quat_xyzw\":[0.0028032951522618532,0.0012045498006045818,-0.05855898559093475,0.998279333114624],\"robot_xy\":[-3.246701240539551,-10.225404739379883],\"robot_yaw_deg\":-6.713810910505788,\"robot_z\":1.1877694129943848,\"step\":261},{\"robot_quat_xyzw\":[0.003796566743403673,0.0007835936266928911,-0.05374673008918762,0.9985471963882446],\"robot_xy\":[-3.236776113510132,-10.22416877746582],\"robot_yaw_deg\":-6.161513959824975,\"robot_z\":1.1877694129943848,\"step\":262},{\"robot_quat_xyzw\":[0.003358938731253147,0.0014712446136400104,-0.05815691500902176,0.9983007907867432],\"robot_xy\":[-3.2273623943328857,-10.227144241333008],\"robot_yaw_deg\":-6.667476210415798,\"robot_z\":1.1877694129943848,\"step\":263},{\"robot_quat_xyzw\":[0.004829534329473972,0.0024494423996657133,-0.05422050133347511,0.9985143542289734],\"robot_xy\":[-3.2175452709198,-10.226628303527832],\"robot_yaw_deg\":-6.214896581762231,\"robot_z\":1.1877694129943848,\"step\":264},{\"robot_quat_xyzw\":[0.004638071171939373,0.0030204763170331717,-0.05770357325673103,0.9983184933662415],\"robot_xy\":[-3.2080905437469482,-10.229052543640137],\"robot_yaw_deg\":-6.614442945765066,\"robot_z\":1.1877694129943848,\"step\":265},{\"robot_quat_xyzw\":[0.004638071171939373,0.0030204763170331717,-0.05770357325673103,0.9983184933662415],\"robot_xy\":[-3.2080905437469482,-10.229052543640137],\"robot_yaw_deg\":-6.614442945765066,\"robot_z\":1.1877694129943848,\"step\":266},{\"robot_quat_xyzw\":[0.007003580220043659,0.0027769983280450106,-0.05291666463017464,0.9985705614089966],\"robot_xy\":[-3.1979005336761475,-10.22531795501709],\"robot_yaw_deg\":-6.064342697758609,\"robot_z\":1.1877694129943848,\"step\":267},{\"robot_quat_xyzw\":[0.00568639999255538,0.0017177226254716516,-0.05712667852640152,0.9983492493629456],\"robot_xy\":[-3.1884779930114746,-10.228150367736816],\"robot_yaw_deg\":-6.5486124877172145,\"robot_z\":1.1877694129943848,\"step\":268},{\"robot_quat_xyzw\":[0.004792871419340372,0.001600102405063808,-0.053190890699625015,0.9985715746879578],\"robot_xy\":[-3.1787028312683105,-10.227624893188477],\"robot_yaw_deg\":-6.0971847489946205,\"robot_z\":1.1877694129943848,\"step\":269},{\"robot_quat_xyzw\":[0.004792871419340372,0.001600102405063808,-0.053190890699625015,0.9985715746879578],\"robot_xy\":[-3.1787028312683105,-10.227624893188477],\"robot_yaw_deg\":-6.0971847489946205,\"robot_z\":1.1877694129943848,\"step\":270},{\"robot_quat_xyzw\":[0.0041673919185996056,0.002116947202011943,-0.04888121411204338,0.9987937808036804],\"robot_xy\":[-3.1688501834869385,-10.226688385009766],\"robot_yaw_deg\":-5.602591277044144,\"robot_z\":1.1877694129943848,\"step\":271},{\"robot_quat_xyzw\":[0.0033830967731773853,0.0026058629155158997,-0.052839286625385284,0.9985939264297485],\"robot_xy\":[-3.1593973636627197,-10.22934627532959],\"robot_yaw_deg\":-6.056780040637332,\"robot_z\":1.1877694129943848,\"step\":272},{\"robot_quat_xyzw\":[0.004687186796218157,0.002300987485796213,-0.049315448850393295,0.9987696409225464],\"robot_xy\":[-3.149646759033203,-10.228903770446777],\"robot_yaw_deg\":-5.652180609377891,\"robot_z\":1.1877694129943848,\"step\":273},{\"robot_quat_xyzw\":[0.004762673284858465,0.0021135781425982714,-0.05253485217690468,0.998605489730835],\"robot_xy\":[-3.1401281356811523,-10.231146812438965],\"robot_yaw_deg\":-6.021648317627259,\"robot_z\":1.1877694129943848,\"step\":274},{\"robot_quat_xyzw\":[0.004762673284858465,0.0021135781425982714,-0.05253485217690468,0.998605489730835],\"robot_xy\":[-3.1401281356811523,-10.231146812438965],\"robot_yaw_deg\":-6.021648317627259,\"robot_z\":1.1877694129943848,\"step\":275},{\"robot_quat_xyzw\":[0.0062342495657503605,0.0017152766231447458,-0.04776792600750923,0.9988375306129456],\"robot_xy\":[-3.1300315856933594,-10.227694511413574],\"robot_yaw_deg\":-5.474583244227929,\"robot_z\":1.1877694129943848,\"step\":276},{\"robot_quat_xyzw\":[0.00464185094460845,0.0020749715622514486,-0.05192643776535988,0.9986379742622375],\"robot_xy\":[-3.1205849647521973,-10.23039722442627],\"robot_yaw_deg\":-5.951885567280029,\"robot_z\":1.1877694129943848,\"step\":277},{\"robot_quat_xyzw\":[0.0039263223297894,0.0024355545174330473,-0.048027828335762024,0.9988354444503784],\"robot_xy\":[-3.110793113708496,-10.229809761047363],\"robot_yaw_deg\":-5.504618383757799,\"robot_z\":1.1877694129943848,\"step\":278},{\"robot_quat_xyzw\":[0.0039263223297894,0.0024355545174330473,-0.048027828335762024,0.9988354444503784],\"robot_xy\":[-3.110793113708496,-10.229809761047363],\"robot_yaw_deg\":-5.504618383757799,\"robot_z\":1.1877694129943848,\"step\":279},{\"robot_quat_xyzw\":[0.004377658944576979,0.0025947552639991045,-0.04438214376568794,0.9990017414093018],\"robot_xy\":[-3.1010069847106934,-10.229083061218262],\"robot_yaw_deg\":-5.086196788431401,\"robot_z\":1.1877694129943848,\"step\":280},{\"robot_quat_xyzw\":[0.0046547651290893555,0.002497703768312931,-0.04776317998766899,0.9988447427749634],\"robot_xy\":[-3.0914928913116455,-10.231403350830078],\"robot_yaw_deg\":-5.474006467504115,\"robot_z\":1.1877694129943848,\"step\":281},{\"robot_quat_xyzw\":[0.0051340097561478615,0.002181730465963483,-0.04471080005168915,0.9989844560623169],\"robot_xy\":[-3.081749200820923,-10.231067657470703],\"robot_yaw_deg\":-5.12387996227415,\"robot_z\":1.1877694129943848,\"step\":282},{\"robot_quat_xyzw\":[0.0051340097561478615,0.002181730465963483,-0.04471080005168915,0.9989844560623169],\"robot_xy\":[-3.081749200820923,-10.231067657470703],\"robot_yaw_deg\":-5.12387996227415,\"robot_z\":1.1877694129943848,\"step\":283},{\"robot_quat_xyzw\":[0.0050096577033400536,0.0019619720987975597,-0.04094724729657173,0.9991468787193298],\"robot_xy\":[-3.0719494819641113,-10.230193138122559],\"robot_yaw_deg\":-4.692367190280218,\"robot_z\":1.1877694129943848,\"step\":284},{\"robot_quat_xyzw\":[0.003245054744184017,0.001967300893738866,-0.044315215200185776,0.9990103840827942],\"robot_xy\":[-3.06243634223938,-10.232465744018555],\"robot_yaw_deg\":-5.079087272229063,\"robot_z\":1.1877694129943848,\"step\":285},{\"robot_quat_xyzw\":[0.0033988719806075096,0.0017443711403757334,-0.04125761613249779,0.9991413354873657],\"robot_xy\":[-3.052677869796753,-10.232020378112793],\"robot_yaw_deg\":-4.728434544144463,\"robot_z\":1.1877694129943848,\"step\":286},{\"robot_quat_xyzw\":[0.003575526876375079,0.0017919869860634208,-0.044075604528188705,0.9990202784538269],\"robot_xy\":[-3.043113946914673,-10.233953475952148],\"robot_yaw_deg\":-5.051590150079456,\"robot_z\":1.1877694129943848,\"step\":287},{\"robot_quat_xyzw\":[0.003575526876375079,0.0017919869860634208,-0.044075604528188705,0.9990202784538269],\"robot_xy\":[-3.043113946914673,-10.233953475952148],\"robot_yaw_deg\":-5.051590150079456,\"robot_z\":1.1877694129943848,\"step\":288},{\"robot_quat_xyzw\":[0.006170919165015221,0.0016983423847705126,-0.039320193231105804,0.9992061853408813],\"robot_xy\":[-3.0331480503082275,-10.23105525970459],\"robot_yaw_deg\":-4.505660835356617,\"robot_z\":1.1877694129943848,\"step\":289},{\"robot_quat_xyzw\":[0.005688109435141087,0.0016619228990748525,-0.04350794851779938,0.9990355968475342],\"robot_xy\":[-3.02363920211792,-10.233631134033203],\"robot_yaw_deg\":-4.986079425380594,\"robot_z\":1.1877694129943848,\"step\":290},{\"robot_quat_xyzw\":[0.005536612123250961,0.001779101905412972,-0.039654940366744995,0.9991965889930725],\"robot_xy\":[-3.0138516426086426,-10.232889175415039],\"robot_yaw_deg\":-4.544140464439631,\"robot_z\":1.1877694129943848,\"step\":291},{\"robot_quat_xyzw\":[0.005536612123250961,0.001779101905412972,-0.039654940366744995,0.9991965889930725],\"robot_xy\":[-3.0138516426086426,-10.232889175415039],\"robot_yaw_deg\":-4.544140464439631,\"robot_z\":1.1877694129943848,\"step\":292},{\"robot_quat_xyzw\":[0.004616455640643835,0.0022865135688334703,-0.03718668222427368,0.999295175075531],\"robot_xy\":[-3.004080295562744,-10.23251724243164],\"robot_yaw_deg\":-4.261044968574252,\"robot_z\":1.1877694129943848,\"step\":293},{\"robot_quat_xyzw\":[0.002721749944612384,0.0026215489488095045,-0.0393863245844841,0.9992169141769409],\"robot_xy\":[-2.994523525238037,-10.234188079833984],\"robot_yaw_deg\":-4.513722803025631,\"robot_z\":1.1877694129943848,\"step\":294},{\"robot_quat_xyzw\":[0.002757732290774584,0.0021987997461110353,-0.03740782290697098,0.9992939233779907],\"robot_xy\":[-2.9848172664642334,-10.234109878540039],\"robot_yaw_deg\":-4.2869433014897815,\"robot_z\":1.1877694129943848,\"step\":295},{\"robot_quat_xyzw\":[0.003253445029258728,0.0015183949144557118,-0.039252523332834244,0.9992229342460632],\"robot_xy\":[-2.975226402282715,-10.235573768615723],\"robot_yaw_deg\":-4.498591439844861,\"robot_z\":1.1877694129943848,\"step\":296},{\"robot_quat_xyzw\":[0.003253445029258728,0.0015183949144557118,-0.039252523332834244,0.9992229342460632],\"robot_xy\":[-2.975226402282715,-10.235573768615723],\"robot_yaw_deg\":-4.498591439844861,\"robot_z\":1.1877694129943848,\"step\":297},{\"robot_quat_xyzw\":[0.005935283377766609,0.0014356168685480952,-0.034432344138622284,0.9993883371353149],\"robot_xy\":[-2.96529483795166,-10.233165740966797],\"robot_yaw_deg\":-3.9454046329260413,\"robot_z\":1.1877694129943848,\"step\":298},{\"robot_quat_xyzw\":[0.006451760418713093,0.0019548172131180763,-0.03886830434203148,0.9992217421531677],\"robot_xy\":[-2.9557979106903076,-10.235743522644043],\"robot_yaw_deg\":-4.4535946070681804,\"robot_z\":1.1877694129943848,\"step\":299},{\"robot_quat_xyzw\":[0.0068030813708901405,0.0019832721445709467,-0.03478183224797249,0.9993698596954346],\"robot_xy\":[-2.94602370262146,-10.234825134277344],\"robot_yaw_deg\":-3.9848977283512004,\"robot_z\":1.1877694129943848,\"step\":300},{\"robot_quat_xyzw\":[0.0045562731102108955,0.002199792768806219,-0.034589484333992004,0.9993888735771179],\"robot_xy\":[-2.94571852684021,-10.234766960144043],\"robot_yaw_deg\":-3.963295934809592,\"robot_z\":1.1877694129943848,\"step\":301},{\"robot_quat_xyzw\":[0.0005122527945786715,0.0006700133089907467,-0.03938886150717735,0.9992235898971558],\"robot_xy\":[-2.9367146492004395,-10.245055198669434],\"robot_yaw_deg\":-4.514762187335334,\"robot_z\":1.1877694129943848,\"step\":302},{\"robot_quat_xyzw\":[-0.0005029146559536457,-0.0004325725312810391,-0.04417824745178223,0.9990234971046448],\"robot_xy\":[-2.9274017810821533,-10.249860763549805],\"robot_yaw_deg\":-5.064078661591614,\"robot_z\":1.1877694129943848,\"step\":303},{\"robot_quat_xyzw\":[0.0010620229877531528,-0.0009314017370343208,-0.039939459413290024,0.9992011785507202],\"robot_xy\":[-2.917571544647217,-10.248924255371094],\"robot_yaw_deg\":-4.57805927648429,\"robot_z\":1.1877694129943848,\"step\":304},{\"robot_quat_xyzw\":[0.001555931055918336,0.00018325369455851614,-0.04387696832418442,0.9990358352661133],\"robot_xy\":[-2.908078670501709,-10.251287460327148],\"robot_yaw_deg\":-5.0295071363860915,\"robot_z\":1.1877694129943848,\"step\":305},{\"robot_quat_xyzw\":[0.001555931055918336,0.00018325369455851614,-0.04387696832418442,0.9990358352661133],\"robot_xy\":[-2.908078670501709,-10.251287460327148],\"robot_yaw_deg\":-5.0295071363860915,\"robot_z\":1.1877694129943848,\"step\":306},{\"robot_quat_xyzw\":[-0.000891869596671313,0.0018873733934015036,-0.048666637390851974,0.9988129734992981],\"robot_xy\":[-2.8992748260498047,-10.261738777160645],\"robot_yaw_deg\":-5.5792095690956796,\"robot_z\":1.1877694129943848,\"step\":307},{\"robot_quat_xyzw\":[0.0016362877795472741,0.0028145054820924997,-0.04973067715764046,0.9987574815750122],\"robot_xy\":[-2.8896970748901367,-10.263132095336914],\"robot_yaw_deg\":-5.700603051380584,\"robot_z\":1.1877694129943848,\"step\":308},{\"robot_quat_xyzw\":[0.005311335436999798,0.002412357134744525,-0.048844803124666214,0.9987894892692566],\"robot_xy\":[-2.8800926208496094,-10.2637357711792],\"robot_yaw_deg\":-5.597939899476452,\"robot_z\":1.1877694129943848,\"step\":309},{\"robot_quat_xyzw\":[0.005311335436999798,0.002412357134744525,-0.048844803124666214,0.9987894892692566],\"robot_xy\":[-2.8800926208496094,-10.2637357711792],\"robot_yaw_deg\":-5.597939899476452,\"robot_z\":1.1877694129943848,\"step\":310},{\"robot_quat_xyzw\":[0.004308185540139675,0.001956758787855506,-0.053634174168109894,0.9985495805740356],\"robot_xy\":[-2.8713886737823486,-10.274266242980957],\"robot_yaw_deg\":-6.147992966789753,\"robot_z\":1.1877694129943848,\"step\":311},{\"robot_quat_xyzw\":[0.007039663847535849,0.0012604307848960161,-0.057707298547029495,0.9983079433441162],\"robot_xy\":[-2.8619771003723145,-10.27711009979248],\"robot_yaw_deg\":-6.615287848973423,\"robot_z\":1.1877694129943848,\"step\":312},{\"robot_quat_xyzw\":[0.00958027970045805,2.6445428375154734e-05,-0.05396216735243797,0.9984970688819885],\"robot_xy\":[-2.8521876335144043,-10.276654243469238],\"robot_yaw_deg\":-6.18630274635119,\"robot_z\":1.1877694129943848,\"step\":313},{\"robot_quat_xyzw\":[0.010112464427947998,-0.0014170425711199641,-0.05735735595226288,0.9983015060424805],\"robot_xy\":[-2.8427257537841797,-10.27906608581543],\"robot_yaw_deg\":-6.577594803150843,\"robot_z\":1.1877694129943848,\"step\":314},{\"robot_quat_xyzw\":[0.010112464427947998,-0.0014170425711199641,-0.05735735595226288,0.9983015060424805],\"robot_xy\":[-2.8427257537841797,-10.27906608581543],\"robot_yaw_deg\":-6.577594803150843,\"robot_z\":1.1877694129943848,\"step\":315},{\"robot_quat_xyzw\":[0.006326655391603708,-0.001968874828889966,-0.06216677650809288,0.9980438351631165],\"robot_xy\":[-2.83418869972229,-10.289794921875],\"robot_yaw_deg\":-7.129700803630331,\"robot_z\":1.1877694129943848,\"step\":316},{\"robot_quat_xyzw\":[0.006879391148686409,-0.001528576365672052,-0.06143367663025856,0.9980863332748413],\"robot_xy\":[-2.8245537281036377,-10.29067325592041],\"robot_yaw_deg\":-7.045271694307925,\"robot_z\":1.1877694129943848,\"step\":317},{\"robot_quat_xyzw\":[0.00732130603864789,0.000272790202870965,-0.06210920959711075,0.9980425238609314],\"robot_xy\":[-2.814957857131958,-10.29215145111084],\"robot_yaw_deg\":-7.121359386444234,\"robot_z\":1.1877694129943848,\"step\":318},{\"robot_quat_xyzw\":[0.00732130603864789,0.000272790202870965,-0.06210920959711075,0.9980425238609314],\"robot_xy\":[-2.814957857131958,-10.29215145111084],\"robot_yaw_deg\":-7.121359386444234,\"robot_z\":1.1877694129943848,\"step\":319},{\"robot_quat_xyzw\":[0.004156878683716059,0.0029483544640243053,-0.06684039533138275,0.9977507591247559],\"robot_xy\":[-2.8065476417541504,-10.302849769592285],\"robot_yaw_deg\":-7.66370267475111,\"robot_z\":1.1877694129943848,\"step\":320},{\"robot_quat_xyzw\":[0.00526857003569603,0.004580393899232149,-0.06781277805566788,0.9976736903190613],\"robot_xy\":[-2.797031879425049,-10.304588317871094],\"robot_yaw_deg\":-7.774137680065749,\"robot_z\":1.1877694129943848,\"step\":321},{\"robot_quat_xyzw\":[0.005200572777539492,0.0051242895424366,-0.06689673662185669,0.9977332949638367],\"robot_xy\":[-2.7874014377593994,-10.305514335632324],\"robot_yaw_deg\":-7.668703430248516,\"robot_z\":1.1877694129943848,\"step\":322},{\"robot_quat_xyzw\":[0.004694991745054722,0.004587831441313028,-0.06765593588352203,0.9976872205734253],\"robot_xy\":[-2.777864456176758,-10.307097434997559],\"robot_yaw_deg\":-7.75644062707925,\"robot_z\":1.1877694129943848,\"step\":323},{\"robot_quat_xyzw\":[0.004694991745054722,0.004587831441313028,-0.06765593588352203,0.9976872205734253],\"robot_xy\":[-2.777864456176758,-10.307097434997559],\"robot_yaw_deg\":-7.75644062707925,\"robot_z\":1.1877694129943848,\"step\":324},{\"robot_quat_xyzw\":[0.001893452019430697,0.0031262182164937258,-0.07246503978967667,0.9973642826080322],\"robot_xy\":[-2.7695469856262207,-10.317978858947754],\"robot_yaw_deg\":-8.310602525195309,\"robot_z\":1.1877694129943848,\"step\":325},{\"robot_quat_xyzw\":[0.0037781549617648125,0.0016058753244578838,-0.0723547413945198,0.9973706007003784],\"robot_xy\":[-2.7599964141845703,-10.319321632385254],\"robot_yaw_deg\":-8.297780194393187,\"robot_z\":1.1877694129943848,\"step\":326},{\"robot_quat_xyzw\":[0.005932599306106567,0.001150672440417111,-0.07247132062911987,0.9973522424697876],\"robot_xy\":[-2.7504000663757324,-10.320771217346191],\"robot_yaw_deg\":-8.310986160193714,\"robot_z\":1.1877694129943848,\"step\":327},{\"robot_quat_xyzw\":[0.007722141221165657,0.0014734307769685984,-0.07240484654903412,0.9973443746566772],\"robot_xy\":[-2.7408549785614014,-10.322152137756348],\"robot_yaw_deg\":-8.302742502601982,\"robot_z\":1.1877694129943848,\"step\":328},{\"robot_quat_xyzw\":[0.007722141221165657,0.0014734307769685984,-0.07240484654903412,0.9973443746566772],\"robot_xy\":[-2.7408549785614014,-10.322152137756348],\"robot_yaw_deg\":-8.302742502601982,\"robot_z\":1.1877694129943848,\"step\":329},{\"robot_quat_xyzw\":[0.00975146982818842,0.0010614722268655896,-0.06762835383415222,0.9976623058319092],\"robot_xy\":[-2.7305941581726074,-10.31897258758545],\"robot_yaw_deg\":-7.754029409762032,\"robot_z\":1.1877694129943848,\"step\":330},{\"robot_quat_xyzw\":[0.008213545195758343,-8.710883412277326e-05,-0.0718420073390007,0.9973822832107544],\"robot_xy\":[-2.7212600708007812,-10.32208251953125],\"robot_yaw_deg\":-8.239392168080986,\"robot_z\":1.1877694129943848,\"step\":331},{\"robot_quat_xyzw\":[0.007117095403373241,-0.00026716283173300326,-0.06790876388549805,0.9976661205291748],\"robot_xy\":[-2.7114713191986084,-10.321846961975098],\"robot_yaw_deg\":-7.787785678178864,\"robot_z\":1.1877694129943848,\"step\":332},{\"robot_quat_xyzw\":[0.007117095403373241,-0.00026716283173300326,-0.06790876388549805,0.9976661205291748],\"robot_xy\":[-2.7114713191986084,-10.321846961975098],\"robot_yaw_deg\":-7.787785678178864,\"robot_z\":1.1877694129943848,\"step\":333},{\"robot_quat_xyzw\":[0.00666997442021966,0.0004091274458914995,-0.06309374421834946,0.997985303401947],\"robot_xy\":[-2.7014594078063965,-10.320263862609863],\"robot_yaw_deg\":-7.234348266775557,\"robot_z\":1.1877694129943848,\"step\":334},{\"robot_quat_xyzw\":[0.004595824982970953,0.0022653851192444563,-0.06743127107620239,0.9977108240127563],\"robot_xy\":[-2.692126512527466,-10.323358535766602],\"robot_yaw_deg\":-7.73171891225939,\"robot_z\":1.1877694129943848,\"step\":335},{\"robot_quat_xyzw\":[0.004672915209084749,0.003468467853963375,-0.06356660276651382,0.9979607462882996],\"robot_xy\":[-2.6823320388793945,-10.3230562210083],\"robot_yaw_deg\":-7.287321432281952,\"robot_z\":1.1877694129943848,\"step\":336},{\"robot_quat_xyzw\":[0.004348608199506998,0.0036736472975462675,-0.06708495318889618,0.9977310299873352],\"robot_xy\":[-2.67290997505188,-10.325675010681152],\"robot_yaw_deg\":-7.6914162312049585,\"robot_z\":1.1877694129943848,\"step\":337},{\"robot_quat_xyzw\":[0.004348608199506998,0.0036736472975462675,-0.06708495318889618,0.9977310299873352],\"robot_xy\":[-2.67290997505188,-10.325675010681152],\"robot_yaw_deg\":-7.6914162312049585,\"robot_z\":1.1877694129943848,\"step\":338},{\"robot_quat_xyzw\":[0.006635097321122885,0.0023448599968105555,-0.06230870634317398,0.99803227186203],\"robot_xy\":[-2.662569046020508,-10.321514129638672],\"robot_yaw_deg\":-7.142814615789115,\"robot_z\":1.1877694129943848,\"step\":339},{\"robot_quat_xyzw\":[0.0053106495179235935,0.0015890992945060134,-0.0664382129907608,0.997775137424469],\"robot_xy\":[-2.653198719024658,-10.324479103088379],\"robot_yaw_deg\":-7.617834029321445,\"robot_z\":1.1877694129943848,\"step\":340},{\"robot_quat_xyzw\":[0.004879157990217209,0.0015271685551851988,-0.06258472800254822,0.9980267286300659],\"robot_xy\":[-2.643364667892456,-10.324197769165039],\"robot_yaw_deg\":-7.17546579573507,\"robot_z\":1.1877694129943848,\"step\":341},{\"robot_quat_xyzw\":[0.004879157990217209,0.0015271685551851988,-0.06258472800254822,0.9980267286300659],\"robot_xy\":[-2.643364667892456,-10.324197769165039],\"robot_yaw_deg\":-7.17546579573507,\"robot_z\":1.1877694129943848,\"step\":342},{\"robot_quat_xyzw\":[0.004774414002895355,0.002330908551812172,-0.05782364308834076,0.9983127117156982],\"robot_xy\":[-2.633467674255371,-10.322847366333008],\"robot_yaw_deg\":-6.628511772371234,\"robot_z\":1.1877694129943848,\"step\":343},{\"robot_quat_xyzw\":[0.0028492144774645567,0.003127886215224862,-0.06206347793340683,0.9980632662773132],\"robot_xy\":[-2.6240756511688232,-10.325786590576172],\"robot_yaw_deg\":-7.11558677420342,\"robot_z\":1.1877694129943848,\"step\":344},{\"robot_quat_xyzw\":[0.003300982993096113,0.002773906569927931,-0.05820509418845177,0.9982953667640686],\"robot_xy\":[-2.6142780780792236,-10.325383186340332],\"robot_yaw_deg\":-6.67258308971988,\"robot_z\":1.1877694129943848,\"step\":345},{\"robot_quat_xyzw\":[0.003300982993096113,0.002773906569927931,-0.05820509418845177,0.9982953667640686],\"robot_xy\":[-2.6142780780792236,-10.325383186340332],\"robot_yaw_deg\":-6.67258308971988,\"robot_z\":1.1877694129943848,\"step\":346},{\"robot_quat_xyzw\":[0.004655919969081879,0.0021688740234822035,-0.05344066023826599,0.9985579252243042],\"robot_xy\":[-2.6044280529022217,-10.324259757995605],\"robot_yaw_deg\":-6.125594373348166,\"robot_z\":1.1877694129943848,\"step\":347},{\"robot_quat_xyzw\":[0.0039051698986440897,0.0019995018374174833,-0.057716432958841324,0.998323380947113],\"robot_xy\":[-2.5949954986572266,-10.327176094055176],\"robot_yaw_deg\":-6.616594189613896,\"robot_z\":1.1877694129943848,\"step\":348},{\"robot_quat_xyzw\":[0.0050211576744914055,0.0020014645997434855,-0.05389685928821564,0.9985319375991821],\"robot_xy\":[-2.585177183151245,-10.32668685913086],\"robot_yaw_deg\":-6.177934204470135,\"robot_z\":1.1877694129943848,\"step\":349},{\"robot_quat_xyzw\":[0.004420238081365824,0.0023035318590700626,-0.05728686973452568,0.9983454346656799],\"robot_xy\":[-2.5756826400756836,-10.329092979431152],\"robot_yaw_deg\":-6.567017658613269,\"robot_z\":1.1877694129943848,\"step\":350},{\"robot_quat_xyzw\":[0.00459422217682004,0.0016899432521313429,-0.05748450756072998,0.9983344674110413],\"robot_xy\":[-2.575416088104248,-10.32919979095459],\"robot_yaw_deg\":-6.589948310437864,\"robot_z\":1.1877694129943848,\"step\":351},{\"robot_quat_xyzw\":[0.006645709741860628,0.0003945702046621591,-0.05267659202218056,0.9985894560813904],\"robot_xy\":[-2.5651934146881104,-10.32530689239502],\"robot_yaw_deg\":-6.038657892768289,\"robot_z\":1.1877694129943848,\"step\":352},{\"robot_quat_xyzw\":[0.006088317837566137,0.0007079755305312574,-0.05693639814853668,0.9983590245246887],\"robot_xy\":[-2.5557761192321777,-10.328169822692871],\"robot_yaw_deg\":-6.527354924632397,\"robot_z\":1.1877694129943848,\"step\":353},{\"robot_quat_xyzw\":[0.006547445431351662,0.001689339173026383,-0.053024716675281525,0.9985703229904175],\"robot_xy\":[-2.5460097789764404,-10.327677726745605],\"robot_yaw_deg\":-6.077671923886206,\"robot_z\":1.1877694129943848,\"step\":354},{\"robot_quat_xyzw\":[0.006547445431351662,0.001689339173026383,-0.053024716675281525,0.9985703229904175],\"robot_xy\":[-2.5460097789764404,-10.327677726745605],\"robot_yaw_deg\":-6.077671923886206,\"robot_z\":1.1877694129943848,\"step\":355},{\"robot_quat_xyzw\":[0.0020593376830220222,0.0024989142548292875,-0.05779688432812691,0.9983230829238892],\"robot_xy\":[-2.53739595413208,-10.338262557983398],\"robot_yaw_deg\":-6.62619006228308,\"robot_z\":1.1877694129943848,\"step\":356},{\"robot_quat_xyzw\":[0.0020698783919215202,0.0020773522555828094,-0.06257293373346329,0.9980360865592957],\"robot_xy\":[-2.528080463409424,-10.341981887817383],\"robot_yaw_deg\":-7.174559624026909,\"robot_z\":1.1877694129943848,\"step\":357},{\"robot_quat_xyzw\":[0.004442035220563412,0.001999893458560109,-0.05824173241853714,0.9982907176017761],\"robot_xy\":[-2.518263816833496,-10.341348648071289],\"robot_yaw_deg\":-6.676753881210543,\"robot_z\":1.1877694129943848,\"step\":358},{\"robot_quat_xyzw\":[0.0057675838470458984,0.002132915426045656,-0.062307097017765045,0.9980382323265076],\"robot_xy\":[-2.508852958679199,-10.3441162109375],\"robot_yaw_deg\":-7.143028124548218,\"robot_z\":1.1877694129943848,\"step\":359},{\"robot_quat_xyzw\":[0.0057675838470458984,0.002132915426045656,-0.062307097017765045,0.9980382323265076],\"robot_xy\":[-2.508852958679199,-10.3441162109375],\"robot_yaw_deg\":-7.143028124548218,\"robot_z\":1.1877694129943848,\"step\":360},{\"robot_quat_xyzw\":[0.0030266903340816498,0.00238683819770813,-0.06708452850580215,0.9977399110794067],\"robot_xy\":[-2.5004355907440186,-10.354875564575195],\"robot_yaw_deg\":-7.692309075660957,\"robot_z\":1.1877694129943848,\"step\":361},{\"robot_quat_xyzw\":[0.005133893806487322,0.0019299633568152785,-0.06525318324565887,0.997853696346283],\"robot_xy\":[-2.4907779693603516,-10.355386734008789],\"robot_yaw_deg\":-7.481598985336982,\"robot_z\":1.1877694129943848,\"step\":362},{\"robot_quat_xyzw\":[0.005744823720306158,0.001628388068638742,-0.06689385324716568,0.9977422952651978],\"robot_xy\":[-2.4812686443328857,-10.357335090637207],\"robot_yaw_deg\":-7.670042289967031,\"robot_z\":1.1877694129943848,\"step\":363},{\"robot_quat_xyzw\":[0.005744823720306158,0.001628388068638742,-0.06689385324716568,0.9977422952651978],\"robot_xy\":[-2.4812686443328857,-10.357335090637207],\"robot_yaw_deg\":-7.670042289967031,\"robot_z\":1.1877694129943848,\"step\":364},{\"robot_quat_xyzw\":[0.0019277423853054643,0.0014450798043981194,-0.0716644898056984,0.9974259734153748],\"robot_xy\":[-2.472949981689453,-10.368157386779785],\"robot_yaw_deg\":-8.218886563092184,\"robot_z\":1.1877694129943848,\"step\":365},{\"robot_quat_xyzw\":[0.0031408509239554405,0.001314049819484353,-0.07088006287813187,0.9974790811538696],\"robot_xy\":[-2.4633307456970215,-10.369185447692871],\"robot_yaw_deg\":-8.128586779877837,\"robot_z\":1.1877694129943848,\"step\":366},{\"robot_quat_xyzw\":[0.004619814921170473,0.0016924940282478929,-0.07163763046264648,0.9974187016487122],\"robot_xy\":[-2.453765869140625,-10.370887756347656],\"robot_yaw_deg\":-8.21516786900956,\"robot_z\":1.1877694129943848,\"step\":367},{\"robot_quat_xyzw\":[0.005904790014028549,0.002600059611722827,-0.07097112387418747,0.9974575638771057],\"robot_xy\":[-2.444188356399536,-10.3720121383667],\"robot_yaw_deg\":-8.137735072490912,\"robot_z\":1.1877694129943848,\"step\":368},{\"robot_quat_xyzw\":[0.005904790014028549,0.002600059611722827,-0.07097112387418747,0.9974575638771057],\"robot_xy\":[-2.444188356399536,-10.3720121383667],\"robot_yaw_deg\":-8.137735072490912,\"robot_z\":1.1877694129943848,\"step\":369},{\"robot_quat_xyzw\":[0.002624395303428173,0.003197794547304511,-0.07575369626283646,0.9971179962158203],\"robot_xy\":[-2.435955762863159,-10.382927894592285],\"robot_yaw_deg\":-8.688211116650317,\"robot_z\":1.1877694129943848,\"step\":370},{\"robot_quat_xyzw\":[0.004397980403155088,0.0023576109670102596,-0.0762089267373085,0.9970794320106506],\"robot_xy\":[-2.426429510116577,-10.384583473205566],\"robot_yaw_deg\":-8.740190098347341,\"robot_z\":1.1877694129943848,\"step\":371},{\"robot_quat_xyzw\":[0.006721894722431898,0.0015138969756662846,-0.07588393241167068,0.9970928430557251],\"robot_xy\":[-2.4168710708618164,-10.385927200317383],\"robot_yaw_deg\":-8.702707643091376,\"robot_z\":1.1877694129943848,\"step\":372},{\"robot_quat_xyzw\":[0.0077773514203727245,0.00024152697005774826,-0.0761532410979271,0.9970659017562866],\"robot_xy\":[-2.4073379039764404,-10.387503623962402],\"robot_yaw_deg\":-8.73450291761746,\"robot_z\":1.1877694129943848,\"step\":373},{\"robot_quat_xyzw\":[0.0077773514203727245,0.00024152697005774826,-0.0761532410979271,0.9970659017562866],\"robot_xy\":[-2.4073379039764404,-10.387503623962402],\"robot_yaw_deg\":-8.73450291761746,\"robot_z\":1.1877694129943848,\"step\":374},{\"robot_quat_xyzw\":[0.004001616965979338,1.0018819921242539e-05,-0.08097461611032486,0.9967082142829895],\"robot_xy\":[-2.399261713027954,-10.398519515991211],\"robot_yaw_deg\":-9.289100444849723,\"robot_z\":1.1877694129943848,\"step\":375},{\"robot_quat_xyzw\":[0.004609940107911825,0.00032317196018993855,-0.07988163083791733,0.996793806552887],\"robot_xy\":[-2.3896067142486572,-10.399609565734863],\"robot_yaw_deg\":-9.16326184163155,\"robot_z\":1.1877694129943848,\"step\":376},{\"robot_quat_xyzw\":[0.00494387187063694,0.0018975005950778723,-0.08094535022974014,0.9967045187950134],\"robot_xy\":[-2.380126476287842,-10.401598930358887],\"robot_yaw_deg\":-9.284690411577136,\"robot_z\":1.1877694129943848,\"step\":377},{\"robot_quat_xyzw\":[0.00494387187063694,0.0018975005950778723,-0.08094535022974014,0.9967045187950134],\"robot_xy\":[-2.380126476287842,-10.401598930358887],\"robot_yaw_deg\":-9.284690411577136,\"robot_z\":1.1877694129943848,\"step\":378},{\"robot_quat_xyzw\":[0.0010491203283891082,0.003347167745232582,-0.08572643250226974,0.9963125586509705],\"robot_xy\":[-2.3721132278442383,-10.412681579589844],\"robot_yaw_deg\":-9.835360976861928,\"robot_z\":1.1877694129943848,\"step\":379},{\"robot_quat_xyzw\":[0.002556462772190571,0.0033977143466472626,-0.08319629728794098,0.9965240955352783],\"robot_xy\":[-2.362391948699951,-10.413208961486816],\"robot_yaw_deg\":-9.543778161631172,\"robot_z\":1.1877694129943848,\"step\":380},{\"robot_quat_xyzw\":[0.004627547692507505,0.002600104082375765,-0.08553579449653625,0.9963209629058838],\"robot_xy\":[-2.3530185222625732,-10.415801048278809],\"robot_yaw_deg\":-9.812308584856783,\"robot_z\":1.1877694129943848,\"step\":381},{\"robot_quat_xyzw\":[0.007551920600235462,0.0014665592461824417,-0.08347796648740768,0.9964799880981445],\"robot_xy\":[-2.3433563709259033,-10.41662311553955],\"robot_yaw_deg\":-9.575525388341873,\"robot_z\":1.1877694129943848,\"step\":382},{\"robot_quat_xyzw\":[0.007551920600235462,0.0014665592461824417,-0.08347796648740768,0.9964799880981445],\"robot_xy\":[-2.3433563709259033,-10.41662311553955],\"robot_yaw_deg\":-9.575525388341873,\"robot_z\":1.1877694129943848,\"step\":383},{\"robot_quat_xyzw\":[0.005290553905069828,0.0012215888127684593,-0.08830540627241135,0.9960786700248718],\"robot_xy\":[-2.3354432582855225,-10.427750587463379],\"robot_yaw_deg\":-10.131405513058064,\"robot_z\":1.1877694129943848,\"step\":384},{\"robot_quat_xyzw\":[0.005290553905069828,0.0012215888127684593,-0.08830540627241135,0.9960786700248718],\"robot_xy\":[-2.3354432582855225,-10.427750587463379],\"robot_yaw_deg\":-10.131405513058064,\"robot_z\":1.1877694129943848,\"step\":385},{\"robot_quat_xyzw\":[0.0031374203972518444,0.001538208220154047,-0.09305653721094131,0.9956547617912292],\"robot_xy\":[-2.3275861740112305,-10.438925743103027],\"robot_yaw_deg\":-10.678387329678737,\"robot_z\":1.1877694129943848,\"step\":386},{\"robot_quat_xyzw\":[0.0031374203972518444,0.001538208220154047,-0.09305653721094131,0.9956547617912292],\"robot_xy\":[-2.3275861740112305,-10.438925743103027],\"robot_yaw_deg\":-10.678387329678737,\"robot_z\":1.1877694129943848,\"step\":387},{\"robot_quat_xyzw\":[0.001989886164665222,0.002266296185553074,-0.09783145785331726,0.9951984882354736],\"robot_xy\":[-2.3198494911193848,-10.450203895568848],\"robot_yaw_deg\":-11.228177738503215,\"robot_z\":1.1877694129943848,\"step\":388},{\"robot_quat_xyzw\":[0.001989886164665222,0.002266296185553074,-0.09783145785331726,0.9951984882354736],\"robot_xy\":[-2.3198494911193848,-10.450203895568848],\"robot_yaw_deg\":-11.228177738503215,\"robot_z\":1.1877694129943848,\"step\":389},{\"robot_quat_xyzw\":[0.0020829227287322283,0.001964874565601349,-0.102610744535923,0.994717538356781],\"robot_xy\":[-2.3122122287750244,-10.461569786071777],\"robot_yaw_deg\":-11.778642000088906,\"robot_z\":1.1877694129943848,\"step\":390},{\"robot_quat_xyzw\":[0.0029843077063560486,0.0015720014926046133,-0.10738839209079742,0.9942115545272827],\"robot_xy\":[-2.3046932220458984,-10.473004341125488],\"robot_yaw_deg\":-12.329047221837458,\"robot_z\":1.1877694129943848,\"step\":391},{\"robot_quat_xyzw\":[0.0029843077063560486,0.0015720014926046133,-0.10738839209079742,0.9942115545272827],\"robot_xy\":[-2.3046932220458984,-10.473004341125488],\"robot_yaw_deg\":-12.329047221837458,\"robot_z\":1.1877694129943848,\"step\":392},{\"robot_quat_xyzw\":[0.0044431984424591064,0.0018183041829615831,-0.11215271800756454,0.993679404258728],\"robot_xy\":[-2.2972893714904785,-10.484498977661133],\"robot_yaw_deg\":-12.877887391913498,\"robot_z\":1.1877694129943848,\"step\":393},{\"robot_quat_xyzw\":[0.0044431984424591064,0.0018183041829615831,-0.11215271800756454,0.993679404258728],\"robot_xy\":[-2.2972893714904785,-10.484498977661133],\"robot_yaw_deg\":-12.877887391913498,\"robot_z\":1.1877694129943848,\"step\":394},{\"robot_quat_xyzw\":[0.005908934865146875,0.00222407141700387,-0.11692515015602112,0.9931207299232483],\"robot_xy\":[-2.2900075912475586,-10.496062278747559],\"robot_yaw_deg\":-13.427760699202066,\"robot_z\":1.1877694129943848,\"step\":395},{\"robot_quat_xyzw\":[0.0058474186807870865,0.002313954057171941,-0.12169697135686874,0.9925474524497986],\"robot_xy\":[-2.2828011512756348,-10.507706642150879],\"robot_yaw_deg\":-13.97847452048466,\"robot_z\":1.1877694129943848,\"step\":396},{\"robot_quat_xyzw\":[0.0058474186807870865,0.002313954057171941,-0.12169697135686874,0.9925474524497986],\"robot_xy\":[-2.2828011512756348,-10.507706642150879],\"robot_yaw_deg\":-13.97847452048466,\"robot_z\":1.1877694129943848,\"step\":397},{\"robot_quat_xyzw\":[0.004828378092497587,0.001701352302916348,-0.126461923122406,0.9919583201408386],\"robot_xy\":[-2.2757010459899902,-10.519407272338867],\"robot_yaw_deg\":-14.529363288517514,\"robot_z\":1.1877694129943848,\"step\":398},{\"robot_quat_xyzw\":[0.003459966043010354,0.0014186433982104063,-0.13120923936367035,0.9913477301597595],\"robot_xy\":[-2.2687203884124756,-10.53117561340332],\"robot_yaw_deg\":-15.078366171169892,\"robot_z\":1.1877694129943848,\"step\":399},{\"robot_quat_xyzw\":[0.003459966043010354,0.0014186433982104063,-0.13120923936367035,0.9913477301597595],\"robot_xy\":[-2.2687203884124756,-10.53117561340332],\"robot_yaw_deg\":-15.078366171169892,\"robot_z\":1.1877694129943848,\"step\":400},{\"robot_quat_xyzw\":[0.0010871747508645058,-0.0003973538987338543,-0.13622401654720306,0.9906774163246155],\"robot_xy\":[-2.26173996925354,-10.543448448181152],\"robot_yaw_deg\":-15.658852453202673,\"robot_z\":1.1877694129943848,\"step\":401},{\"robot_quat_xyzw\":[-0.0028041377663612366,-0.0016139125218614936,-0.1409992277622223,0.9900044798851013],\"robot_xy\":[-2.2550251483917236,-10.55538558959961],\"robot_yaw_deg\":-16.210846998008133,\"robot_z\":1.1877694129943848,\"step\":402},{\"robot_quat_xyzw\":[-0.0028041377663612366,-0.0016139125218614936,-0.1409992277622223,0.9900044798851013],\"robot_xy\":[-2.2550251483917236,-10.55538558959961],\"robot_yaw_deg\":-16.210846998008133,\"robot_z\":1.1877694129943848,\"step\":403},{\"robot_quat_xyzw\":[-0.006288323551416397,-0.0018593108979985118,-0.1457340568304062,0.9893021583557129],\"robot_xy\":[-2.2484192848205566,-10.567338943481445],\"robot_yaw_deg\":-16.75806342531204,\"robot_z\":1.1877694129943848,\"step\":404},{\"robot_quat_xyzw\":[-0.00870460830628872,-0.002277430845424533,-0.15047600865364075,0.9885726571083069],\"robot_xy\":[-2.2419192790985107,-10.579379081726074],\"robot_yaw_deg\":-17.30635885003695,\"robot_z\":1.1877694129943848,\"step\":405},{\"robot_quat_xyzw\":[-0.00870460830628872,-0.002277430845424533,-0.15047600865364075,0.9885726571083069],\"robot_xy\":[-2.2419192790985107,-10.579379081726074],\"robot_yaw_deg\":-17.30635885003695,\"robot_z\":1.1877694129943848,\"step\":406},{\"robot_quat_xyzw\":[-0.010209089145064354,-0.0032208915799856186,-0.15521112084388733,0.9878233075141907],\"robot_xy\":[-2.235536575317383,-10.591482162475586],\"robot_yaw_deg\":-17.853877273131598,\"robot_z\":1.1877694129943848,\"step\":407},{\"robot_quat_xyzw\":[-0.010999348014593124,-0.004013278987258673,-0.15994000434875488,0.9870573878288269],\"robot_xy\":[-2.2292749881744385,-10.603635787963867],\"robot_yaw_deg\":-18.401404532054336,\"robot_z\":1.1877694129943848,\"step\":408},{\"robot_quat_xyzw\":[-0.010999348014593124,-0.004013278987258673,-0.15994000434875488,0.9870573878288269],\"robot_xy\":[-2.2292749881744385,-10.603635787963867],\"robot_yaw_deg\":-18.401404532054336,\"robot_z\":1.1877694129943848,\"step\":409},{\"robot_quat_xyzw\":[-0.01115160621702671,-0.004215916618704796,-0.16466474533081055,0.9862775802612305],\"robot_xy\":[-2.223128080368042,-10.615836143493652],\"robot_yaw_deg\":-18.949799565754216,\"robot_z\":1.1877694129943848,\"step\":410},{\"robot_quat_xyzw\":[-0.010667514055967331,-0.0038342387415468693,-0.1693909615278244,0.985483705997467],\"robot_xy\":[-2.217095375061035,-10.628095626831055],\"robot_yaw_deg\":-19.4997710050482,\"robot_z\":1.1877694129943848,\"step\":411},{\"robot_quat_xyzw\":[-0.009486028924584389,-0.003151168115437031,-0.17412088811397552,0.9846735000610352],\"robot_xy\":[-2.2111849784851074,-10.640414237976074],\"robot_yaw_deg\":-20.051227103627156,\"robot_z\":1.1877694129943848,\"step\":412},{\"robot_quat_xyzw\":[-0.009486028924584389,-0.003151168115437031,-0.17412088811397552,0.9846735000610352],\"robot_xy\":[-2.2111849784851074,-10.640414237976074],\"robot_yaw_deg\":-20.051227103627156,\"robot_z\":1.1877694129943848,\"step\":413},{\"robot_quat_xyzw\":[-0.007534805219620466,-0.002323491731658578,-0.1788506954908371,0.9838446378707886],\"robot_xy\":[-2.2053940296173096,-10.652796745300293],\"robot_yaw_deg\":-20.603380320479044,\"robot_z\":1.1877694129943848,\"step\":414},{\"robot_quat_xyzw\":[-0.004829069133847952,-0.0013903977815061808,-0.18357576429843903,0.9829927682876587],\"robot_xy\":[-2.1997227668762207,-10.665239334106445],\"robot_yaw_deg\":-21.155326712526836,\"robot_z\":1.1877694129943848,\"step\":415},{\"robot_quat_xyzw\":[-0.004829069133847952,-0.0013903977815061808,-0.18357576429843903,0.9829927682876587],\"robot_xy\":[-2.1997227668762207,-10.665239334106445],\"robot_yaw_deg\":-21.155326712526836,\"robot_z\":1.1877694129943848,\"step\":416},{\"robot_quat_xyzw\":[-0.001402292400598526,-0.000250873010372743,-0.18829290568828583,0.982111930847168],\"robot_xy\":[-2.1941721439361572,-10.677735328674316],\"robot_yaw_deg\":-21.706299169934574,\"robot_z\":1.1877694129943848,\"step\":417},{\"robot_quat_xyzw\":[0.002743263728916645,0.001158321276307106,-0.19299866259098053,0.9811946153640747],\"robot_xy\":[-2.1887423992156982,-10.690285682678223],\"robot_yaw_deg\":-22.255300457701786,\"robot_z\":1.1877694129943848,\"step\":418},{\"robot_quat_xyzw\":[0.002743263728916645,0.001158321276307106,-0.19299866259098053,0.9811946153640747],\"robot_xy\":[-2.1887423992156982,-10.690285682678223],\"robot_yaw_deg\":-22.255300457701786,\"robot_z\":1.1877694129943848,\"step\":419},{\"robot_quat_xyzw\":[0.006659869570285082,0.002048628870397806,-0.19770264625549316,0.9802373647689819],\"robot_xy\":[-2.1834447383880615,-10.702877044677734],\"robot_yaw_deg\":-22.80352604565903,\"robot_z\":1.1877694129943848,\"step\":420},{\"robot_quat_xyzw\":[0.008558817207813263,0.002970803529024124,-0.20240327715873718,0.9792603850364685],\"robot_xy\":[-2.178229331970215,-10.715542793273926],\"robot_yaw_deg\":-23.351897098949078,\"robot_z\":1.1877694129943848,\"step\":421},{\"robot_quat_xyzw\":[0.00895971991121769,0.002775037195533514,-0.20710857212543488,0.9782730340957642],\"robot_xy\":[-2.173154830932617,-10.728245735168457],\"robot_yaw_deg\":-23.90269944463185,\"robot_z\":1.1877694129943848,\"step\":422},{\"robot_quat_xyzw\":[0.00895971991121769,0.002775037195533514,-0.20710857212543488,0.9782730340957642],\"robot_xy\":[-2.173154830932617,-10.728245735168457],\"robot_yaw_deg\":-23.90269944463185,\"robot_z\":1.1877694129943848,\"step\":423},{\"robot_quat_xyzw\":[0.007943934760987759,0.0021384782157838345,-0.21181416511535645,0.9772753715515137],\"robot_xy\":[-2.1681954860687256,-10.741000175476074],\"robot_yaw_deg\":-24.455057025083818,\"robot_z\":1.1877694129943848,\"step\":424},{\"robot_quat_xyzw\":[0.005483242683112621,0.0008226678473874927,-0.21651627123355865,0.9762632846832275],\"robot_xy\":[-2.163363456726074,-10.753801345825195],\"robot_yaw_deg\":-25.008208404148778,\"robot_z\":1.1877694129943848,\"step\":425},{\"robot_quat_xyzw\":[0.005483242683112621,0.0008226678473874927,-0.21651627123355865,0.9762632846832275],\"robot_xy\":[-2.163363456726074,-10.753801345825195],\"robot_yaw_deg\":-25.008208404148778,\"robot_z\":1.1877694129943848,\"step\":426},{\"robot_quat_xyzw\":[0.002168640960007906,0.0004908628761768341,-0.22119902074337006,0.9752261638641357],\"robot_xy\":[-2.1586802005767822,-10.766631126403809],\"robot_yaw_deg\":-25.55877816697128,\"robot_z\":1.1877694129943848,\"step\":427},{\"robot_quat_xyzw\":[-0.0006547919474542141,0.00014318728062789887,-0.2258688062429428,0.9741575121879578],\"robot_xy\":[-2.1540932655334473,-10.77950382232666],\"robot_yaw_deg\":-26.10795031451685,\"robot_z\":1.1877694129943848,\"step\":428},{\"robot_quat_xyzw\":[-0.00257982243783772,-7.208202441688627e-05,-0.2305411845445633,0.9730592370033264],\"robot_xy\":[-2.149641275405884,-10.792435646057129],\"robot_yaw_deg\":-26.657773821707544,\"robot_z\":1.1877694129943848,\"step\":429},{\"robot_quat_xyzw\":[-0.00257982243783772,-7.208202441688627e-05,-0.2305411845445633,0.9730592370033264],\"robot_xy\":[-2.149641275405884,-10.792435646057129],\"robot_yaw_deg\":-26.657773821707544,\"robot_z\":1.1877694129943848,\"step\":430},{\"robot_quat_xyzw\":[-0.0036835912615060806,-0.0005507925525307655,-0.23520958423614502,0.9719377160072327],\"robot_xy\":[-2.1453139781951904,-10.805414199829102],\"robot_yaw_deg\":-27.207597038930242,\"robot_z\":1.1877694129943848,\"step\":431},{\"robot_quat_xyzw\":[-0.004051068797707558,-0.0009481533779762685,-0.23987002670764923,0.9707961082458496],\"robot_xy\":[-2.1411125659942627,-10.818426132202148],\"robot_yaw_deg\":-27.757180640184018,\"robot_z\":1.1877694129943848,\"step\":432},{\"robot_quat_xyzw\":[-0.004051068797707558,-0.0009481533779762685,-0.23987002670764923,0.9707961082458496],\"robot_xy\":[-2.1411125659942627,-10.818426132202148],\"robot_yaw_deg\":-27.757180640184018,\"robot_z\":1.1877694129943848,\"step\":433},{\"robot_quat_xyzw\":[-0.00371157587505877,-0.00099115539342165,-0.24452154338359833,0.9696363210678101],\"robot_xy\":[-2.137036085128784,-10.831475257873535],\"robot_yaw_deg\":-28.30661666273529,\"robot_z\":1.1877694129943848,\"step\":434},{\"robot_quat_xyzw\":[-0.0026573084760457277,-0.000644889019895345,-0.24916651844978333,0.9684568047523499],\"robot_xy\":[-2.133082628250122,-10.844559669494629],\"robot_yaw_deg\":-28.85614771869027,\"robot_z\":1.1877694129943848,\"step\":435},{\"robot_quat_xyzw\":[-0.0008703293278813362,-3.549549728631973e-05,-0.2538072168827057,0.9672544598579407],\"robot_xy\":[-2.1292572021484375,-10.857683181762695],\"robot_yaw_deg\":-29.405825027977713,\"robot_z\":1.1877694129943848,\"step\":436},{\"robot_quat_xyzw\":[-0.0008703293278813362,-3.549549728631973e-05,-0.2538072168827057,0.9672544598579407],\"robot_xy\":[-2.1292572021484375,-10.857683181762695],\"robot_yaw_deg\":-29.405825027977713,\"robot_z\":1.1877694129943848,\"step\":437},{\"robot_quat_xyzw\":[0.001669835764914751,0.0007238219841383398,-0.25844240188598633,0.9660250544548035],\"robot_xy\":[-2.125558614730835,-10.870847702026367],\"robot_yaw_deg\":-29.955188227735913,\"robot_z\":1.1877694129943848,\"step\":438},{\"robot_quat_xyzw\":[0.004960623104125261,0.001592407701537013,-0.2630704641342163,0.9647625684738159],\"robot_xy\":[-2.121986150741577,-10.884049415588379],\"robot_yaw_deg\":-30.503664418281204,\"robot_z\":1.1877694129943848,\"step\":439},{\"robot_quat_xyzw\":[0.007597369607537985,0.0020517134107649326,-0.26770585775375366,0.9634684920310974],\"robot_xy\":[-2.1185576915740967,-10.897278785705566],\"robot_yaw_deg\":-31.053467536470286,\"robot_z\":1.1877694129943848,\"step\":440},{\"robot_quat_xyzw\":[0.007597369607537985,0.0020517134107649326,-0.26770585775375366,0.9634684920310974],\"robot_xy\":[-2.1185576915740967,-10.897278785705566],\"robot_yaw_deg\":-31.053467536470286,\"robot_z\":1.1877694129943848,\"step\":441},{\"robot_quat_xyzw\":[0.008764654397964478,0.002480864292010665,-0.27233102917671204,0.9621605277061462],\"robot_xy\":[-2.115208148956299,-10.910569190979004],\"robot_yaw_deg\":-31.60314978081126,\"robot_z\":1.1877694129943848,\"step\":442},{\"robot_quat_xyzw\":[0.008370216935873032,0.001973923295736313,-0.27695605158805847,0.9608441591262817],\"robot_xy\":[-2.1120150089263916,-10.923869132995605],\"robot_yaw_deg\":-32.15483431892481,\"robot_z\":1.1877694129943848,\"step\":443},{\"robot_quat_xyzw\":[0.008370216935873032,0.001973923295736313,-0.27695605158805847,0.9608441591262817],\"robot_xy\":[-2.1120150089263916,-10.923869132995605],\"robot_yaw_deg\":-32.15483431892481,\"robot_z\":1.1877694129943848,\"step\":444},{\"robot_quat_xyzw\":[0.00655441964045167,0.0012449503410607576,-0.28157564997673035,0.9595157504081726],\"robot_xy\":[-2.1089375019073486,-10.937209129333496],\"robot_yaw_deg\":-32.70721098215561,\"robot_z\":1.1877694129943848,\"step\":445},{\"robot_quat_xyzw\":[0.00388934463262558,0.0007203682907857001,-0.28618448972702026,0.9581663608551025],\"robot_xy\":[-2.1060054302215576,-10.950553894042969],\"robot_yaw_deg\":-33.25886848892571,\"robot_z\":1.1877694129943848,\"step\":446},{\"robot_quat_xyzw\":[0.0018290705047547817,0.0005102037684991956,-0.2907690107822418,0.9567915201187134],\"robot_xy\":[-2.103193759918213,-10.963926315307617],\"robot_yaw_deg\":-33.80788135425023,\"robot_z\":1.1877694129943848,\"step\":447},{\"robot_quat_xyzw\":[0.0018290705047547817,0.0005102037684991956,-0.2907690107822418,0.9567915201187134],\"robot_xy\":[-2.103193759918213,-10.963926315307617],\"robot_yaw_deg\":-33.80788135425023,\"robot_z\":1.1877694129943848,\"step\":448},{\"robot_quat_xyzw\":[0.0005877814255654812,0.0005857525393366814,-0.29535406827926636,0.955387532711029],\"robot_xy\":[-2.100515842437744,-10.977334976196289],\"robot_yaw_deg\":-34.357520436788555,\"robot_z\":1.1877694129943848,\"step\":449},{\"robot_quat_xyzw\":[0.00015665637329220772,0.0005171630764380097,-0.29993656277656555,0.953959047794342],\"robot_xy\":[-2.0979690551757812,-10.990776062011719],\"robot_yaw_deg\":-34.907593023886996,\"robot_z\":1.1877694129943848,\"step\":450},{\"robot_quat_xyzw\":[0.0008950843475759029,2.302896427863743e-05,-0.3001227378845215,0.9539002776145935],\"robot_xy\":[-2.097881317138672,-10.991218566894531],\"robot_yaw_deg\":-34.92993957696155,\"robot_z\":1.1877694129943848,\"step\":451},{\"robot_quat_xyzw\":[-0.0037742771673947573,-0.0018073901301249862,-0.304726779460907,0.9524306058883667],\"robot_xy\":[-2.095506191253662,-11.004669189453125],\"robot_yaw_deg\":-35.482773199852986,\"robot_z\":1.1877694129943848,\"step\":452},{\"robot_quat_xyzw\":[-0.00816147867590189,-0.002763627329841256,-0.3093155324459076,0.9509205222129822],\"robot_xy\":[-2.093254566192627,-11.01816463470459],\"robot_yaw_deg\":-36.03328081006287,\"robot_z\":1.1877694129943848,\"step\":453},{\"robot_quat_xyzw\":[-0.012086283415555954,-0.002538961824029684,-0.3138594329357147,0.9493891596794128],\"robot_xy\":[-2.0910799503326416,-11.031644821166992],\"robot_yaw_deg\":-36.579242254714714,\"robot_z\":1.1877694129943848,\"step\":454},{\"robot_quat_xyzw\":[-0.012086283415555954,-0.002538961824029684,-0.3138594329357147,0.9493891596794128],\"robot_xy\":[-2.0910799503326416,-11.031644821166992],\"robot_yaw_deg\":-36.579242254714714,\"robot_z\":1.1877694129943848,\"step\":455},{\"robot_quat_xyzw\":[-0.015122013166546822,-0.002205885946750641,-0.3184141218662262,0.9478285312652588],\"robot_xy\":[-2.0890514850616455,-11.045156478881836],\"robot_yaw_deg\":-37.12779503059088,\"robot_z\":1.1877694129943848,\"step\":456},{\"robot_quat_xyzw\":[-0.017221488058567047,-0.0024959745351225138,-0.32296228408813477,0.9462519884109497],\"robot_xy\":[-2.087156057357788,-11.05870246887207],\"robot_yaw_deg\":-37.67618800890773,\"robot_z\":1.1877694129943848,\"step\":457},{\"robot_quat_xyzw\":[-0.01856093294918537,-0.0031836936250329018,-0.3274939954280853,0.9446656703948975],\"robot_xy\":[-2.085393190383911,-11.072260856628418],\"robot_yaw_deg\":-38.22335159184907,\"robot_z\":1.1877694129943848,\"step\":458},{\"robot_quat_xyzw\":[-0.01856093294918537,-0.0031836936250329018,-0.3274939954280853,0.9446656703948975],\"robot_xy\":[-2.085393190383911,-11.072260856628418],\"robot_yaw_deg\":-38.22335159184907,\"robot_z\":1.1877694129943848,\"step\":459},{\"robot_quat_xyzw\":[-0.019167151302099228,-0.0035520896781235933,-0.3320175111293793,0.9430719017982483],\"robot_xy\":[-2.0837552547454834,-11.085824012756348],\"robot_yaw_deg\":-38.77140304950126,\"robot_z\":1.1877694129943848,\"step\":460},{\"robot_quat_xyzw\":[-0.019065259024500847,-0.003433890175074339,-0.3365309536457062,0.9414732456207275],\"robot_xy\":[-2.082242012023926,-11.099398612976074],\"robot_yaw_deg\":-39.32043364213406,\"robot_z\":1.1877694129943848,\"step\":461},{\"robot_quat_xyzw\":[-0.019065259024500847,-0.003433890175074339,-0.3365309536457062,0.9414732456207275],\"robot_xy\":[-2.082242012023926,-11.099398612976074],\"robot_yaw_deg\":-39.32043364213406,\"robot_z\":1.1877694129943848,\"step\":462},{\"robot_quat_xyzw\":[-0.018233127892017365,-0.0030272314324975014,-0.34103986620903015,0.9398671984672546],\"robot_xy\":[-2.0808615684509277,-11.112982749938965],\"robot_yaw_deg\":-39.87085289587181,\"robot_z\":1.1877694129943848,\"step\":463},{\"robot_quat_xyzw\":[-0.0166318416595459,-0.002550950041040778,-0.34554365277290344,0.938251793384552],\"robot_xy\":[-2.079615354537964,-11.12658405303955],\"robot_yaw_deg\":-40.422205798597595,\"robot_z\":1.1877694129943848,\"step\":464},{\"robot_quat_xyzw\":[-0.014257697388529778,-0.0020990127231925726,-0.3500382602214813,0.9366244673728943],\"robot_xy\":[-2.078502655029297,-11.1402006149292],\"robot_yaw_deg\":-40.973692765159626,\"robot_z\":1.1877694129943848,\"step\":465},{\"robot_quat_xyzw\":[-0.014257697388529778,-0.0020990127231925726,-0.3500382602214813,0.9366244673728943],\"robot_xy\":[-2.078502655029297,-11.1402006149292],\"robot_yaw_deg\":-40.973692765159626,\"robot_z\":1.1877694129943848,\"step\":466},{\"robot_quat_xyzw\":[-0.011132227256894112,-0.0016063377261161804,-0.3545233905315399,0.9349795579910278],\"robot_xy\":[-2.0775198936462402,-11.153830528259277],\"robot_yaw_deg\":-41.5250800614896,\"robot_z\":1.1877694129943848,\"step\":467},{\"robot_quat_xyzw\":[-0.007257829885929823,-0.0009813423966988921,-0.3589996099472046,0.9333089590072632],\"robot_xy\":[-2.0766687393188477,-11.167469024658203],\"robot_yaw_deg\":-42.076132956120205,\"robot_z\":1.1877694129943848,\"step\":468},{\"robot_quat_xyzw\":[-0.007257829885929823,-0.0009813423966988921,-0.3589996099472046,0.9333089590072632],\"robot_xy\":[-2.0766687393188477,-11.167469024658203],\"robot_yaw_deg\":-42.076132956120205,\"robot_z\":1.1877694129943848,\"step\":469},{\"robot_quat_xyzw\":[-0.002630667295306921,-0.00021196252782829106,-0.36346831917762756,0.9316028356552124],\"robot_xy\":[-2.0759482383728027,-11.181119918823242],\"robot_yaw_deg\":-42.626543983260575,\"robot_z\":1.1877694129943848,\"step\":470},{\"robot_quat_xyzw\":[0.002750968560576439,0.0006515997229143977,-0.3679307997226715,0.9298489093780518],\"robot_xy\":[-2.075361967086792,-11.194781303405762],\"robot_yaw_deg\":-43.175873987483186,\"robot_z\":1.1877694129943848,\"step\":471},{\"robot_quat_xyzw\":[0.007558688521385193,0.0009174084989354014,-0.37239623069763184,0.9280425906181335],\"robot_xy\":[-2.074917793273926,-11.208431243896484],\"robot_yaw_deg\":-43.725479111259865,\"robot_z\":1.1877694129943848,\"step\":472},{\"robot_quat_xyzw\":[0.007558688521385193,0.0009174084989354014,-0.37239623069763184,0.9280425906181335],\"robot_xy\":[-2.074917793273926,-11.208431243896484],\"robot_yaw_deg\":-43.725479111259865,\"robot_z\":1.1877694129943848,\"step\":473},{\"robot_quat_xyzw\":[0.010391656309366226,0.0016429524403065443,-0.37685251235961914,0.9262135624885559],\"robot_xy\":[-2.0745694637298584,-11.22213363647461],\"robot_yaw_deg\":-44.27468031406625,\"robot_z\":1.1877694129943848,\"step\":474},{\"robot_quat_xyzw\":[0.011510364711284637,0.001424820045940578,-0.3813031315803528,0.9243773221969604],\"robot_xy\":[-2.0743722915649414,-11.235811233520508],\"robot_yaw_deg\":-44.82542677147979,\"robot_z\":1.1877694129943848,\"step\":475},{\"robot_quat_xyzw\":[0.011510364711284637,0.001424820045940578,-0.3813031315803528,0.9243773221969604],\"robot_xy\":[-2.0743722915649414,-11.235811233520508],\"robot_yaw_deg\":-44.82542677147979,\"robot_z\":1.1877694129943848,\"step\":476},{\"robot_quat_xyzw\":[0.011180656962096691,0.001118975575082004,-0.38574349880218506,0.9225376844406128],\"robot_xy\":[-2.0742995738983154,-11.24949836730957],\"robot_yaw_deg\":-45.37678248981663,\"robot_z\":1.1877694129943848,\"step\":477},{\"robot_quat_xyzw\":[0.009295035153627396,0.00038402178324759007,-0.39017388224601746,0.9206941723823547],\"robot_xy\":[-2.074362277984619,-11.26318073272705],\"robot_yaw_deg\":-45.92890400245792,\"robot_z\":1.1877694129943848,\"step\":478},{\"robot_quat_xyzw\":[0.005903137847781181,-0.0006440799334086478,-0.3945919871330261,0.9188371896743774],\"robot_xy\":[-2.074554920196533,-11.27686882019043],\"robot_yaw_deg\":-46.480794546564944,\"robot_z\":1.1877694129943848,\"step\":479},{\"robot_quat_xyzw\":[0.005903137847781181,-0.0006440799334086478,-0.3945919871330261,0.9188371896743774],\"robot_xy\":[-2.074554920196533,-11.27686882019043],\"robot_yaw_deg\":-46.480794546564944,\"robot_z\":1.1877694129943848,\"step\":480},{\"robot_quat_xyzw\":[0.0019463952630758286,-0.0003521206381265074,-0.3990245759487152,0.9169381260871887],\"robot_xy\":[-2.0749242305755615,-11.290528297424316],\"robot_yaw_deg\":-47.03442664201744,\"robot_z\":1.1877694129943848,\"step\":481},{\"robot_quat_xyzw\":[-0.0016719684936106205,0.00018135197751689702,-0.40340813994407654,0.9150186777114868],\"robot_xy\":[-2.075378656387329,-11.304180145263672],\"robot_yaw_deg\":-47.58280314795707,\"robot_z\":1.1877694129943848,\"step\":482},{\"robot_quat_xyzw\":[-0.0016719684936106205,0.00018135197751689702,-0.40340813994407654,0.9150186777114868],\"robot_xy\":[-2.075378656387329,-11.304180145263672],\"robot_yaw_deg\":-47.58280314795707,\"robot_z\":1.1877694129943848,\"step\":483},{\"robot_quat_xyzw\":[-0.004258170258253813,0.0005339276394806802,-0.40779784321784973,0.9130622148513794],\"robot_xy\":[-2.0759732723236084,-11.317851066589355],\"robot_yaw_deg\":-48.13303273496263,\"robot_z\":1.1877694129943848,\"step\":484},{\"robot_quat_xyzw\":[-0.006090972572565079,0.00011620418808888644,-0.4121800363063812,0.9110821485519409],\"robot_xy\":[-2.076702117919922,-11.331521034240723],\"robot_yaw_deg\":-48.68313267690269,\"robot_z\":1.1877694129943848,\"step\":485},{\"robot_quat_xyzw\":[-0.006090972572565079,0.00011620418808888644,-0.4121800363063812,0.9110821485519409],\"robot_xy\":[-2.076702117919922,-11.331521034240723],\"robot_yaw_deg\":-48.68313267690269,\"robot_z\":1.1877694129943848,\"step\":486},{\"robot_quat_xyzw\":[-0.007194035686552525,-0.00044651792268268764,-0.41654857993125916,0.9090849757194519],\"robot_xy\":[-2.077562093734741,-11.345174789428711],\"robot_yaw_deg\":-49.23264086733498,\"robot_z\":1.1877694129943848,\"step\":487},{\"robot_quat_xyzw\":[-0.007543305400758982,-0.0007018480100668967,-0.4209005534648895,0.9070752263069153],\"robot_xy\":[-2.078545331954956,-11.358807563781738],\"robot_yaw_deg\":-49.7815809540512,\"robot_z\":1.1877694129943848,\"step\":488},{\"robot_quat_xyzw\":[-0.007104147225618362,-0.0005611202795989811,-0.42523953318595886,0.9050528407096863],\"robot_xy\":[-2.0796563625335693,-11.372431755065918],\"robot_yaw_deg\":-50.330517045227765,\"robot_z\":1.1877694129943848,\"step\":489},{\"robot_quat_xyzw\":[-0.007104147225618362,-0.0005611202795989811,-0.42523953318595886,0.9050528407096863],\"robot_xy\":[-2.0796563625335693,-11.372431755065918],\"robot_yaw_deg\":-50.330517045227765,\"robot_z\":1.1877694129943848,\"step\":490},{\"robot_quat_xyzw\":[-0.0059123593382537365,-0.000260516389971599,-0.4295705258846283,0.903014063835144],\"robot_xy\":[-2.0809004306793213,-11.3860445022583],\"robot_yaw_deg\":-50.87991229240207,\"robot_z\":1.1877694129943848,\"step\":491},{\"robot_quat_xyzw\":[-0.003943354357033968,2.4940838557085954e-05,-0.43389400839805603,0.9009553790092468],\"robot_xy\":[-2.082279920578003,-11.399649620056152],\"robot_yaw_deg\":-51.42961979227471,\"robot_z\":1.1877694129943848,\"step\":492},{\"robot_quat_xyzw\":[-0.003943354357033968,2.4940838557085954e-05,-0.43389400839805603,0.9009553790092468],\"robot_xy\":[-2.082279920578003,-11.399649620056152],\"robot_yaw_deg\":-51.42961979227471,\"robot_z\":1.1877694129943848,\"step\":493},{\"robot_quat_xyzw\":[-0.0012162597849965096,0.0002234231651527807,-0.4382091462612152,0.8988722562789917],\"robot_xy\":[-2.0837907791137695,-11.413241386413574],\"robot_yaw_deg\":-51.979346094236355,\"robot_z\":1.1877694129943848,\"step\":494},{\"robot_quat_xyzw\":[0.002265414223074913,0.00040231936145573854,-0.4425162971019745,0.8967575430870056],\"robot_xy\":[-2.0854332447052,-11.426820755004883],\"robot_yaw_deg\":-52.52894380363861,\"robot_z\":1.1877694129943848,\"step\":495},{\"robot_quat_xyzw\":[0.0060044946148991585,0.0001345988712273538,-0.44680994749069214,0.894608736038208],\"robot_xy\":[-2.0871782302856445,-11.440377235412598],\"robot_yaw_deg\":-53.07771969810542,\"robot_z\":1.1877694129943848,\"step\":496},{\"robot_quat_xyzw\":[0.0060044946148991585,0.0001345988712273538,-0.44680994749069214,0.894608736038208],\"robot_xy\":[-2.0871782302856445,-11.440377235412598],\"robot_yaw_deg\":-53.07771969810542,\"robot_z\":1.1877694129943848,\"step\":497},{\"robot_quat_xyzw\":[0.007950746454298496,-8.847464778227732e-05,-0.45110785961151123,0.8924340605735779],\"robot_xy\":[-2.089075803756714,-11.45393180847168],\"robot_yaw_deg\":-53.628534639266,\"robot_z\":1.1877694129943848,\"step\":498},{\"robot_quat_xyzw\":[0.00829542987048626,-0.0006565829389728606,-0.4553941488265991,0.8902510404586792],\"robot_xy\":[-2.091097354888916,-11.467476844787598],\"robot_yaw_deg\":-54.17981210366007,\"robot_z\":1.1877694129943848,\"step\":499},{\"robot_quat_xyzw\":[0.00829542987048626,-0.0006565829389728606,-0.4553941488265991,0.8902510404586792],\"robot_xy\":[-2.091097354888916,-11.467476844787598],\"robot_yaw_deg\":-54.17981210366007,\"robot_z\":1.1877694129943848,\"step\":500},{\"robot_quat_xyzw\":[-0.011220337823033333,-0.0009373583598062396,-0.4598493278026581,0.8879256248474121],\"robot_xy\":[-2.0933773517608643,-11.481350898742676],\"robot_yaw_deg\":-54.75198804501441,\"robot_z\":1.1877694129943848,\"step\":501},{\"robot_quat_xyzw\":[-0.017001338303089142,-0.0008847550489008427,-0.4641515612602234,0.8855921626091003],\"robot_xy\":[-2.0957071781158447,-11.494832992553711],\"robot_yaw_deg\":-55.304791351246514,\"robot_z\":1.1877694129943848,\"step\":502},{\"robot_quat_xyzw\":[-0.017001338303089142,-0.0008847550489008427,-0.4641515612602234,0.8855921626091003],\"robot_xy\":[-2.0957071781158447,-11.494832992553711],\"robot_yaw_deg\":-55.304791351246514,\"robot_z\":1.1877694129943848,\"step\":503},{\"robot_quat_xyzw\":[-0.022101694718003273,-0.00011141467984998599,-0.46842116117477417,0.8832288384437561],\"robot_xy\":[-2.0981223583221436,-11.508270263671875],\"robot_yaw_deg\":-55.85523231341683,\"robot_z\":1.1877694129943848,\"step\":504},{\"robot_quat_xyzw\":[-0.02625233866274357,0.00016379254520870745,-0.47268351912498474,0.8808411359786987],\"robot_xy\":[-2.1006739139556885,-11.521698951721191],\"robot_yaw_deg\":-56.40581531191533,\"robot_z\":1.1877694129943848,\"step\":505},{\"robot_quat_xyzw\":[-0.02969803288578987,-0.00024385139113292098,-0.4769255816936493,0.8784418702125549],\"robot_xy\":[-2.1033551692962646,-11.5350980758667],\"robot_yaw_deg\":-56.95419561876246,\"robot_z\":1.1877694129943848,\"step\":506},{\"robot_quat_xyzw\":[-0.02969803288578987,-0.00024385139113292098,-0.4769255816936493,0.8784418702125549],\"robot_xy\":[-2.1033551692962646,-11.5350980758667],\"robot_yaw_deg\":-56.95419561876246,\"robot_z\":1.1877694129943848,\"step\":507},{\"robot_quat_xyzw\":[-0.03236314654350281,-0.0005263402126729488,-0.48115330934524536,0.8760388493537903],\"robot_xy\":[-2.106158971786499,-11.548456192016602],\"robot_yaw_deg\":-57.502782443916445,\"robot_z\":1.1877694129943848,\"step\":508},{\"robot_quat_xyzw\":[-0.03424767404794693,-0.00038116544601507485,-0.4853658676147461,0.8736401796340942],\"robot_xy\":[-2.1090850830078125,-11.561775207519531],\"robot_yaw_deg\":-58.052367571672235,\"robot_z\":1.1877694129943848,\"step\":509},{\"robot_quat_xyzw\":[-0.03424767404794693,-0.00038116544601507485,-0.4853658676147461,0.8736401796340942],\"robot_xy\":[-2.1090850830078125,-11.561775207519531],\"robot_yaw_deg\":-58.052367571672235,\"robot_z\":1.1877694129943848,\"step\":510},{\"robot_quat_xyzw\":[-0.03544133901596069,-0.00010120698425453156,-0.48955774307250977,0.871250331401825],\"robot_xy\":[-2.112135171890259,-11.575063705444336],\"robot_yaw_deg\":-58.60176247495035,\"robot_z\":1.1877694129943848,\"step\":511},{\"robot_quat_xyzw\":[-0.035824283957481384,0.00014172837836667895,-0.49373316764831543,0.8688752055168152],\"robot_xy\":[-2.1153128147125244,-11.588322639465332],\"robot_yaw_deg\":-59.15137993203288,\"robot_z\":1.1877694129943848,\"step\":512},{\"robot_quat_xyzw\":[-0.035824283957481384,0.00014172837836667895,-0.49373316764831543,0.8688752055168152],\"robot_xy\":[-2.1153128147125244,-11.588322639465332],\"robot_yaw_deg\":-59.15137993203288,\"robot_z\":1.1877694129943848,\"step\":513},{\"robot_quat_xyzw\":[-0.03544238954782486,0.00022549614368472248,-0.4978887438774109,0.8665164113044739],\"robot_xy\":[-2.1186203956604004,-11.601550102233887],\"robot_yaw_deg\":-59.70044933575731,\"robot_z\":1.1877694129943848,\"step\":514},{\"robot_quat_xyzw\":[-0.03429907187819481,0.00028402256430126727,-0.5020235180854797,0.8641735315322876],\"robot_xy\":[-2.1220543384552,-11.614745140075684],\"robot_yaw_deg\":-60.24906838968097,\"robot_z\":1.1877694129943848,\"step\":515},{\"robot_quat_xyzw\":[-0.03238978236913681,0.00042820366797968745,-0.5061407089233398,0.8618424534797668],\"robot_xy\":[-2.1256134510040283,-11.627912521362305],\"robot_yaw_deg\":-60.79778470987733,\"robot_z\":1.1877694129943848,\"step\":516},{\"robot_quat_xyzw\":[-0.03238978236913681,0.00042820366797968745,-0.5061407089233398,0.8618424534797668],\"robot_xy\":[-2.1256134510040283,-11.627912521362305],\"robot_yaw_deg\":-60.79778470987733,\"robot_z\":1.1877694129943848,\"step\":517},{\"robot_quat_xyzw\":[-0.02973160892724991,0.0006117237498983741,-0.5102424621582031,0.859516441822052],\"robot_xy\":[-2.1292996406555176,-11.641044616699219],\"robot_yaw_deg\":-61.34658448865085,\"robot_z\":1.1877694129943848,\"step\":518},{\"robot_quat_xyzw\":[-0.026317628100514412,0.0007456747116521001,-0.5143303275108337,0.8571879863739014],\"robot_xy\":[-2.133111000061035,-11.654147148132324],\"robot_yaw_deg\":-61.89530107209377,\"robot_z\":1.1877694129943848,\"step\":519},{\"robot_quat_xyzw\":[-0.026317628100514412,0.0007456747116521001,-0.5143303275108337,0.8571879863739014],\"robot_xy\":[-2.133111000061035,-11.654147148132324],\"robot_yaw_deg\":-61.89530107209377,\"robot_z\":1.1877694129943848,\"step\":520},{\"robot_quat_xyzw\":[-0.022148143500089645,0.0007774871191941202,-0.5184059143066406,0.8548474311828613],\"robot_xy\":[-2.137054204940796,-11.667215347290039],\"robot_yaw_deg\":-62.443848375008066,\"robot_z\":1.1877694129943848,\"step\":521},{\"robot_quat_xyzw\":[-0.0172297153621912,0.0007152078323997557,-0.5224714875221252,0.8524824380874634],\"robot_xy\":[-2.141125440597534,-11.680253028869629],\"robot_yaw_deg\":-62.99231507002628,\"robot_z\":1.1877694129943848,\"step\":522},{\"robot_quat_xyzw\":[-0.011559195816516876,0.0006031322991475463,-0.526529848575592,0.8500779271125793],\"robot_xy\":[-2.1453239917755127,-11.693258285522461],\"robot_yaw_deg\":-63.54085535501211,\"robot_z\":1.1877694129943848,\"step\":523},{\"robot_quat_xyzw\":[-0.011559195816516876,0.0006031322991475463,-0.526529848575592,0.8500779271125793],\"robot_xy\":[-2.1453239917755127,-11.693258285522461],\"robot_yaw_deg\":-63.54085535501211,\"robot_z\":1.1877694129943848,\"step\":524},{\"robot_quat_xyzw\":[-0.005134533625096083,0.0004486905818339437,-0.5305851697921753,0.8476160764694214],\"robot_xy\":[-2.149648904800415,-11.706228256225586],\"robot_yaw_deg\":-64.08972477402936,\"robot_z\":1.1877694129943848,\"step\":525},{\"robot_quat_xyzw\":[0.0020431848242878914,0.00022483884822577238,-0.5346412062644958,0.8450766205787659],\"robot_xy\":[-2.154101848602295,-11.719161033630371],\"robot_yaw_deg\":-64.63908050194294,\"robot_z\":1.1877694129943848,\"step\":526},{\"robot_quat_xyzw\":[0.0020431848242878914,0.00022483884822577238,-0.5346412062644958,0.8450766205787659],\"robot_xy\":[-2.154101848602295,-11.719161033630371],\"robot_yaw_deg\":-64.63908050194294,\"robot_z\":1.1877694129943848,\"step\":527},{\"robot_quat_xyzw\":[0.008364073000848293,-0.0006380420527420938,-0.5387030839920044,0.8424540162086487],\"robot_xy\":[-2.158681631088257,-11.732017517089844],\"robot_yaw_deg\":-65.19001093322002,\"robot_z\":1.1877694129943848,\"step\":528},{\"robot_quat_xyzw\":[0.01289553102105856,-0.000632964598480612,-0.5427579283714294,0.8397899866104126],\"robot_xy\":[-2.1633665561676025,-11.744909286499023],\"robot_yaw_deg\":-65.7410535795838,\"robot_z\":1.1877694129943848,\"step\":529},{\"robot_quat_xyzw\":[0.015507204458117485,-0.0013507908442988992,-0.5467976331710815,0.8371202349662781],\"robot_xy\":[-2.168185234069824,-11.75771427154541],\"robot_yaw_deg\":-66.29270129734438,\"robot_z\":1.1877694129943848,\"step\":530},{\"robot_quat_xyzw\":[0.015507204458117485,-0.0013507908442988992,-0.5467976331710815,0.8371202349662781],\"robot_xy\":[-2.168185234069824,-11.75771427154541],\"robot_yaw_deg\":-66.29270129734438,\"robot_z\":1.1877694129943848,\"step\":531},{\"robot_quat_xyzw\":[0.01670604757964611,-0.001830597291700542,-0.5508202314376831,0.8344547152519226],\"robot_xy\":[-2.1731224060058594,-11.770482063293457],\"robot_yaw_deg\":-66.84413656079826,\"robot_z\":1.1877694129943848,\"step\":532},{\"robot_quat_xyzw\":[0.016298554837703705,-0.00243938434869051,-0.5548233985900879,0.8318049907684326],\"robot_xy\":[-2.1781842708587646,-11.783196449279785],\"robot_yaw_deg\":-67.39549714241595,\"robot_z\":1.1877694129943848,\"step\":533},{\"robot_quat_xyzw\":[0.014361225068569183,-0.003039996139705181,-0.5588068962097168,0.8291680216789246],\"robot_xy\":[-2.1833677291870117,-11.795863151550293],\"robot_yaw_deg\":-67.94639301721253,\"robot_z\":1.1877694129943848,\"step\":534},{\"robot_quat_xyzw\":[0.014361225068569183,-0.003039996139705181,-0.5588068962097168,0.8291680216789246],\"robot_xy\":[-2.1833677291870117,-11.795863151550293],\"robot_yaw_deg\":-67.94639301721253,\"robot_z\":1.1877694129943848,\"step\":535},{\"robot_quat_xyzw\":[0.010854451917111874,-0.003709200071170926,-0.5627714991569519,0.8265330195426941],\"robot_xy\":[-2.1886727809906006,-11.808480262756348],\"robot_yaw_deg\":-68.49664475896165,\"robot_z\":1.1877694129943848,\"step\":536},{\"robot_quat_xyzw\":[0.006473139859735966,-0.003610014682635665,-0.5667561292648315,0.8238521814346313],\"robot_xy\":[-2.1941096782684326,-11.820955276489258],\"robot_yaw_deg\":-69.05023424711719,\"robot_z\":1.1877694129943848,\"step\":537},{\"robot_quat_xyzw\":[0.00207586120814085,-0.0027536912821233273,-0.570717990398407,0.8211390376091003],\"robot_xy\":[-2.1996898651123047,-11.833480834960938],\"robot_yaw_deg\":-69.60149815140028,\"robot_z\":1.1877694129943848,\"step\":538},{\"robot_quat_xyzw\":[0.00207586120814085,-0.0027536912821233273,-0.570717990398407,0.8211390376091003],\"robot_xy\":[-2.1996898651123047,-11.833480834960938],\"robot_yaw_deg\":-69.60149815140028,\"robot_z\":1.1877694129943848,\"step\":539},{\"robot_quat_xyzw\":[-0.001323559321463108,-0.00045428320299834013,-0.5746837258338928,0.8183743357658386],\"robot_xy\":[-2.205390691757202,-11.845905303955078],\"robot_yaw_deg\":-70.15494335425447,\"robot_z\":1.1877694129943848,\"step\":540},{\"robot_quat_xyzw\":[-0.003973439335823059,0.0019968764390796423,-0.578599214553833,0.8155999183654785],\"robot_xy\":[-2.2111740112304688,-11.858288764953613],\"robot_yaw_deg\":-70.7046249207548,\"robot_z\":1.1877694129943848,\"step\":541},{\"robot_quat_xyzw\":[-0.004369135946035385,0.0021121979225426912,-0.582500159740448,0.8128162622451782],\"robot_xy\":[-2.213074207305908,-11.869222640991211],\"robot_yaw_deg\":-71.25368342127526,\"robot_z\":1.1877694129943848,\"step\":542},{\"robot_quat_xyzw\":[-0.004369135946035385,0.0021121979225426912,-0.582500159740448,0.8128162622451782],\"robot_xy\":[-2.213074207305908,-11.869222640991211],\"robot_yaw_deg\":-71.25368342127526,\"robot_z\":1.1877694129943848,\"step\":543},{\"robot_quat_xyzw\":[0.0001351805403828621,-0.00041893834713846445,-0.5785619616508484,0.8156383037567139],\"robot_xy\":[-2.2038533687591553,-11.876272201538086],\"robot_yaw_deg\":-70.69894249081541,\"robot_z\":1.1877694129943848,\"step\":544},{\"robot_quat_xyzw\":[0.0024053528904914856,-0.0003592908615246415,-0.5819439888000488,0.813225269317627],\"robot_xy\":[-2.2023744583129883,-11.886034965515137],\"robot_yaw_deg\":-71.17474635617312,\"robot_z\":1.1877694129943848,\"step\":545},{\"robot_quat_xyzw\":[0.005741291679441929,-0.0001402875204803422,-0.5788560509681702,0.8154096007347107],\"robot_xy\":[-2.197808027267456,-11.894637107849121],\"robot_yaw_deg\":-70.73983881041073,\"robot_z\":1.1877694129943848,\"step\":546},{\"robot_quat_xyzw\":[0.005741291679441929,-0.0001402875204803422,-0.5788560509681702,0.8154096007347107],\"robot_xy\":[-2.197808027267456,-11.894637107849121],\"robot_yaw_deg\":-70.73983881041073,\"robot_z\":1.1877694129943848,\"step\":547},{\"robot_quat_xyzw\":[0.007705412805080414,0.0003176367608830333,-0.5749471187591553,0.8181542158126831],\"robot_xy\":[-2.191577672958374,-11.902724266052246],\"robot_yaw_deg\":-70.19096206744754,\"robot_z\":1.1877694129943848,\"step\":548},{\"robot_quat_xyzw\":[0.0065310802310705185,0.0014775682939216495,-0.5784521102905273,0.8156890273094177],\"robot_xy\":[-2.1901426315307617,-11.912482261657715],\"robot_yaw_deg\":-70.68276289928255,\"robot_z\":1.1877694129943848,\"step\":549},{\"robot_quat_xyzw\":[0.006070406176149845,0.0008296166779473424,-0.5751925110816956,0.8179951906204224],\"robot_xy\":[-2.1853139400482178,-11.921035766601562],\"robot_yaw_deg\":-70.22559857197189,\"robot_z\":1.1877694129943848,\"step\":550},{\"robot_quat_xyzw\":[0.003568887710571289,-0.0018419414991512895,-0.5780872702598572,0.8159651756286621],\"robot_xy\":[-2.1833367347717285,-11.93090534210205],\"robot_yaw_deg\":-70.63264915100284,\"robot_z\":1.1877694129943848,\"step\":551},{\"robot_quat_xyzw\":[0.003568887710571289,-0.0018419414991512895,-0.5780872702598572,0.8159651756286621],\"robot_xy\":[-2.1833367347717285,-11.93090534210205],\"robot_yaw_deg\":-70.63264915100284,\"robot_z\":1.1877694129943848,\"step\":552},{\"robot_quat_xyzw\":[0.004506472498178482,-0.004740626085549593,-0.5741389989852905,0.8187317252159119],\"robot_xy\":[-2.1746771335601807,-11.938148498535156],\"robot_yaw_deg\":-70.08138585737008,\"robot_z\":1.1877694129943848,\"step\":553},{\"robot_quat_xyzw\":[0.003992690704762936,-0.004431180655956268,-0.5775858163833618,0.8163082599639893],\"robot_xy\":[-2.173182249069214,-11.9478759765625],\"robot_yaw_deg\":-70.56415895515252,\"robot_z\":1.1877694129943848,\"step\":554},{\"robot_quat_xyzw\":[0.0052197640761733055,-0.0038299839943647385,-0.5743749737739563,0.8185667395591736],\"robot_xy\":[-2.1683573722839355,-11.956464767456055],\"robot_yaw_deg\":-70.11353312312428,\"robot_z\":1.1877694129943848,\"step\":555},{\"robot_quat_xyzw\":[0.0059526655822992325,-0.0017311453120782971,-0.5773845314979553,0.8164488673210144],\"robot_xy\":[-2.1664912700653076,-11.966059684753418],\"robot_yaw_deg\":-70.53378747185484,\"robot_z\":1.1877694129943848,\"step\":556},{\"robot_quat_xyzw\":[0.0059526655822992325,-0.0017311453120782971,-0.5773845314979553,0.8164488673210144],\"robot_xy\":[-2.1664912700653076,-11.966059684753418],\"robot_yaw_deg\":-70.53378747185484,\"robot_z\":1.1877694129943848,\"step\":557},{\"robot_quat_xyzw\":[0.007374740205705166,-0.0007536924094893038,-0.5734719634056091,0.8191916346549988],\"robot_xy\":[-2.1578292846679688,-11.973276138305664],\"robot_yaw_deg\":-69.98491038147618,\"robot_z\":1.1877694129943848,\"step\":558},{\"robot_quat_xyzw\":[0.005444824695587158,0.0008724753861315548,-0.5767714381217957,0.8168869614601135],\"robot_xy\":[-2.1561944484710693,-11.98294734954834],\"robot_yaw_deg\":-70.44705183923033,\"robot_z\":1.1877694129943848,\"step\":559},{\"robot_quat_xyzw\":[0.005330780521035194,0.00026914261979982257,-0.5738059282302856,0.818973958492279],\"robot_xy\":[-2.151500940322876,-11.99154281616211],\"robot_yaw_deg\":-70.03166903156846,\"robot_z\":1.1877694129943848,\"step\":560},{\"robot_quat_xyzw\":[0.0050342027097940445,-0.0006724622217006981,-0.5765581130981445,0.8170405030250549],\"robot_xy\":[-2.149472236633301,-12.001106262207031],\"robot_yaw_deg\":-70.4174744667525,\"robot_z\":1.1877694129943848,\"step\":561},{\"robot_quat_xyzw\":[0.0050342027097940445,-0.0006724622217006981,-0.5765581130981445,0.8170405030250549],\"robot_xy\":[-2.149472236633301,-12.001106262207031],\"robot_yaw_deg\":-70.4174744667525,\"robot_z\":1.1877694129943848,\"step\":562},{\"robot_quat_xyzw\":[0.006948747672140598,-0.0030920282006263733,-0.5726504325866699,0.8197645545005798],\"robot_xy\":[-2.14102840423584,-12.008382797241211],\"robot_yaw_deg\":-69.87159528508377,\"robot_z\":1.1877694129943848,\"step\":563},{\"robot_quat_xyzw\":[0.006152774207293987,-0.003083812538534403,-0.5759710669517517,0.8174411654472351],\"robot_xy\":[-2.1393933296203613,-12.018087387084961],\"robot_yaw_deg\":-70.33644569994719,\"robot_z\":1.1877694129943848,\"step\":564},{\"robot_quat_xyzw\":[0.006231089122593403,-0.0031059051398187876,-0.572866678237915,0.8196189999580383],\"robot_xy\":[-2.134615421295166,-12.026690483093262],\"robot_yaw_deg\":-69.90187497114398,\"robot_z\":1.1877694129943848,\"step\":565},{\"robot_quat_xyzw\":[0.0057946424931287766,-0.0017529857577756047,-0.5757641792297363,0.8175934553146362],\"robot_xy\":[-2.132640838623047,-12.036252975463867],\"robot_yaw_deg\":-70.30655823764963,\"robot_z\":1.1877694129943848,\"step\":566},{\"robot_quat_xyzw\":[0.0057946424931287766,-0.0017529857577756047,-0.5757641792297363,0.8175934553146362],\"robot_xy\":[-2.132640838623047,-12.036252975463867],\"robot_yaw_deg\":-70.30655823764963,\"robot_z\":1.1877694129943848,\"step\":567},{\"robot_quat_xyzw\":[0.006638814695179462,-0.0012971877586096525,-0.5718491077423096,0.8203309774398804],\"robot_xy\":[-2.1241605281829834,-12.043499946594238],\"robot_yaw_deg\":-69.75843219004396,\"robot_z\":1.1877694129943848,\"step\":568},{\"robot_quat_xyzw\":[0.004407067783176899,3.093024861300364e-05,-0.5751484632492065,0.818037211894989],\"robot_xy\":[-2.1224584579467773,-12.053157806396484],\"robot_yaw_deg\":-70.21979048246124,\"robot_z\":1.1877694129943848,\"step\":569},{\"robot_quat_xyzw\":[0.003962893038988113,-0.00041451648576185107,-0.5721765756607056,0.8201207518577576],\"robot_xy\":[-2.117757797241211,-12.061747550964355],\"robot_yaw_deg\":-69.80415355341096,\"robot_z\":1.1877694129943848,\"step\":570},{\"robot_quat_xyzw\":[0.0036071091890335083,-0.0005039489478804171,-0.5748933553695679,0.8182202577590942],\"robot_xy\":[-2.115659713745117,-12.071314811706543],\"robot_yaw_deg\":-70.18424561098645,\"robot_z\":1.1877694129943848,\"step\":571},{\"robot_quat_xyzw\":[0.0036071091890335083,-0.0005039489478804171,-0.5748933553695679,0.8182202577590942],\"robot_xy\":[-2.115659713745117,-12.071314811706543],\"robot_yaw_deg\":-70.18424561098645,\"robot_z\":1.1877694129943848,\"step\":572},{\"robot_quat_xyzw\":[0.006124917417764664,-0.002265540650114417,-0.5709492564201355,0.8209592700004578],\"robot_xy\":[-2.1072945594787598,-12.078621864318848],\"robot_yaw_deg\":-69.6334046240471,\"robot_z\":1.1877694129943848,\"step\":573},{\"robot_quat_xyzw\":[0.006076294928789139,-0.0018616346642374992,-0.5744292140007019,0.8185296058654785],\"robot_xy\":[-2.105668306350708,-12.088324546813965],\"robot_yaw_deg\":-70.1196013770679,\"robot_z\":1.1877694129943848,\"step\":574},{\"robot_quat_xyzw\":[0.006080545485019684,-0.001546755083836615,-0.5712208151817322,0.8207725286483765],\"robot_xy\":[-2.100872039794922,-12.096869468688965],\"robot_yaw_deg\":-69.67088966900091,\"robot_z\":1.1877694129943848,\"step\":575},{\"robot_quat_xyzw\":[0.006080545485019684,-0.001546755083836615,-0.5712208151817322,0.8207725286483765],\"robot_xy\":[-2.100872039794922,-12.096869468688965],\"robot_yaw_deg\":-69.67088966900091,\"robot_z\":1.1877694129943848,\"step\":576},{\"robot_quat_xyzw\":[0.005472220480442047,-0.001074332743883133,-0.5672959685325623,0.8234952092170715],\"robot_xy\":[-2.095205307006836,-12.105085372924805],\"robot_yaw_deg\":-69.12368838167636,\"robot_z\":1.1877694129943848,\"step\":577},{\"robot_quat_xyzw\":[0.0032175974920392036,0.00039992312667891383,-0.5707831978797913,0.8210943937301636],\"robot_xy\":[-2.093533754348755,-12.114784240722656],\"robot_yaw_deg\":-69.60953676847208,\"robot_z\":1.1877694129943848,\"step\":578},{\"robot_quat_xyzw\":[0.0026007704436779022,-0.00012705569679383188,-0.5676240921020508,0.8232839107513428],\"robot_xy\":[-2.088611125946045,-12.123269081115723],\"robot_yaw_deg\":-69.16934818583881,\"robot_z\":1.1877694129943848,\"step\":579},{\"robot_quat_xyzw\":[0.002003082074224949,-0.0003454562684055418,-0.5705289840698242,0.8212750554084778],\"robot_xy\":[-2.086529493331909,-12.132829666137695],\"robot_yaw_deg\":-69.57422878373221,\"robot_z\":1.1877694129943848,\"step\":580},{\"robot_quat_xyzw\":[0.002003082074224949,-0.0003454562684055418,-0.5705289840698242,0.8212750554084778],\"robot_xy\":[-2.086529493331909,-12.132829666137695],\"robot_yaw_deg\":-69.57422878373221,\"robot_z\":1.1877694129943848,\"step\":581},{\"robot_quat_xyzw\":[0.0042872438207268715,-0.0020076162181794643,-0.5665648579597473,0.8240036964416504],\"robot_xy\":[-2.0783395767211914,-12.140140533447266],\"robot_yaw_deg\":-69.022528779022,\"robot_z\":1.1877694129943848,\"step\":582},{\"robot_quat_xyzw\":[0.005096231587231159,-0.0009425269672647119,-0.5700757503509521,0.8215758204460144],\"robot_xy\":[-2.0766825675964355,-12.149843215942383],\"robot_yaw_deg\":-69.51093138787358,\"robot_z\":1.1877694129943848,\"step\":583},{\"robot_quat_xyzw\":[0.006736111827194691,3.0723909731023014e-05,-0.5668393969535828,0.8238007426261902],\"robot_xy\":[-2.0717456340789795,-12.158304214477539],\"robot_yaw_deg\":-69.059591575162,\"robot_z\":1.1877694129943848,\"step\":584},{\"robot_quat_xyzw\":[0.0065373508259654045,0.0015452555380761623,-0.5697105526924133,0.8218179941177368],\"robot_xy\":[-2.069617509841919,-12.16783332824707],\"robot_yaw_deg\":-69.45931030670658,\"robot_z\":1.1877694129943848,\"step\":585},{\"robot_quat_xyzw\":[0.0065373508259654045,0.0015452555380761623,-0.5697105526924133,0.8218179941177368],\"robot_xy\":[-2.069617509841919,-12.16783332824707],\"robot_yaw_deg\":-69.45931030670658,\"robot_z\":1.1877694129943848,\"step\":586},{\"robot_quat_xyzw\":[0.007772170007228851,0.0007917986367829144,-0.56577068567276,0.8245256543159485],\"robot_xy\":[-2.061551809310913,-12.175163269042969],\"robot_yaw_deg\":-68.91060315201582,\"robot_z\":1.1877694129943848,\"step\":587},{\"robot_quat_xyzw\":[0.005914101377129555,0.0006783899734728038,-0.5691496729850769,0.8222123980522156],\"robot_xy\":[-2.059763193130493,-12.184815406799316],\"robot_yaw_deg\":-69.38129499605289,\"robot_z\":1.1877694129943848,\"step\":588},{\"robot_quat_xyzw\":[0.005294588394463062,-0.0008954443619586527,-0.5661458373069763,0.8242875933647156],\"robot_xy\":[-2.0549211502075195,-12.193330764770508],\"robot_yaw_deg\":-68.96366955327196,\"robot_z\":1.1877694129943848,\"step\":589},{\"robot_quat_xyzw\":[0.0037100734189152718,-0.0009038362186402082,-0.5688533782958984,0.8224301338195801],\"robot_xy\":[-2.052712917327881,-12.202836036682129],\"robot_yaw_deg\":-69.3406342630931,\"robot_z\":1.1877694129943848,\"step\":590},{\"robot_quat_xyzw\":[0.0037100734189152718,-0.0009038362186402082,-0.5688533782958984,0.8224301338195801],\"robot_xy\":[-2.052712917327881,-12.202836036682129],\"robot_yaw_deg\":-69.3406342630931,\"robot_z\":1.1877694129943848,\"step\":591},{\"robot_quat_xyzw\":[0.0047431401908397675,-0.001484707579948008,-0.5648829936981201,0.825156033039093],\"robot_xy\":[-2.044701099395752,-12.210185050964355],\"robot_yaw_deg\":-68.78850974140997,\"robot_z\":1.1877694129943848,\"step\":592},{\"robot_quat_xyzw\":[0.0043186284601688385,4.90791499032639e-05,-0.5683553218841553,0.8227719068527222],\"robot_xy\":[-2.0429325103759766,-12.219841957092285],\"robot_yaw_deg\":-69.27096444944974,\"robot_z\":1.1877694129943848,\"step\":593},{\"robot_quat_xyzw\":[0.005510577000677586,-7.56190056563355e-05,-0.5652523040771484,0.8248997330665588],\"robot_xy\":[-2.038045883178711,-12.228310585021973],\"robot_yaw_deg\":-68.83921611758224,\"robot_z\":1.1877694129943848,\"step\":594},{\"robot_quat_xyzw\":[0.00538577139377594,-0.00018217487377114594,-0.5680533647537231,0.8229742050170898],\"robot_xy\":[-2.035827398300171,-12.237821578979492],\"robot_yaw_deg\":-69.22882347022872,\"robot_z\":1.1877694129943848,\"step\":595},{\"robot_quat_xyzw\":[0.00538577139377594,-0.00018217487377114594,-0.5680533647537231,0.8229742050170898],\"robot_xy\":[-2.035827398300171,-12.237821578979492],\"robot_yaw_deg\":-69.22882347022872,\"robot_z\":1.1877694129943848,\"step\":596},{\"robot_quat_xyzw\":[0.006477653048932552,-0.001742386957630515,-0.5641130208969116,0.8256703615188599],\"robot_xy\":[-2.0279111862182617,-12.245174407958984],\"robot_yaw_deg\":-68.68159562979946,\"robot_z\":1.1877694129943848,\"step\":597},{\"robot_quat_xyzw\":[0.005210648290812969,-0.0009970177197828889,-0.5675351619720459,0.8233320713043213],\"robot_xy\":[-2.026108503341675,-12.254831314086914],\"robot_yaw_deg\":-69.15696950542805,\"robot_z\":1.1877694129943848,\"step\":598},{\"robot_quat_xyzw\":[0.004920635372400284,-0.0004368585941847414,-0.5643384456634521,0.8255287408828735],\"robot_xy\":[-2.021136522293091,-12.263323783874512],\"robot_yaw_deg\":-68.71249140717332,\"robot_z\":1.1877694129943848,\"step\":599},{\"robot_quat_xyzw\":[0.004920635372400284,-0.0004368585941847414,-0.5643384456634521,0.8255287408828735],\"robot_xy\":[-2.021136522293091,-12.263323783874512],\"robot_yaw_deg\":-68.71249140717332,\"robot_z\":1.1877694129943848,\"step\":600},{\"robot_quat_xyzw\":[-0.0002782372757792473,-0.0012579361209645867,-0.5681840777397156,0.8229004740715027],\"robot_xy\":[-2.0264992713928223,-12.276105880737305],\"robot_yaw_deg\":-69.24751764302856,\"robot_z\":1.1877694129943848,\"step\":601},{\"robot_quat_xyzw\":[-0.0011130515486001968,-0.0014532958157360554,-0.571574330329895,0.8205482363700867],\"robot_xy\":[-2.024792432785034,-12.285802841186523],\"robot_yaw_deg\":-69.7202794979195,\"robot_z\":1.1877694129943848,\"step\":602},{\"robot_quat_xyzw\":[-0.00019706320017576218,-0.0012167391832917929,-0.5684035420417786,0.8227489590644836],\"robot_xy\":[-2.0198984146118164,-12.294339179992676],\"robot_yaw_deg\":-69.27807655037799,\"robot_z\":1.1877694129943848,\"step\":603},{\"robot_quat_xyzw\":[0.0005637621507048607,0.00023744186910334975,-0.5712942481040955,0.8207451701164246],\"robot_xy\":[-2.0177993774414062,-12.30385684967041],\"robot_yaw_deg\":-69.6810513149214,\"robot_z\":1.1877694129943848,\"step\":604},{\"robot_quat_xyzw\":[0.0005637621507048607,0.00023744186910334975,-0.5712942481040955,0.8207451701164246],\"robot_xy\":[-2.0177993774414062,-12.30385684967041],\"robot_yaw_deg\":-69.6810513149214,\"robot_z\":1.1877694129943848,\"step\":605},{\"robot_quat_xyzw\":[-0.0005165887996554375,0.002428982174023986,-0.5752235054969788,0.8179925084114075],\"robot_xy\":[-2.0234906673431396,-12.316311836242676],\"robot_yaw_deg\":-70.23117257208492,\"robot_z\":1.1877694129943848,\"step\":606},{\"robot_quat_xyzw\":[0.0022297222167253494,0.0005994575913064182,-0.572629988193512,0.8198107481002808],\"robot_xy\":[-2.018949508666992,-12.324954986572266],\"robot_yaw_deg\":-69.86756826114242,\"robot_z\":1.1877694129943848,\"step\":607},{\"robot_quat_xyzw\":[0.0051345378160476685,-0.0008764413651078939,-0.5750945806503296,0.8180703520774841],\"robot_xy\":[-2.016770839691162,-12.334477424621582],\"robot_yaw_deg\":-70.21239958402666,\"robot_z\":1.1877694129943848,\"step\":608},{\"robot_quat_xyzw\":[0.0051345378160476685,-0.0008764413651078939,-0.5750945806503296,0.8180703520774841],\"robot_xy\":[-2.016770839691162,-12.334477424621582],\"robot_yaw_deg\":-70.21239958402666,\"robot_z\":1.1877694129943848,\"step\":609},{\"robot_quat_xyzw\":[0.004056775942444801,0.00015582765627186745,-0.5789984464645386,0.8153185248374939],\"robot_xy\":[-2.0225558280944824,-12.346860885620117],\"robot_yaw_deg\":-70.76001648197,\"robot_z\":1.1877694129943848,\"step\":610},{\"robot_quat_xyzw\":[0.006584488786756992,-0.001900876290164888,-0.5761984586715698,0.8172811269760132],\"robot_xy\":[-2.018008232116699,-12.355493545532227],\"robot_yaw_deg\":-70.36744393930289,\"robot_z\":1.1877694129943848,\"step\":611},{\"robot_quat_xyzw\":[0.006758862175047398,-0.003162042936310172,-0.5786958932876587,0.8155093789100647],\"robot_xy\":[-2.015957832336426,-12.36502742767334],\"robot_yaw_deg\":-70.71888665549447,\"robot_z\":1.1877694129943848,\"step\":612},{\"robot_quat_xyzw\":[0.006758862175047398,-0.003162042936310172,-0.5786958932876587,0.8155093789100647],\"robot_xy\":[-2.015957832336426,-12.36502742767334],\"robot_yaw_deg\":-70.71888665549447,\"robot_z\":1.1877694129943848,\"step\":613},{\"robot_quat_xyzw\":[0.00357238482683897,-0.0013919305056333542,-0.582632839679718,0.8127264976501465],\"robot_xy\":[-2.021735429763794,-12.377274513244629],\"robot_yaw_deg\":-71.27207333218253,\"robot_z\":1.1877694129943848,\"step\":614},{\"robot_quat_xyzw\":[0.004656125791370869,-0.001725716283544898,-0.5794394612312317,0.8150002360343933],\"robot_xy\":[-2.016996145248413,-12.38591480255127],\"robot_yaw_deg\":-70.82255056328192,\"robot_z\":1.1877694129943848,\"step\":615},{\"robot_quat_xyzw\":[0.005291937850415707,-0.0004643991414923221,-0.5824225544929504,0.8128688931465149],\"robot_xy\":[-2.0152692794799805,-12.395535469055176],\"robot_yaw_deg\":-71.24196906199425,\"robot_z\":1.1877694129943848,\"step\":616},{\"robot_quat_xyzw\":[0.005291937850415707,-0.0004643991414923221,-0.5824225544929504,0.8128688931465149],\"robot_xy\":[-2.0152692794799805,-12.395535469055176],\"robot_yaw_deg\":-71.24196906199425,\"robot_z\":1.1877694129943848,\"step\":617},{\"robot_quat_xyzw\":[0.002843881957232952,0.0024368648882955313,-0.5863074660301208,0.8100798726081848],\"robot_xy\":[-2.0206592082977295,-12.407612800598145],\"robot_yaw_deg\":-71.79103540318474,\"robot_z\":1.1877694129943848,\"step\":618},{\"robot_quat_xyzw\":[0.004049914889037609,0.0013054102892056108,-0.5831133127212524,0.812379777431488],\"robot_xy\":[-2.0159881114959717,-12.416254997253418],\"robot_yaw_deg\":-71.33938627948689,\"robot_z\":1.1877694129943848,\"step\":619},{\"robot_quat_xyzw\":[0.005063844844698906,-0.0005982858128845692,-0.5860633254051208,0.8102491497993469],\"robot_xy\":[-2.014340400695801,-12.425909042358398],\"robot_yaw_deg\":-71.75609838943217,\"robot_z\":1.1877694129943848,\"step\":620},{\"robot_quat_xyzw\":[0.0072319479659199715,-0.0032606858294457197,-0.5834090709686279,0.8121396899223328],\"robot_xy\":[-2.0100901126861572,-12.434678077697754],\"robot_yaw_deg\":-71.38254474050767,\"robot_z\":1.1877694129943848,\"step\":621},{\"robot_quat_xyzw\":[0.0072319479659199715,-0.0032606858294457197,-0.5834090709686279,0.8121396899223328],\"robot_xy\":[-2.0100901126861572,-12.434678077697754],\"robot_yaw_deg\":-71.38254474050767,\"robot_z\":1.1877694129943848,\"step\":622},{\"robot_quat_xyzw\":[0.005297612398862839,-0.0023604808375239372,-0.5873318910598755,0.8093254566192627],\"robot_xy\":[-2.0161640644073486,-12.44690990447998],\"robot_yaw_deg\":-71.93641636754772,\"robot_z\":1.1877694129943848,\"step\":623},{\"robot_quat_xyzw\":[0.006800628267228603,-0.003569521941244602,-0.5874994993209839,0.8091880083084106],\"robot_xy\":[-2.0132663249969482,-12.456123352050781],\"robot_yaw_deg\":-71.9610186303055,\"robot_z\":1.1877694129943848,\"step\":624},{\"robot_quat_xyzw\":[0.007441881112754345,-0.00408443808555603,-0.5873050689697266,0.8093212246894836],\"robot_xy\":[-2.010200262069702,-12.465283393859863],\"robot_yaw_deg\":-71.93397047717143,\"robot_z\":1.1877694129943848,\"step\":625},{\"robot_quat_xyzw\":[0.007441881112754345,-0.00408443808555603,-0.5873050689697266,0.8093212246894836],\"robot_xy\":[-2.010200262069702,-12.465283393859863],\"robot_yaw_deg\":-71.93397047717143,\"robot_z\":1.1877694129943848,\"step\":626}],\"task\":\"trajectory_observer\",\"true_count\":1}","options_json":"{\"A\":0,\"B\":1,\"C\":2,\"D\":3}","question":"How many 'vase' objects did the robot pass within 1.0m during its walk? Answer 0, 1, 2, or 3.","room":"kitchen_0","runner_task":"multiagent","scene":"restaurant_brunch","small_task":"Agent Observation"},"observations":[],"question":{"answer_type":"count","options":[],"original":"How many 'vase' objects did the robot pass within 1.0m during its walk? Answer 0, 1, 2, or 3.","text":"How many 'vase' objects did the robot pass within 1.0m during its walk? Answer 0, 1, 2, or 3."},"reference_media":[],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":59,"stratum_pool":133},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Temporal Understanding/Agent Observation/restaurant_brunch/kitchen_0/restaurant_brunch__kitchen_0__run_000.json","annotation_sha256":"6703818dd45be2164affc7cbcea29984d21c9bedd29f0dc4a8648562b6117a9e","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"1c37563b256064707f5172ad9f29b66affc903799cc20792176bed3951899047","sample_id":"3326","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"1","metric":"official_esi_task","original_answer":"1"},"task":{"category":"Temporal Understanding","role":"spatial_core","skill_tags":["Temporal Understanding","Agent Observation"],"stratum":"ESI-Bench/Temporal Understanding/Agent Observation","subcategory":"Agent Observation"},"transforms":[]}
{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Temporal Understanding","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"2","id":"0ca45212e19691d8","metadata":"vendor/ESI-Bench/dataset/json_clean/Temporal Understanding/Agent Observation/restaurant_urban/bathroom_0/restaurant_urban__bathroom_0__run_000.json","metadata_sha256":"2994e717c42a209a0599295dd4b4dcb18d96420d977abdfe0320f0fbd3fe7bed","observation_policy":"runtime camera observations; no oracle poses","question":"How many 'pot plant' objects did the robot pass within 1.0m during its walk? Answer 0, 1, 2, or 3.","room":"bathroom_0","scene":"restaurant_urban","subcategory":"Agent Observation","task":"temporal_understanding.agent_observation"},"group":{"id":"ESI-scene/restaurant_urban","kind":"scene","room":"bathroom_0","scene":"restaurant_urban"},"id":"e63a091e51d1a64e1e4c","native_annotation":{"answer":"2","answer_type":"count","big_task":"Temporal Understanding","gt_camera_poses":[{"baseline_selected":true,"camera_pose":{"position":[-7.200000286102295,-13.699999809265137,1.1877694129943848],"quaternion_xyzw":[8.479830372198491e-06,3.175477136881163e-07,0.037421184584015645,0.9992995821435736]},"camera_pose_rule":null,"fov_deg":null,"group":"trajectory","metadata_pointer":"/observer_poses/0","original_image_path":"step_00000.png","phase":null,"pose_source":"saved","render_mode":"dynamic_replay","role":"gt_trajectory","state_key":null,"view_id":"trajectory/step_00000.png"},{"baseline_selected":true,"camera_pose":{"position":[-7.200000286102295,-13.699999809265137,1.1877694129943848],"quaternion_xyzw":[4.410517615314911e-06,0.14152756134263156,0.9899343151993639,3.0849982107875936e-05]},"camera_pose_rule":null,"fov_deg":null,"group":"trajectory","metadata_pointer":"/observer_poses/1","original_image_path":"step_00050.png","phase":null,"pose_source":"saved","render_mode":"dynamic_replay","role":"gt_trajectory","state_key":null,"view_id":"trajectory/step_00050.png"},{"baseline_selected":true,"camera_pose":{"position":[-7.200000286102295,-13.699999809265137,1.1877694129943848],"quaternion_xyzw":[0.03440034492827472,0.2776343028207374,0.9527847716279206,0.11805502581419407]},"camera_pose_rule":null,"fov_deg":null,"group":"trajectory","metadata_pointer":"/observer_poses/2","original_image_path":"step_00100.png","phase":null,"pose_source":"saved","render_mode":"dynamic_replay","role":"gt_trajectory","state_key":null,"view_id":"trajectory/step_00100.png"},{"baseline_selected":true,"camera_pose":{"position":[-7.200000286102295,-13.699999809265137,1.1877694129943848],"quaternion_xyzw":[0.032365686963967355,0.373733766680103,0.9235145802245985,0.07997720964772644]},"camera_pose_rule":null,"fov_deg":null,"group":"trajectory","metadata_pointer":"/observer_poses/3","original_image_path":"step_00150.png","phase":null,"pose_source":"saved","render_mode":"dynamic_replay","role":"gt_trajectory","state_key":null,"view_id":"trajectory/step_00150.png"},{"baseline_selected":true,"camera_pose":{"position":[-7.200000286102295,-13.699999809265137,1.1877694129943848],"quaternion_xyzw":[0.04379355922829259,0.44076965695138154,0.8921585018418723,0.08864220931557108]},"camera_pose_rule":null,"fov_deg":null,"group":"trajectory","metadata_pointer":"/observer_poses/4","original_image_path":"step_00200.png","phase":null,"pose_source":"saved","render_mode":"dynamic_replay","role":"gt_trajectory","state_key":null,"view_id":"trajectory/step_00200.png"},{"baseline_selected":true,"camera_pose":{"position":[-7.200000286102295,-13.699999809265137,1.1877694129943848],"quaternion_xyzw":[0.060668286899202,0.48652943180619074,0.8648572631582615,0.10784426416580131]},"camera_pose_rule":null,"fov_deg":null,"group":"trajectory","metadata_pointer":"/observer_poses/5","original_image_path":"step_00250.png","phase":null,"pose_source":"saved","render_mode":"dynamic_replay","role":"gt_trajectory","state_key":null,"view_id":"trajectory/step_00250.png"}],"id":"3337","image_paths_json":"[]","metadata_json":"{\"goal_xy\":[-7.700000286102295,-15.699999809265137],\"navigation\":{\"final_dist\":0.1965845112978167,\"final_xy\":[-7.656416893005371,-15.508307456970215],\"forced_to_goal\":false,\"goal_xy\":[-7.700000286102295,-15.699999809265137],\"ok\":true,\"total_steps\":252},\"object_category\":\"pot_plant\",\"objects_meta\":[{\"_key\":\"hidden_obj_0\",\"aabb_centre\":[-9.634096145629883,-14.811389923095703,0.4612443745136261],\"aabb_max\":[-9.10836410522461,-14.3854341506958,0.922488808631897],\"aabb_min\":[-10.159828186035156,-15.237345695495605,-5.960464477539063e-08],\"category\":\"pot_plant\",\"placed_on\":\"failed\",\"position\":[-9.628552436828613,-14.786579132080078,0.4954414367675781],\"quaternion_xyzw\":[0.0021477816626429558,0.002849934156984091,6.69540895614773e-06,0.999993622303009],\"model\":\"peypuq\"},{\"_key\":\"hidden_obj_1\",\"aabb_centre\":[-7.980454921722412,-14.673022270202637,0.18617737293243408],\"aabb_max\":[-7.825525283813477,-14.521997451782227,0.37235477566719055],\"aabb_min\":[-8.135384559631348,-14.824047088623047,-1.4901161193847656e-08],\"category\":\"pot_plant\",\"dist_to_path\":0.569665431976518,\"placed_on\":\"floor\",\"position\":[-7.969666004180908,-14.666666984558105,0.16603437066078186],\"quaternion_xyzw\":[5.888752639293671e-06,-2.034008502960205e-06,6.774498615413904e-07,1.0],\"model\":\"kxmvco\"},{\"_key\":\"hidden_obj_2\",\"aabb_centre\":[-6.95039176940918,-15.451606750488281,0.13226884603500366],\"aabb_max\":[-6.825765609741211,-15.332798957824707,0.26465874910354614],\"aabb_min\":[-7.075018405914307,-15.570415496826172,-0.00012105703353881836],\"category\":\"pot_plant\",\"dist_to_path\":0.5710161272815555,\"placed_on\":\"floor\",\"position\":[-6.946094036102295,-15.441876411437988,0.12436886876821518],\"quaternion_xyzw\":[0.2068425714969635,-0.1515137255191803,-0.004597635939717293,0.9665601849555969],\"model\":\"kjnypo\"}],\"observer_poses\":[{\"_key\":\"step_00000.png\",\"position\":[-7.200000286102295,-13.699999809265137,1.1877694129943848],\"quaternion_xyzw\":[8.479830372198491e-06,3.175477136881163e-07,0.037421184584015645,0.9992995821435736],\"visibility\":[{\"_key\":\"hidden_obj_1\",\"value\":false},{\"_key\":\"hidden_obj_2\",\"value\":false},{\"_key\":\"robot\",\"value\":true}]},{\"_key\":\"step_00050.png\",\"position\":[-7.200000286102295,-13.699999809265137,1.1877694129943848],\"quaternion_xyzw\":[4.410517615314911e-06,0.14152756134263156,0.9899343151993639,3.0849982107875936e-05],\"visibility\":[{\"_key\":\"hidden_obj_1\",\"value\":false},{\"_key\":\"hidden_obj_2\",\"value\":false},{\"_key\":\"robot\",\"value\":true}]},{\"_key\":\"step_00100.png\",\"position\":[-7.200000286102295,-13.699999809265137,1.1877694129943848],\"quaternion_xyzw\":[0.03440034492827472,0.2776343028207374,0.9527847716279206,0.11805502581419407],\"visibility\":[{\"_key\":\"hidden_obj_1\",\"value\":true},{\"_key\":\"hidden_obj_2\",\"value\":false},{\"_key\":\"robot\",\"value\":true}]},{\"_key\":\"step_00150.png\",\"position\":[-7.200000286102295,-13.699999809265137,1.1877694129943848],\"quaternion_xyzw\":[0.032365686963967355,0.373733766680103,0.9235145802245985,0.07997720964772644],\"visibility\":[{\"_key\":\"hidden_obj_1\",\"value\":true},{\"_key\":\"hidden_obj_2\",\"value\":true},{\"_key\":\"robot\",\"value\":true}]},{\"_key\":\"step_00200.png\",\"position\":[-7.200000286102295,-13.699999809265137,1.1877694129943848],\"quaternion_xyzw\":[0.04379355922829259,0.44076965695138154,0.8921585018418723,0.08864220931557108],\"visibility\":[{\"_key\":\"hidden_obj_1\",\"value\":true},{\"_key\":\"hidden_obj_2\",\"value\":true},{\"_key\":\"robot\",\"value\":true}]},{\"_key\":\"step_00250.png\",\"position\":[-7.200000286102295,-13.699999809265137,1.1877694129943848],\"quaternion_xyzw\":[0.060668286899202,0.48652943180619074,0.8648572631582615,0.10784426416580131],\"visibility\":[{\"_key\":\"hidden_obj_1\",\"value\":true},{\"_key\":\"hidden_obj_2\",\"value\":true},{\"_key\":\"robot\",\"value\":true}]}],\"path_waypoints\":[[-7.200000286102295,-13.699999809265137],[-7.200000286102295,-13.733333269755045],[-7.200000286102296,-13.766666730244957],[-7.200000286102295,-13.800000190734863],[-7.200000286102295,-13.833333651224773],[-7.200000286102295,-13.866667111714682],[-7.200000286102295,-13.90000057220459],[-7.200000286102295,-13.93333387374878],[-7.200000286102296,-13.966667175292969],[-7.200000286102295,-14.000000476837158],[-7.200000286102295,-14.033333778381348],[-7.200000286102295,-14.066667079925537],[-7.200000286102295,-14.100000381469727],[-7.200000286102295,-14.133333683013916],[-7.200000286102296,-14.166666984558105],[-7.200000286102295,-14.200000286102295],[-7.200000286102295,-14.233333587646484],[-7.200000286102295,-14.266666889190674],[-7.200000286102295,-14.300000190734863],[-7.233333587646484,-14.333333492279053],[-7.266666889190675,-14.366666793823242],[-7.300000190734863,-14.400000095367432],[-7.333333492279053,-14.433333396911621],[-7.366666793823242,-14.46666669845581],[-7.400000095367432,-14.5],[-7.400000095367432,-14.53333330154419],[-7.4000000953674325,-14.566666603088379],[-7.400000095367432,-14.599999904632568],[-7.400000095367432,-14.633333206176758],[-7.400000095367432,-14.666666507720947],[-7.400000095367432,-14.699999809265137],[-7.400000095367432,-14.733333269755047],[-7.4000000953674325,-14.766666730244955],[-7.400000095367432,-14.800000190734863],[-7.400000095367432,-14.833333651224772],[-7.400000095367432,-14.866667111714682],[-7.400000095367432,-14.90000057220459],[-7.400000095367432,-14.93333387374878],[-7.4000000953674325,-14.966667175292969],[-7.400000095367432,-15.000000476837158],[-7.400000095367432,-15.033333778381348],[-7.400000095367432,-15.066667079925537],[-7.400000095367432,-15.100000381469727],[-7.416666746139526,-15.133333683013916],[-7.433333396911622,-15.166666984558105],[-7.450000047683716,-15.200000286102295],[-7.4666666984558105,-15.233333587646484],[-7.483333349227905,-15.266666889190674],[-7.5,-15.300000190734863],[-7.516666650772095,-15.333333492279053],[-7.53333330154419,-15.366666793823242],[-7.549999952316284,-15.400000095367432],[-7.566666603088379,-15.433333396911621],[-7.583333253860474,-15.46666669845581],[-7.599999904632568,-15.5],[-7.6166666348775225,-15.53333330154419],[-7.633333365122478,-15.566666603088379],[-7.650000095367432,-15.599999904632568],[-7.666666825612387,-15.633333206176758],[-7.683333555857341,-15.666666507720947],[-7.700000286102295,-15.699999809265137]],\"proximity_thresh\":1.0,\"qa\":{\"answer_count\":2,\"answer_label\":\"C\",\"choices\":{\"A\":0,\"B\":1,\"C\":2,\"D\":3},\"question\":\"How many pot_plant objects did the robot pass within 1.0m during its walk?\"},\"robot_bbox_top_z\":1.1877694129943848,\"robot_start_z\":0.1,\"run_idx\":0,\"seed\":2376556602,\"start_xy\":[-7.200000286102295,-13.699999809265137],\"step_log\":[{\"robot_quat_xyzw\":[0.0011798376217484474,0.000936542171984911,-0.7071064710617065,0.7071055769920349],\"robot_xy\":[-7.2000017166137695,-13.699980735778809],\"robot_yaw_deg\":-90.00005025189232,\"robot_z\":1.1877694129943848,\"step\":0},{\"robot_quat_xyzw\":[0.0064482614398002625,-0.007405843585729599,-0.7070580124855042,0.7070873379707336],\"robot_xy\":[-7.199985027313232,-13.700005531311035],\"robot_yaw_deg\":-89.99838191283472,\"robot_z\":1.1877694129943848,\"step\":1},{\"robot_quat_xyzw\":[0.0064482614398002625,-0.007405843585729599,-0.7070580124855042,0.7070873379707336],\"robot_xy\":[-7.199985027313232,-13.700005531311035],\"robot_yaw_deg\":-89.99838191283472,\"robot_z\":1.1877694129943848,\"step\":2},{\"robot_quat_xyzw\":[0.0064482614398002625,-0.007405843585729599,-0.7070580124855042,0.7070873379707336],\"robot_xy\":[-7.199985027313232,-13.700005531311035],\"robot_yaw_deg\":-89.99838191283472,\"robot_z\":1.1877694129943848,\"step\":3},{\"robot_quat_xyzw\":[0.0064482614398002625,-0.007405843585729599,-0.7070580124855042,0.7070873379707336],\"robot_xy\":[-7.199985027313232,-13.700005531311035],\"robot_yaw_deg\":-89.99838191283472,\"robot_z\":1.1877694129943848,\"step\":4},{\"robot_quat_xyzw\":[0.0064482614398002625,-0.007405843585729599,-0.7070580124855042,0.7070873379707336],\"robot_xy\":[-7.199985027313232,-13.700005531311035],\"robot_yaw_deg\":-89.99838191283472,\"robot_z\":1.1877694129943848,\"step\":5},{\"robot_quat_xyzw\":[0.0064482614398002625,-0.007405843585729599,-0.7070580124855042,0.7070873379707336],\"robot_xy\":[-7.199985027313232,-13.700005531311035],\"robot_yaw_deg\":-89.99838191283472,\"robot_z\":1.1877694129943848,\"step\":6},{\"robot_quat_xyzw\":[0.0064482614398002625,-0.007405843585729599,-0.7070580124855042,0.7070873379707336],\"robot_xy\":[-7.199985027313232,-13.700005531311035],\"robot_yaw_deg\":-89.99838191283472,\"robot_z\":1.1877694129943848,\"step\":7},{\"robot_quat_xyzw\":[0.003863273188471794,-0.006841827183961868,-0.70709627866745,0.7070735692977905],\"robot_xy\":[-7.2000017166137695,-13.70968246459961],\"robot_yaw_deg\":-90.00366213890524,\"robot_z\":1.1877694129943848,\"step\":8},{\"robot_quat_xyzw\":[0.002046850509941578,-0.005559791345149279,-0.7070843577384949,0.7071044445037842],\"robot_xy\":[-7.199995517730713,-13.719389915466309],\"robot_yaw_deg\":-89.99990835293232,\"robot_z\":1.1877694129943848,\"step\":9},{\"robot_quat_xyzw\":[0.0012800944969058037,-0.003230887930840254,-0.7071070671081543,0.707098126411438],\"robot_xy\":[-7.200003147125244,-13.729097366333008],\"robot_yaw_deg\":-90.0012425196844,\"robot_z\":1.1877694129943848,\"step\":10},{\"robot_quat_xyzw\":[0.001309848390519619,-0.00029903362155891955,-0.7070543766021729,0.7071580290794373],\"robot_xy\":[-7.1999640464782715,-13.738760948181152],\"robot_yaw_deg\":-89.9915180279624,\"robot_z\":1.1877694129943848,\"step\":11},{\"robot_quat_xyzw\":[0.001309848390519619,-0.00029903362155891955,-0.7070543766021729,0.7071580290794373],\"robot_xy\":[-7.1999640464782715,-13.738760948181152],\"robot_yaw_deg\":-89.9915180279624,\"robot_z\":1.1877694129943848,\"step\":12},{\"robot_quat_xyzw\":[0.0020156605169177055,0.0009907603962346911,-0.7071282267570496,0.7070819139480591],\"robot_xy\":[-7.200000286102295,-13.748421669006348],\"robot_yaw_deg\":-90.00358797164029,\"robot_z\":1.1877694129943848,\"step\":13},{\"robot_quat_xyzw\":[0.0030442913994193077,0.0005877666408196092,-0.7070832848548889,0.7071234583854675],\"robot_xy\":[-7.19996976852417,-13.758091926574707],\"robot_yaw_deg\":-89.99623185780777,\"robot_z\":1.1877694129943848,\"step\":14},{\"robot_quat_xyzw\":[0.0042537907138466835,-0.0013366967905312777,-0.7071310877799988,0.7070685029029846],\"robot_xy\":[-7.199993133544922,-13.767777442932129],\"robot_yaw_deg\":-90.00414390195857,\"robot_z\":1.1877694129943848,\"step\":15},{\"robot_quat_xyzw\":[0.0042537907138466835,-0.0013366967905312777,-0.7071310877799988,0.7070685029029846],\"robot_xy\":[-7.199993133544922,-13.767777442932129],\"robot_yaw_deg\":-90.00414390195857,\"robot_z\":1.1877694129943848,\"step\":16},{\"robot_quat_xyzw\":[0.006020837463438511,-0.0034989709965884686,-0.7071446776390076,0.7070346474647522],\"robot_xy\":[-7.200016975402832,-13.777430534362793],\"robot_yaw_deg\":-90.00754451630618,\"robot_z\":1.1877694129943848,\"step\":17},{\"robot_quat_xyzw\":[0.006503406912088394,-0.005204715766012669,-0.7070928812026978,0.7070717215538025],\"robot_xy\":[-7.200004577636719,-13.787094116210938],\"robot_yaw_deg\":-90.00085161297619,\"robot_z\":1.1877694129943848,\"step\":18},{\"robot_quat_xyzw\":[0.006165286526083946,-0.006366098765283823,-0.707097589969635,0.7070604562759399],\"robot_xy\":[-7.200021266937256,-13.79677963256836],\"robot_yaw_deg\":-90.0031545858363,\"robot_z\":1.1877694129943848,\"step\":19},{\"robot_quat_xyzw\":[0.0058399103581905365,-0.006612964905798435,-0.707042396068573,0.7071160674095154],\"robot_xy\":[-7.1999993324279785,-13.80649471282959],\"robot_yaw_deg\":-89.99457765473616,\"robot_z\":1.1877694129943848,\"step\":20},{\"robot_quat_xyzw\":[0.0058399103581905365,-0.006612964905798435,-0.707042396068573,0.7071160674095154],\"robot_xy\":[-7.1999993324279785,-13.80649471282959],\"robot_yaw_deg\":-89.99457765473616,\"robot_z\":1.1877694129943848,\"step\":21},{\"robot_quat_xyzw\":[0.006116271018981934,-0.006164101883769035,-0.7071109414100647,0.7070493698120117],\"robot_xy\":[-7.200039386749268,-13.816180229187012],\"robot_yaw_deg\":-90.005028232878,\"robot_z\":1.1877694129943848,\"step\":22},{\"robot_quat_xyzw\":[0.0061853304505348206,-0.004902517888695002,-0.7070593237876892,0.7071101069450378],\"robot_xy\":[-7.20001220703125,-13.825873374938965],\"robot_yaw_deg\":-89.9950636203339,\"robot_z\":1.1877694129943848,\"step\":23},{\"robot_quat_xyzw\":[0.005563643760979176,-0.0031050301622599363,-0.7071054577827454,0.7070794105529785],\"robot_xy\":[-7.200035095214844,-13.835546493530273],\"robot_yaw_deg\":-90.00089034035123,\"robot_z\":1.1877694129943848,\"step\":24},{\"robot_quat_xyzw\":[0.005563643760979176,-0.0031050301622599363,-0.7071054577827454,0.7070794105529785],\"robot_xy\":[-7.200035095214844,-13.835546493530273],\"robot_yaw_deg\":-90.00089034035123,\"robot_z\":1.1877694129943848,\"step\":25},{\"robot_quat_xyzw\":[0.004533588886260986,-0.0009948648512363434,-0.7070154547691345,0.7071828842163086],\"robot_xy\":[-7.199970245361328,-13.845199584960938],\"robot_yaw_deg\":-89.98531411039814,\"robot_z\":1.1877694129943848,\"step\":26},{\"robot_quat_xyzw\":[0.004071720875799656,-0.0003209914139006287,-0.7071195244789124,0.7070823311805725],\"robot_xy\":[-7.200023174285889,-13.854862213134766],\"robot_yaw_deg\":-90.00207699349009,\"robot_z\":1.1877694129943848,\"step\":27},{\"robot_quat_xyzw\":[0.003948714584112167,-0.0010429642861708999,-0.7070433497428894,0.7071584463119507],\"robot_xy\":[-7.199972152709961,-13.86452865600586],\"robot_yaw_deg\":-89.98984552008592,\"robot_z\":1.1877694129943848,\"step\":28},{\"robot_quat_xyzw\":[0.004821592941880226,-0.0018312653992325068,-0.707149863243103,0.7070449590682983],\"robot_xy\":[-7.200027942657471,-13.87419319152832],\"robot_yaw_deg\":-90.00736631052126,\"robot_z\":1.1877694129943848,\"step\":29},{\"robot_quat_xyzw\":[0.004821592941880226,-0.0018312653992325068,-0.707149863243103,0.7070449590682983],\"robot_xy\":[-7.200027942657471,-13.87419319152832],\"robot_yaw_deg\":-90.00736631052126,\"robot_z\":1.1877694129943848,\"step\":30},{\"robot_quat_xyzw\":[0.00582131277769804,-0.0021992651745676994,-0.7070938944816589,0.7070924043655396],\"robot_xy\":[-7.2000017166137695,-13.883841514587402],\"robot_yaw_deg\":-89.99846587194739,\"robot_z\":1.1877694129943848,\"step\":31},{\"robot_quat_xyzw\":[0.005697143264114857,-0.0018699641805142164,-0.7071280479431152,0.7070600986480713],\"robot_xy\":[-7.200028896331787,-13.893507957458496],\"robot_yaw_deg\":-90.00384723343753,\"robot_z\":1.1877694129943848,\"step\":32},{\"robot_quat_xyzw\":[0.004859370179474354,-0.00143924611620605,-0.7070270776748657,0.7071684002876282],\"robot_xy\":[-7.19996452331543,-13.903170585632324],\"robot_yaw_deg\":-89.98732144248733,\"robot_z\":1.1877694129943848,\"step\":33},{\"robot_quat_xyzw\":[0.004859370179474354,-0.00143924611620605,-0.7070270776748657,0.7071684002876282],\"robot_xy\":[-7.19996452331543,-13.903170585632324],\"robot_yaw_deg\":-89.98732144248733,\"robot_z\":1.1877694129943848,\"step\":34},{\"robot_quat_xyzw\":[0.004932321608066559,-0.001409665448591113,-0.7071268558502197,0.7070682644844055],\"robot_xy\":[-7.200023174285889,-13.912881851196289],\"robot_yaw_deg\":-90.00348103844854,\"robot_z\":1.1877694129943848,\"step\":35},{\"robot_quat_xyzw\":[0.005302411504089832,-0.0018370277248322964,-0.7071012854576111,0.7070900797843933],\"robot_xy\":[-7.200019836425781,-13.92257022857666],\"robot_yaw_deg\":-89.99949608525716,\"robot_z\":1.1877694129943848,\"step\":36},{\"robot_quat_xyzw\":[0.005129127763211727,-0.0016596911009401083,-0.7071013450622559,0.7070918083190918],\"robot_xy\":[-7.20003080368042,-13.932245254516602],\"robot_yaw_deg\":-89.99943468603561,\"robot_z\":1.1877694129943848,\"step\":37},{\"robot_quat_xyzw\":[0.004616498947143555,-0.0010460617486387491,-0.7070236206054688,0.7071741819381714],\"robot_xy\":[-7.1999831199646,-13.941914558410645],\"robot_yaw_deg\":-89.98664926617819,\"robot_z\":1.1877694129943848,\"step\":38},{\"robot_quat_xyzw\":[0.004616498947143555,-0.0010460617486387491,-0.7070236206054688,0.7071741819381714],\"robot_xy\":[-7.1999831199646,-13.941914558410645],\"robot_yaw_deg\":-89.98664926617819,\"robot_z\":1.1877694129943848,\"step\":39},{\"robot_quat_xyzw\":[0.00469675287604332,-0.0012044149916619062,-0.7071011662483215,0.7070958614349365],\"robot_xy\":[-7.200026035308838,-13.951584815979004],\"robot_yaw_deg\":-89.99925628323501,\"robot_z\":1.1877694129943848,\"step\":40},{\"robot_quat_xyzw\":[0.005225248634815216,-0.0018324066186323762,-0.7070947885513306,0.7070971727371216],\"robot_xy\":[-7.200033664703369,-13.961252212524414],\"robot_yaw_deg\":-89.99844127466893,\"robot_z\":1.1877694129943848,\"step\":41},{\"robot_quat_xyzw\":[0.005107728764414787,-0.0018270076252520084,-0.7070770859718323,0.7071157097816467],\"robot_xy\":[-7.2000346183776855,-13.970932006835938],\"robot_yaw_deg\":-89.99557023977793,\"robot_z\":1.1877694129943848,\"step\":42},{\"robot_quat_xyzw\":[0.005107728764414787,-0.0018270076252520084,-0.7070770859718323,0.7071157097816467],\"robot_xy\":[-7.2000346183776855,-13.970932006835938],\"robot_yaw_deg\":-89.99557023977793,\"robot_z\":1.1877694129943848,\"step\":43},{\"robot_quat_xyzw\":[0.004652137868106365,-0.0012642304645851254,-0.7070215344429016,0.7071756720542908],\"robot_xy\":[-7.1999969482421875,-13.980619430541992],\"robot_yaw_deg\":-89.98636900096582,\"robot_z\":1.1877694129943848,\"step\":44},{\"robot_quat_xyzw\":[0.004832630977034569,-0.0012326170690357685,-0.7070788145065308,0.7071171998977661],\"robot_xy\":[-7.200021743774414,-13.99030876159668],\"robot_yaw_deg\":-89.99564194299468,\"robot_z\":1.1877694129943848,\"step\":45},{\"robot_quat_xyzw\":[0.005356619134545326,-0.0016472453717142344,-0.7070991396903992,0.70709228515625],\"robot_xy\":[-7.200040817260742,-13.999970436096191],\"robot_yaw_deg\":-89.9990725712842,\"robot_z\":1.1877694129943848,\"step\":46},{\"robot_quat_xyzw\":[0.005097684450447559,-0.0014602364972233772,-0.7070627212524414,0.707131028175354],\"robot_xy\":[-7.2000298500061035,-14.009635925292969],\"robot_yaw_deg\":-89.99310425646284,\"robot_z\":1.1877694129943848,\"step\":47},{\"robot_quat_xyzw\":[0.005097684450447559,-0.0014602364972233772,-0.7070627212524414,0.707131028175354],\"robot_xy\":[-7.2000298500061035,-14.009635925292969],\"robot_yaw_deg\":-89.99310425646284,\"robot_z\":1.1877694129943848,\"step\":48},{\"robot_quat_xyzw\":[0.004395381547510624,-0.0009379833936691284,-0.707029402256012,0.7071698904037476],\"robot_xy\":[-7.2000041007995605,-14.019298553466797],\"robot_yaw_deg\":-89.98756156440204,\"robot_z\":1.1877694129943848,\"step\":49},{\"robot_quat_xyzw\":[0.004271167330443859,-0.0011934273643419147,-0.7070691585540771,0.7071306109428406],\"robot_xy\":[-7.200020790100098,-14.028972625732422],\"robot_yaw_deg\":-89.9940663075737,\"robot_z\":1.1877694129943848,\"step\":50},{\"robot_quat_xyzw\":[0.0031192833557724953,-0.0032372830901294947,-0.7070948481559753,0.707104504108429],\"robot_xy\":[-7.200048923492432,-14.038915634155273],\"robot_yaw_deg\":-89.99926710575374,\"robot_z\":1.1877694129943848,\"step\":51},{\"robot_quat_xyzw\":[0.0031192833557724953,-0.0032372830901294947,-0.7070948481559753,0.707104504108429],\"robot_xy\":[-7.200048923492432,-14.038915634155273],\"robot_yaw_deg\":-89.99926710575374,\"robot_z\":1.1877694129943848,\"step\":52},{\"robot_quat_xyzw\":[0.0016677798703312874,-0.0047646258026361465,-0.7070180773735046,0.7071775197982788],\"robot_xy\":[-7.200013160705566,-14.048623085021973],\"robot_yaw_deg\":-89.98822713992803,\"robot_z\":1.1877694129943848,\"step\":53},{\"robot_quat_xyzw\":[0.0013700313866138458,-0.005106091499328613,-0.7070658206939697,0.7071279287338257],\"robot_xy\":[-7.200037002563477,-14.058290481567383],\"robot_yaw_deg\":-89.99634985974103,\"robot_z\":1.1877694129943848,\"step\":54},{\"robot_quat_xyzw\":[0.002049070782959461,-0.004530494567006826,-0.7070320248603821,0.7071641683578491],\"robot_xy\":[-7.200023651123047,-14.067997932434082],\"robot_yaw_deg\":-89.99023783604004,\"robot_z\":1.1877694129943848,\"step\":55},{\"robot_quat_xyzw\":[0.002049070782959461,-0.004530494567006826,-0.7070320248603821,0.7071641683578491],\"robot_xy\":[-7.200023651123047,-14.067997932434082],\"robot_yaw_deg\":-89.99023783604004,\"robot_z\":1.1877694129943848,\"step\":56},{\"robot_quat_xyzw\":[0.003774159587919712,-0.0028943433426320553,-0.7070647478103638,0.707132875919342],\"robot_xy\":[-7.200033187866211,-14.077705383300781],\"robot_yaw_deg\":-89.99414835730771,\"robot_z\":1.1877694129943848,\"step\":57},{\"robot_quat_xyzw\":[0.005687987431883812,-0.0006250478327274323,-0.7070512175559998,0.707139253616333],\"robot_xy\":[-7.200043201446533,-14.087339401245117],\"robot_yaw_deg\":-89.991040422355,\"robot_z\":1.1877694129943848,\"step\":58},{\"robot_quat_xyzw\":[0.007274096831679344,0.0009150637197308242,-0.7070370316505432,0.7071385979652405],\"robot_xy\":[-7.20003604888916,-14.097007751464844],\"robot_yaw_deg\":-89.98879236327008,\"robot_z\":1.1877694129943848,\"step\":59},{\"robot_quat_xyzw\":[0.00792485848069191,0.0015584919601678848,-0.7070421576499939,0.7071253657341003],\"robot_xy\":[-7.200038909912109,-14.106671333312988],\"robot_yaw_deg\":-89.98980520176904,\"robot_z\":1.1877694129943848,\"step\":60},{\"robot_quat_xyzw\":[0.00792485848069191,0.0015584919601678848,-0.7070421576499939,0.7071253657341003],\"robot_xy\":[-7.200038909912109,-14.106671333312988],\"robot_yaw_deg\":-89.98980520176904,\"robot_z\":1.1877694129943848,\"step\":61},{\"robot_quat_xyzw\":[0.00553795974701643,0.0036971953231841326,-0.71042400598526,0.7037424445152283],\"robot_xy\":[-7.209697723388672,-14.116385459899902],\"robot_yaw_deg\":-90.54046081003469,\"robot_z\":1.1877694129943848,\"step\":62},{\"robot_quat_xyzw\":[0.0031656762585043907,0.004092537332326174,-0.7137934565544128,0.7003371715545654],\"robot_xy\":[-7.219449520111084,-14.12600326538086],\"robot_yaw_deg\":-91.09078816199204,\"robot_z\":1.1877694129943848,\"step\":63},{\"robot_quat_xyzw\":[0.0010797902941703796,0.0029318425804376602,-0.7171538472175598,0.6969079375267029],\"robot_xy\":[-7.2292304039001465,-14.135525703430176],\"robot_yaw_deg\":-91.64099928433369,\"robot_z\":1.1877694129943848,\"step\":64},{\"robot_quat_xyzw\":[0.0010797902941703796,0.0029318425804376602,-0.7171538472175598,0.6969079375267029],\"robot_xy\":[-7.2292304039001465,-14.135525703430176],\"robot_yaw_deg\":-91.64099928433369,\"robot_z\":1.1877694129943848,\"step\":65},{\"robot_quat_xyzw\":[-0.0007620071992278099,0.00024015255621634424,-0.720498263835907,0.6934563517570496],\"robot_xy\":[-7.239165782928467,-14.144952774047852],\"robot_yaw_deg\":-92.19127374451416,\"robot_z\":1.1877694129943848,\"step\":66},{\"robot_quat_xyzw\":[-0.0010340269654989243,-0.0015150237595662475,-0.7238418459892273,0.6899635195732117],\"robot_xy\":[-7.249192714691162,-14.1542329788208],\"robot_yaw_deg\":-92.74545719644873,\"robot_z\":1.1877694129943848,\"step\":67},{\"robot_quat_xyzw\":[0.00029446184635162354,-0.00337209552526474,-0.7271538376808167,0.6864662766456604],\"robot_xy\":[-7.256698131561279,-14.163590431213379],\"robot_yaw_deg\":-93.29796970783418,\"robot_z\":1.1877694129943848,\"step\":68},{\"robot_quat_xyzw\":[0.005212839692831039,-0.006685890723019838,-0.7243077158927917,0.6894246935844421],\"robot_xy\":[-7.255580902099609,-14.17334270477295],\"robot_yaw_deg\":-92.82770946181827,\"robot_z\":1.1877694129943848,\"step\":69},{\"robot_quat_xyzw\":[0.005212839692831039,-0.006685890723019838,-0.7243077158927917,0.6894246935844421],\"robot_xy\":[-7.255580902099609,-14.17334270477295],\"robot_yaw_deg\":-92.82770946181827,\"robot_z\":1.1877694129943848,\"step\":70},{\"robot_quat_xyzw\":[0.006957170553505421,-0.006034803576767445,-0.7276234030723572,0.685914933681488],\"robot_xy\":[-7.265691757202148,-14.182515144348145],\"robot_yaw_deg\":-93.37923417549689,\"robot_z\":1.1877694129943848,\"step\":71},{\"robot_quat_xyzw\":[0.007373674772679806,-0.004408867564052343,-0.7309249639511108,0.6824038624763489],\"robot_xy\":[-7.275898456573486,-14.191640853881836],\"robot_yaw_deg\":-93.93026309737093,\"robot_z\":1.1877694129943848,\"step\":72},{\"robot_quat_xyzw\":[0.006135080009698868,-0.002725651254877448,-0.7342076301574707,0.6788919568061829],\"robot_xy\":[-7.285963535308838,-14.200675964355469],\"robot_yaw_deg\":-94.4815246791381,\"robot_z\":1.1877694129943848,\"step\":73},{\"robot_quat_xyzw\":[0.006135080009698868,-0.002725651254877448,-0.7342076301574707,0.6788919568061829],\"robot_xy\":[-7.285963535308838,-14.200675964355469],\"robot_yaw_deg\":-94.4815246791381,\"robot_z\":1.1877694129943848,\"step\":74},{\"robot_quat_xyzw\":[0.0038295816630125046,-0.0009980805916711688,-0.7374496459960938,0.6753906011581421],\"robot_xy\":[-7.296313285827637,-14.209582328796387],\"robot_yaw_deg\":-95.02939125751926,\"robot_z\":1.1877694129943848,\"step\":75},{\"robot_quat_xyzw\":[0.0022289007902145386,-9.546703222440556e-05,-0.7406834959983826,0.6718505024909973],\"robot_xy\":[-7.3067779541015625,-14.21839714050293],\"robot_yaw_deg\":-95.57937158219045,\"robot_z\":1.1877694129943848,\"step\":76},{\"robot_quat_xyzw\":[0.0024299435317516327,-0.0009865534957498312,-0.7438916563987732,0.66829514503479],\"robot_xy\":[-7.313013076782227,-14.227524757385254],\"robot_yaw_deg\":-96.12810535681913,\"robot_z\":1.1877694129943848,\"step\":77},{\"robot_quat_xyzw\":[0.005354529246687889,-0.0037375169340521097,-0.7411830425262451,0.6712713837623596],\"robot_xy\":[-7.312410831451416,-14.237343788146973],\"robot_yaw_deg\":-95.66621225031824,\"robot_z\":1.1877694129943848,\"step\":78},{\"robot_quat_xyzw\":[0.005354529246687889,-0.0037375169340521097,-0.7411830425262451,0.6712713837623596],\"robot_xy\":[-7.312410831451416,-14.237343788146973],\"robot_yaw_deg\":-95.66621225031824,\"robot_z\":1.1877694129943848,\"step\":79},{\"robot_quat_xyzw\":[0.004453305155038834,-0.0022309673950076103,-0.7444182634353638,0.667695164680481],\"robot_xy\":[-7.323004245758057,-14.24605655670166],\"robot_yaw_deg\":-96.21892694375886,\"robot_z\":1.1877694129943848,\"step\":80},{\"robot_quat_xyzw\":[0.004201766103506088,-0.0006547438097186387,-0.7476104497909546,0.6641238927841187],\"robot_xy\":[-7.333627223968506,-14.254638671875],\"robot_yaw_deg\":-96.7677679412673,\"robot_z\":1.1877694129943848,\"step\":81},{\"robot_quat_xyzw\":[0.005215458571910858,-0.0007733766688033938,-0.7507867217063904,0.6605236530303955],\"robot_xy\":[-7.342260837554932,-14.26338005065918],\"robot_yaw_deg\":-97.3173840763973,\"robot_z\":1.1877694129943848,\"step\":82},{\"robot_quat_xyzw\":[0.00766821950674057,-0.003949219360947609,-0.7481744289398193,0.6634461879730225],\"robot_xy\":[-7.341915607452393,-14.273177146911621],\"robot_yaw_deg\":-96.86690808717884,\"robot_z\":1.1877694129943848,\"step\":83},{\"robot_quat_xyzw\":[0.00766821950674057,-0.003949219360947609,-0.7481744289398193,0.6634461879730225],\"robot_xy\":[-7.341915607452393,-14.273177146911621],\"robot_yaw_deg\":-96.86690808717884,\"robot_z\":1.1877694129943848,\"step\":84},{\"robot_quat_xyzw\":[0.006154244765639305,-0.003171277465298772,-0.7513614892959595,0.6598546504974365],\"robot_xy\":[-7.352663040161133,-14.28170394897461],\"robot_yaw_deg\":-97.41816091374653,\"robot_z\":1.1877694129943848,\"step\":85},{\"robot_quat_xyzw\":[0.004174327477812767,-0.0016510147834196687,-0.754525899887085,0.6562549471855164],\"robot_xy\":[-7.363458633422852,-14.290059089660645],\"robot_yaw_deg\":-97.96830586931476,\"robot_z\":1.1877694129943848,\"step\":86},{\"robot_quat_xyzw\":[0.0037249568849802017,-0.0010798078728839755,-0.7576534152030945,0.6526457667350769],\"robot_xy\":[-7.371545314788818,-14.298714637756348],\"robot_yaw_deg\":-98.51573490764068,\"robot_z\":1.1877694129943848,\"step\":87},{\"robot_quat_xyzw\":[0.0057156626135110855,-0.003188584465533495,-0.7550978064537048,0.6555795073509216],\"robot_xy\":[-7.37142276763916,-14.30848503112793],\"robot_yaw_deg\":-98.0690901852461,\"robot_z\":1.1877694129943848,\"step\":88},{\"robot_quat_xyzw\":[0.0057156626135110855,-0.003188584465533495,-0.7550978064537048,0.6555795073509216],\"robot_xy\":[-7.37142276763916,-14.30848503112793],\"robot_yaw_deg\":-98.0690901852461,\"robot_z\":1.1877694129943848,\"step\":89},{\"robot_quat_xyzw\":[0.006664743646979332,-0.005043452605605125,-0.7519416213035583,0.6591766476631165],\"robot_xy\":[-7.369694232940674,-14.318513870239258],\"robot_yaw_deg\":-97.52068028118144,\"robot_z\":1.1877694129943848,\"step\":90},{\"robot_quat_xyzw\":[0.0053930990397930145,-0.0051314011216163635,-0.7547715306282043,0.6559455990791321],\"robot_xy\":[-7.37281608581543,-14.32786750793457],\"robot_yaw_deg\":-98.01387534493686,\"robot_z\":1.1877694129943848,\"step\":91},{\"robot_quat_xyzw\":[0.005051322281360626,-0.005186759866774082,-0.7521331310272217,0.6589715480804443],\"robot_xy\":[-7.372513771057129,-14.337718963623047],\"robot_yaw_deg\":-97.55410190560839,\"robot_z\":1.1877694129943848,\"step\":92},{\"robot_quat_xyzw\":[0.005051322281360626,-0.005186759866774082,-0.7521331310272217,0.6589715480804443],\"robot_xy\":[-7.372513771057129,-14.337718963623047],\"robot_yaw_deg\":-97.55410190560839,\"robot_z\":1.1877694129943848,\"step\":93},{\"robot_quat_xyzw\":[0.00557350181043148,-0.004986958112567663,-0.748985767364502,0.6625438332557678],\"robot_xy\":[-7.371095657348633,-14.347661018371582],\"robot_yaw_deg\":-97.00807871713006,\"robot_z\":1.1877694129943848,\"step\":94},{\"robot_quat_xyzw\":[0.004970459267497063,-0.0025530317798256874,-0.7518554329872131,0.6593044996261597],\"robot_xy\":[-7.374172210693359,-14.357077598571777],\"robot_yaw_deg\":-97.5035306709756,\"robot_z\":1.1877694129943848,\"step\":95},{\"robot_quat_xyzw\":[0.0046182721853256226,-0.0009285934502258897,-0.7491836547851562,0.6623456478118896],\"robot_xy\":[-7.373744010925293,-14.366880416870117],\"robot_yaw_deg\":-97.0396392219082,\"robot_z\":1.1877694129943848,\"step\":96},{\"robot_quat_xyzw\":[0.004087075591087341,-0.00015328917652368546,-0.7516456842422485,0.6595544815063477],\"robot_xy\":[-7.376399993896484,-14.376302719116211],\"robot_yaw_deg\":-97.46640247309948,\"robot_z\":1.1877694129943848,\"step\":97},{\"robot_quat_xyzw\":[0.004087075591087341,-0.00015328917652368546,-0.7516456842422485,0.6595544815063477],\"robot_xy\":[-7.376399993896484,-14.376302719116211],\"robot_yaw_deg\":-97.46640247309948,\"robot_z\":1.1877694129943848,\"step\":98},{\"robot_quat_xyzw\":[0.004961933940649033,-0.002424506703391671,-0.7484874129295349,0.6631260514259338],\"robot_xy\":[-7.372281074523926,-14.386603355407715],\"robot_yaw_deg\":-96.91978424779231,\"robot_z\":1.1877694129943848,\"step\":99},{\"robot_quat_xyzw\":[0.003889547660946846,-0.0015015563694760203,-0.7511491179466248,0.6601195335388184],\"robot_xy\":[-7.375175952911377,-14.396040916442871],\"robot_yaw_deg\":-97.38034695497302,\"robot_z\":1.1877694129943848,\"step\":100},{\"robot_quat_xyzw\":[0.002859450876712799,-0.00420478917658329,-0.7488076090812683,0.6627680063247681],\"robot_xy\":[-7.375000953674316,-14.406107902526855],\"robot_yaw_deg\":-96.97643523042571,\"robot_z\":1.1877694129943848,\"step\":101},{\"robot_quat_xyzw\":[0.002859450876712799,-0.00420478917658329,-0.7488076090812683,0.6627680063247681],\"robot_xy\":[-7.375000953674316,-14.406107902526855],\"robot_yaw_deg\":-96.97643523042571,\"robot_z\":1.1877694129943848,\"step\":102},{\"robot_quat_xyzw\":[0.0022184308618307114,-0.0061844633892178535,-0.745590090751648,0.6663725972175598],\"robot_xy\":[-7.373502254486084,-14.416069984436035],\"robot_yaw_deg\":-96.42410432568134,\"robot_z\":1.1877694129943848,\"step\":103},{\"robot_quat_xyzw\":[0.0016109049320220947,-0.00594180915504694,-0.7485535740852356,0.6630458235740662],\"robot_xy\":[-7.376532554626465,-14.42548942565918],\"robot_yaw_deg\":-96.9346564781575,\"robot_z\":1.1877694129943848,\"step\":104},{\"robot_quat_xyzw\":[0.0028785597532987595,-0.005720777437090874,-0.7458003163337708,0.6661388874053955],\"robot_xy\":[-7.375975608825684,-14.435331344604492],\"robot_yaw_deg\":-96.45958144532389,\"robot_z\":1.1877694129943848,\"step\":105},{\"robot_quat_xyzw\":[0.0028785597532987595,-0.005720777437090874,-0.7458003163337708,0.6661388874053955],\"robot_xy\":[-7.375975608825684,-14.435331344604492],\"robot_yaw_deg\":-96.45958144532389,\"robot_z\":1.1877694129943848,\"step\":106},{\"robot_quat_xyzw\":[0.005363259464502335,-0.0046869139187037945,-0.7428262233734131,0.6694464087486267],\"robot_xy\":[-7.37499475479126,-14.445209503173828],\"robot_yaw_deg\":-95.94799166941351,\"robot_z\":1.1877694129943848,\"step\":107},{\"robot_quat_xyzw\":[0.006895868107676506,-0.0017889661248773336,-0.745629072189331,0.666323184967041],\"robot_xy\":[-7.3778486251831055,-14.45461654663086],\"robot_yaw_deg\":-96.42688994985745,\"robot_z\":1.1877694129943848,\"step\":108},{\"robot_quat_xyzw\":[0.007703855633735657,0.0008376669138669968,-0.743054986000061,0.6691856384277344],\"robot_xy\":[-7.377307891845703,-14.464415550231934],\"robot_yaw_deg\":-95.98516996246529,\"robot_z\":1.1877694129943848,\"step\":109},{\"robot_quat_xyzw\":[0.006987657397985458,0.003017426235601306,-0.7453672885894775,0.6666107773780823],\"robot_xy\":[-7.379708766937256,-14.47390079498291],\"robot_yaw_deg\":-96.38302814868442,\"robot_z\":1.1877694129943848,\"step\":110},{\"robot_quat_xyzw\":[0.006987657397985458,0.003017426235601306,-0.7453672885894775,0.6666107773780823],\"robot_xy\":[-7.379708766937256,-14.47390079498291],\"robot_yaw_deg\":-96.38302814868442,\"robot_z\":1.1877694129943848,\"step\":111},{\"robot_quat_xyzw\":[0.00788903795182705,0.0019982189405709505,-0.742144763469696,0.6701903343200684],\"robot_xy\":[-7.3760175704956055,-14.484061241149902],\"robot_yaw_deg\":-95.82994125889616,\"robot_z\":1.1877694129943848,\"step\":112},{\"robot_quat_xyzw\":[0.007466278970241547,0.0011693816632032394,-0.7449771761894226,0.6670472621917725],\"robot_xy\":[-7.378822326660156,-14.493505477905273],\"robot_yaw_deg\":-96.31494381809321,\"robot_z\":1.1877694129943848,\"step\":113},{\"robot_quat_xyzw\":[0.0068042222410440445,-0.0014129537157714367,-0.7424202561378479,0.669898509979248],\"robot_xy\":[-7.378321647644043,-14.503292083740234],\"robot_yaw_deg\":-95.87641661375515,\"robot_z\":1.1877694129943848,\"step\":114},{\"robot_quat_xyzw\":[0.0068042222410440445,-0.0014129537157714367,-0.7424202561378479,0.669898509979248],\"robot_xy\":[-7.378321647644043,-14.503292083740234],\"robot_yaw_deg\":-95.87641661375515,\"robot_z\":1.1877694129943848,\"step\":115},{\"robot_quat_xyzw\":[0.005123164504766464,-0.0034108273684978485,-0.7396441698074341,0.6729700565338135],\"robot_xy\":[-7.377416610717773,-14.513099670410156],\"robot_yaw_deg\":-95.40358905268171,\"robot_z\":1.1877694129943848,\"step\":116},{\"robot_quat_xyzw\":[0.0029848329722881317,-0.003522416576743126,-0.7421944737434387,0.6701688170433044],\"robot_xy\":[-7.380012035369873,-14.522607803344727],\"robot_yaw_deg\":-95.83880436522384,\"robot_z\":1.1877694129943848,\"step\":117},{\"robot_quat_xyzw\":[0.0026170965284109116,-0.003529909998178482,-0.7398207783699036,0.6727897524833679],\"robot_xy\":[-7.3795037269592285,-14.532410621643066],\"robot_yaw_deg\":-95.4337372714107,\"robot_z\":1.1877694129943848,\"step\":118},{\"robot_quat_xyzw\":[0.0026950854808092117,-0.001853263471275568,-0.7420362234115601,0.6703519225120544],\"robot_xy\":[-7.381751537322998,-14.541945457458496],\"robot_yaw_deg\":-95.81072258608529,\"robot_z\":1.1877694129943848,\"step\":119},{\"robot_quat_xyzw\":[0.0026950854808092117,-0.001853263471275568,-0.7420362234115601,0.6703519225120544],\"robot_xy\":[-7.381751537322998,-14.541945457458496],\"robot_yaw_deg\":-95.81072258608529,\"robot_z\":1.1877694129943848,\"step\":120},{\"robot_quat_xyzw\":[0.005024397745728493,-0.0014083500718697906,-0.7387896776199341,0.6739158630371094],\"robot_xy\":[-7.378320693969727,-14.552020072937012],\"robot_yaw_deg\":-95.25714166580318,\"robot_z\":1.1877694129943848,\"step\":121},{\"robot_quat_xyzw\":[0.006258292123675346,-0.000611454714089632,-0.7416676878929138,0.6707380414009094],\"robot_xy\":[-7.381033420562744,-14.561473846435547],\"robot_yaw_deg\":-95.74759228813957,\"robot_z\":1.1877694129943848,\"step\":122},{\"robot_quat_xyzw\":[0.007102791219949722,-0.0010388785740360618,-0.7390542030334473,0.6736077666282654],\"robot_xy\":[-7.380423069000244,-14.57126522064209],\"robot_yaw_deg\":-95.30216471643085,\"robot_z\":1.1877694129943848,\"step\":123},{\"robot_quat_xyzw\":[0.007102791219949722,-0.0010388785740360618,-0.7390542030334473,0.6736077666282654],\"robot_xy\":[-7.380423069000244,-14.57126522064209],\"robot_yaw_deg\":-95.30216471643085,\"robot_z\":1.1877694129943848,\"step\":124},{\"robot_quat_xyzw\":[0.006282957270741463,-0.0013123396784067154,-0.7367495894432068,0.6761353611946106],\"robot_xy\":[-7.379770278930664,-14.581043243408203],\"robot_yaw_deg\":-94.91085815930157,\"robot_z\":1.1877694129943848,\"step\":125},{\"robot_quat_xyzw\":[0.004096809774637222,-0.0012014408130198717,-0.7388086318969727,0.6739019155502319],\"robot_xy\":[-7.381916046142578,-14.590557098388672],\"robot_yaw_deg\":-95.26027261391627,\"robot_z\":1.1877694129943848,\"step\":126},{\"robot_quat_xyzw\":[0.0036434829235076904,-0.0018705300753936172,-0.7369607090950012,0.675923228263855],\"robot_xy\":[-7.381649017333984,-14.600276947021484],\"robot_yaw_deg\":-94.94673037265112,\"robot_z\":1.1877694129943848,\"step\":127},{\"robot_quat_xyzw\":[0.003391128033399582,-0.0013631002511829138,-0.7386826276779175,0.6740434765815735],\"robot_xy\":[-7.383510112762451,-14.609857559204102],\"robot_yaw_deg\":-95.23887279874435,\"robot_z\":1.1877694129943848,\"step\":128},{\"robot_quat_xyzw\":[0.003391128033399582,-0.0013631002511829138,-0.7386826276779175,0.6740434765815735],\"robot_xy\":[-7.383510112762451,-14.609857559204102],\"robot_yaw_deg\":-95.23887279874435,\"robot_z\":1.1877694129943848,\"step\":129},{\"robot_quat_xyzw\":[0.00505557656288147,-0.0014392778975889087,-0.7354694604873657,0.6775375604629517],\"robot_xy\":[-7.380618572235107,-14.619820594787598],\"robot_yaw_deg\":-94.69410804838515,\"robot_z\":1.1877694129943848,\"step\":130},{\"robot_quat_xyzw\":[0.004913764074444771,2.235877218481619e-05,-0.738243043422699,0.674517035484314],\"robot_xy\":[-7.383143901824951,-14.629316329956055],\"robot_yaw_deg\":-95.16406476344454,\"robot_z\":1.1877694129943848,\"step\":131},{\"robot_quat_xyzw\":[0.005608180537819862,-0.0009359588730148971,-0.7357204556465149,0.6772615909576416],\"robot_xy\":[-7.382491588592529,-14.639084815979004],\"robot_yaw_deg\":-94.73647313671857,\"robot_z\":1.1877694129943848,\"step\":132},{\"robot_quat_xyzw\":[0.005608180537819862,-0.0009359588730148971,-0.7357204556465149,0.6772615909576416],\"robot_xy\":[-7.382491588592529,-14.639084815979004],\"robot_yaw_deg\":-94.73647313671857,\"robot_z\":1.1877694129943848,\"step\":133},{\"robot_quat_xyzw\":[0.005880542099475861,-0.002451609820127487,-0.7338181734085083,0.6793161034584045],\"robot_xy\":[-7.382031440734863,-14.648829460144043],\"robot_yaw_deg\":-94.41564741815878,\"robot_z\":1.1877694129943848,\"step\":134},{\"robot_quat_xyzw\":[0.0049964990466833115,-0.0027234286535531282,-0.7355446815490723,0.6774524450302124],\"robot_xy\":[-7.383889675140381,-14.65839672088623],\"robot_yaw_deg\":-94.70740559764897,\"robot_z\":1.1877694129943848,\"step\":135},{\"robot_quat_xyzw\":[0.004761092364788055,-0.0026800811756402254,-0.7339237332344055,0.6792099475860596],\"robot_xy\":[-7.383688449859619,-14.668160438537598],\"robot_yaw_deg\":-94.43355229979639,\"robot_z\":1.1877694129943848,\"step\":136},{\"robot_quat_xyzw\":[0.004761092364788055,-0.0026800811756402254,-0.7339237332344055,0.6792099475860596],\"robot_xy\":[-7.383688449859619,-14.668160438537598],\"robot_yaw_deg\":-94.43355229979639,\"robot_z\":1.1877694129943848,\"step\":137},{\"robot_quat_xyzw\":[0.005154159851372242,-0.002182842930778861,-0.7316195368766785,0.6816902756690979],\"robot_xy\":[-7.382875442504883,-14.67790699005127],\"robot_yaw_deg\":-94.04526496705984,\"robot_z\":1.1877694129943848,\"step\":138},{\"robot_quat_xyzw\":[0.0045359376817941666,-0.0006263003451749682,-0.733666718006134,0.6794940829277039],\"robot_xy\":[-7.384868621826172,-14.687448501586914],\"robot_yaw_deg\":-94.38946956424938,\"robot_z\":1.1877694129943848,\"step\":139},{\"robot_quat_xyzw\":[0.004816506989300251,-0.001242352998815477,-0.7318292856216431,0.6814699172973633],\"robot_xy\":[-7.384457588195801,-14.697178840637207],\"robot_yaw_deg\":-94.08017459945098,\"robot_z\":1.1877694129943848,\"step\":140},{\"robot_quat_xyzw\":[0.004932848736643791,-0.0019136553164571524,-0.7335762977600098,0.6795865893363953],\"robot_xy\":[-7.3861894607543945,-14.706748008728027],\"robot_yaw_deg\":-94.37457072090527,\"robot_z\":1.1877694129943848,\"step\":141},{\"robot_quat_xyzw\":[0.004932848736643791,-0.0019136553164571524,-0.7335762977600098,0.6795865893363953],\"robot_xy\":[-7.3861894607543945,-14.706748008728027],\"robot_yaw_deg\":-94.37457072090527,\"robot_z\":1.1877694129943848,\"step\":142},{\"robot_quat_xyzw\":[0.005551233887672424,-0.003100226167589426,-0.7303215861320496,0.6830739974975586],\"robot_xy\":[-7.383586883544922,-14.71665096282959],\"robot_yaw_deg\":-93.82785311734216,\"robot_z\":1.1877694129943848,\"step\":143},{\"robot_quat_xyzw\":[0.004827689379453659,-0.001958422129973769,-0.7332145571708679,0.679977536201477],\"robot_xy\":[-7.386079788208008,-14.726154327392578],\"robot_yaw_deg\":-94.3136081690882,\"robot_z\":1.1877694129943848,\"step\":144},{\"robot_quat_xyzw\":[0.0050715114921331406,-0.0013847087975591421,-0.730501651763916,0.6828908324241638],\"robot_xy\":[-7.385162353515625,-14.73593521118164],\"robot_yaw_deg\":-93.85720983274852,\"robot_z\":1.1877694129943848,\"step\":145},{\"robot_quat_xyzw\":[0.0050715114921331406,-0.0013847087975591421,-0.730501651763916,0.6828908324241638],\"robot_xy\":[-7.385162353515625,-14.73593521118164],\"robot_yaw_deg\":-93.85720983274852,\"robot_z\":1.1877694129943848,\"step\":146},{\"robot_quat_xyzw\":[0.0054949186742305756,-0.0010617171647027135,-0.729512095451355,0.6839451193809509],\"robot_xy\":[-7.385159492492676,-14.745617866516113],\"robot_yaw_deg\":-93.69122227890296,\"robot_z\":1.1877694129943848,\"step\":147},{\"robot_quat_xyzw\":[0.004978388547897339,-0.0006432601367123425,-0.7303467988967896,0.6830580234527588],\"robot_xy\":[-7.386308193206787,-14.755232810974121],\"robot_yaw_deg\":-93.83107692871802,\"robot_z\":1.1877694129943848,\"step\":148},{\"robot_quat_xyzw\":[0.004866081289947033,-0.0016476610908284783,-0.7296370267868042,0.6838155388832092],\"robot_xy\":[-7.386519908905029,-14.76490306854248],\"robot_yaw_deg\":-93.71230104672806,\"robot_z\":1.1877694129943848,\"step\":149},{\"robot_quat_xyzw\":[0.0048335399478673935,-0.0019166419515386224,-0.7302694916725159,0.6831395626068115],\"robot_xy\":[-7.387524604797363,-14.774572372436523],\"robot_yaw_deg\":-93.81844116437573,\"robot_z\":1.1877694129943848,\"step\":150},{\"robot_quat_xyzw\":[0.004769107326865196,-0.0016704074805602431,-0.7302913069725037,0.6831172704696655],\"robot_xy\":[-7.387554168701172,-14.774828910827637],\"robot_yaw_deg\":-93.82200370156625,\"robot_z\":1.1877694129943848,\"step\":151},{\"robot_quat_xyzw\":[0.003272515721619129,-0.004327583126723766,-0.7269793152809143,0.6866380572319031],\"robot_xy\":[-7.385697841644287,-14.78468132019043],\"robot_yaw_deg\":-93.26965830797235,\"robot_z\":1.1877694129943848,\"step\":152},{\"robot_quat_xyzw\":[0.00161725003272295,-0.004989541135728359,-0.7300329208374023,0.683391809463501],\"robot_xy\":[-7.388184070587158,-14.794256210327148],\"robot_yaw_deg\":-93.78120489378581,\"robot_z\":1.1877694129943848,\"step\":153},{\"robot_quat_xyzw\":[0.0018406696617603302,-0.00559521559625864,-0.7271807789802551,0.686420738697052],\"robot_xy\":[-7.3871073722839355,-14.804054260253906],\"robot_yaw_deg\":-93.30476792301452,\"robot_z\":1.1877694129943848,\"step\":154},{\"robot_quat_xyzw\":[0.0018406696617603302,-0.00559521559625864,-0.7271807789802551,0.686420738697052],\"robot_xy\":[-7.3871073722839355,-14.804054260253906],\"robot_yaw_deg\":-93.30476792301452,\"robot_z\":1.1877694129943848,\"step\":155},{\"robot_quat_xyzw\":[0.0028358278796076775,-0.004892729688435793,-0.7266874313354492,0.6869449019432068],\"robot_xy\":[-7.387332439422607,-14.813764572143555],\"robot_yaw_deg\":-93.22156642103171,\"robot_z\":1.1877694129943848,\"step\":156},{\"robot_quat_xyzw\":[0.004743695259094238,-0.00304397358559072,-0.72716224193573,0.6864425539970398],\"robot_xy\":[-7.388176918029785,-14.82343864440918],\"robot_yaw_deg\":-93.29911417768454,\"robot_z\":1.1877694129943848,\"step\":157},{\"robot_quat_xyzw\":[0.006697429344058037,-0.0005359824863262475,-0.7267647385597229,0.6868535876274109],\"robot_xy\":[-7.388500690460205,-14.833081245422363],\"robot_yaw_deg\":-93.23186789924938,\"robot_z\":1.1877694129943848,\"step\":158},{\"robot_quat_xyzw\":[0.007747866213321686,0.001672330778092146,-0.7270509004592896,0.6865379214286804],\"robot_xy\":[-7.389198303222656,-14.842723846435547],\"robot_yaw_deg\":-93.28007654203475,\"robot_z\":1.1877694129943848,\"step\":159},{\"robot_quat_xyzw\":[0.007747866213321686,0.001672330778092146,-0.7270509004592896,0.6865379214286804],\"robot_xy\":[-7.389198303222656,-14.842723846435547],\"robot_yaw_deg\":-93.28007654203475,\"robot_z\":1.1877694129943848,\"step\":160},{\"robot_quat_xyzw\":[0.00885755941271782,0.002230159705504775,-0.7240474224090576,0.6896897554397583],\"robot_xy\":[-7.387817859649658,-14.852495193481445],\"robot_yaw_deg\":-92.78024667458688,\"robot_z\":1.1877694129943848,\"step\":161},{\"robot_quat_xyzw\":[0.008784251287579536,0.0025503728538751602,-0.726773202419281,0.6868165731430054],\"robot_xy\":[-7.389975547790527,-14.862081527709961],\"robot_yaw_deg\":-93.23429119700793,\"robot_z\":1.1877694129943848,\"step\":162},{\"robot_quat_xyzw\":[0.008655020967125893,0.0011824674438685179,-0.7243212461471558,0.6894072890281677],\"robot_xy\":[-7.389077663421631,-14.871821403503418],\"robot_yaw_deg\":-92.82526982182534,\"robot_z\":1.1877694129943848,\"step\":163},{\"robot_quat_xyzw\":[0.008655020967125893,0.0011824674438685179,-0.7243212461471558,0.6894072890281677],\"robot_xy\":[-7.389077663421631,-14.871821403503418],\"robot_yaw_deg\":-92.82526982182534,\"robot_z\":1.1877694129943848,\"step\":164},{\"robot_quat_xyzw\":[0.0067276544868946075,0.00030000702827237546,-0.723818838596344,0.6899572610855103],\"robot_xy\":[-7.389222621917725,-14.881484031677246],\"robot_yaw_deg\":-92.7415067416733,\"robot_z\":1.1877694129943848,\"step\":165},{\"robot_quat_xyzw\":[0.004452989436686039,-0.0015265707625076175,-0.7242727279663086,0.6894975304603577],\"robot_xy\":[-7.389962196350098,-14.89111614227295],\"robot_yaw_deg\":-92.817055929081,\"robot_z\":1.1877694129943848,\"step\":166},{\"robot_quat_xyzw\":[0.003517311066389084,-0.0033595829736441374,-0.7238851189613342,0.6899034380912781],\"robot_xy\":[-7.390206336975098,-14.900789260864258],\"robot_yaw_deg\":-92.75365837633804,\"robot_z\":1.1877694129943848,\"step\":167},{\"robot_quat_xyzw\":[0.003517311066389084,-0.0033595829736441374,-0.7238851189613342,0.6899034380912781],\"robot_xy\":[-7.390206336975098,-14.900789260864258],\"robot_yaw_deg\":-92.75365837633804,\"robot_z\":1.1877694129943848,\"step\":168},{\"robot_quat_xyzw\":[0.0004586651921272278,-0.0013716116081923246,-0.7272114157676697,0.6864122152328491],\"robot_xy\":[-7.40034294128418,-14.910018920898438],\"robot_yaw_deg\":-93.30646503308449,\"robot_z\":1.1877694129943848,\"step\":169},{\"robot_quat_xyzw\":[0.00045631639659404755,-0.0004376318247523159,-0.7305135130882263,0.6828979849815369],\"robot_xy\":[-7.4042067527771,-14.919517517089844],\"robot_yaw_deg\":-93.85894370961259,\"robot_z\":1.1877694129943848,\"step\":170},{\"robot_quat_xyzw\":[0.002557641826570034,-0.00044237065594643354,-0.7274836897850037,0.6861201524734497],\"robot_xy\":[-7.4029693603515625,-14.929288864135742],\"robot_yaw_deg\":-93.3517495256237,\"robot_z\":1.1877694129943848,\"step\":171},{\"robot_quat_xyzw\":[0.004556257277727127,-0.0006252112798392773,-0.7302678823471069,0.6831455826759338],\"robot_xy\":[-7.405182838439941,-14.938843727111816],\"robot_yaw_deg\":-93.81782087983582,\"robot_z\":1.1877694129943848,\"step\":172},{\"robot_quat_xyzw\":[0.004556257277727127,-0.0006252112798392773,-0.7302678823471069,0.6831455826759338],\"robot_xy\":[-7.405182838439941,-14.938843727111816],\"robot_yaw_deg\":-93.81782087983582,\"robot_z\":1.1877694129943848,\"step\":173},{\"robot_quat_xyzw\":[0.004598090425133705,0.00019533980230335146,-0.7335417866706848,0.679628849029541],\"robot_xy\":[-7.41546630859375,-14.947887420654297],\"robot_yaw_deg\":-94.36839583387652,\"robot_z\":1.1877694129943848,\"step\":174},{\"robot_quat_xyzw\":[0.00596575066447258,-0.0023314482532441616,-0.735276460647583,0.6777371764183044],\"robot_xy\":[-7.417331218719482,-14.957416534423828],\"robot_yaw_deg\":-94.66186129599886,\"robot_z\":1.1877694129943848,\"step\":175},{\"robot_quat_xyzw\":[0.006219211965799332,-0.00466559873893857,-0.7336426377296448,0.6794911026954651],\"robot_xy\":[-7.4171319007873535,-14.967140197753906],\"robot_yaw_deg\":-94.38780793142801,\"robot_z\":1.1877694129943848,\"step\":176},{\"robot_quat_xyzw\":[0.005701780319213867,-0.005753326695412397,-0.7351008057594299,0.6779093742370605],\"robot_xy\":[-7.418740272521973,-14.976713180541992],\"robot_yaw_deg\":-94.6352761587787,\"robot_z\":1.1877694129943848,\"step\":177},{\"robot_quat_xyzw\":[0.005701780319213867,-0.005753326695412397,-0.7351008057594299,0.6779093742370605],\"robot_xy\":[-7.418740272521973,-14.976713180541992],\"robot_yaw_deg\":-94.6352761587787,\"robot_z\":1.1877694129943848,\"step\":178},{\"robot_quat_xyzw\":[0.0027016419917345047,-0.0033086149487644434,-0.7383790016174316,0.6743724346160889],\"robot_xy\":[-7.429174423217773,-14.985610008239746],\"robot_yaw_deg\":-95.18828798465884,\"robot_z\":1.1877694129943848,\"step\":179},{\"robot_quat_xyzw\":[0.0033236369490623474,-0.0025484259240329266,-0.7404205799102783,0.6721309423446655],\"robot_xy\":[-7.431354999542236,-14.995102882385254],\"robot_yaw_deg\":-95.53526252973495,\"robot_z\":1.1877694129943848,\"step\":180},{\"robot_quat_xyzw\":[0.005075246095657349,-0.0017822422087192535,-0.7385658621788025,0.6741599440574646],\"robot_xy\":[-7.431171417236328,-15.004831314086914],\"robot_yaw_deg\":-95.2192166635623,\"robot_z\":1.1877694129943848,\"step\":181},{\"robot_quat_xyzw\":[0.005075246095657349,-0.0017822422087192535,-0.7385658621788025,0.6741599440574646],\"robot_xy\":[-7.431171417236328,-15.004831314086914],\"robot_yaw_deg\":-95.2192166635623,\"robot_z\":1.1877694129943848,\"step\":182},{\"robot_quat_xyzw\":[0.003364250063896179,0.0020503667183220387,-0.7417919635772705,0.6706185340881348],\"robot_xy\":[-7.441662311553955,-15.013617515563965],\"robot_yaw_deg\":-95.7692331086663,\"robot_z\":1.1877694129943848,\"step\":183},{\"robot_quat_xyzw\":[0.003689594566822052,0.0020508302841335535,-0.7449913620948792,0.6670607924461365],\"robot_xy\":[-7.445284843444824,-15.022982597351074],\"robot_yaw_deg\":-96.31741356953093,\"robot_z\":1.1877694129943848,\"step\":184},{\"robot_quat_xyzw\":[0.005250968039035797,-0.0005108908517286181,-0.7420924305915833,0.6702768802642822],\"robot_xy\":[-7.44452428817749,-15.032795906066895],\"robot_yaw_deg\":-95.82010674956189,\"robot_z\":1.1877694129943848,\"step\":185},{\"robot_quat_xyzw\":[0.0057503581047058105,-0.0026878034695982933,-0.7448037266731262,0.6672534942626953],\"robot_xy\":[-7.447137832641602,-15.042242050170898],\"robot_yaw_deg\":-96.28539692672128,\"robot_z\":1.1877694129943848,\"step\":186},{\"robot_quat_xyzw\":[0.0057503581047058105,-0.0026878034695982933,-0.7448037266731262,0.6672534942626953],\"robot_xy\":[-7.447137832641602,-15.042242050170898],\"robot_yaw_deg\":-96.28539692672128,\"robot_z\":1.1877694129943848,\"step\":187},{\"robot_quat_xyzw\":[0.0034468378871679306,-0.0013542035594582558,-0.7480074763298035,0.6636800765991211],\"robot_xy\":[-7.4577717781066895,-15.050806045532227],\"robot_yaw_deg\":-96.83639505256717,\"robot_z\":1.1877694129943848,\"step\":188},{\"robot_quat_xyzw\":[0.0046414341777563095,-0.0030281252693384886,-0.7475375533103943,0.6641965508460999],\"robot_xy\":[-7.458625793457031,-15.060482025146484],\"robot_yaw_deg\":-96.7561277650946,\"robot_z\":1.1877694129943848,\"step\":189},{\"robot_quat_xyzw\":[0.005995931103825569,-0.0038442444056272507,-0.7479943037033081,0.6636669635772705],\"robot_xy\":[-7.460059642791748,-15.070018768310547],\"robot_yaw_deg\":-96.835627998628,\"robot_z\":1.1877694129943848,\"step\":190},{\"robot_quat_xyzw\":[0.005995931103825569,-0.0038442444056272507,-0.7479943037033081,0.6636669635772705],\"robot_xy\":[-7.460059642791748,-15.070018768310547],\"robot_yaw_deg\":-96.835627998628,\"robot_z\":1.1877694129943848,\"step\":191},{\"robot_quat_xyzw\":[0.003918441012501717,-0.0013662766432389617,-0.751163125038147,0.6601036787033081],\"robot_xy\":[-7.470730781555176,-15.078509330749512],\"robot_yaw_deg\":-97.3827406281039,\"robot_z\":1.1877694129943848,\"step\":192},{\"robot_quat_xyzw\":[0.00501609779894352,-0.0024069740902632475,-0.7519941926002502,0.6591464281082153],\"robot_xy\":[-7.472538948059082,-15.088034629821777],\"robot_yaw_deg\":-97.5275750576427,\"robot_z\":1.1877694129943848,\"step\":193},{\"robot_quat_xyzw\":[0.005475495010614395,-0.003141554770991206,-0.7512122988700867,0.6600306630134583],\"robot_xy\":[-7.47331428527832,-15.097687721252441],\"robot_yaw_deg\":-97.3922009368768,\"robot_z\":1.1877694129943848,\"step\":194},{\"robot_quat_xyzw\":[0.005060793831944466,-0.00304133421741426,-0.7519126534461975,0.6592363119125366],\"robot_xy\":[-7.474991798400879,-15.10722541809082],\"robot_yaw_deg\":-97.51377910341496,\"robot_z\":1.1877694129943848,\"step\":195},{\"robot_quat_xyzw\":[0.005060793831944466,-0.00304133421741426,-0.7519126534461975,0.6592363119125366],\"robot_xy\":[-7.474991798400879,-15.10722541809082],\"robot_yaw_deg\":-97.51377910341496,\"robot_z\":1.1877694129943848,\"step\":196},{\"robot_quat_xyzw\":[0.0016997326165437698,0.000338308687787503,-0.7550628781318665,0.6556501984596252],\"robot_xy\":[-7.485793113708496,-15.115571022033691],\"robot_yaw_deg\":-98.06177721114847,\"robot_z\":1.1877694129943848,\"step\":197},{\"robot_quat_xyzw\":[0.0012804269790649414,-0.0005765468813478947,-0.7550800442695618,0.6556313037872314],\"robot_xy\":[-7.487152576446533,-15.125147819519043],\"robot_yaw_deg\":-98.06477047746786,\"robot_z\":1.1877694129943848,\"step\":198},{\"robot_quat_xyzw\":[0.0019076783210039139,-0.0016027740202844143,-0.7551012635231018,0.6556034088134766],\"robot_xy\":[-7.488529205322266,-15.134763717651367],\"robot_yaw_deg\":-98.0687376703081,\"robot_z\":1.1877694129943848,\"step\":199},{\"robot_quat_xyzw\":[0.0034117475152015686,-0.0018983558984473348,-0.7550803422927856,0.6556208729743958],\"robot_xy\":[-7.489878177642822,-15.144368171691895],\"robot_yaw_deg\":-98.06522392765073,\"robot_z\":1.1877694129943848,\"step\":200},{\"robot_quat_xyzw\":[0.002760840579867363,-0.003607126884162426,-0.7550716400146484,0.6556265950202942],\"robot_xy\":[-7.489919185638428,-15.144613265991211],\"robot_yaw_deg\":-98.06476654116096,\"robot_z\":1.1877694129943848,\"step\":201},{\"robot_quat_xyzw\":[-0.002391982823610306,-0.00265440228395164,-0.7582302689552307,0.6519771814346313],\"robot_xy\":[-7.500865936279297,-15.15286636352539],\"robot_yaw_deg\":-98.61789270458844,\"robot_z\":1.1877694129943848,\"step\":202},{\"robot_quat_xyzw\":[-0.003771454095840454,-0.003898916533216834,-0.7583177089691162,0.6518625617027283],\"robot_xy\":[-7.502376079559326,-15.162415504455566],\"robot_yaw_deg\":-98.63449880886836,\"robot_z\":1.1877694129943848,\"step\":203},{\"robot_quat_xyzw\":[-0.004100882448256016,-0.004307340364903212,-0.7582272291183472,0.6519633531570435],\"robot_xy\":[-7.503776550292969,-15.172018051147461],\"robot_yaw_deg\":-98.61908261334918,\"robot_z\":1.1877694129943848,\"step\":204},{\"robot_quat_xyzw\":[-0.004100882448256016,-0.004307340364903212,-0.7582272291183472,0.6519633531570435],\"robot_xy\":[-7.503776550292969,-15.172018051147461],\"robot_yaw_deg\":-98.61908261334918,\"robot_z\":1.1877694129943848,\"step\":205},{\"robot_quat_xyzw\":[-0.005973245948553085,-0.0005667437217198312,-0.7613770365715027,0.6482815146446228],\"robot_xy\":[-7.514791965484619,-15.180139541625977],\"robot_yaw_deg\":-99.17197569944769,\"robot_z\":1.1877694129943848,\"step\":206},{\"robot_quat_xyzw\":[-0.004048380069434643,0.0008687573717907071,-0.7609731554985046,0.6487703919410706],\"robot_xy\":[-7.516063213348389,-15.189764022827148],\"robot_yaw_deg\":-99.10032938992288,\"robot_z\":1.1877694129943848,\"step\":207},{\"robot_quat_xyzw\":[-0.0014247521758079529,0.0023338617756962776,-0.7613201141357422,0.6483704447746277],\"robot_xy\":[-7.517801761627197,-15.199250221252441],\"robot_yaw_deg\":-99.1620650433026,\"robot_z\":1.1877694129943848,\"step\":208},{\"robot_quat_xyzw\":[0.0017671436071395874,0.0021775239147245884,-0.7610279321670532,0.6487131714820862],\"robot_xy\":[-7.519153118133545,-15.208828926086426],\"robot_yaw_deg\":-99.11049255907118,\"robot_z\":1.1877694129943848,\"step\":209},{\"robot_quat_xyzw\":[0.0017671436071395874,0.0021775239147245884,-0.7610279321670532,0.6487131714820862],\"robot_xy\":[-7.519153118133545,-15.208828926086426],\"robot_yaw_deg\":-99.11049255907118,\"robot_z\":1.1877694129943848,\"step\":210},{\"robot_quat_xyzw\":[0.002425648272037506,0.0031407708302140236,-0.7641324996948242,0.6450471878051758],\"robot_xy\":[-7.530227184295654,-15.216893196105957],\"robot_yaw_deg\":-99.6611930500155,\"robot_z\":1.1877694129943848,\"step\":211},{\"robot_quat_xyzw\":[0.005602093413472176,-0.00041790358955040574,-0.7635514140129089,0.6457228064537048],\"robot_xy\":[-7.53145694732666,-15.226490020751953],\"robot_yaw_deg\":-99.55690920202407,\"robot_z\":1.1877694129943848,\"step\":212},{\"robot_quat_xyzw\":[0.007551500573754311,-0.004036916885524988,-0.7641196250915527,0.6450178027153015],\"robot_xy\":[-7.533446788787842,-15.2359619140625],\"robot_yaw_deg\":-99.65955571445778,\"robot_z\":1.1877694129943848,\"step\":213},{\"robot_quat_xyzw\":[0.00794772244989872,-0.007523629814386368,-0.7635398507118225,0.6456680297851562],\"robot_xy\":[-7.5347490310668945,-15.245550155639648],\"robot_yaw_deg\":-99.5611351941438,\"robot_z\":1.1877694129943848,\"step\":214},{\"robot_quat_xyzw\":[0.00794772244989872,-0.007523629814386368,-0.7635398507118225,0.6456680297851562],\"robot_xy\":[-7.5347490310668945,-15.245550155639648],\"robot_yaw_deg\":-99.5611351941438,\"robot_z\":1.1877694129943848,\"step\":215},{\"robot_quat_xyzw\":[0.0055661313235759735,-0.006760501302778721,-0.7666729688644409,0.6419782638549805],\"robot_xy\":[-7.5458550453186035,-15.253446578979492],\"robot_yaw_deg\":-100.11743193641928,\"robot_z\":1.1877694129943848,\"step\":216},{\"robot_quat_xyzw\":[0.006149005144834518,-0.008937165141105652,-0.7658462524414062,0.6429322957992554],\"robot_xy\":[-7.547024726867676,-15.263097763061523],\"robot_yaw_deg\":-99.97398801054409,\"robot_z\":1.1877694129943848,\"step\":217},{\"robot_quat_xyzw\":[0.007026227191090584,-0.009925082325935364,-0.7666062712669373,0.6420023441314697],\"robot_xy\":[-7.549198150634766,-15.272510528564453],\"robot_yaw_deg\":-100.11169604384934,\"robot_z\":1.1877694129943848,\"step\":218},{\"robot_quat_xyzw\":[0.007026227191090584,-0.009925082325935364,-0.7666062712669373,0.6420023441314697],\"robot_xy\":[-7.549198150634766,-15.272510528564453],\"robot_yaw_deg\":-100.11169604384934,\"robot_z\":1.1877694129943848,\"step\":219},{\"robot_quat_xyzw\":[0.0053480807691812515,-0.006688654888421297,-0.7697481513023376,0.6382902264595032],\"robot_xy\":[-7.560399055480957,-15.280323028564453],\"robot_yaw_deg\":-100.66777450582696,\"robot_z\":1.1877694129943848,\"step\":220},{\"robot_quat_xyzw\":[0.006550893187522888,-0.006868160329759121,-0.767365038394928,0.6411402821540833],\"robot_xy\":[-7.560576915740967,-15.290111541748047],\"robot_yaw_deg\":-100.24121571228912,\"robot_z\":1.1877694129943848,\"step\":221},{\"robot_quat_xyzw\":[0.006075531244277954,-0.005353920161724091,-0.7695293426513672,0.6385602355003357],\"robot_xy\":[-7.563710689544678,-15.299373626708984],\"robot_yaw_deg\":-100.62665996759145,\"robot_z\":1.1877694129943848,\"step\":222},{\"robot_quat_xyzw\":[0.005130527541041374,-0.0040209912694990635,-0.767556369304657,0.6409485936164856],\"robot_xy\":[-7.5642619132995605,-15.309106826782227],\"robot_yaw_deg\":-100.27183128250381,\"robot_z\":1.1877694129943848,\"step\":223},{\"robot_quat_xyzw\":[0.005130527541041374,-0.0040209912694990635,-0.767556369304657,0.6409485936164856],\"robot_xy\":[-7.5642619132995605,-15.309106826782227],\"robot_yaw_deg\":-100.27183128250381,\"robot_z\":1.1877694129943848,\"step\":224},{\"robot_quat_xyzw\":[0.0010045245289802551,0.0009268977446481586,-0.7706198692321777,0.6372936367988586],\"robot_xy\":[-7.575436592102051,-15.316919326782227],\"robot_yaw_deg\":-100.81931111261152,\"robot_z\":1.1877694129943848,\"step\":225},{\"robot_quat_xyzw\":[-0.00028879009187221527,0.0010680040577426553,-0.7704204320907593,0.6375351548194885],\"robot_xy\":[-7.577105522155762,-15.326444625854492],\"robot_yaw_deg\":-100.7834550438536,\"robot_z\":1.1877694129943848,\"step\":226},{\"robot_quat_xyzw\":[-0.0012241434305906296,0.0003153257130179554,-0.7706237435340881,0.6372891664505005],\"robot_xy\":[-7.579038143157959,-15.335930824279785],\"robot_yaw_deg\":-100.81989035581788,\"robot_z\":1.1877694129943848,\"step\":227},{\"robot_quat_xyzw\":[-0.0011361148208379745,-0.0005274353898130357,-0.7704747915267944,0.6374692320823669],\"robot_xy\":[-7.580766677856445,-15.345488548278809],\"robot_yaw_deg\":-100.79315234104368,\"robot_z\":1.1877694129943848,\"step\":228},{\"robot_quat_xyzw\":[-0.0011361148208379745,-0.0005274353898130357,-0.7704747915267944,0.6374692320823669],\"robot_xy\":[-7.580766677856445,-15.345488548278809],\"robot_yaw_deg\":-100.79315234104368,\"robot_z\":1.1877694129943848,\"step\":229},{\"robot_quat_xyzw\":[-0.0030442439019680023,0.0019572367891669273,-0.7735118865966797,0.633771538734436],\"robot_xy\":[-7.592032432556152,-15.353193283081055],\"robot_yaw_deg\":-101.34109329995003,\"robot_z\":1.1877694129943848,\"step\":230},{\"robot_quat_xyzw\":[-0.0013509849086403847,0.00035358272725716233,-0.7714117765426636,0.6363348364830017],\"robot_xy\":[-7.592522144317627,-15.362979888916016],\"robot_yaw_deg\":-100.9616979803176,\"robot_z\":1.1877694129943848,\"step\":231},{\"robot_quat_xyzw\":[0.0006889346987009048,-0.000573641387745738,-0.7733792662620544,0.6339432597160339],\"robot_xy\":[-7.595635890960693,-15.37226676940918],\"robot_yaw_deg\":-101.31667724539724,\"robot_z\":1.1877694129943848,\"step\":232},{\"robot_quat_xyzw\":[0.0006889346987009048,-0.000573641387745738,-0.7733792662620544,0.6339432597160339],\"robot_xy\":[-7.595635890960693,-15.37226676940918],\"robot_yaw_deg\":-101.31667724539724,\"robot_z\":1.1877694129943848,\"step\":233},{\"robot_quat_xyzw\":[0.0014831293374300003,0.0008573410450480878,-0.7764074802398682,0.6302289962768555],\"robot_xy\":[-7.60567569732666,-15.380131721496582],\"robot_yaw_deg\":-101.86578240788988,\"robot_z\":1.1877694129943848,\"step\":234},{\"robot_quat_xyzw\":[0.004798665642738342,-0.002097740303725004,-0.7739691138267517,0.6332016587257385],\"robot_xy\":[-7.605992794036865,-15.389922142028809],\"robot_yaw_deg\":-101.42397112782116,\"robot_z\":1.1877694129943848,\"step\":235},{\"robot_quat_xyzw\":[0.006175486370921135,-0.0038261031731963158,-0.7761419415473938,0.630516529083252],\"robot_xy\":[-7.609362602233887,-15.399102210998535],\"robot_yaw_deg\":-101.8192070026749,\"robot_z\":1.1877694129943848,\"step\":236},{\"robot_quat_xyzw\":[0.006270270794630051,-0.005910418927669525,-0.7741110324859619,0.6329913139343262],\"robot_xy\":[-7.610077857971191,-15.408839225769043],\"robot_yaw_deg\":-101.45312126248223,\"robot_z\":1.1877694129943848,\"step\":237},{\"robot_quat_xyzw\":[0.006270270794630051,-0.005910418927669525,-0.7741110324859619,0.6329913139343262],\"robot_xy\":[-7.610077857971191,-15.408839225769043],\"robot_yaw_deg\":-101.45312126248223,\"robot_z\":1.1877694129943848,\"step\":238},{\"robot_quat_xyzw\":[0.0034259017556905746,-0.0035070341546088457,-0.7771869897842407,0.6292505860328674],\"robot_xy\":[-7.6214599609375,-15.416386604309082],\"robot_yaw_deg\":-102.00891773571718,\"robot_z\":1.1877694129943848,\"step\":239},{\"robot_quat_xyzw\":[0.004012390971183777,-0.004087279550731182,-0.7759210467338562,0.6308041214942932],\"robot_xy\":[-7.622604846954346,-15.426066398620605],\"robot_yaw_deg\":-101.77918595698235,\"robot_z\":1.1877694129943848,\"step\":240},{\"robot_quat_xyzw\":[0.00503937155008316,-0.0033917224500328302,-0.7771281599998474,0.6293131113052368],\"robot_xy\":[-7.625370025634766,-15.435359954833984],\"robot_yaw_deg\":-101.99818261561059,\"robot_z\":1.1877694129943848,\"step\":241},{\"robot_quat_xyzw\":[0.0055498965084552765,-0.0021989119704812765,-0.7760215401649475,0.6306782364845276],\"robot_xy\":[-7.626693248748779,-15.444955825805664],\"robot_yaw_deg\":-101.79625044800481,\"robot_z\":1.1877694129943848,\"step\":242},{\"robot_quat_xyzw\":[0.0055498965084552765,-0.0021989119704812765,-0.7760215401649475,0.6306782364845276],\"robot_xy\":[-7.626693248748779,-15.444955825805664],\"robot_yaw_deg\":-101.79625044800481,\"robot_z\":1.1877694129943848,\"step\":243},{\"robot_quat_xyzw\":[0.00261743925511837,0.0016733893426135182,-0.7790433764457703,0.6269624829292297],\"robot_xy\":[-7.63811731338501,-15.452482223510742],\"robot_yaw_deg\":-102.34670705151905,\"robot_z\":1.1877694129943848,\"step\":244},{\"robot_quat_xyzw\":[0.0023661181330680847,0.0004909824929200113,-0.7767770290374756,0.6297710537910461],\"robot_xy\":[-7.638634204864502,-15.462265968322754],\"robot_yaw_deg\":-101.93298648851014,\"robot_z\":1.1877694129943848,\"step\":245},{\"robot_quat_xyzw\":[0.0020595602691173553,-0.0009908637730404735,-0.7788845896720886,0.6271631717681885],\"robot_xy\":[-7.642001152038574,-15.471451759338379],\"robot_yaw_deg\":-102.317263496298,\"robot_z\":1.1877694129943848,\"step\":246},{\"robot_quat_xyzw\":[0.0020595602691173553,-0.0009908637730404735,-0.7788845896720886,0.6271631717681885],\"robot_xy\":[-7.642001152038574,-15.471451759338379],\"robot_yaw_deg\":-102.317263496298,\"robot_z\":1.1877694129943848,\"step\":247},{\"robot_quat_xyzw\":[0.000947197899222374,-0.0004342420434113592,-0.7818753123283386,0.6234341263771057],\"robot_xy\":[-7.651504993438721,-15.479307174682617],\"robot_yaw_deg\":-102.86522347549896,\"robot_z\":1.1877694129943848,\"step\":248},{\"robot_quat_xyzw\":[0.0031095799058675766,-0.002785108517855406,-0.7793868184089661,0.6265292167663574],\"robot_xy\":[-7.651907920837402,-15.489174842834473],\"robot_yaw_deg\":-102.40985485504905,\"robot_z\":1.1877694129943848,\"step\":249},{\"robot_quat_xyzw\":[0.005093477666378021,-0.003607469145208597,-0.78171706199646,0.6236020922660828],\"robot_xy\":[-7.6555585861206055,-15.498271942138672],\"robot_yaw_deg\":-102.8377222478291,\"robot_z\":1.1877694129943848,\"step\":250},{\"robot_quat_xyzw\":[-0.0006125979125499725,-0.006741783581674099,-0.7795923948287964,0.6262508034706116],\"robot_xy\":[-7.656416893005371,-15.508307456970215],\"robot_yaw_deg\":-102.452430829232,\"robot_z\":1.1877694129943848,\"step\":251},{\"robot_quat_xyzw\":[-0.0006125979125499725,-0.006741783581674099,-0.7795923948287964,0.6262508034706116],\"robot_xy\":[-7.656416893005371,-15.508307456970215],\"robot_yaw_deg\":-102.452430829232,\"robot_z\":1.1877694129943848,\"step\":252}],\"task\":\"trajectory_observer\",\"true_count\":2}","options_json":"{\"A\":0,\"B\":1,\"C\":2,\"D\":3}","question":"How many 'pot plant' objects did the robot pass within 1.0m during its walk? Answer 0, 1, 2, or 3.","room":"bathroom_0","runner_task":"multiagent","scene":"restaurant_urban","small_task":"Agent Observation"},"observations":[],"question":{"answer_type":"count","options":[],"original":"How many 'pot plant' objects did the robot pass within 1.0m during its walk? Answer 0, 1, 2, or 3.","text":"How many 'pot plant' objects did the robot pass within 1.0m during its walk? Answer 0, 1, 2, or 3."},"reference_media":[],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":59,"stratum_pool":133},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Temporal Understanding/Agent Observation/restaurant_urban/bathroom_0/restaurant_urban__bathroom_0__run_000.json","annotation_sha256":"2994e717c42a209a0599295dd4b4dcb18d96420d977abdfe0320f0fbd3fe7bed","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"549c496a84096307f04d3861a30502e8fbea85cda63fc58496b1ee13317dee62","sample_id":"3337","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"2","metric":"official_esi_task","original_answer":"2"},"task":{"category":"Temporal Understanding","role":"spatial_core","skill_tags":["Temporal Understanding","Agent Observation"],"stratum":"ESI-Bench/Temporal Understanding/Agent Observation","subcategory":"Agent Observation"},"transforms":[]}
{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Temporal Understanding","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"remove","id":"959e8b98fd1f8359","metadata":"vendor/ESI-Bench/dataset/json_clean/Temporal Understanding/Unobserved Change/grocery_store_half_stocked/grocery_store_0/change_identification__q_000.json","metadata_sha256":"1454cc3cbc843a912b8530dd40eb57715b920665f90310927b689eea7d18cdf7","observation_policy":"runtime camera observations; no oracle poses","question":"What happened to the contents of the box from Phase 1 to Phase 2?","room":"grocery_store_0","scene":"grocery_store_half_stocked","subcategory":"Unobserved Change","task":"temporal_understanding.unobserved_change"},"group":{"id":"ESI-scene/grocery_store_half_stocked","kind":"scene","room":"grocery_store_0","scene":"grocery_store_half_stocked"},"id":"4530091934e9b08d10c0","native_annotation":{"answer":"remove","answer_type":"choice","big_task":"Temporal Understanding","gt_camera_poses":[{"baseline_selected":true,"camera_pose":{"position":[5.919491457374359,1.4342293189890885,0.7011183295045984],"quaternion_xyzw":[0.27063406925979394,0.2705620260912667,0.6531945128526793,0.6533684404472141]},"camera_pose_rule":null,"fov_deg":55.0,"group":"gt_view/image1","metadata_pointer":"/question_data/render/gt_view/image1/images/0","original_image_path":"image1_box_00.png","phase":"image1","pose_source":"saved","render_mode":"state_snapshot","role":"gt_reveal","state_key":"image1","view_id":"gt_view/image1/image1_box_00.png"},{"baseline_selected":true,"camera_pose":{"position":[5.919490874726582,1.4931845730564024,0.7637318810264598],"quaternion_xyzw":[0.27059808795398366,0.270598012192208,0.6532813909856288,0.6532815738907349]},"camera_pose_rule":null,"fov_deg":55.0,"group":"gt_view/image2","metadata_pointer":"/question_data/render/gt_view/image2/images/0","original_image_path":"image2_box_00.png","phase":"image2","pose_source":"saved","render_mode":"state_snapshot","role":"gt_reveal","state_key":"image2","view_id":"gt_view/image2/image2_box_00.png"}],"id":"3401","image_paths_json":"[\"image1.png\",\"corner_00.png\",\"corner_01.png\",\"corner_02.png\",\"corner_03.png\",\"image1_box_00.png\",\"image2.png\",\"image2_box_00.png\"]","metadata_json":"{\"camera_poses\":{\"agent_position_policy\":\"search_traversable_edge_positions_and_maximize_visible_boxes\",\"gt_view_images\":\"image2_gt.png\",\"mode\":\"two_phase_primary_plus_room_and_gt_views\",\"phases\":2,\"primary_images\":\"image1.png + image2.png\",\"room_view_images\":\"*\"},\"floor_name\":\"floors_mdfbbc_0\",\"image_paths\":[\"image1.png\",\"corner_00.png\",\"corner_01.png\",\"corner_02.png\",\"corner_03.png\",\"image1_box_00.png\",\"image2.png\",\"corner_00.png\",\"corner_01.png\",\"corner_02.png\",\"corner_03.png\",\"image2_box_00.png\"],\"question_data\":{\"answer\":\"remove\",\"box_count\":1,\"boxes\":[{\"box_index\":0,\"change_type\":\"remove\",\"container\":{\"bbox\":[[5.1890034675598145,1.2770346403121948,0.005545414984226227],[5.419490814208984,1.591425895690918,0.19231176376342773]],\"category\":\"carton\",\"model\":\"cdmmwy\",\"name\":\"render_unobserved_box_0_carton\",\"placement\":{\"placement_type\":\"floor\",\"position\":[5.305243476867675,1.4321958847045888,0.17452947378158568]}},\"position_label\":\"the box\",\"phase1_content\":{\"bbox_size_m\":[0.062460203170776364,0.09627566909790039,0.1864244918823242],\"category\":\"bottle_of_rum\",\"display_name\":\"bottle of rum\",\"model\":\"bnvoux\",\"sampling_source\":\"keys_json_filtered_by_local_model_bbox_edges\"}}],\"candidate_index\":0,\"options\":[\"replace\",\"remove\",\"add\",\"no_change\"],\"phase_description\":{\"phase_1\":\"Initial observation: box contents are clearly visible.\",\"phase_2\":\"Later observation: box contents may have changed, been removed, been added, or stayed the same.\"},\"question\":\"What happened to the contents of the box from Phase 1 to Phase 2?\",\"question_metadata\":{\"target_box_index\":0},\"render\":{\"gt_view\":{\"dir\":\"gt_view\",\"image1\":{\"fov_deg\":55.0,\"images\":[{\"box_index\":0,\"camera_pose\":{\"position\":[5.919491457374359,1.4342293189890885,0.7011183295045984],\"quaternion_xyzw\":[0.27063406925979394,0.2705620260912667,0.6531945128526793,0.6533684404472141]},\"container_name\":\"render_unobserved_box_0_carton\",\"fov_deg\":55.0,\"image_path\":\"image1_box_00.png\",\"look_target\":[5.305410861968994,1.4343928098678589,0.08703771233558655],\"pitch_deg\":45.0,\"position_label\":\"the box\",\"requested_clearance_m\":0.5,\"view_direction\":\"front\"}],\"output_dir\":\"gt_view\",\"success\":true},\"image2\":{\"fov_deg\":55.0,\"images\":[{\"box_index\":0,\"camera_pose\":{\"position\":[5.919490874726582,1.4931845730564024,0.7637318810264598],\"quaternion_xyzw\":[0.27059808795398366,0.270598012192208,0.6532813909856288,0.6532815738907349]},\"container_name\":\"render_unobserved_box_0_carton\",\"fov_deg\":55.0,\"image_path\":\"image2_box_00.png\",\"look_target\":[5.304247140884399,1.493184745311737,0.14848814718425274],\"pitch_deg\":45.0,\"position_label\":\"the box\",\"requested_clearance_m\":0.5,\"view_direction\":\"front\"}],\"output_dir\":\"gt_view\",\"success\":true}},\"image\":[{\"_indices\":[1],\"_key\":\"image1\",\"camera_poses\":[{\"_key\":\"image1.png\",\"candidate_label\":\"fallback\",\"look_target\":[5.304247140884399,1.4342302680015564,0.14614583730697633],\"pitch_deg\":17.861743356696785,\"position\":[4.102998971939087,-1.9919650554656982,1.3161458373069763],\"quaternion_xyzw\":[0.5804119076637265,-0.09879997294812728,-0.13564204154902026,0.796844915496119],\"selection_mode\":\"maximize_visible_boxes\",\"target_metrics\":[{\"centered_score\":0.0,\"is_visible\":false,\"target_name\":\"render_unobserved_box_0_carton\",\"visible_pixels\":0}],\"view_name\":\"maximize_box_visibility\",\"visible_box_count\":0,\"visible_pixel_sum\":0}],\"gt_view\":{\"fov_deg\":55.0,\"images\":[{\"box_index\":0,\"camera_pose\":{\"position\":[5.919491457374359,1.4342293189890885,0.7011183295045984],\"quaternion_xyzw\":[0.27063406925979394,0.2705620260912667,0.6531945128526793,0.6533684404472141]},\"container_name\":\"render_unobserved_box_0_carton\",\"fov_deg\":55.0,\"image_path\":\"image1_box_00.png\",\"look_target\":[5.305410861968994,1.4343928098678589,0.08703771233558655],\"pitch_deg\":45.0,\"position_label\":\"the box\",\"requested_clearance_m\":0.5,\"view_direction\":\"front\"}],\"output_dir\":\"gt_view\",\"success\":true},\"image_path\":\"image1.png\",\"output_dir\":\"q_000\",\"room_view\":{\"room_bbox_world_xy\":[-1.5,-6.8149999999999995,10.270000000000003,2.8150000000000004],\"room_instance\":\"grocery_store_0\",\"views\":[{\"blocker_occluded\":true,\"camera_pose\":{\"position\":[-0.7296,-6.044599999999999,2.2661458373069765],\"quaternion_xyzw\":[0.5785466623453708,-0.28007432380733227,-0.33379200170875545,0.6895107194439832]},\"image_path\":\"corner_00.png\",\"is_traversable\":true,\"target\":[4.385000000000002,-1.9999999999999996,1.1161458373069764],\"trav_occluded\":true,\"view_id\":\"corner_00\"},{\"blocker_occluded\":true,\"camera_pose\":{\"position\":[-0.7296,2.0446000000000004,2.2661458373069765],\"quaternion_xyzw\":[-0.2800743238073322,0.5785466623453708,0.6895107194439832,-0.33379200170875545]},\"image_path\":\"corner_01.png\",\"is_traversable\":true,\"target\":[4.385000000000002,-1.9999999999999996,1.1161458373069764],\"trav_occluded\":true,\"view_id\":\"corner_01\"},{\"blocker_occluded\":true,\"camera_pose\":{\"position\":[9.499600000000003,-6.044599999999999,2.2661458373069765],\"quaternion_xyzw\":[0.5785466623453708,0.28007432380733227,0.33379200170875545,0.6895107194439832]},\"image_path\":\"corner_02.png\",\"is_traversable\":true,\"target\":[4.385000000000002,-1.9999999999999996,1.1161458373069764],\"trav_occluded\":true,\"view_id\":\"corner_02\"},{\"blocker_occluded\":true,\"camera_pose\":{\"position\":[9.499600000000003,2.0446000000000004,2.2661458373069765],\"quaternion_xyzw\":[0.2800743238073322,0.5785466623453708,0.6895107194439832,0.33379200170875545]},\"image_path\":\"corner_03.png\",\"is_traversable\":true,\"target\":[4.385000000000002,-1.9999999999999996,1.1161458373069764],\"trav_occluded\":true,\"view_id\":\"corner_03\"}]},\"success\":true},{\"_indices\":[2],\"_key\":\"image2\",\"camera_poses\":[{\"_key\":\"image2.png\",\"candidate_label\":\"fallback\",\"look_target\":[5.3042473793029785,1.4342299103736877,0.14614583730697633],\"pitch_deg\":17.86174454809642,\"position\":[4.102998971939087,-1.9919650554656982,1.3161458373069763],\"quaternion_xyzw\":[0.5804118947077411,-0.09879999897966334,-0.13564208025095592,0.7968449151174786],\"selection_mode\":\"maximize_visible_boxes\",\"target_metrics\":[{\"centered_score\":0.0,\"is_visible\":false,\"target_name\":\"render_unobserved_box_0_carton\",\"visible_pixels\":0}],\"view_name\":\"maximize_box_visibility\",\"visible_box_count\":0,\"visible_pixel_sum\":0}],\"gt_view\":{\"fov_deg\":55.0,\"images\":[{\"box_index\":0,\"camera_pose\":{\"position\":[5.919490874726582,1.4931845730564024,0.7637318810264598],\"quaternion_xyzw\":[0.27059808795398366,0.270598012192208,0.6532813909856288,0.6532815738907349]},\"container_name\":\"render_unobserved_box_0_carton\",\"fov_deg\":55.0,\"image_path\":\"image2_box_00.png\",\"look_target\":[5.304247140884399,1.493184745311737,0.14848814718425274],\"pitch_deg\":45.0,\"position_label\":\"the box\",\"requested_clearance_m\":0.5,\"view_direction\":\"front\"}],\"output_dir\":\"gt_view\",\"success\":true},\"image_path\":\"image2.png\",\"output_dir\":\"q_000\",\"room_view\":{\"room_bbox_world_xy\":[-1.5,-6.8149999999999995,10.270000000000003,2.8150000000000004],\"room_instance\":\"grocery_store_0\",\"views\":[{\"blocker_occluded\":true,\"camera_pose\":{\"position\":[-0.7296,-6.044599999999999,2.2661458373069765],\"quaternion_xyzw\":[0.5785466623453708,-0.28007432380733227,-0.33379200170875545,0.6895107194439832]},\"image_path\":\"corner_00.png\",\"is_traversable\":true,\"target\":[4.385000000000002,-1.9999999999999996,1.1161458373069764],\"trav_occluded\":true,\"view_id\":\"corner_00\"},{\"blocker_occluded\":true,\"camera_pose\":{\"position\":[-0.7296,2.0446000000000004,2.2661458373069765],\"quaternion_xyzw\":[-0.2800743238073322,0.5785466623453708,0.6895107194439832,-0.33379200170875545]},\"image_path\":\"corner_01.png\",\"is_traversable\":true,\"target\":[4.385000000000002,-1.9999999999999996,1.1161458373069764],\"trav_occluded\":true,\"view_id\":\"corner_01\"},{\"blocker_occluded\":true,\"camera_pose\":{\"position\":[9.499600000000003,-6.044599999999999,2.2661458373069765],\"quaternion_xyzw\":[0.5785466623453708,0.28007432380733227,0.33379200170875545,0.6895107194439832]},\"image_path\":\"corner_02.png\",\"is_traversable\":true,\"target\":[4.385000000000002,-1.9999999999999996,1.1161458373069764],\"trav_occluded\":true,\"view_id\":\"corner_02\"},{\"blocker_occluded\":true,\"camera_pose\":{\"position\":[9.499600000000003,2.0446000000000004,2.2661458373069765],\"quaternion_xyzw\":[0.2800743238073322,0.5785466623453708,0.6895107194439832,0.33379200170875545]},\"image_path\":\"corner_03.png\",\"is_traversable\":true,\"target\":[4.385000000000002,-1.9999999999999996,1.1161458373069764],\"trav_occluded\":true,\"view_id\":\"corner_03\"}]},\"success\":true}],\"multi_image_input\":true,\"room_bbox\":{\"bbox_area_m2\":99.0,\"bbox_map_rc\":[12,17,21,28],\"bbox_world_xy\":[-1.5,-6.5,9.5,2.5],\"expanded_bbox_area_m2\":113.34510000000002,\"expanded_bbox_world_xy\":[-1.5,-6.8149999999999995,10.270000000000003,2.8150000000000004],\"pixel_count\":120,\"room_id\":3,\"room_instance\":\"grocery_store_0\",\"source\":\"seg_map_expanded_with_walls\"},\"room_view\":{\"image\":[{\"_indices\":[1],\"_key\":\"image1\",\"room_bbox_world_xy\":[-1.5,-6.8149999999999995,10.270000000000003,2.8150000000000004],\"room_instance\":\"grocery_store_0\",\"views\":[{\"blocker_occluded\":true,\"camera_pose\":{\"position\":[-0.7296,-6.044599999999999,2.2661458373069765],\"quaternion_xyzw\":[0.5785466623453708,-0.28007432380733227,-0.33379200170875545,0.6895107194439832]},\"image_path\":\"corner_00.png\",\"is_traversable\":true,\"target\":[4.385000000000002,-1.9999999999999996,1.1161458373069764],\"trav_occluded\":true,\"view_id\":\"corner_00\"},{\"blocker_occluded\":true,\"camera_pose\":{\"position\":[-0.7296,2.0446000000000004,2.2661458373069765],\"quaternion_xyzw\":[-0.2800743238073322,0.5785466623453708,0.6895107194439832,-0.33379200170875545]},\"image_path\":\"corner_01.png\",\"is_traversable\":true,\"target\":[4.385000000000002,-1.9999999999999996,1.1161458373069764],\"trav_occluded\":true,\"view_id\":\"corner_01\"},{\"blocker_occluded\":true,\"camera_pose\":{\"position\":[9.499600000000003,-6.044599999999999,2.2661458373069765],\"quaternion_xyzw\":[0.5785466623453708,0.28007432380733227,0.33379200170875545,0.6895107194439832]},\"image_path\":\"corner_02.png\",\"is_traversable\":true,\"target\":[4.385000000000002,-1.9999999999999996,1.1161458373069764],\"trav_occluded\":true,\"view_id\":\"corner_02\"},{\"blocker_occluded\":true,\"camera_pose\":{\"position\":[9.499600000000003,2.0446000000000004,2.2661458373069765],\"quaternion_xyzw\":[0.2800743238073322,0.5785466623453708,0.6895107194439832,0.33379200170875545]},\"image_path\":\"corner_03.png\",\"is_traversable\":true,\"target\":[4.385000000000002,-1.9999999999999996,1.1161458373069764],\"trav_occluded\":true,\"view_id\":\"corner_03\"}]},{\"_indices\":[2],\"_key\":\"image2\",\"room_bbox_world_xy\":[-1.5,-6.8149999999999995,10.270000000000003,2.8150000000000004],\"room_instance\":\"grocery_store_0\",\"views\":[{\"blocker_occluded\":true,\"camera_pose\":{\"position\":[-0.7296,-6.044599999999999,2.2661458373069765],\"quaternion_xyzw\":[0.5785466623453708,-0.28007432380733227,-0.33379200170875545,0.6895107194439832]},\"image_path\":\"corner_00.png\",\"is_traversable\":true,\"target\":[4.385000000000002,-1.9999999999999996,1.1161458373069764],\"trav_occluded\":true,\"view_id\":\"corner_00\"},{\"blocker_occluded\":true,\"camera_pose\":{\"position\":[-0.7296,2.0446000000000004,2.2661458373069765],\"quaternion_xyzw\":[-0.2800743238073322,0.5785466623453708,0.6895107194439832,-0.33379200170875545]},\"image_path\":\"corner_01.png\",\"is_traversable\":true,\"target\":[4.385000000000002,-1.9999999999999996,1.1161458373069764],\"trav_occluded\":true,\"view_id\":\"corner_01\"},{\"blocker_occluded\":true,\"camera_pose\":{\"position\":[9.499600000000003,-6.044599999999999,2.2661458373069765],\"quaternion_xyzw\":[0.5785466623453708,0.28007432380733227,0.33379200170875545,0.6895107194439832]},\"image_path\":\"corner_02.png\",\"is_traversable\":true,\"target\":[4.385000000000002,-1.9999999999999996,1.1161458373069764],\"trav_occluded\":true,\"view_id\":\"corner_02\"},{\"blocker_occluded\":true,\"camera_pose\":{\"position\":[9.499600000000003,2.0446000000000004,2.2661458373069765],\"quaternion_xyzw\":[0.2800743238073322,0.5785466623453708,0.6895107194439832,0.33379200170875545]},\"image_path\":\"corner_03.png\",\"is_traversable\":true,\"target\":[4.385000000000002,-1.9999999999999996,1.1161458373069764],\"trav_occluded\":true,\"view_id\":\"corner_03\"}]}],\"image_dir\":[{\"_indices\":[1],\"_key\":\"image1_dir\",\"value\":\"image1\"},{\"_indices\":[2],\"_key\":\"image2_dir\",\"value\":\"image2\"}]},\"success\":true},\"task_type\":\"change_identification\"},\"question_id\":\"change_identification/q_000\",\"question_index\":0,\"seed\":7,\"task_type\":\"change_identification\"}","options_json":"[\"replace\",\"remove\",\"add\",\"no_change\"]","question":"What happened to the contents of the box from Phase 1 to Phase 2?","room":"grocery_store_0","runner_task":"unobserved_changes","scene":"grocery_store_half_stocked","small_task":"Unobserved Change"},"observations":[],"question":{"answer_type":"choice","options":[],"original":"What happened to the contents of the box from Phase 1 to Phase 2?","text":"What happened to the contents of the box from Phase 1 to Phase 2?"},"reference_media":["image1.png","corner_00.png","corner_01.png","corner_02.png","corner_03.png","image1_box_00.png","image2.png","image2_box_00.png"],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":48,"stratum_pool":148},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Temporal Understanding/Unobserved Change/grocery_store_half_stocked/grocery_store_0/change_identification__q_000.json","annotation_sha256":"1454cc3cbc843a912b8530dd40eb57715b920665f90310927b689eea7d18cdf7","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"d32e3532560bc3b0d0201509c37eae88f8f35118ae734f6c1b8b3ae43bf0a69b","sample_id":"3401","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"remove","metric":"official_esi_task","original_answer":"remove"},"task":{"category":"Temporal Understanding","role":"spatial_core","skill_tags":["Temporal Understanding","Unobserved Change"],"stratum":"ESI-Bench/Temporal Understanding/Unobserved Change","subcategory":"Unobserved Change"},"transforms":[]}
{"dataset":"ESI-Bench","environment":{"behavior_revision":"88454bd04f75dc57c00ab1f1a00bcde1ff505950","category":"Temporal Understanding","engine":"OmniGibson 3.7.2 / Isaac Sim 4.5","ground_truth":"yes","id":"fd659aae61095555","metadata":"vendor/ESI-Bench/dataset/json_clean/Temporal Understanding/Unobserved Change/hotel_gym_spa/bathroom_0/change_detection__q_001.json","metadata_sha256":"0b9d35164d095970abc2058621417b85296fbba8f2830cc491626806413ddad2","observation_policy":"runtime camera observations; no oracle poses","question":"Comparing Phase 1 and Phase 2, did the contents of any box change?","room":"bathroom_0","scene":"hotel_gym_spa","subcategory":"Unobserved Change","task":"temporal_understanding.unobserved_change"},"group":{"id":"ESI-scene/hotel_gym_spa","kind":"scene","room":"bathroom_0","scene":"hotel_gym_spa"},"id":"f4442efa3314b2e5dfa5","native_annotation":{"answer":"yes","answer_type":"choice","big_task":"Temporal Understanding","gt_camera_poses":[{"baseline_selected":true,"camera_pose":{"position":[-8.180507936912957,-23.100771691408006,0.6872924934228825],"quaternion_xyzw":[0.2703906416471615,0.27080529964600497,0.6537818271678952,0.6527807542033407]},"camera_pose_rule":null,"fov_deg":55.0,"group":"gt_view/image1","metadata_pointer":"/question_data/render/gt_view/image1/images/0","original_image_path":"image1_box_00.png","phase":"image1","pose_source":"saved","render_mode":"state_snapshot","role":"gt_reveal","state_key":"image1","view_id":"gt_view/image1/image1_box_00.png"},{"baseline_selected":true,"camera_pose":{"position":[-8.180507611922431,-23.041817655213727,0.7581871743645685],"quaternion_xyzw":[0.27059867706772295,0.2705974230770212,0.653279968735755,0.6532829961371142]},"camera_pose_rule":null,"fov_deg":55.0,"group":"gt_view/image2","metadata_pointer":"/question_data/render/gt_view/image2/images/0","original_image_path":"image2_box_00.png","phase":"image2","pose_source":"saved","render_mode":"state_snapshot","role":"gt_reveal","state_key":"image2","view_id":"gt_view/image2/image2_box_00.png"}],"id":"3413","image_paths_json":"[\"image1.png\",\"corner_00.png\",\"corner_01.png\",\"corner_02.png\",\"corner_03.png\",\"image1_box_00.png\",\"image2.png\",\"image2_box_00.png\"]","metadata_json":"{\"camera_poses\":{\"agent_position_policy\":\"search_traversable_edge_positions_and_maximize_visible_boxes\",\"gt_view_images\":\"image2_gt.png\",\"mode\":\"two_phase_primary_plus_room_and_gt_views\",\"phases\":2,\"primary_images\":\"image1.png + image2.png\",\"room_view_images\":\"*\"},\"floor_name\":\"floors_rphmwm_0\",\"image_paths\":[\"image1.png\",\"corner_00.png\",\"corner_01.png\",\"corner_02.png\",\"corner_03.png\",\"image1_box_00.png\",\"image2.png\",\"corner_00.png\",\"corner_01.png\",\"corner_02.png\",\"corner_03.png\",\"image2_box_00.png\"],\"question_data\":{\"answer\":\"yes\",\"box_count\":1,\"boxes\":[{\"box_index\":0,\"change_type\":\"remove\",\"container\":{\"bbox\":[[-8.91099739074707,-23.257965087890625,-9.685754776000977e-07],[-8.680508613586426,-22.943572998046875,0.1867654025554657]],\"category\":\"carton\",\"model\":\"cdmmwy\",\"name\":\"render_unobserved_box_0_carton\",\"placement\":{\"placement_type\":\"floor\",\"position\":[-8.794756523132325,-23.102804115295406,0.10838266044855117]}},\"position_label\":\"the box\",\"phase1_content\":{\"bbox_size_m\":[0.10955702590942383,0.08889999389648437,0.22813797760009766],\"category\":\"grater\",\"display_name\":\"grater\",\"model\":\"jlkowf\",\"sampling_source\":\"keys_json_filtered_by_local_model_bbox_edges\"}}],\"candidate_index\":1,\"options\":[\"yes\",\"no\"],\"phase_description\":{\"phase_1\":\"Initial observation: box contents are clearly visible.\",\"phase_2\":\"Later observation: box contents may have changed, been removed, been added, or stayed the same.\"},\"question\":\"Comparing Phase 1 and Phase 2, did the contents of any box change?\",\"render\":{\"gt_view\":{\"dir\":\"gt_view\",\"image1\":{\"fov_deg\":55.0,\"images\":[{\"box_index\":0,\"camera_pose\":{\"position\":[-8.180507936912957,-23.100771691408006,0.6872924934228825],\"quaternion_xyzw\":[0.2703906416471615,0.27080529964600497,0.6537818271678952,0.6527807542033407]},\"container_name\":\"render_unobserved_box_0_carton\",\"fov_deg\":55.0,\"image_path\":\"image1_box_00.png\",\"look_target\":[-8.795527935028076,-23.10171413421631,0.07227177321910858],\"pitch_deg\":45.0,\"position_label\":\"the box\",\"requested_clearance_m\":0.5,\"view_direction\":\"front\"}],\"output_dir\":\"gt_view\",\"success\":true},\"image2\":{\"fov_deg\":55.0,\"images\":[{\"box_index\":0,\"camera_pose\":{\"position\":[-8.180507611922431,-23.041817655213727,0.7581871743645685],\"quaternion_xyzw\":[0.27059867706772295,0.2705974230770212,0.653279968735755,0.6532829961371142]},\"container_name\":\"render_unobserved_box_0_carton\",\"fov_deg\":55.0,\"image_path\":\"image2_box_00.png\",\"look_target\":[-8.795753002166748,-23.04181480407715,0.14294178411364555],\"pitch_deg\":45.0,\"position_label\":\"the box\",\"requested_clearance_m\":0.5,\"view_direction\":\"front\"}],\"output_dir\":\"gt_view\",\"success\":true}},\"image\":[{\"_indices\":[1],\"_key\":\"image1\",\"camera_poses\":[{\"_key\":\"image1.png\",\"candidate_label\":\"fallback\",\"look_target\":[-8.795753002166748,-23.10076904296875,0.09338220208883286],\"pitch_deg\":25.947130869384868,\"position\":[-9.56,-20.85000000000001,1.2499990239739418],\"quaternion_xyzw\":[-0.08640746392079864,0.523223610732448,0.8364738031798191,-0.13813898777957248],\"selection_mode\":\"maximize_visible_boxes\",\"target_metrics\":[{\"centered_score\":0.0,\"is_visible\":false,\"target_name\":\"render_unobserved_box_0_carton\",\"visible_pixels\":0}],\"view_name\":\"maximize_box_visibility\",\"visible_box_count\":0,\"visible_pixel_sum\":0}],\"gt_view\":{\"fov_deg\":55.0,\"images\":[{\"box_index\":0,\"camera_pose\":{\"position\":[-8.180507936912957,-23.100771691408006,0.6872924934228825],\"quaternion_xyzw\":[0.2703906416471615,0.27080529964600497,0.6537818271678952,0.6527807542033407]},\"container_name\":\"render_unobserved_box_0_carton\",\"fov_deg\":55.0,\"image_path\":\"image1_box_00.png\",\"look_target\":[-8.795527935028076,-23.10171413421631,0.07227177321910858],\"pitch_deg\":45.0,\"position_label\":\"the box\",\"requested_clearance_m\":0.5,\"view_direction\":\"front\"}],\"output_dir\":\"gt_view\",\"success\":true},\"image_path\":\"image1.png\",\"output_dir\":\"q_001\",\"room_view\":{\"room_bbox_world_xy\":[-10.0,-24.0,-8.0,-19.0],\"room_instance\":\"bathroom_0\",\"views\":[{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[-9.65,-23.65,2.199999023973942],\"quaternion_xyzw\":[0.5160522415742352,-0.07630248768157863,-0.1247886882866311,0.8439761830854657]},\"image_path\":\"corner_00.png\",\"is_traversable\":true,\"target\":[-9.0,-21.5,1.0499990239739418],\"trav_occluded\":false,\"view_id\":\"corner_00\"},{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[-9.65,-19.35,2.199999023973942],\"quaternion_xyzw\":[-0.07630248768157863,0.5160522415742352,0.8439761830854657,-0.1247886882866311]},\"image_path\":\"corner_01.png\",\"is_traversable\":true,\"target\":[-9.0,-21.5,1.0499990239739418],\"trav_occluded\":false,\"view_id\":\"corner_01\"},{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[-8.35,-23.65,2.199999023973942],\"quaternion_xyzw\":[0.5160522415742352,0.07630248768157863,0.1247886882866311,0.8439761830854657]},\"image_path\":\"corner_02.png\",\"is_traversable\":true,\"target\":[-9.0,-21.5,1.0499990239739418],\"trav_occluded\":false,\"view_id\":\"corner_02\"},{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[-8.35,-19.35,2.199999023973942],\"quaternion_xyzw\":[0.07630248768157863,0.5160522415742352,0.8439761830854657,0.1247886882866311]},\"image_path\":\"corner_03.png\",\"is_traversable\":false,\"target\":[-9.0,-21.5,1.0499990239739418],\"trav_occluded\":true,\"view_id\":\"corner_03\"}]},\"success\":true},{\"_indices\":[2],\"_key\":\"image2\",\"camera_poses\":[{\"_key\":\"image2.png\",\"candidate_label\":\"fallback\",\"look_target\":[-8.795753002166748,-23.10076904296875,0.09338219463825226],\"pitch_deg\":25.947131014595364,\"position\":[-9.56,-20.85000000000001,1.2499990239739418],\"quaternion_xyzw\":[-0.08640746374574881,0.523223609672468,0.8364738038428484,-0.13813898788906806],\"selection_mode\":\"maximize_visible_boxes\",\"target_metrics\":[{\"centered_score\":0.0,\"is_visible\":false,\"target_name\":\"render_unobserved_box_0_carton\",\"visible_pixels\":0}],\"view_name\":\"maximize_box_visibility\",\"visible_box_count\":0,\"visible_pixel_sum\":0}],\"gt_view\":{\"fov_deg\":55.0,\"images\":[{\"box_index\":0,\"camera_pose\":{\"position\":[-8.180507611922431,-23.041817655213727,0.7581871743645685],\"quaternion_xyzw\":[0.27059867706772295,0.2705974230770212,0.653279968735755,0.6532829961371142]},\"container_name\":\"render_unobserved_box_0_carton\",\"fov_deg\":55.0,\"image_path\":\"image2_box_00.png\",\"look_target\":[-8.795753002166748,-23.04181480407715,0.14294178411364555],\"pitch_deg\":45.0,\"position_label\":\"the box\",\"requested_clearance_m\":0.5,\"view_direction\":\"front\"}],\"output_dir\":\"gt_view\",\"success\":true},\"image_path\":\"image2.png\",\"output_dir\":\"q_001\",\"room_view\":{\"room_bbox_world_xy\":[-10.0,-24.0,-8.0,-19.0],\"room_instance\":\"bathroom_0\",\"views\":[{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[-9.65,-23.65,2.199999023973942],\"quaternion_xyzw\":[0.5160522415742352,-0.07630248768157863,-0.1247886882866311,0.8439761830854657]},\"image_path\":\"corner_00.png\",\"is_traversable\":true,\"target\":[-9.0,-21.5,1.0499990239739418],\"trav_occluded\":false,\"view_id\":\"corner_00\"},{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[-9.65,-19.35,2.199999023973942],\"quaternion_xyzw\":[-0.07630248768157863,0.5160522415742352,0.8439761830854657,-0.1247886882866311]},\"image_path\":\"corner_01.png\",\"is_traversable\":true,\"target\":[-9.0,-21.5,1.0499990239739418],\"trav_occluded\":false,\"view_id\":\"corner_01\"},{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[-8.35,-23.65,2.199999023973942],\"quaternion_xyzw\":[0.5160522415742352,0.07630248768157863,0.1247886882866311,0.8439761830854657]},\"image_path\":\"corner_02.png\",\"is_traversable\":true,\"target\":[-9.0,-21.5,1.0499990239739418],\"trav_occluded\":false,\"view_id\":\"corner_02\"},{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[-8.35,-19.35,2.199999023973942],\"quaternion_xyzw\":[0.07630248768157863,0.5160522415742352,0.8439761830854657,0.1247886882866311]},\"image_path\":\"corner_03.png\",\"is_traversable\":false,\"target\":[-9.0,-21.5,1.0499990239739418],\"trav_occluded\":true,\"view_id\":\"corner_03\"}]},\"success\":true}],\"multi_image_input\":true,\"room_bbox\":{\"bbox_area_m2\":10.0,\"bbox_map_rc\":[3,17,8,19],\"bbox_world_xy\":[-10.0,-24.0,-8.0,-19.0],\"expanded_bbox_area_m2\":10.0,\"expanded_bbox_world_xy\":[-10.0,-24.0,-8.0,-19.0],\"pixel_count\":18,\"room_id\":2,\"room_instance\":\"bathroom_0\",\"source\":\"seg_map_expanded_with_walls\"},\"room_view\":{\"image\":[{\"_indices\":[1],\"_key\":\"image1\",\"room_bbox_world_xy\":[-10.0,-24.0,-8.0,-19.0],\"room_instance\":\"bathroom_0\",\"views\":[{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[-9.65,-23.65,2.199999023973942],\"quaternion_xyzw\":[0.5160522415742352,-0.07630248768157863,-0.1247886882866311,0.8439761830854657]},\"image_path\":\"corner_00.png\",\"is_traversable\":true,\"target\":[-9.0,-21.5,1.0499990239739418],\"trav_occluded\":false,\"view_id\":\"corner_00\"},{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[-9.65,-19.35,2.199999023973942],\"quaternion_xyzw\":[-0.07630248768157863,0.5160522415742352,0.8439761830854657,-0.1247886882866311]},\"image_path\":\"corner_01.png\",\"is_traversable\":true,\"target\":[-9.0,-21.5,1.0499990239739418],\"trav_occluded\":false,\"view_id\":\"corner_01\"},{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[-8.35,-23.65,2.199999023973942],\"quaternion_xyzw\":[0.5160522415742352,0.07630248768157863,0.1247886882866311,0.8439761830854657]},\"image_path\":\"corner_02.png\",\"is_traversable\":true,\"target\":[-9.0,-21.5,1.0499990239739418],\"trav_occluded\":false,\"view_id\":\"corner_02\"},{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[-8.35,-19.35,2.199999023973942],\"quaternion_xyzw\":[0.07630248768157863,0.5160522415742352,0.8439761830854657,0.1247886882866311]},\"image_path\":\"corner_03.png\",\"is_traversable\":false,\"target\":[-9.0,-21.5,1.0499990239739418],\"trav_occluded\":true,\"view_id\":\"corner_03\"}]},{\"_indices\":[2],\"_key\":\"image2\",\"room_bbox_world_xy\":[-10.0,-24.0,-8.0,-19.0],\"room_instance\":\"bathroom_0\",\"views\":[{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[-9.65,-23.65,2.199999023973942],\"quaternion_xyzw\":[0.5160522415742352,-0.07630248768157863,-0.1247886882866311,0.8439761830854657]},\"image_path\":\"corner_00.png\",\"is_traversable\":true,\"target\":[-9.0,-21.5,1.0499990239739418],\"trav_occluded\":false,\"view_id\":\"corner_00\"},{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[-9.65,-19.35,2.199999023973942],\"quaternion_xyzw\":[-0.07630248768157863,0.5160522415742352,0.8439761830854657,-0.1247886882866311]},\"image_path\":\"corner_01.png\",\"is_traversable\":true,\"target\":[-9.0,-21.5,1.0499990239739418],\"trav_occluded\":false,\"view_id\":\"corner_01\"},{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[-8.35,-23.65,2.199999023973942],\"quaternion_xyzw\":[0.5160522415742352,0.07630248768157863,0.1247886882866311,0.8439761830854657]},\"image_path\":\"corner_02.png\",\"is_traversable\":true,\"target\":[-9.0,-21.5,1.0499990239739418],\"trav_occluded\":false,\"view_id\":\"corner_02\"},{\"blocker_occluded\":false,\"camera_pose\":{\"position\":[-8.35,-19.35,2.199999023973942],\"quaternion_xyzw\":[0.07630248768157863,0.5160522415742352,0.8439761830854657,0.1247886882866311]},\"image_path\":\"corner_03.png\",\"is_traversable\":false,\"target\":[-9.0,-21.5,1.0499990239739418],\"trav_occluded\":true,\"view_id\":\"corner_03\"}]}],\"image_dir\":[{\"_indices\":[1],\"_key\":\"image1_dir\",\"value\":\"image1\"},{\"_indices\":[2],\"_key\":\"image2_dir\",\"value\":\"image2\"}]},\"success\":true},\"task_type\":\"change_detection\"},\"question_id\":\"change_detection/q_001\",\"question_index\":1,\"seed\":7,\"task_type\":\"change_detection\"}","options_json":"[\"yes\",\"no\"]","question":"Comparing Phase 1 and Phase 2, did the contents of any box change?","room":"bathroom_0","runner_task":"unobserved_changes","scene":"hotel_gym_spa","small_task":"Unobserved Change"},"observations":[],"question":{"answer_type":"choice","options":[],"original":"Comparing Phase 1 and Phase 2, did the contents of any box change?","text":"Comparing Phase 1 and Phase 2, did the contents of any box change?"},"reference_media":["image1.png","corner_00.png","corner_01.png","corner_02.png","corner_03.png","image1_box_00.png","image2.png","image2_box_00.png"],"runtime":{"adapter":"esi-native","deployment_status":"existing_seed_runtime","engine":"OmniGibson / BEHAVIOR-1K","mode":"interactive"},"sampling":{"inherited_from":"historical-seed-20261011","method":"sha256 group partition, then group-spread stratified selection","partition_attempt":0,"quota":2,"seed":20261011,"split_pool":48,"stratum_pool":148},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"dataset/json_clean/Temporal Understanding/Unobserved Change/hotel_gym_spa/bathroom_0/change_detection__q_001.json","annotation_sha256":"0b9d35164d095970abc2058621417b85296fbba8f2830cc491626806413ddad2","license":"no root LICENSE in pinned source; BEHAVIOR and media terms apply","repo":"ESI-Bench/ESI-Bench","revision":"9f6f15ed43e81654a97de9e4db2a1fedadca2bc1","row_sha256":"abefa5bd6e422cae56e019ccc2d2dfd010886a6dfbaec539991aecad6a197c63","sample_id":"3413","split":"json_clean","upstream_dataset":"BEHAVIOR-1K","url":"https://github.com/ESI-Bench/ESI-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":"yes","metric":"official_esi_task","original_answer":"yes"},"task":{"category":"Temporal Understanding","role":"spatial_core","skill_tags":["Temporal Understanding","Unobserved Change"],"stratum":"ESI-Bench/Temporal Understanding/Unobserved Change","subcategory":"Unobserved Change"},"transforms":[]}
{"dataset":"EB-ALFRED","group":{"id":"AI2THOR/FloorPlan23","kind":"scene","scene":"FloorPlan23"},"id":"b2fa717a44b3eb702fcd","native_annotation":{"instruction":"Place a glass cup with butter knife it on the table.","repeat_idx":1,"task":"pick_and_place_with_movable_recep-ButterKnife-Cup-DiningTable-23/trial_T20190908_233553_192059","upstream_episode":{"ann":{"goal":[" place "," a "," glass "," cup "," with "," knife "," it "," on "," the "," table ",". ","<<goal>>"],"instr":[[" turn "," left "," and "," walk "," to "," the "," table "," to "," your "," left ",". "],[" grab "," the "," knife "," sitting "," on "," the "," table ",". "],[" turn "," right "," and "," walk "," to "," the "," stove "," to "," your "," right ",". "],[" place "," the "," knife "," in "," the "," glass "," cup "," on "," the "," counter "," to "," the "," left "," of "," the "," stove ",". "],[" pick "," up "," the "," glass "," cup "," on "," the "," counter "," with "," the "," knife "," in "," it ",". "],[" turn "," around "," and "," take "," the "," glass "," cup "," with "," the "," knife "," in "," it "," to "," the "," table "," to "," your "," left ",". "],[" place "," the "," glass "," cup "," with "," the "," knife "," in "," it "," on "," the "," counter "," between "," the "," black "," cup "," and "," knife ",". "],["<<stop>>"]],"repeat_idx":1},"images":[{"high_idx":0,"image_name":"000000000.png","low_idx":0},{"high_idx":0,"image_name":"000000001.png","low_idx":0},{"high_idx":0,"image_name":"000000002.png","low_idx":0},{"high_idx":0,"image_name":"000000003.png","low_idx":0},{"high_idx":0,"image_name":"000000004.png","low_idx":0},{"high_idx":0,"image_name":"000000005.png","low_idx":0},{"high_idx":0,"image_name":"000000006.png","low_idx":0},{"high_idx":0,"image_name":"000000007.png","low_idx":0},{"high_idx":0,"image_name":"000000008.png","low_idx":0},{"high_idx":0,"image_name":"000000009.png","low_idx":0},{"high_idx":0,"image_name":"000000010.png","low_idx":0},{"high_idx":0,"image_name":"000000011.png","low_idx":1},{"high_idx":0,"image_name":"000000012.png","low_idx":1},{"high_idx":0,"image_name":"000000013.png","low_idx":2},{"high_idx":0,"image_name":"000000014.png","low_idx":2},{"high_idx":0,"image_name":"000000015.png","low_idx":3},{"high_idx":0,"image_name":"000000016.png","low_idx":3},{"high_idx":0,"image_name":"000000017.png","low_idx":3},{"high_idx":0,"image_name":"000000018.png","low_idx":3},{"high_idx":0,"image_name":"000000019.png","low_idx":3},{"high_idx":0,"image_name":"000000020.png","low_idx":3},{"high_idx":0,"image_name":"000000021.png","low_idx":3},{"high_idx":0,"image_name":"000000022.png","low_idx":3},{"high_idx":0,"image_name":"000000023.png","low_idx":3},{"high_idx":0,"image_name":"000000024.png","low_idx":3},{"high_idx":0,"image_name":"000000025.png","low_idx":3},{"high_idx":0,"image_name":"000000026.png","low_idx":4},{"high_idx":0,"image_name":"000000027.png","low_idx":4},{"high_idx":0,"image_name":"000000028.png","low_idx":5},{"high_idx":0,"image_name":"000000029.png","low_idx":5},{"high_idx":0,"image_name":"000000030.png","low_idx":6},{"high_idx":0,"image_name":"000000031.png","low_idx":6},{"high_idx":0,"image_name":"000000032.png","low_idx":7},{"high_idx":0,"image_name":"000000033.png","low_idx":7},{"high_idx":0,"image_name":"000000034.png","low_idx":8},{"high_idx":0,"image_name":"000000035.png","low_idx":8},{"high_idx":0,"image_name":"000000036.png","low_idx":9},{"high_idx":0,"image_name":"000000037.png","low_idx":9},{"high_idx":0,"image_name":"000000038.png","low_idx":9},{"high_idx":0,"image_name":"000000039.png","low_idx":9},{"high_idx":0,"image_name":"000000040.png","low_idx":9},{"high_idx":0,"image_name":"000000041.png","low_idx":9},{"high_idx":0,"image_name":"000000042.png","low_idx":9},{"high_idx":0,"image_name":"000000043.png","low_idx":9},{"high_idx":0,"image_name":"000000044.png","low_idx":9},{"high_idx":0,"image_name":"000000045.png","low_idx":9},{"high_idx":0,"image_name":"000000046.png","low_idx":9},{"high_idx":1,"image_name":"000000047.png","low_idx":10},{"high_idx":1,"image_name":"000000048.png","low_idx":10},{"high_idx":1,"image_name":"000000049.png","low_idx":10},{"high_idx":1,"image_name":"000000050.png","low_idx":10},{"high_idx":1,"image_name":"000000051.png","low_idx":10},{"high_idx":1,"image_name":"000000052.png","low_idx":10},{"high_idx":1,"image_name":"000000053.png","low_idx":10},{"high_idx":1,"image_name":"000000054.png","low_idx":10},{"high_idx":1,"image_name":"000000055.png","low_idx":10},{"high_idx":1,"image_name":"000000056.png","low_idx":10},{"high_idx":1,"image_name":"000000057.png","low_idx":10},{"high_idx":1,"image_name":"000000058.png","low_idx":10},{"high_idx":1,"image_name":"000000059.png","low_idx":10},{"high_idx":1,"image_name":"000000060.png","low_idx":10},{"high_idx":1,"image_name":"000000061.png","low_idx":10},{"high_idx":2,"image_name":"000000062.png","low_idx":11},{"high_idx":2,"image_name":"000000063.png","low_idx":11},{"high_idx":2,"image_name":"000000064.png","low_idx":11},{"high_idx":2,"image_name":"000000065.png","low_idx":11},{"high_idx":2,"image_name":"000000066.png","low_idx":11},{"high_idx":2,"image_name":"000000067.png","low_idx":11},{"high_idx":2,"image_name":"000000068.png","low_idx":11},{"high_idx":2,"image_name":"000000069.png","low_idx":11},{"high_idx":2,"image_name":"000000070.png","low_idx":11},{"high_idx":2,"image_name":"000000071.png","low_idx":11},{"high_idx":2,"image_name":"000000072.png","low_idx":11},{"high_idx":2,"image_name":"000000073.png","low_idx":12},{"high_idx":2,"image_name":"000000074.png","low_idx":12},{"high_idx":2,"image_name":"000000075.png","low_idx":13},{"high_idx":2,"image_name":"000000076.png","low_idx":13},{"high_idx":2,"image_name":"000000077.png","low_idx":14},{"high_idx":2,"image_name":"000000078.png","low_idx":14},{"high_idx":2,"image_name":"000000079.png","low_idx":15},{"high_idx":2,"image_name":"000000080.png","low_idx":15},{"high_idx":2,"image_name":"000000081.png","low_idx":16},{"high_idx":2,"image_name":"000000082.png","low_idx":16},{"high_idx":2,"image_name":"000000083.png","low_idx":17},{"high_idx":2,"image_name":"000000084.png","low_idx":17},{"high_idx":2,"image_name":"000000085.png","low_idx":18},{"high_idx":2,"image_name":"000000086.png","low_idx":18},{"high_idx":2,"image_name":"000000087.png","low_idx":19},{"high_idx":2,"image_name":"000000088.png","low_idx":19},{"high_idx":2,"image_name":"000000089.png","low_idx":19},{"high_idx":2,"image_name":"000000090.png","low_idx":19},{"high_idx":2,"image_name":"000000091.png","low_idx":19},{"high_idx":2,"image_name":"000000092.png","low_idx":19},{"high_idx":2,"image_name":"000000093.png","low_idx":19},{"high_idx":2,"image_name":"000000094.png","low_idx":19},{"high_idx":2,"image_name":"000000095.png","low_idx":19},{"high_idx":2,"image_name":"000000096.png","low_idx":19},{"high_idx":2,"image_name":"000000097.png","low_idx":19},{"high_idx":3,"image_name":"000000098.png","low_idx":20},{"high_idx":3,"image_name":"000000099.png","low_idx":20},{"high_idx":3,"image_name":"000000100.png","low_idx":20},{"high_idx":3,"image_name":"000000101.png","low_idx":20},{"high_idx":3,"image_name":"000000102.png","low_idx":20},{"high_idx":3,"image_name":"000000103.png","low_idx":20},{"high_idx":3,"image_name":"000000104.png","low_idx":20},{"high_idx":3,"image_name":"000000105.png","low_idx":20},{"high_idx":3,"image_name":"000000106.png","low_idx":20},{"high_idx":3,"image_name":"000000107.png","low_idx":20},{"high_idx":3,"image_name":"000000108.png","low_idx":20},{"high_idx":3,"image_name":"000000109.png","low_idx":20},{"high_idx":3,"image_name":"000000110.png","low_idx":20},{"high_idx":3,"image_name":"000000111.png","low_idx":20},{"high_idx":3,"image_name":"000000112.png","low_idx":20},{"high_idx":4,"image_name":"000000113.png","low_idx":21},{"high_idx":4,"image_name":"000000114.png","low_idx":21},{"high_idx":4,"image_name":"000000115.png","low_idx":21},{"high_idx":4,"image_name":"000000116.png","low_idx":21},{"high_idx":4,"image_name":"000000117.png","low_idx":21},{"high_idx":4,"image_name":"000000118.png","low_idx":21},{"high_idx":4,"image_name":"000000119.png","low_idx":21},{"high_idx":4,"image_name":"000000120.png","low_idx":21},{"high_idx":4,"image_name":"000000121.png","low_idx":21},{"high_idx":4,"image_name":"000000122.png","low_idx":21},{"high_idx":4,"image_name":"000000123.png","low_idx":21},{"high_idx":4,"image_name":"000000124.png","low_idx":21},{"high_idx":4,"image_name":"000000125.png","low_idx":21},{"high_idx":4,"image_name":"000000126.png","low_idx":21},{"high_idx":4,"image_name":"000000127.png","low_idx":21},{"high_idx":5,"image_name":"000000128.png","low_idx":22},{"high_idx":5,"image_name":"000000129.png","low_idx":22},{"high_idx":5,"image_name":"000000130.png","low_idx":22},{"high_idx":5,"image_name":"000000131.png","low_idx":22},{"high_idx":5,"image_name":"000000132.png","low_idx":22},{"high_idx":5,"image_name":"000000133.png","low_idx":22},{"high_idx":5,"image_name":"000000134.png","low_idx":22},{"high_idx":5,"image_name":"000000135.png","low_idx":22},{"high_idx":5,"image_name":"000000136.png","low_idx":22},{"high_idx":5,"image_name":"000000137.png","low_idx":22},{"high_idx":5,"image_name":"000000138.png","low_idx":22},{"high_idx":5,"image_name":"000000139.png","low_idx":23},{"high_idx":5,"image_name":"000000140.png","low_idx":23},{"high_idx":5,"image_name":"000000141.png","low_idx":23},{"high_idx":5,"image_name":"000000142.png","low_idx":23},{"high_idx":5,"image_name":"000000143.png","low_idx":23},{"high_idx":5,"image_name":"000000144.png","low_idx":23},{"high_idx":5,"image_name":"000000145.png","low_idx":23},{"high_idx":5,"image_name":"000000146.png","low_idx":23},{"high_idx":5,"image_name":"000000147.png","low_idx":23},{"high_idx":5,"image_name":"000000148.png","low_idx":23},{"high_idx":5,"image_name":"000000149.png","low_idx":23},{"high_idx":5,"image_name":"000000150.png","low_idx":24},{"high_idx":5,"image_name":"000000151.png","low_idx":24},{"high_idx":5,"image_name":"000000152.png","low_idx":25},{"high_idx":5,"image_name":"000000153.png","low_idx":25},{"high_idx":5,"image_name":"000000154.png","low_idx":26},{"high_idx":5,"image_name":"000000155.png","low_idx":26},{"high_idx":5,"image_name":"000000156.png","low_idx":27},{"high_idx":5,"image_name":"000000157.png","low_idx":27},{"high_idx":5,"image_name":"000000158.png","low_idx":28},{"high_idx":5,"image_name":"000000159.png","low_idx":28},{"high_idx":5,"image_name":"000000160.png","low_idx":29},{"high_idx":5,"image_name":"000000161.png","low_idx":29},{"high_idx":5,"image_name":"000000162.png","low_idx":29},{"high_idx":5,"image_name":"000000163.png","low_idx":29},{"high_idx":5,"image_name":"000000164.png","low_idx":29},{"high_idx":5,"image_name":"000000165.png","low_idx":29},{"high_idx":5,"image_name":"000000166.png","low_idx":29},{"high_idx":5,"image_name":"000000167.png","low_idx":29},{"high_idx":5,"image_name":"000000168.png","low_idx":29},{"high_idx":5,"image_name":"000000169.png","low_idx":29},{"high_idx":5,"image_name":"000000170.png","low_idx":29},{"high_idx":5,"image_name":"000000171.png","low_idx":30},{"high_idx":5,"image_name":"000000172.png","low_idx":30},{"high_idx":5,"image_name":"000000173.png","low_idx":31},{"high_idx":5,"image_name":"000000174.png","low_idx":31},{"high_idx":5,"image_name":"000000175.png","low_idx":31},{"high_idx":5,"image_name":"000000176.png","low_idx":31},{"high_idx":5,"image_name":"000000177.png","low_idx":31},{"high_idx":5,"image_name":"000000178.png","low_idx":31},{"high_idx":5,"image_name":"000000179.png","low_idx":31},{"high_idx":5,"image_name":"000000180.png","low_idx":31},{"high_idx":5,"image_name":"000000181.png","low_idx":31},{"high_idx":5,"image_name":"000000182.png","low_idx":31},{"high_idx":5,"image_name":"000000183.png","low_idx":31},{"high_idx":6,"image_name":"000000184.png","low_idx":32},{"high_idx":6,"image_name":"000000185.png","low_idx":32},{"high_idx":6,"image_name":"000000186.png","low_idx":32},{"high_idx":6,"image_name":"000000187.png","low_idx":32},{"high_idx":6,"image_name":"000000188.png","low_idx":32},{"high_idx":6,"image_name":"000000189.png","low_idx":32},{"high_idx":6,"image_name":"000000190.png","low_idx":32},{"high_idx":6,"image_name":"000000191.png","low_idx":32},{"high_idx":6,"image_name":"000000192.png","low_idx":32},{"high_idx":6,"image_name":"000000193.png","low_idx":32},{"high_idx":6,"image_name":"000000194.png","low_idx":32},{"high_idx":6,"image_name":"000000195.png","low_idx":32},{"high_idx":6,"image_name":"000000196.png","low_idx":32},{"high_idx":6,"image_name":"000000197.png","low_idx":32},{"high_idx":6,"image_name":"000000198.png","low_idx":32}],"num":{"action_high":[{"action":3,"action_high_args":[4],"high_idx":0},{"action":5,"action_high_args":[38],"high_idx":1},{"action":3,"action_high_args":[39],"high_idx":2},{"action":10,"action_high_args":[38,39],"high_idx":3},{"action":5,"action_high_args":[39],"high_idx":4},{"action":3,"action_high_args":[4],"high_idx":5},{"action":10,"action_high_args":[39,4],"high_idx":6},{"action":12,"action_high_args":[],"high_idx":7}],"action_low":[[{"action":3,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":5,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":5,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0}],[{"action":6,"action_high_args":{"bbox":[138,110,201,113],"mask":[[32838,28],[33138,64],[33439,19],[33466,36],[33778,18]],"point":[169,110]},"centroid":[0.565,0.37166666666666665],"high_idx":1,"mask":[[32838,28],[33138,64],[33439,19],[33466,36],[33778,18]],"valid_interact":1}],[{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0}],[{"action":11,"action_high_args":{"bbox":[28,86,61,125],"mask":[[25540,13],[25837,19],[26135,22],[26433,25],[26731,27],[27030,28],[27329,29],[27628,30],[27928,30],[28228,29],[28528,28],[28828,27],[29128,27],[29429,25],[29730,23],[30032,20],[30335,16],[30638,12],[30941,8],[31244,5],[31547,2],[31847,2],[32147,2],[32448,2],[32748,2],[33048,2],[33349,2],[33649,2],[33949,9],[34248,12],[34546,15],[34845,17],[35144,18],[35443,19],[35743,18],[36042,18],[36342,18],[36643,15],[36944,12],[37246,8]],"point":[44,104]},"centroid":[0.14833333333333334,0.3516666666666667],"high_idx":3,"mask":[[25540,13],[25837,19],[26135,22],[26433,25],[26731,27],[27030,28],[27329,29],[27628,30],[27928,30],[28228,29],[28528,28],[28828,27],[29128,27],[29429,25],[29730,23],[30032,20],[30335,16],[30638,12],[30941,8],[31244,5],[31547,2],[31847,2],[32147,2],[32448,2],[32748,2],[33048,2],[33349,2],[33649,2],[33949,9],[34248,12],[34546,15],[34845,17],[35144,18],[35443,19],[35743,18],[36042,18],[36342,18],[36643,15],[36944,12],[37246,8]],"valid_interact":1}],[{"action":6,"action_high_args":{"bbox":[28,86,61,125],"mask":[[25540,13],[25837,19],[26135,22],[26435,23],[26731,1],[26735,23],[27030,2],[27035,23],[27329,3],[27336,22],[27628,5],[27636,22],[27928,5],[27936,22],[28228,5],[28236,21],[28528,6],[28537,19],[28828,6],[28836,19],[29128,7],[29136,19],[29429,25],[29730,23],[30032,20],[30335,16],[30638,12],[30941,8],[31244,5],[31547,2],[31847,2],[32147,2],[32448,2],[32748,2],[33048,2],[33349,2],[33649,2],[33949,9],[34248,12],[34546,15],[34845,17],[35144,18],[35443,19],[35743,18],[36042,18],[36342,18],[36643,15],[36944,12],[37246,8]],"point":[44,104]},"centroid":[0.14833333333333334,0.3516666666666667],"high_idx":4,"mask":[[25540,13],[25837,19],[26135,22],[26435,23],[26731,1],[26735,23],[27030,2],[27035,23],[27329,3],[27336,22],[27628,5],[27636,22],[27928,5],[27936,22],[28228,5],[28236,21],[28528,6],[28537,19],[28828,6],[28836,19],[29128,7],[29136,19],[29429,25],[29730,23],[30032,20],[30335,16],[30638,12],[30941,8],[31244,5],[31547,2],[31847,2],[32147,2],[32448,2],[32748,2],[33048,2],[33349,2],[33649,2],[33949,9],[34248,12],[34546,15],[34845,17],[35144,18],[35443,19],[35743,18],[36042,18],[36342,18],[36643,15],[36944,12],[37246,8]],"valid_interact":1}],[{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":5,"mask":null,"valid_interact":0},{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":5,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":5,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":5,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":5,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":5,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":5,"mask":null,"valid_interact":0},{"action":5,"action_high_args":{},"centroid":[-1,-1],"high_idx":5,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":5,"mask":null,"valid_interact":0},{"action":8,"action_high_args":{},"centroid":[-1,-1],"high_idx":5,"mask":null,"valid_interact":0}],[{"action":11,"action_high_args":{"bbox":[0,114,299,300],"mask":[[33929,5],[33968,75],[34077,1],[34082,16],[34106,65],[34179,21],[34228,8],[34267,77],[34382,16],[34406,65],[34479,21],[34527,10],[34567,77],[34682,16],[34706,64],[34779,21],[34826,13],[34866,78],[34982,15],[35006,64],[35079,21],[35124,17],[35166,78],[35282,15],[35306,64],[35378,22],[35423,19],[35465,79],[35582,15],[35606,63],[35678,22],[35722,21],[35764,80],[35882,16],[35905,66],[35978,22],[36021,24],[36063,82],[36182,19],[36203,71],[36276,24],[36320,26],[36362,83],[36482,60],[36564,36],[36619,127],[36781,54],[36872,28],[36918,128],[37081,54],[37174,26],[37217,129],[37381,54],[37475,24],[37516,130],[37681,54],[37777,20],[37815,29],[37855,92],[37981,54],[38078,18],[38114,30],[38154,63],[38229,18],[38281,55],[38379,16],[38413,30],[38454,59],[38533,15],[38581,55],[38681,13],[38712,31],[38753,58],[38834,15],[38882,55],[38982,12],[39011,31],[39053,47],[39145,5],[39182,55],[39283,10],[39310,31],[39352,44],[39448,4],[39482,56],[39584,9],[39608,33],[39652,42],[39750,3],[39782,57],[39884,9],[39907,35],[39950,43],[40051,3],[40081,58],[40185,8],[40206,38],[40246,46],[40351,5],[40380,60],[40486,7],[40505,38],[40545,46],[40652,6],[40673,2],[40680,61],[40787,6],[40804,38],[40844,46],[40952,10],[40973,2],[40980,62],[41087,6],[41103,38],[41143,47],[41252,10],[41291,51],[41388,6],[41402,38],[41442,47],[41552,10],[41605,38],[41688,6],[41701,38],[41741,48],[41852,10],[41918,25],[41988,6],[42000,38],[42040,49],[42152,14],[42170,4],[42232,12],[42286,9],[42300,37],[42339,49],[42452,15],[42469,5],[42480,3],[42536,8],[42584,11],[42600,36],[42639,49],[42752,16],[42769,5],[42780,7],[42837,8],[42881,15],[42900,35],[42938,49],[43052,16],[43069,5],[43079,13],[43110,8],[43136,9],[43179,18],[43200,34],[43237,50],[43352,16],[43370,4],[43379,19],[43409,21],[43435,11],[43477,57],[43537,49],[43652,16],[43670,4],[43679,25],[43709,22],[43734,13],[43775,58],[43836,50],[43952,16],[43970,3],[43979,69],[44073,55],[44129,3],[44135,51],[44252,16],[44270,3],[44279,70],[44372,54],[44429,3],[44435,50],[44552,17],[44570,3],[44579,71],[44670,55],[44729,2],[44734,51],[44852,16],[44871,2],[44879,76],[44966,58],[45029,1],[45033,51],[45152,16],[45171,2],[45179,144],[45328,1],[45332,52],[45452,16],[45471,2],[45479,143],[45628,1],[45632,51],[45752,16],[45771,2],[45778,143],[45927,47],[45977,6],[46052,16],[46071,2],[46078,84],[46165,55],[46227,46],[46277,6],[46352,17],[46372,1],[46378,84],[46466,53],[46526,46],[46577,6],[46652,17],[46678,64],[46758,4],[46767,52],[46826,45],[46876,7],[46952,17],[46978,59],[47092,26],[47125,46],[47176,7],[47251,18],[47278,59],[47362,2],[47392,25],[47425,46],[47475,8],[47550,19],[47578,87],[47669,47],[47724,46],[47775,9],[47849,20],[47878,51],[47931,35],[47969,46],[48023,47],[48074,12],[48148,21],[48178,47],[48236,31],[48270,44],[48323,47],[48373,15],[48447,22],[48478,46],[48539,29],[48571,43],[48622,47],[48673,16],[48747,22],[48778,45],[48841,28],[48871,42],[48922,47],[48972,17],[49047,23],[49077,45],[49143,27],[49172,40],[49221,47],[49271,19],[49346,24],[49377,45],[49444,27],[49473,38],[49520,48],[49571,19],[49646,24],[49677,45],[49745,27],[49774,36],[49820,47],[49870,21],[49945,25],[49977,45],[50045,28],[50074,35],[50117,50],[50170,22],[50245,25],[50277,45],[50346,27],[50375,34],[50413,53],[50469,24],[50544,26],[50577,45],[50645,29],[50676,32],[50713,52],[50769,25],[50843,27],[50877,45],[50945,30],[50976,31],[51012,53],[51068,27],[51143,27],[51177,45],[51245,30],[51277,29],[51311,53],[51368,28],[51441,29],[51477,44],[51544,31],[51578,27],[51611,52],[51667,30],[51740,30],[51777,44],[51844,31],[51878,26],[51910,52],[51967,32],[52039,31],[52076,45],[52144,31],[52180,24],[52209,52],[52266,35],[52337,33],[52376,45],[52443,31],[52481,22],[52508,53],[52566,37],[52635,10],[52655,15],[52676,45],[52743,32],[52782,20],[52808,52],[52865,73],[52962,8],[52976,45],[53043,32],[53083,18],[53107,52],[53165,68],[53267,3],[53276,45],[53343,33],[53384,16],[53406,53],[53465,66],[53569,1],[53576,44],[53642,36],[53681,1],[53683,1],[53685,15],[53705,53],[53764,65],[53876,44],[53942,37],[53980,1],[53982,1],[53984,1],[53986,14],[54004,54],[54064,63],[54175,45],[54242,38],[54283,1],[54285,1],[54287,13],[54304,54],[54363,62],[54475,45],[54542,43],[54586,1],[54588,12],[54604,54],[54662,61],[54777,43],[54841,59],[54904,53],[54962,59],[55079,41],[55141,59],[55202,55],[55262,57],[55381,39],[55441,59],[55501,56],[55561,56],[55683,37],[55741,116],[55861,55],[55984,36],[56040,117],[56160,55],[56285,36],[56340,175],[56585,36],[56640,174],[56886,36],[56940,173],[57187,37],[57239,173],[57488,38],[57537,174],[57789,40],[57835,175],[58090,219],[58391,217],[58692,215],[58993,213],[59294,212],[59594,211],[59895,210],[60195,210],[60495,209],[60796,208],[61096,207],[61397,206],[61697,206],[61997,205],[62298,204],[62598,204],[62898,203],[63199,202],[63499,201],[63800,200],[64100,200],[64400,200],[64700,200],[65000,200],[65300,100],[65423,78],[65599,55],[65669,8],[65693,7],[65723,78],[65899,55],[65969,8],[65994,6],[66022,79],[66199,55],[66269,8],[66295,5],[66321,80],[66499,55],[66571,6],[66592,2],[66596,4],[66621,80],[66799,55],[66868,1],[66872,5],[66891,4],[66896,4],[66920,81],[67099,55],[67168,2],[67172,5],[67191,4],[67196,4],[67220,81],[67399,55],[67467,4],[67472,4],[67496,4],[67519,82],[67699,54],[67767,2],[67772,4],[67789,1],[67794,6],[67819,82],[67999,54],[68071,5],[68089,11],[68118,83],[68299,54],[68365,11],[68388,12],[68417,84],[68599,54],[68665,12],[68688,12],[68717,84],[68899,55],[68964,14],[68987,14],[69016,85],[69199,56],[69264,16],[69287,14],[69316,86],[69498,58],[69564,19],[69584,18],[69615,87],[69798,60],[69862,40],[69914,89],[70097,105],[70214,89],[70397,106],[70513,91],[70696,107],[70813,91],[70996,108],[71112,93],[71295,109],[71412,94],[71594,110],[71711,95],[71894,111],[72010,97],[72193,112],[72310,97],[72493,113],[72609,99],[72792,114],[72909,100],[73091,115],[73208,101],[73391,116],[73508,102],[73690,220],[73990,221],[74289,222],[74589,224],[74887,227],[75186,230],[75484,233],[75783,236],[76081,239],[76380,241],[76679,244],[76977,247],[77276,248],[77576,248],[77876,137],[78054,70],[78193,70],[78264,49],[78328,1],[78355,69],[78494,120],[78628,1],[78655,69],[78794,120],[78927,2],[78955,69],[79095,119],[79227,2],[79255,69],[79395,29],[79427,88],[79527,3],[79555,69],[79695,27],[79730,85],[79826,4],[79855,70],[79996,26],[80031,85],[80126,4],[80155,70],[80296,25],[80332,84],[80425,5],[80456,69],[80596,25],[80633,83],[80725,5],[80756,69],[80896,25],[80933,84],[81024,6],[81043,1],[81050,76],[81196,22],[81233,84],[81324,6],[81342,84],[81496,21],[81533,85],[81623,8],[81641,86],[81796,21],[81819,2],[81833,85],[81923,8],[81939,88],[82096,22],[82119,2],[82133,85],[82222,9],[82237,91],[82396,23],[82433,86],[82522,9],[82536,92],[82695,25],[82732,87],[82821,10],[82834,95],[82995,26],[83032,88],[83121,10],[83133,97],[83294,26],[83331,199],[83594,27],[83631,200],[83893,28],[83930,203],[84192,30],[84230,204],[84492,31],[84529,206],[84791,34],[84828,209],[85063,2],[85089,249],[85362,5],[85388,252],[85660,9],[85686,259],[85955,18],[85983,2817],[88801,299],[89101,299],[89402,298],[89702,298]],"point":[144,175]},"centroid":[0.49833333333333335,0.69],"high_idx":6,"mask":[[33929,5],[33968,75],[34077,1],[34082,16],[34106,65],[34179,21],[34228,8],[34267,77],[34382,16],[34406,65],[34479,21],[34527,10],[34567,77],[34682,16],[34706,64],[34779,21],[34826,13],[34866,78],[34982,15],[35006,64],[35079,21],[35124,17],[35166,78],[35282,15],[35306,64],[35378,22],[35423,19],[35465,79],[35582,15],[35606,63],[35678,22],[35722,21],[35764,80],[35882,16],[35905,66],[35978,22],[36021,24],[36063,82],[36182,19],[36203,71],[36276,24],[36320,26],[36362,83],[36482,60],[36564,36],[36619,127],[36781,54],[36872,28],[36918,128],[37081,54],[37174,26],[37217,129],[37381,54],[37475,24],[37516,130],[37681,54],[37777,20],[37815,29],[37855,92],[37981,54],[38078,18],[38114,30],[38154,63],[38229,18],[38281,55],[38379,16],[38413,30],[38454,59],[38533,15],[38581,55],[38681,13],[38712,31],[38753,58],[38834,15],[38882,55],[38982,12],[39011,31],[39053,47],[39145,5],[39182,55],[39283,10],[39310,31],[39352,44],[39448,4],[39482,56],[39584,9],[39608,33],[39652,42],[39750,3],[39782,57],[39884,9],[39907,35],[39950,43],[40051,3],[40081,58],[40185,8],[40206,38],[40246,46],[40351,5],[40380,60],[40486,7],[40505,38],[40545,46],[40652,6],[40673,2],[40680,61],[40787,6],[40804,38],[40844,46],[40952,10],[40973,2],[40980,62],[41087,6],[41103,38],[41143,47],[41252,10],[41291,51],[41388,6],[41402,38],[41442,47],[41552,10],[41605,38],[41688,6],[41701,38],[41741,48],[41852,10],[41918,25],[41988,6],[42000,38],[42040,49],[42152,14],[42170,4],[42232,12],[42286,9],[42300,37],[42339,49],[42452,15],[42469,5],[42480,3],[42536,8],[42584,11],[42600,36],[42639,49],[42752,16],[42769,5],[42780,7],[42837,8],[42881,15],[42900,35],[42938,49],[43052,16],[43069,5],[43079,13],[43110,8],[43136,9],[43179,18],[43200,34],[43237,50],[43352,16],[43370,4],[43379,19],[43409,21],[43435,11],[43477,57],[43537,49],[43652,16],[43670,4],[43679,25],[43709,22],[43734,13],[43775,58],[43836,50],[43952,16],[43970,3],[43979,69],[44073,55],[44129,3],[44135,51],[44252,16],[44270,3],[44279,70],[44372,54],[44429,3],[44435,50],[44552,17],[44570,3],[44579,71],[44670,55],[44729,2],[44734,51],[44852,16],[44871,2],[44879,76],[44966,58],[45029,1],[45033,51],[45152,16],[45171,2],[45179,144],[45328,1],[45332,52],[45452,16],[45471,2],[45479,143],[45628,1],[45632,51],[45752,16],[45771,2],[45778,143],[45927,47],[45977,6],[46052,16],[46071,2],[46078,84],[46165,55],[46227,46],[46277,6],[46352,17],[46372,1],[46378,84],[46466,53],[46526,46],[46577,6],[46652,17],[46678,64],[46758,4],[46767,52],[46826,45],[46876,7],[46952,17],[46978,59],[47092,26],[47125,46],[47176,7],[47251,18],[47278,59],[47362,2],[47392,25],[47425,46],[47475,8],[47550,19],[47578,87],[47669,47],[47724,46],[47775,9],[47849,20],[47878,51],[47931,35],[47969,46],[48023,47],[48074,12],[48148,21],[48178,47],[48236,31],[48270,44],[48323,47],[48373,15],[48447,22],[48478,46],[48539,29],[48571,43],[48622,47],[48673,16],[48747,22],[48778,45],[48841,28],[48871,42],[48922,47],[48972,17],[49047,23],[49077,45],[49143,27],[49172,40],[49221,47],[49271,19],[49346,24],[49377,45],[49444,27],[49473,38],[49520,48],[49571,19],[49646,24],[49677,45],[49745,27],[49774,36],[49820,47],[49870,21],[49945,25],[49977,45],[50045,28],[50074,35],[50117,50],[50170,22],[50245,25],[50277,45],[50346,27],[50375,34],[50413,53],[50469,24],[50544,26],[50577,45],[50645,29],[50676,32],[50713,52],[50769,25],[50843,27],[50877,45],[50945,30],[50976,31],[51012,53],[51068,27],[51143,27],[51177,45],[51245,30],[51277,29],[51311,53],[51368,28],[51441,29],[51477,44],[51544,31],[51578,27],[51611,52],[51667,30],[51740,30],[51777,44],[51844,31],[51878,26],[51910,52],[51967,32],[52039,31],[52076,45],[52144,31],[52180,24],[52209,52],[52266,35],[52337,33],[52376,45],[52443,31],[52481,22],[52508,53],[52566,37],[52635,10],[52655,15],[52676,45],[52743,32],[52782,20],[52808,52],[52865,73],[52962,8],[52976,45],[53043,32],[53083,18],[53107,52],[53165,68],[53267,3],[53276,45],[53343,33],[53384,16],[53406,53],[53465,66],[53569,1],[53576,44],[53642,36],[53681,1],[53683,1],[53685,15],[53705,53],[53764,65],[53876,44],[53942,37],[53980,1],[53982,1],[53984,1],[53986,14],[54004,54],[54064,63],[54175,45],[54242,38],[54283,1],[54285,1],[54287,13],[54304,54],[54363,62],[54475,45],[54542,43],[54586,1],[54588,12],[54604,54],[54662,61],[54777,43],[54841,59],[54904,53],[54962,59],[55079,41],[55141,59],[55202,55],[55262,57],[55381,39],[55441,59],[55501,56],[55561,56],[55683,37],[55741,116],[55861,55],[55984,36],[56040,117],[56160,55],[56285,36],[56340,175],[56585,36],[56640,174],[56886,36],[56940,173],[57187,37],[57239,173],[57488,38],[57537,174],[57789,40],[57835,175],[58090,219],[58391,217],[58692,215],[58993,213],[59294,212],[59594,211],[59895,210],[60195,210],[60495,209],[60796,208],[61096,207],[61397,206],[61697,206],[61997,205],[62298,204],[62598,204],[62898,203],[63199,202],[63499,201],[63800,200],[64100,200],[64400,200],[64700,200],[65000,200],[65300,100],[65423,78],[65599,55],[65669,8],[65693,7],[65723,78],[65899,55],[65969,8],[65994,6],[66022,79],[66199,55],[66269,8],[66295,5],[66321,80],[66499,55],[66571,6],[66592,2],[66596,4],[66621,80],[66799,55],[66868,1],[66872,5],[66891,4],[66896,4],[66920,81],[67099,55],[67168,2],[67172,5],[67191,4],[67196,4],[67220,81],[67399,55],[67467,4],[67472,4],[67496,4],[67519,82],[67699,54],[67767,2],[67772,4],[67789,1],[67794,6],[67819,82],[67999,54],[68071,5],[68089,11],[68118,83],[68299,54],[68365,11],[68388,12],[68417,84],[68599,54],[68665,12],[68688,12],[68717,84],[68899,55],[68964,14],[68987,14],[69016,85],[69199,56],[69264,16],[69287,14],[69316,86],[69498,58],[69564,19],[69584,18],[69615,87],[69798,60],[69862,40],[69914,89],[70097,105],[70214,89],[70397,106],[70513,91],[70696,107],[70813,91],[70996,108],[71112,93],[71295,109],[71412,94],[71594,110],[71711,95],[71894,111],[72010,97],[72193,112],[72310,97],[72493,113],[72609,99],[72792,114],[72909,100],[73091,115],[73208,101],[73391,116],[73508,102],[73690,220],[73990,221],[74289,222],[74589,224],[74887,227],[75186,230],[75484,233],[75783,236],[76081,239],[76380,241],[76679,244],[76977,247],[77276,248],[77576,248],[77876,137],[78054,70],[78193,70],[78264,49],[78328,1],[78355,69],[78494,120],[78628,1],[78655,69],[78794,120],[78927,2],[78955,69],[79095,119],[79227,2],[79255,69],[79395,29],[79427,88],[79527,3],[79555,69],[79695,27],[79730,85],[79826,4],[79855,70],[79996,26],[80031,85],[80126,4],[80155,70],[80296,25],[80332,84],[80425,5],[80456,69],[80596,25],[80633,83],[80725,5],[80756,69],[80896,25],[80933,84],[81024,6],[81043,1],[81050,76],[81196,22],[81233,84],[81324,6],[81342,84],[81496,21],[81533,85],[81623,8],[81641,86],[81796,21],[81819,2],[81833,85],[81923,8],[81939,88],[82096,22],[82119,2],[82133,85],[82222,9],[82237,91],[82396,23],[82433,86],[82522,9],[82536,92],[82695,25],[82732,87],[82821,10],[82834,95],[82995,26],[83032,88],[83121,10],[83133,97],[83294,26],[83331,199],[83594,27],[83631,200],[83893,28],[83930,203],[84192,30],[84230,204],[84492,31],[84529,206],[84791,34],[84828,209],[85063,2],[85089,249],[85362,5],[85388,252],[85660,9],[85686,259],[85955,18],[85983,2817],[88801,299],[89101,299],[89402,298],[89702,298]],"valid_interact":1}],[{"action":2,"action_high_args":{},"centroid":[-1,-1],"high_idx":7,"mask":null,"valid_interact":0}]],"lang_goal":[10,35,343,118,51,63,52,15,4,60,16,2],"lang_instr":[[24,19,26,47,18,4,60,18,145,19,16],[114,4,63,369,15,4,60,16],[24,38,26,47,18,4,27,18,145,38,16],[10,4,63,11,4,343,118,15,4,36,18,4,19,21,4,27,16],[22,23,4,343,118,15,4,36,51,4,63,11,52,16],[24,25,26,69,4,343,118,51,4,63,11,52,18,4,60,18,145,19,16],[10,4,343,118,51,4,63,11,52,15,4,36,198,4,123,118,26,63,16],[34]],"low_to_high_idx":[0,0,0,0,0,0,0,0,0,0,1,2,2,2,2,2,2,2,2,2,3,4,5,5,5,5,5,5,5,5,5,5,6,7]},"pddl_params":{"mrecep_target":"Cup","object_sliced":false,"object_target":"ButterKnife","parent_target":"DiningTable","toggle_target":""},"plan":{"high_pddl":[{"discrete_action":{"action":"GotoLocation","args":["diningtable"]},"high_idx":0,"planner_action":{"action":"GotoLocation","location":"loc|-11|-12|0|45"}},{"discrete_action":{"action":"PickupObject","args":["butterknife"]},"high_idx":1,"planner_action":{"action":"PickupObject","coordinateObjectId":["ButterKnife",[-10.6672926,-10.6672926,-8.46156312,-8.46156312,3.694068672,3.694068672]],"coordinateReceptacleObjectId":["DiningTable",[-9.73199272,-9.73199272,-6.78581428,-6.78581428,3.5828,3.5828]],"forceVisible":true,"objectId":"ButterKnife|-02.67|+00.92|-02.12"}},{"discrete_action":{"action":"GotoLocation","args":["cup"]},"high_idx":2,"planner_action":{"action":"GotoLocation","location":"loc|-4|-12|2|45"}},{"discrete_action":{"action":"PutObject","args":["butterknife","cup"]},"high_idx":3,"planner_action":{"action":"PutObject","coordinateObjectId":["ButterKnife",[-10.6672926,-10.6672926,-8.46156312,-8.46156312,3.694068672,3.694068672]],"coordinateReceptacleObjectId":["Cup",[-2.401837824,-2.401837824,-15.3563938,-15.3563938,3.659145356,3.659145356]],"forceVisible":true,"objectId":"ButterKnife|-02.67|+00.92|-02.12","receptacleObjectId":"Cup|-00.60|+00.91|-03.84"}},{"discrete_action":{"action":"PickupObject","args":["cup"]},"high_idx":4,"planner_action":{"action":"PickupObject","coordinateObjectId":["Cup",[-2.401837824,-2.401837824,-15.3563938,-15.3563938,3.659145356,3.659145356]],"coordinateReceptacleObjectId":["CounterTop",[-1.216,-1.216,-11.176,-11.176,3.8052,3.8052]],"forceVisible":true,"objectId":"Cup|-00.60|+00.91|-03.84"}},{"discrete_action":{"action":"GotoLocation","args":["diningtable"]},"high_idx":5,"planner_action":{"action":"GotoLocation","location":"loc|-5|-7|3|30"}},{"discrete_action":{"action":"PutObject","args":["cup","diningtable"]},"high_idx":6,"planner_action":{"action":"PutObject","coordinateObjectId":["Cup",[-2.401837824,-2.401837824,-15.3563938,-15.3563938,3.659145356,3.659145356]],"coordinateReceptacleObjectId":["DiningTable",[-9.73199272,-9.73199272,-6.78581428,-6.78581428,3.5828,3.5828]],"forceVisible":true,"objectId":"Cup|-00.60|+00.91|-03.84","receptacleObjectId":"DiningTable|-02.43|+00.90|-01.70"}},{"discrete_action":{"action":"NoOp","args":[]},"high_idx":7,"planner_action":{"action":"End","value":1}}],"low_actions":[{"api_action":{"action":"LookDown","forceAction":true},"discrete_action":{"action":"LookDown_15","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"RotateLeft","forceAction":true},"discrete_action":{"action":"RotateLeft_90","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"RotateLeft","forceAction":true},"discrete_action":{"action":"RotateLeft_90","args":{}},"high_idx":0},{"api_action":{"action":"PickupObject","objectId":"ButterKnife|-02.67|+00.92|-02.12"},"discrete_action":{"action":"PickupObject","args":{"bbox":[138,110,201,113],"mask":[[32838,28],[33138,64],[33439,19],[33466,36],[33778,18]],"point":[169,110]}},"high_idx":1},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":2},{"api_action":{"action":"PutObject","forceAction":true,"objectId":"ButterKnife|-02.67|+00.92|-02.12","placeStationary":true,"receptacleObjectId":"Cup|-00.60|+00.91|-03.84"},"discrete_action":{"action":"PutObject","args":{"bbox":[28,86,61,125],"mask":[[25540,13],[25837,19],[26135,22],[26433,25],[26731,27],[27030,28],[27329,29],[27628,30],[27928,30],[28228,29],[28528,28],[28828,27],[29128,27],[29429,25],[29730,23],[30032,20],[30335,16],[30638,12],[30941,8],[31244,5],[31547,2],[31847,2],[32147,2],[32448,2],[32748,2],[33048,2],[33349,2],[33649,2],[33949,9],[34248,12],[34546,15],[34845,17],[35144,18],[35443,19],[35743,18],[36042,18],[36342,18],[36643,15],[36944,12],[37246,8]],"point":[44,104]}},"high_idx":3},{"api_action":{"action":"PickupObject","objectId":"Cup|-00.60|+00.91|-03.84"},"discrete_action":{"action":"PickupObject","args":{"bbox":[28,86,61,125],"mask":[[25540,13],[25837,19],[26135,22],[26435,23],[26731,1],[26735,23],[27030,2],[27035,23],[27329,3],[27336,22],[27628,5],[27636,22],[27928,5],[27936,22],[28228,5],[28236,21],[28528,6],[28537,19],[28828,6],[28836,19],[29128,7],[29136,19],[29429,25],[29730,23],[30032,20],[30335,16],[30638,12],[30941,8],[31244,5],[31547,2],[31847,2],[32147,2],[32448,2],[32748,2],[33048,2],[33349,2],[33649,2],[33949,9],[34248,12],[34546,15],[34845,17],[35144,18],[35443,19],[35743,18],[36042,18],[36342,18],[36643,15],[36944,12],[37246,8]],"point":[44,104]}},"high_idx":4},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":5},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":5},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":5},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":5},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":5},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":5},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":5},{"api_action":{"action":"RotateLeft","forceAction":true},"discrete_action":{"action":"RotateLeft_90","args":{}},"high_idx":5},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":5},{"api_action":{"action":"LookUp","forceAction":true},"discrete_action":{"action":"LookUp_15","args":{}},"high_idx":5},{"api_action":{"action":"PutObject","forceAction":true,"objectId":"Cup|-00.60|+00.91|-03.84","placeStationary":true,"receptacleObjectId":"DiningTable|-02.43|+00.90|-01.70"},"discrete_action":{"action":"PutObject","args":{"bbox":[0,114,299,300],"mask":[[33929,5],[33968,75],[34077,1],[34082,16],[34106,65],[34179,21],[34228,8],[34267,77],[34382,16],[34406,65],[34479,21],[34527,10],[34567,77],[34682,16],[34706,64],[34779,21],[34826,13],[34866,78],[34982,15],[35006,64],[35079,21],[35124,17],[35166,78],[35282,15],[35306,64],[35378,22],[35423,19],[35465,79],[35582,15],[35606,63],[35678,22],[35722,21],[35764,80],[35882,16],[35905,66],[35978,22],[36021,24],[36063,82],[36182,19],[36203,71],[36276,24],[36320,26],[36362,83],[36482,60],[36564,36],[36619,127],[36781,54],[36872,28],[36918,128],[37081,54],[37174,26],[37217,129],[37381,54],[37475,24],[37516,130],[37681,54],[37777,20],[37815,29],[37855,92],[37981,54],[38078,18],[38114,30],[38154,63],[38229,18],[38281,55],[38379,16],[38413,30],[38454,59],[38533,15],[38581,55],[38681,13],[38712,31],[38753,58],[38834,15],[38882,55],[38982,12],[39011,31],[39053,47],[39145,5],[39182,55],[39283,10],[39310,31],[39352,44],[39448,4],[39482,56],[39584,9],[39608,33],[39652,42],[39750,3],[39782,57],[39884,9],[39907,35],[39950,43],[40051,3],[40081,58],[40185,8],[40206,38],[40246,46],[40351,5],[40380,60],[40486,7],[40505,38],[40545,46],[40652,6],[40673,2],[40680,61],[40787,6],[40804,38],[40844,46],[40952,10],[40973,2],[40980,62],[41087,6],[41103,38],[41143,47],[41252,10],[41291,51],[41388,6],[41402,38],[41442,47],[41552,10],[41605,38],[41688,6],[41701,38],[41741,48],[41852,10],[41918,25],[41988,6],[42000,38],[42040,49],[42152,14],[42170,4],[42232,12],[42286,9],[42300,37],[42339,49],[42452,15],[42469,5],[42480,3],[42536,8],[42584,11],[42600,36],[42639,49],[42752,16],[42769,5],[42780,7],[42837,8],[42881,15],[42900,35],[42938,49],[43052,16],[43069,5],[43079,13],[43110,8],[43136,9],[43179,18],[43200,34],[43237,50],[43352,16],[43370,4],[43379,19],[43409,21],[43435,11],[43477,57],[43537,49],[43652,16],[43670,4],[43679,25],[43709,22],[43734,13],[43775,58],[43836,50],[43952,16],[43970,3],[43979,69],[44073,55],[44129,3],[44135,51],[44252,16],[44270,3],[44279,70],[44372,54],[44429,3],[44435,50],[44552,17],[44570,3],[44579,71],[44670,55],[44729,2],[44734,51],[44852,16],[44871,2],[44879,76],[44966,58],[45029,1],[45033,51],[45152,16],[45171,2],[45179,144],[45328,1],[45332,52],[45452,16],[45471,2],[45479,143],[45628,1],[45632,51],[45752,16],[45771,2],[45778,143],[45927,47],[45977,6],[46052,16],[46071,2],[46078,84],[46165,55],[46227,46],[46277,6],[46352,17],[46372,1],[46378,84],[46466,53],[46526,46],[46577,6],[46652,17],[46678,64],[46758,4],[46767,52],[46826,45],[46876,7],[46952,17],[46978,59],[47092,26],[47125,46],[47176,7],[47251,18],[47278,59],[47362,2],[47392,25],[47425,46],[47475,8],[47550,19],[47578,87],[47669,47],[47724,46],[47775,9],[47849,20],[47878,51],[47931,35],[47969,46],[48023,47],[48074,12],[48148,21],[48178,47],[48236,31],[48270,44],[48323,47],[48373,15],[48447,22],[48478,46],[48539,29],[48571,43],[48622,47],[48673,16],[48747,22],[48778,45],[48841,28],[48871,42],[48922,47],[48972,17],[49047,23],[49077,45],[49143,27],[49172,40],[49221,47],[49271,19],[49346,24],[49377,45],[49444,27],[49473,38],[49520,48],[49571,19],[49646,24],[49677,45],[49745,27],[49774,36],[49820,47],[49870,21],[49945,25],[49977,45],[50045,28],[50074,35],[50117,50],[50170,22],[50245,25],[50277,45],[50346,27],[50375,34],[50413,53],[50469,24],[50544,26],[50577,45],[50645,29],[50676,32],[50713,52],[50769,25],[50843,27],[50877,45],[50945,30],[50976,31],[51012,53],[51068,27],[51143,27],[51177,45],[51245,30],[51277,29],[51311,53],[51368,28],[51441,29],[51477,44],[51544,31],[51578,27],[51611,52],[51667,30],[51740,30],[51777,44],[51844,31],[51878,26],[51910,52],[51967,32],[52039,31],[52076,45],[52144,31],[52180,24],[52209,52],[52266,35],[52337,33],[52376,45],[52443,31],[52481,22],[52508,53],[52566,37],[52635,10],[52655,15],[52676,45],[52743,32],[52782,20],[52808,52],[52865,73],[52962,8],[52976,45],[53043,32],[53083,18],[53107,52],[53165,68],[53267,3],[53276,45],[53343,33],[53384,16],[53406,53],[53465,66],[53569,1],[53576,44],[53642,36],[53681,1],[53683,1],[53685,15],[53705,53],[53764,65],[53876,44],[53942,37],[53980,1],[53982,1],[53984,1],[53986,14],[54004,54],[54064,63],[54175,45],[54242,38],[54283,1],[54285,1],[54287,13],[54304,54],[54363,62],[54475,45],[54542,43],[54586,1],[54588,12],[54604,54],[54662,61],[54777,43],[54841,59],[54904,53],[54962,59],[55079,41],[55141,59],[55202,55],[55262,57],[55381,39],[55441,59],[55501,56],[55561,56],[55683,37],[55741,116],[55861,55],[55984,36],[56040,117],[56160,55],[56285,36],[56340,175],[56585,36],[56640,174],[56886,36],[56940,173],[57187,37],[57239,173],[57488,38],[57537,174],[57789,40],[57835,175],[58090,219],[58391,217],[58692,215],[58993,213],[59294,212],[59594,211],[59895,210],[60195,210],[60495,209],[60796,208],[61096,207],[61397,206],[61697,206],[61997,205],[62298,204],[62598,204],[62898,203],[63199,202],[63499,201],[63800,200],[64100,200],[64400,200],[64700,200],[65000,200],[65300,100],[65423,78],[65599,55],[65669,8],[65693,7],[65723,78],[65899,55],[65969,8],[65994,6],[66022,79],[66199,55],[66269,8],[66295,5],[66321,80],[66499,55],[66571,6],[66592,2],[66596,4],[66621,80],[66799,55],[66868,1],[66872,5],[66891,4],[66896,4],[66920,81],[67099,55],[67168,2],[67172,5],[67191,4],[67196,4],[67220,81],[67399,55],[67467,4],[67472,4],[67496,4],[67519,82],[67699,54],[67767,2],[67772,4],[67789,1],[67794,6],[67819,82],[67999,54],[68071,5],[68089,11],[68118,83],[68299,54],[68365,11],[68388,12],[68417,84],[68599,54],[68665,12],[68688,12],[68717,84],[68899,55],[68964,14],[68987,14],[69016,85],[69199,56],[69264,16],[69287,14],[69316,86],[69498,58],[69564,19],[69584,18],[69615,87],[69798,60],[69862,40],[69914,89],[70097,105],[70214,89],[70397,106],[70513,91],[70696,107],[70813,91],[70996,108],[71112,93],[71295,109],[71412,94],[71594,110],[71711,95],[71894,111],[72010,97],[72193,112],[72310,97],[72493,113],[72609,99],[72792,114],[72909,100],[73091,115],[73208,101],[73391,116],[73508,102],[73690,220],[73990,221],[74289,222],[74589,224],[74887,227],[75186,230],[75484,233],[75783,236],[76081,239],[76380,241],[76679,244],[76977,247],[77276,248],[77576,248],[77876,137],[78054,70],[78193,70],[78264,49],[78328,1],[78355,69],[78494,120],[78628,1],[78655,69],[78794,120],[78927,2],[78955,69],[79095,119],[79227,2],[79255,69],[79395,29],[79427,88],[79527,3],[79555,69],[79695,27],[79730,85],[79826,4],[79855,70],[79996,26],[80031,85],[80126,4],[80155,70],[80296,25],[80332,84],[80425,5],[80456,69],[80596,25],[80633,83],[80725,5],[80756,69],[80896,25],[80933,84],[81024,6],[81043,1],[81050,76],[81196,22],[81233,84],[81324,6],[81342,84],[81496,21],[81533,85],[81623,8],[81641,86],[81796,21],[81819,2],[81833,85],[81923,8],[81939,88],[82096,22],[82119,2],[82133,85],[82222,9],[82237,91],[82396,23],[82433,86],[82522,9],[82536,92],[82695,25],[82732,87],[82821,10],[82834,95],[82995,26],[83032,88],[83121,10],[83133,97],[83294,26],[83331,199],[83594,27],[83631,200],[83893,28],[83930,203],[84192,30],[84230,204],[84492,31],[84529,206],[84791,34],[84828,209],[85063,2],[85089,249],[85362,5],[85388,252],[85660,9],[85686,259],[85955,18],[85983,2817],[88801,299],[89101,299],[89402,298],[89702,298]],"point":[144,175]}},"high_idx":6}]},"repeat_idx":1,"root":"alfred/data/json_2.1.0/pick_and_place_with_movable_recep-ButterKnife-Cup-DiningTable-23/trial_T20190908_233553_192059","scene":{"dirty_and_empty":false,"floor_plan":"FloorPlan23","init_action":{"action":"TeleportFull","horizon":30,"rotateOnTeleport":true,"rotation":180,"x":-4.0,"y":0.9009995,"z":-2.5},"object_poses":[{"objectName":"Pen_638e2261","position":{"x":-2.2105732,"y":0.9261279,"z":-1.65445352},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Potato_7baac0ce","position":{"x":-1.257191,"y":1.66156638,"z":-3.80404925},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Potato_7baac0ce","position":{"x":-0.3506,"y":0.828534245,"z":-2.00827861},"rotation":{"x":6.06642669e-21,"y":270.0,"z":-1.40334191e-14}},{"objectName":"DishSponge_b4789065","position":{"x":-0.5083166,"y":0.915364265,"z":-2.76492786},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"ButterKnife_f1c487d3","position":{"x":-2.32463574,"y":0.923517168,"z":-1.19351614},"rotation":{"x":0.0,"y":90.0,"z":0.0}},{"objectName":"ButterKnife_f1c487d3","position":{"x":-2.66682315,"y":0.923517168,"z":-2.11539078},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Spatula_cdf5a5fc","position":{"x":-0.6719776,"y":0.9115382,"z":-3.76819},"rotation":{"x":359.534454,"y":180.000259,"z":0.07700328}},{"objectName":"Spatula_cdf5a5fc","position":{"x":-2.438698,"y":0.938474953,"z":-2.34585953},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Knife_d25a57c3","position":{"x":-2.2105732,"y":0.9465557,"z":-2.34585953},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"SoapBottle_53032dff","position":{"x":-0.671999454,"y":0.914355755,"z":-3.48521519},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"SoapBottle_53032dff","position":{"x":-0.3432437,"y":1.52931356,"z":-3.5209825},"rotation":{"x":0.0,"y":44.9999962,"z":0.0}},{"objectName":"Bowl_91c0655d","position":{"x":-2.78088546,"y":0.922512949,"z":-2.34585953},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Bread_fbb38b83","position":{"x":-0.3928185,"y":1.44358575,"z":-0.7699998},"rotation":{"x":0.0,"y":270.000183,"z":0.0}},{"objectName":"SaltShaker_895229e9","position":{"x":-0.690776765,"y":0.7430744,"z":-3.55684233},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"PepperShaker_b8151885","position":{"x":-0.449686229,"y":0.743420362,"z":-3.32724977},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"PepperShaker_b8151885","position":{"x":-2.78088546,"y":0.919781268,"z":-0.963047445},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Mug_80763932","position":{"x":-2.09651065,"y":0.9184751,"z":-1.42398477},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Apple_c99eb5e1","position":{"x":-2.438698,"y":0.9969592,"z":-0.963047445},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Apple_c99eb5e1","position":{"x":-0.2540328,"y":0.870681465,"z":-2.00827861},"rotation":{"x":6.06642669e-21,"y":270.0,"z":-1.40334191e-14}},{"objectName":"Apple_c99eb5e1","position":{"x":-2.006342,"y":0.100445457,"z":-3.76336551},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Lettuce_7d6a9ffb","position":{"x":-2.562599,"y":1.0021,"z":-1.6777},"rotation":{"x":36.3855,"y":0.0,"z":0.0}},{"objectName":"Glassbottle_76ad74d1","position":{"x":-2.2105732,"y":0.9241918,"z":-0.963047445},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Egg_6d28f5dd","position":{"x":-1.94380212,"y":0.0598923,"z":-3.83573365},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Pen_638e2261","position":{"x":-0.436777174,"y":0.918452859,"z":-2.56359529},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Fork_3622ecde","position":{"x":-2.2105732,"y":0.9240236,"z":-1.19351614},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"SoapBottle_53032dff","position":{"x":-0.4463532,"y":1.52931356,"z":-3.624092},"rotation":{"x":0.0,"y":44.9999962,"z":0.0}},{"objectName":"Pencil_9e9e972c","position":{"x":-2.78088546,"y":0.923815966,"z":-1.65445352},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"WineBottle_cbf780b9","position":{"x":-0.162427574,"y":1.52881777,"z":-2.91465187},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Spatula_cdf5a5fc","position":{"x":-2.32463574,"y":0.938474953,"z":-1.65445352},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Bread_fbb38b83","position":{"x":-0.414396584,"y":0.95298624,"z":-3.612139},"rotation":{"x":1.2351526,"y":0.171807662,"z":359.855164}},{"objectName":"Tomato_3d47a8d4","position":{"x":-0.441682875,"y":1.45466161,"z":-0.9793745},"rotation":{"x":0.0,"y":270.000183,"z":0.0}},{"objectName":"Pan_8d50963e","position":{"x":-1.5155,"y":0.9357,"z":-3.4974},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Cup_3611fe48","position":{"x":-0.600459456,"y":0.914786339,"z":-3.83909845},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Pot_45f18f99","position":{"x":-2.2385025,"y":0.913393736,"z":-1.882062},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"SaltShaker_895229e9","position":{"x":-0.05399087,"y":0.912106156,"z":-2.30186462},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Potato_7baac0ce","position":{"x":-1.15165472,"y":1.66156638,"z":-3.837153},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"PepperShaker_b8151885","position":{"x":-2.78088546,"y":0.919781268,"z":-1.42398477},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"ButterKnife_f1c487d3","position":{"x":-2.2105732,"y":0.923517168,"z":-2.11539078},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"DishSponge_b4789065","position":{"x":-0.3835091,"y":0.0808897,"z":-2.20135021},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Spoon_a6c5bfa2","position":{"x":-0.328,"y":0.7866412,"z":-2.125},"rotation":{"x":0.0,"y":33.89591,"z":0.0}},{"objectName":"Plate_dc085d43","position":{"x":-0.3835091,"y":0.08366948,"z":-1.80410409},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Knife_d25a57c3","position":{"x":-2.438698,"y":0.9465557,"z":-1.42398477},"rotation":{"x":0.0,"y":270.0,"z":0.0}},{"objectName":"Mug_80763932","position":{"x":-0.1973643,"y":1.09384954,"z":-0.8746878},"rotation":{"x":0.0,"y":0.000160509444,"z":0.0}},{"objectName":"Bowl_91c0655d","position":{"x":-2.438698,"y":0.922512949,"z":-1.19351614},"rotation":{"x":0.0,"y":0.0,"z":0.0}}],"object_toggles":[],"random_seed":1624922995,"scene_num":23},"split":"valid_seen","task_id":"trial_T20190908_233553_192059","task_type":"pick_and_place_with_movable_recep","turk_annotations":{"anns":[{"assignment_id":"A3F7G1FSFWQPLE_358UUM7WR2UZMXYTZPZSJOS1PY9R7Y","high_descs":["Walk towards the wall, then hang a left and walk over to the end of the kitchen island.","Pick up the leftmost closest butter knife off of the kitchen island.","Turn right and walk over to the oven.","Put the knife in the glass that is on the counter to the left of the oven.","Pick up the glass with the butter knife in it off of the counter.","Walk back over to the kitchen island.","Put the glass with the butter knife in it on the island."],"task_desc":"Put a glass with a butter knife in it on the kitchen island.","votes":[1,1]},{"assignment_id":"A13OOAT2ORKH6V_3EWIJTFFVRYWVIT4SKUJ52JV2WQ0E9","high_descs":["Turn left and walk to the table to your left.","Grab the knife sitting on the table.","Turn right and walk to the stove to your right.","Place the knife in the glass cup on the counter to the left of the stove.","Pick up the glass cup on the counter with the knife in it.","Turn around and take the glass cup with the knife in it to the table to your left.","Place the glass cup with the knife in it on the counter between the black cup and knife."],"task_desc":"Place a glass cup with knife it on the table.","votes":[1,1]},{"assignment_id":"A1O3TWBUDONVLO_3NVC2EB65TQQIF9SB8OWE39INKE3YL","high_descs":["Turn around and step to the right to face the end of the center table.","Pick up the knife on the center table.","Turn right and walk across the room and turn right to face the counter.","Put the knife in the cup on the counter.","Pick up the cup with a knife in it on the counter.","Turn right and walk forward to face the center table.","Place the glass with a knife in it on the center table in the kitchen."],"task_desc":"To put a knife in a glass and place them on the center table.","votes":[1,1]}]}}},"observations":[],"question":{"options":[],"original":"Place a glass cup with butter knife it on the table.","text":"Place a glass cup with butter knife it on the table."},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"AI2-THOR / ALFRED","eval_set":"base","instruction_override":"Place a glass cup with butter knife it on the table.","mode":"interactive","native_episode_locator":{"file":"pick_and_place_with_movable_recep-ButterKnife-Cup-DiningTable-23/trial_T20190908_233553_192059/pp/ann_1.json","format":"hf_file"},"observation_policy":"current RGB and upstream feedback; demonstration plans and hidden task metadata excluded from model input","repo":"EmbodiedBench/EmbodiedBench","revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","selected_index":27},"sampling":{"component_id":"0a5c14a8519388c700ce","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":21,"stratum_pool":50},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"embodiedbench/envs/eb_alfred/data/splits/splits.json","annotation_sha256":"fe607575ef56ccd7f58bd26047b66f949d98e700ae68e59a384a74634e8267b7","host":"huggingface","license":"apache-2.0","media_policy":"upstream-reference; source media terms apply","native_episode_sha256":"47c4d8cfa5ec5deb70ccc04f2392167dea2c31f836e09236c5c609f4524108aa","repo":"EmbodiedBench/EB-ALFRED","revision":"af55cc721725ed058830fd7a8aee66c1f69efbaa","row_sha256":"a421823915a4d853aed3e27c5881b16bcbc25a2edceeb01107af55c666627985","runtime_revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","sample_id":"base/27","split":"base","upstream_dataset":"EB-ALFRED","url":"https://huggingface.co/datasets/EmbodiedBench/EB-ALFRED"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_environment_success","original_answer":null},"task":{"category":"base","role":"spatial_core","skill_tags":["base","base"],"stratum":"EB-ALFRED/base/base","subcategory":"base"},"transforms":[]}
{"dataset":"EB-ALFRED","group":{"id":"AI2THOR/FloorPlan8","kind":"scene","scene":"FloorPlan8"},"id":"2620e75ada6acc8ab359","native_annotation":{"instruction":"Put a clean ice cream ladle on the counter.","repeat_idx":1,"task":"pick_clean_then_place_in_recep-Ladle-None-CounterTop-8/trial_T20190909_121908_219603","upstream_episode":{"ann":{"goal":[" put "," a "," clean "," ice "," cream "," scoop "," on "," the "," counter ",". ","<<goal>>"],"instr":[[" turn "," left "," and "," walk "," to "," the "," counter "," then "," move "," to "," your "," left "," until "," you ","'"," re "," past "," the "," counter "," and "," walk "," to "," the "," lip "," of "," the "," wall "," in "," front "," of "," you "," and "," turn "," right ",". "],[" pick "," up "," the "," ice "," cream "," scoop "," that ","'"," s "," in "," front "," of "," you ",". "],[" turn "," right "," and "," walk "," to "," the "," sink "," that ","'"," s "," on "," your "," right "," and "," stand "," in "," front "," of "," it "," facing "," it ",". "],[" wash "," the "," ice "," cream "," scoop "," in "," the "," sink "," and "," then "," pick "," it "," back "," up "," and "," shut "," off "," the "," water ",". "],[" turn "," left "," and "," walk "," to "," the "," counter ",". "],[" put "," the "," scoop "," to "," the "," right "," of "," the "," blue "," spray "," bottle ",". "],["<<stop>>"]],"repeat_idx":1},"images":[{"high_idx":0,"image_name":"000000000.png","low_idx":0},{"high_idx":0,"image_name":"000000001.png","low_idx":0},{"high_idx":0,"image_name":"000000002.png","low_idx":0},{"high_idx":0,"image_name":"000000003.png","low_idx":0},{"high_idx":0,"image_name":"000000004.png","low_idx":0},{"high_idx":0,"image_name":"000000005.png","low_idx":0},{"high_idx":0,"image_name":"000000006.png","low_idx":0},{"high_idx":0,"image_name":"000000007.png","low_idx":0},{"high_idx":0,"image_name":"000000008.png","low_idx":0},{"high_idx":0,"image_name":"000000009.png","low_idx":0},{"high_idx":0,"image_name":"000000010.png","low_idx":0},{"high_idx":0,"image_name":"000000011.png","low_idx":1},{"high_idx":0,"image_name":"000000012.png","low_idx":1},{"high_idx":0,"image_name":"000000013.png","low_idx":1},{"high_idx":0,"image_name":"000000014.png","low_idx":1},{"high_idx":0,"image_name":"000000015.png","low_idx":1},{"high_idx":0,"image_name":"000000016.png","low_idx":1},{"high_idx":0,"image_name":"000000017.png","low_idx":1},{"high_idx":0,"image_name":"000000018.png","low_idx":1},{"high_idx":0,"image_name":"000000019.png","low_idx":1},{"high_idx":0,"image_name":"000000020.png","low_idx":1},{"high_idx":0,"image_name":"000000021.png","low_idx":1},{"high_idx":0,"image_name":"000000022.png","low_idx":2},{"high_idx":0,"image_name":"000000023.png","low_idx":2},{"high_idx":0,"image_name":"000000024.png","low_idx":3},{"high_idx":0,"image_name":"000000025.png","low_idx":3},{"high_idx":0,"image_name":"000000026.png","low_idx":4},{"high_idx":0,"image_name":"000000027.png","low_idx":4},{"high_idx":0,"image_name":"000000028.png","low_idx":5},{"high_idx":0,"image_name":"000000029.png","low_idx":5},{"high_idx":0,"image_name":"000000030.png","low_idx":6},{"high_idx":0,"image_name":"000000031.png","low_idx":6},{"high_idx":0,"image_name":"000000032.png","low_idx":6},{"high_idx":0,"image_name":"000000033.png","low_idx":6},{"high_idx":0,"image_name":"000000034.png","low_idx":6},{"high_idx":0,"image_name":"000000035.png","low_idx":6},{"high_idx":0,"image_name":"000000036.png","low_idx":6},{"high_idx":0,"image_name":"000000037.png","low_idx":6},{"high_idx":0,"image_name":"000000038.png","low_idx":6},{"high_idx":0,"image_name":"000000039.png","low_idx":6},{"high_idx":0,"image_name":"000000040.png","low_idx":6},{"high_idx":0,"image_name":"000000041.png","low_idx":7},{"high_idx":0,"image_name":"000000042.png","low_idx":7},{"high_idx":0,"image_name":"000000043.png","low_idx":8},{"high_idx":0,"image_name":"000000044.png","low_idx":8},{"high_idx":0,"image_name":"000000045.png","low_idx":9},{"high_idx":0,"image_name":"000000046.png","low_idx":9},{"high_idx":0,"image_name":"000000047.png","low_idx":10},{"high_idx":0,"image_name":"000000048.png","low_idx":10},{"high_idx":0,"image_name":"000000049.png","low_idx":10},{"high_idx":0,"image_name":"000000050.png","low_idx":10},{"high_idx":0,"image_name":"000000051.png","low_idx":10},{"high_idx":0,"image_name":"000000052.png","low_idx":10},{"high_idx":0,"image_name":"000000053.png","low_idx":10},{"high_idx":0,"image_name":"000000054.png","low_idx":10},{"high_idx":0,"image_name":"000000055.png","low_idx":10},{"high_idx":0,"image_name":"000000056.png","low_idx":10},{"high_idx":0,"image_name":"000000057.png","low_idx":10},{"high_idx":0,"image_name":"000000058.png","low_idx":11},{"high_idx":0,"image_name":"000000059.png","low_idx":11},{"high_idx":0,"image_name":"000000060.png","low_idx":12},{"high_idx":0,"image_name":"000000061.png","low_idx":12},{"high_idx":0,"image_name":"000000062.png","low_idx":13},{"high_idx":0,"image_name":"000000063.png","low_idx":13},{"high_idx":0,"image_name":"000000064.png","low_idx":14},{"high_idx":0,"image_name":"000000065.png","low_idx":14},{"high_idx":0,"image_name":"000000066.png","low_idx":14},{"high_idx":0,"image_name":"000000067.png","low_idx":14},{"high_idx":0,"image_name":"000000068.png","low_idx":14},{"high_idx":0,"image_name":"000000069.png","low_idx":14},{"high_idx":0,"image_name":"000000070.png","low_idx":14},{"high_idx":0,"image_name":"000000071.png","low_idx":14},{"high_idx":0,"image_name":"000000072.png","low_idx":14},{"high_idx":0,"image_name":"000000073.png","low_idx":14},{"high_idx":0,"image_name":"000000074.png","low_idx":14},{"high_idx":0,"image_name":"000000075.png","low_idx":15},{"high_idx":0,"image_name":"000000076.png","low_idx":15},{"high_idx":0,"image_name":"000000077.png","low_idx":15},{"high_idx":0,"image_name":"000000078.png","low_idx":15},{"high_idx":0,"image_name":"000000079.png","low_idx":15},{"high_idx":0,"image_name":"000000080.png","low_idx":15},{"high_idx":0,"image_name":"000000081.png","low_idx":15},{"high_idx":0,"image_name":"000000082.png","low_idx":15},{"high_idx":0,"image_name":"000000083.png","low_idx":15},{"high_idx":0,"image_name":"000000084.png","low_idx":15},{"high_idx":0,"image_name":"000000085.png","low_idx":15},{"high_idx":1,"image_name":"000000086.png","low_idx":16},{"high_idx":1,"image_name":"000000087.png","low_idx":16},{"high_idx":1,"image_name":"000000088.png","low_idx":16},{"high_idx":1,"image_name":"000000089.png","low_idx":16},{"high_idx":1,"image_name":"000000090.png","low_idx":16},{"high_idx":1,"image_name":"000000091.png","low_idx":16},{"high_idx":1,"image_name":"000000092.png","low_idx":16},{"high_idx":1,"image_name":"000000093.png","low_idx":16},{"high_idx":1,"image_name":"000000094.png","low_idx":16},{"high_idx":1,"image_name":"000000095.png","low_idx":16},{"high_idx":1,"image_name":"000000096.png","low_idx":16},{"high_idx":1,"image_name":"000000097.png","low_idx":16},{"high_idx":1,"image_name":"000000098.png","low_idx":16},{"high_idx":1,"image_name":"000000099.png","low_idx":16},{"high_idx":1,"image_name":"000000100.png","low_idx":16},{"high_idx":2,"image_name":"000000101.png","low_idx":17},{"high_idx":2,"image_name":"000000102.png","low_idx":17},{"high_idx":2,"image_name":"000000103.png","low_idx":17},{"high_idx":2,"image_name":"000000104.png","low_idx":17},{"high_idx":2,"image_name":"000000105.png","low_idx":17},{"high_idx":2,"image_name":"000000106.png","low_idx":17},{"high_idx":2,"image_name":"000000107.png","low_idx":17},{"high_idx":2,"image_name":"000000108.png","low_idx":17},{"high_idx":2,"image_name":"000000109.png","low_idx":17},{"high_idx":2,"image_name":"000000110.png","low_idx":17},{"high_idx":2,"image_name":"000000111.png","low_idx":17},{"high_idx":2,"image_name":"000000112.png","low_idx":18},{"high_idx":2,"image_name":"000000113.png","low_idx":18},{"high_idx":2,"image_name":"000000114.png","low_idx":18},{"high_idx":2,"image_name":"000000115.png","low_idx":18},{"high_idx":2,"image_name":"000000116.png","low_idx":18},{"high_idx":2,"image_name":"000000117.png","low_idx":18},{"high_idx":2,"image_name":"000000118.png","low_idx":18},{"high_idx":2,"image_name":"000000119.png","low_idx":18},{"high_idx":2,"image_name":"000000120.png","low_idx":18},{"high_idx":2,"image_name":"000000121.png","low_idx":18},{"high_idx":2,"image_name":"000000122.png","low_idx":18},{"high_idx":2,"image_name":"000000123.png","low_idx":19},{"high_idx":2,"image_name":"000000124.png","low_idx":19},{"high_idx":2,"image_name":"000000125.png","low_idx":20},{"high_idx":2,"image_name":"000000126.png","low_idx":20},{"high_idx":2,"image_name":"000000127.png","low_idx":21},{"high_idx":2,"image_name":"000000128.png","low_idx":21},{"high_idx":2,"image_name":"000000129.png","low_idx":22},{"high_idx":2,"image_name":"000000130.png","low_idx":22},{"high_idx":2,"image_name":"000000131.png","low_idx":23},{"high_idx":2,"image_name":"000000132.png","low_idx":23},{"high_idx":2,"image_name":"000000133.png","low_idx":24},{"high_idx":2,"image_name":"000000134.png","low_idx":24},{"high_idx":2,"image_name":"000000135.png","low_idx":25},{"high_idx":2,"image_name":"000000136.png","low_idx":25},{"high_idx":2,"image_name":"000000137.png","low_idx":26},{"high_idx":2,"image_name":"000000138.png","low_idx":26},{"high_idx":2,"image_name":"000000139.png","low_idx":26},{"high_idx":2,"image_name":"000000140.png","low_idx":26},{"high_idx":2,"image_name":"000000141.png","low_idx":26},{"high_idx":2,"image_name":"000000142.png","low_idx":26},{"high_idx":2,"image_name":"000000143.png","low_idx":26},{"high_idx":2,"image_name":"000000144.png","low_idx":26},{"high_idx":2,"image_name":"000000145.png","low_idx":26},{"high_idx":2,"image_name":"000000146.png","low_idx":26},{"high_idx":2,"image_name":"000000147.png","low_idx":26},{"high_idx":2,"image_name":"000000148.png","low_idx":27},{"high_idx":2,"image_name":"000000149.png","low_idx":27},{"high_idx":2,"image_name":"000000150.png","low_idx":28},{"high_idx":2,"image_name":"000000151.png","low_idx":28},{"high_idx":3,"image_name":"000000152.png","low_idx":29},{"high_idx":3,"image_name":"000000153.png","low_idx":29},{"high_idx":3,"image_name":"000000154.png","low_idx":29},{"high_idx":3,"image_name":"000000155.png","low_idx":29},{"high_idx":3,"image_name":"000000156.png","low_idx":29},{"high_idx":3,"image_name":"000000157.png","low_idx":29},{"high_idx":3,"image_name":"000000158.png","low_idx":29},{"high_idx":3,"image_name":"000000159.png","low_idx":29},{"high_idx":3,"image_name":"000000160.png","low_idx":29},{"high_idx":3,"image_name":"000000161.png","low_idx":29},{"high_idx":3,"image_name":"000000162.png","low_idx":29},{"high_idx":3,"image_name":"000000163.png","low_idx":29},{"high_idx":3,"image_name":"000000164.png","low_idx":29},{"high_idx":3,"image_name":"000000165.png","low_idx":29},{"high_idx":3,"image_name":"000000166.png","low_idx":29},{"high_idx":3,"image_name":"000000167.png","low_idx":30},{"high_idx":3,"image_name":"000000168.png","low_idx":30},{"high_idx":3,"image_name":"000000169.png","low_idx":30},{"high_idx":3,"image_name":"000000170.png","low_idx":30},{"high_idx":3,"image_name":"000000171.png","low_idx":30},{"high_idx":3,"image_name":"000000172.png","low_idx":30},{"high_idx":3,"image_name":"000000173.png","low_idx":30},{"high_idx":3,"image_name":"000000174.png","low_idx":30},{"high_idx":3,"image_name":"000000175.png","low_idx":30},{"high_idx":3,"image_name":"000000176.png","low_idx":30},{"high_idx":3,"image_name":"000000177.png","low_idx":30},{"high_idx":3,"image_name":"000000178.png","low_idx":30},{"high_idx":3,"image_name":"000000179.png","low_idx":30},{"high_idx":3,"image_name":"000000180.png","low_idx":30},{"high_idx":3,"image_name":"000000181.png","low_idx":30},{"high_idx":3,"image_name":"000000182.png","low_idx":30},{"high_idx":3,"image_name":"000000183.png","low_idx":30},{"high_idx":3,"image_name":"000000184.png","low_idx":30},{"high_idx":3,"image_name":"000000185.png","low_idx":31},{"high_idx":3,"image_name":"000000186.png","low_idx":31},{"high_idx":3,"image_name":"000000187.png","low_idx":31},{"high_idx":3,"image_name":"000000188.png","low_idx":31},{"high_idx":3,"image_name":"000000189.png","low_idx":31},{"high_idx":3,"image_name":"000000190.png","low_idx":31},{"high_idx":3,"image_name":"000000191.png","low_idx":32},{"high_idx":3,"image_name":"000000192.png","low_idx":32},{"high_idx":3,"image_name":"000000193.png","low_idx":32},{"high_idx":3,"image_name":"000000194.png","low_idx":32},{"high_idx":3,"image_name":"000000195.png","low_idx":32},{"high_idx":3,"image_name":"000000196.png","low_idx":32},{"high_idx":3,"image_name":"000000197.png","low_idx":32},{"high_idx":3,"image_name":"000000198.png","low_idx":32},{"high_idx":3,"image_name":"000000199.png","low_idx":32},{"high_idx":3,"image_name":"000000200.png","low_idx":32},{"high_idx":3,"image_name":"000000201.png","low_idx":32},{"high_idx":3,"image_name":"000000202.png","low_idx":32},{"high_idx":3,"image_name":"000000203.png","low_idx":32},{"high_idx":3,"image_name":"000000204.png","low_idx":32},{"high_idx":3,"image_name":"000000205.png","low_idx":32},{"high_idx":4,"image_name":"000000206.png","low_idx":33},{"high_idx":4,"image_name":"000000207.png","low_idx":33},{"high_idx":4,"image_name":"000000208.png","low_idx":33},{"high_idx":4,"image_name":"000000209.png","low_idx":33},{"high_idx":4,"image_name":"000000210.png","low_idx":33},{"high_idx":4,"image_name":"000000211.png","low_idx":33},{"high_idx":4,"image_name":"000000212.png","low_idx":33},{"high_idx":4,"image_name":"000000213.png","low_idx":33},{"high_idx":4,"image_name":"000000214.png","low_idx":33},{"high_idx":4,"image_name":"000000215.png","low_idx":33},{"high_idx":4,"image_name":"000000216.png","low_idx":33},{"high_idx":4,"image_name":"000000217.png","low_idx":34},{"high_idx":4,"image_name":"000000218.png","low_idx":34},{"high_idx":4,"image_name":"000000219.png","low_idx":35},{"high_idx":4,"image_name":"000000220.png","low_idx":35},{"high_idx":4,"image_name":"000000221.png","low_idx":36},{"high_idx":4,"image_name":"000000222.png","low_idx":36},{"high_idx":5,"image_name":"000000223.png","low_idx":37},{"high_idx":5,"image_name":"000000224.png","low_idx":37},{"high_idx":5,"image_name":"000000225.png","low_idx":37},{"high_idx":5,"image_name":"000000226.png","low_idx":37},{"high_idx":5,"image_name":"000000227.png","low_idx":37},{"high_idx":5,"image_name":"000000228.png","low_idx":37},{"high_idx":5,"image_name":"000000229.png","low_idx":37},{"high_idx":5,"image_name":"000000230.png","low_idx":37},{"high_idx":5,"image_name":"000000231.png","low_idx":37},{"high_idx":5,"image_name":"000000232.png","low_idx":37},{"high_idx":5,"image_name":"000000233.png","low_idx":37},{"high_idx":5,"image_name":"000000234.png","low_idx":37},{"high_idx":5,"image_name":"000000235.png","low_idx":37},{"high_idx":5,"image_name":"000000236.png","low_idx":37},{"high_idx":5,"image_name":"000000237.png","low_idx":37}],"num":{"action_high":[{"action":3,"action_high_args":[13],"high_idx":0},{"action":5,"action_high_args":[68],"high_idx":1},{"action":3,"action_high_args":[20],"high_idx":2},{"action":24,"action_high_args":[68],"high_idx":3},{"action":3,"action_high_args":[13],"high_idx":4},{"action":10,"action_high_args":[68,13],"high_idx":5},{"action":12,"action_high_args":[],"high_idx":6}],"action_low":[[{"action":3,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":5,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":5,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":3,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0}],[{"action":6,"action_high_args":{"bbox":[123,94,204,118],"mask":[[28031,8],[28329,13],[28627,17],[28926,20],[29225,22],[29524,24],[29824,25],[30124,25],[30423,27],[30723,27],[31023,28],[31323,28],[31623,40],[31924,59],[32224,68],[32524,27],[32560,38],[32824,26],[32875,28],[33125,25],[33185,13],[33201,3],[33426,23],[33492,7],[33501,4],[33726,22],[33798,7],[34027,21],[34103,1],[34328,19],[34629,16],[34931,13],[35233,8]],"point":[162,105]},"centroid":[0.545,0.35333333333333333],"high_idx":1,"mask":[[28031,8],[28329,13],[28627,17],[28926,20],[29225,22],[29524,24],[29824,25],[30124,25],[30423,27],[30723,27],[31023,28],[31323,28],[31623,40],[31924,59],[32224,68],[32524,27],[32560,38],[32824,26],[32875,28],[33125,25],[33185,13],[33201,3],[33426,23],[33492,7],[33501,4],[33726,22],[33798,7],[34027,21],[34103,1],[34328,19],[34629,16],[34931,13],[35233,8]],"valid_interact":1}],[{"action":8,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0}],[{"action":11,"action_high_args":{"bbox":[74,140,132,185],"mask":[[41791,37],[42089,41],[42387,44],[42686,45],[42985,47],[43285,47],[43584,49],[43884,49],[44183,50],[44483,50],[44783,50],[45082,51],[45382,51],[45682,51],[45982,51],[46281,52],[46581,51],[46881,51],[47181,51],[47480,52],[47780,52],[48080,52],[48380,52],[48679,53],[48979,53],[49279,53],[49579,53],[49878,54],[50178,54],[50478,54],[50777,55],[51077,54],[51377,54],[51677,54],[51976,55],[52276,55],[52576,55],[52876,55],[53175,55],[53475,54],[53775,53],[54075,52],[54374,52],[54674,50],[54974,48],[55274,44]],"point":[103,161]},"centroid":[0.3433333333333333,0.5416666666666666],"high_idx":3,"mask":[[41791,37],[42089,41],[42387,44],[42686,45],[42985,47],[43285,47],[43584,49],[43884,49],[44183,50],[44483,50],[44783,50],[45082,51],[45382,51],[45682,51],[45982,51],[46281,52],[46581,51],[46881,51],[47181,51],[47480,52],[47780,52],[48080,52],[48380,52],[48679,53],[48979,53],[49279,53],[49579,53],[49878,54],[50178,54],[50478,54],[50777,55],[51077,54],[51377,54],[51677,54],[51976,55],[52276,55],[52576,55],[52876,55],[53175,55],[53475,54],[53775,53],[54075,52],[54374,52],[54674,50],[54974,48],[55274,44]],"valid_interact":1},{"action":13,"action_high_args":{"bbox":[97,65,117,110],"mask":[[19306,4],[19605,6],[19904,8],[20204,8],[20504,8],[20803,10],[21103,10],[21403,10],[21703,10],[22003,11],[22303,11],[22603,11],[22903,11],[23203,11],[23503,11],[23803,11],[24103,12],[24403,12],[24703,12],[25003,12],[25303,12],[25603,12],[25903,12],[26203,12],[26504,11],[26804,11],[27104,6],[27111,4],[27404,6],[27411,4],[27704,6],[27711,4],[28005,4],[28011,5],[28311,5],[28611,5],[28911,6],[29211,6],[29511,6],[29811,6],[30097,2],[30106,3],[30111,6],[30397,20],[30699,18],[31001,17],[31304,14],[31605,13],[31908,10],[32212,6],[32512,6],[32812,5]],"point":[107,86]},"centroid":[0.3566666666666667,0.2916666666666667],"high_idx":3,"mask":[[19306,4],[19605,6],[19904,8],[20204,8],[20504,8],[20803,10],[21103,10],[21403,10],[21703,10],[22003,11],[22303,11],[22603,11],[22903,11],[23203,11],[23503,11],[23803,11],[24103,12],[24403,12],[24703,12],[25003,12],[25303,12],[25603,12],[25903,12],[26203,12],[26504,11],[26804,11],[27104,6],[27111,4],[27404,6],[27411,4],[27704,6],[27711,4],[28005,4],[28011,5],[28311,5],[28611,5],[28911,6],[29211,6],[29511,6],[29811,6],[30097,2],[30106,3],[30111,6],[30397,20],[30699,18],[31001,17],[31304,14],[31605,13],[31908,10],[32212,6],[32512,6],[32812,5]],"valid_interact":1},{"action":14,"action_high_args":{"bbox":[97,65,117,110],"mask":[[19306,4],[19605,6],[19904,8],[20204,8],[20504,8],[20803,10],[21103,10],[21403,10],[21703,10],[22003,11],[22303,11],[22603,11],[22903,11],[23203,11],[23503,11],[23803,11],[24103,12],[24403,12],[24703,12],[25003,12],[25303,12],[25603,12],[25903,12],[26203,12],[26504,11],[26804,11],[27104,6],[27111,4],[27404,6],[27411,4],[27704,6],[27711,4],[28005,4],[28011,5],[28311,5],[28611,5],[28911,6],[29211,6],[29511,6],[29811,6],[30097,2],[30106,3],[30111,6],[30397,20],[30699,18],[31001,17],[31304,14],[31605,13],[31908,10],[32212,6],[32512,6],[32812,5]],"point":[107,86]},"centroid":[0.3566666666666667,0.2916666666666667],"high_idx":3,"mask":[[19306,4],[19605,6],[19904,8],[20204,8],[20504,8],[20803,10],[21103,10],[21403,10],[21703,10],[22003,11],[22303,11],[22603,11],[22903,11],[23203,11],[23503,11],[23803,11],[24103,12],[24403,12],[24703,12],[25003,12],[25303,12],[25603,12],[25903,12],[26203,12],[26504,11],[26804,11],[27104,6],[27111,4],[27404,6],[27411,4],[27704,6],[27711,4],[28005,4],[28011,5],[28311,5],[28611,5],[28911,6],[29211,6],[29511,6],[29811,6],[30097,2],[30106,3],[30111,6],[30397,20],[30699,18],[31001,17],[31304,14],[31605,13],[31908,10],[32212,6],[32512,6],[32812,5]],"valid_interact":1},{"action":6,"action_high_args":{"bbox":[108,121,120,176],"mask":[[36116,1],[36415,3],[36716,2],[37016,2],[37316,2],[37616,2],[37916,2],[38216,3],[38517,2],[38817,2],[39117,2],[39417,2],[39717,2],[40017,2],[40317,2],[40617,2],[40918,1],[41218,1],[41518,1],[41818,1],[42118,1],[42418,1],[42718,1],[43018,1],[43318,1],[43618,1],[43917,2],[44217,2],[44517,2],[44817,2],[45117,2],[45417,2],[45717,1],[46017,1],[46316,4],[46614,6],[46912,8],[47211,9],[47510,11],[47810,11],[48109,12],[48409,12],[48708,13],[49008,13],[49308,13],[49608,13],[49908,13],[50208,13],[50508,13],[50809,12],[51109,12],[51410,11],[51711,9],[52012,8],[52313,7],[52615,5]],"point":[117,147]},"centroid":[0.38,0.495],"high_idx":3,"mask":[[36116,1],[36415,3],[36716,2],[37016,2],[37316,2],[37616,2],[37916,2],[38216,3],[38517,2],[38817,2],[39117,2],[39417,2],[39717,2],[40017,2],[40317,2],[40617,2],[40918,1],[41218,1],[41518,1],[41818,1],[42118,1],[42418,1],[42718,1],[43018,1],[43318,1],[43618,1],[43917,2],[44217,2],[44517,2],[44817,2],[45117,2],[45417,2],[45717,1],[46017,1],[46316,4],[46614,6],[46912,8],[47211,9],[47510,11],[47810,11],[48109,12],[48409,12],[48708,13],[49008,13],[49308,13],[49608,13],[49908,13],[50208,13],[50508,13],[50809,12],[51109,12],[51410,11],[51711,9],[52012,8],[52313,7],[52615,5]],"valid_interact":1}],[{"action":5,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0}],[{"action":11,"action_high_args":{"bbox":[0,99,299,280],"mask":[[29400,47],[29489,256],[29790,252],[30090,250],[30391,248],[30691,246],[30991,245],[31292,242],[31592,241],[31892,241],[32192,240],[32492,239],[32793,238],[33093,237],[33393,237],[33693,237],[33993,237],[34293,237],[34592,238],[34892,239],[35192,239],[35492,240],[35791,242],[36090,246],[36390,254],[36689,281],[36985,293],[37281,3364],[40648,296],[40948,296],[41248,296],[41548,296],[41848,296],[42149,294],[42449,294],[42749,294],[43049,294],[43349,294],[43649,294],[43949,294],[44249,294],[44549,294],[44849,294],[45149,294],[45449,294],[45749,294],[46049,294],[46349,294],[46649,294],[46949,294],[47250,292],[47550,292],[47851,291],[48151,291],[48451,291],[48751,291],[49051,291],[49351,291],[49651,291],[49951,291],[50251,291],[50551,291],[50851,291],[51151,291],[51452,290],[51752,290],[52052,290],[52352,290],[52652,290],[52952,290],[53252,290],[53552,290],[53852,290],[54152,290],[54452,290],[54752,290],[55052,290],[55352,289],[55652,289],[55952,289],[56252,289],[56552,289],[56852,289],[57152,289],[57452,289],[57752,289],[58052,289],[58352,289],[58652,289],[58952,289],[59252,289],[59552,289],[59852,289],[60152,289],[60452,289],[60752,289],[61052,289],[61352,289],[61652,289],[61952,290],[62252,290],[62552,290],[62852,290],[63152,290],[63452,290],[63752,290],[64052,290],[64352,290],[64652,291],[64950,295],[65248,4740],[69994,288],[70300,280],[70602,275],[70904,196],[71383,17],[71683,17],[71984,16],[72284,16],[72585,15],[72885,15],[73185,15],[73486,14],[73786,14],[74086,14],[74387,13],[74687,13],[74988,12],[75288,12],[75588,12],[75889,11],[76189,11],[76490,10],[76790,10],[77090,10],[77391,9],[77691,9],[77991,9],[78292,8],[78592,8],[78893,7],[79193,7],[79493,7],[79794,6],[80094,6],[80395,5],[80695,5],[80995,5],[81296,4],[81596,4],[81896,4],[82197,3],[82497,3],[82798,2],[83098,2],[83398,2],[83699,1],[83999,1]],"point":[152,188]},"centroid":[0.49833333333333335,0.6316666666666667],"high_idx":5,"mask":[[29400,47],[29489,256],[29790,252],[30090,250],[30391,248],[30691,246],[30991,245],[31292,242],[31592,241],[31892,241],[32192,240],[32492,239],[32793,238],[33093,237],[33393,237],[33693,237],[33993,237],[34293,237],[34592,238],[34892,239],[35192,239],[35492,240],[35791,242],[36090,246],[36390,254],[36689,281],[36985,293],[37281,3364],[40648,296],[40948,296],[41248,296],[41548,296],[41848,296],[42149,294],[42449,294],[42749,294],[43049,294],[43349,294],[43649,294],[43949,294],[44249,294],[44549,294],[44849,294],[45149,294],[45449,294],[45749,294],[46049,294],[46349,294],[46649,294],[46949,294],[47250,292],[47550,292],[47851,291],[48151,291],[48451,291],[48751,291],[49051,291],[49351,291],[49651,291],[49951,291],[50251,291],[50551,291],[50851,291],[51151,291],[51452,290],[51752,290],[52052,290],[52352,290],[52652,290],[52952,290],[53252,290],[53552,290],[53852,290],[54152,290],[54452,290],[54752,290],[55052,290],[55352,289],[55652,289],[55952,289],[56252,289],[56552,289],[56852,289],[57152,289],[57452,289],[57752,289],[58052,289],[58352,289],[58652,289],[58952,289],[59252,289],[59552,289],[59852,289],[60152,289],[60452,289],[60752,289],[61052,289],[61352,289],[61652,289],[61952,290],[62252,290],[62552,290],[62852,290],[63152,290],[63452,290],[63752,290],[64052,290],[64352,290],[64652,291],[64950,295],[65248,4740],[69994,288],[70300,280],[70602,275],[70904,196],[71383,17],[71683,17],[71984,16],[72284,16],[72585,15],[72885,15],[73185,15],[73486,14],[73786,14],[74086,14],[74387,13],[74687,13],[74988,12],[75288,12],[75588,12],[75889,11],[76189,11],[76490,10],[76790,10],[77090,10],[77391,9],[77691,9],[77991,9],[78292,8],[78592,8],[78893,7],[79193,7],[79493,7],[79794,6],[80094,6],[80395,5],[80695,5],[80995,5],[81296,4],[81596,4],[81896,4],[82197,3],[82497,3],[82798,2],[83098,2],[83398,2],[83699,1],[83999,1]],"valid_interact":1}],[{"action":2,"action_high_args":{},"centroid":[-1,-1],"high_idx":6,"mask":null,"valid_interact":0}]],"lang_goal":[14,35,337,466,467,336,15,4,36,16,2],"lang_instr":[[24,19,26,47,18,4,36,37,17,18,145,19,221,203,80,225,207,4,36,26,47,18,4,1041,21,4,258,11,40,21,203,26,24,38,16],[22,23,4,466,467,336,79,80,81,11,40,21,203,16],[24,38,26,47,18,4,149,79,80,81,15,145,38,26,129,11,40,21,52,271,52,16],[174,4,466,467,336,11,4,149,26,37,22,52,29,23,26,86,115,4,179,16],[24,19,26,47,18,4,36,16],[14,4,336,18,4,38,21,4,248,473,260,16],[34]],"low_to_high_idx":[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,2,2,2,2,2,2,2,2,2,2,2,3,3,3,3,4,4,4,4,5,6]},"pddl_params":{"mrecep_target":"","object_sliced":false,"object_target":"Ladle","parent_target":"CounterTop","toggle_target":""},"plan":{"high_pddl":[{"discrete_action":{"action":"GotoLocation","args":["countertop"]},"high_idx":0,"planner_action":{"action":"GotoLocation","location":"loc|-8|-2|0|60"}},{"discrete_action":{"action":"PickupObject","args":["ladle"]},"high_idx":1,"planner_action":{"action":"PickupObject","coordinateObjectId":["Ladle",[-7.82891036,-7.82891036,0.1290013792,0.1290013792,3.8194496,3.8194496]],"coordinateReceptacleObjectId":["CounterTop",[-8.388,-8.388,1.164,1.164,3.784,3.784]],"forceVisible":true,"objectId":"Ladle|-01.96|+00.95|+00.03"}},{"discrete_action":{"action":"GotoLocation","args":["sinkbasin"]},"high_idx":2,"planner_action":{"action":"GotoLocation","location":"loc|-1|-4|2|45"}},{"discrete_action":{"action":"CleanObject","args":["ladle"]},"high_idx":3,"planner_action":{"action":"CleanObject","cleanObjectId":"Ladle|-01.96|+00.95|+00.03","coordinateObjectId":["Ladle",[-7.82891036,-7.82891036,0.1290013792,0.1290013792,3.8194496,3.8194496]],"coordinateReceptacleObjectId":["SinkBasin",[-0.25512844,-0.25512844,-6.85248328,-6.85248328,3.0634928,3.0634928]],"forceVisible":true,"objectId":"Sink|+00.16|+00.82|-01.80|SinkBasin"}},{"discrete_action":{"action":"GotoLocation","args":["countertop"]},"high_idx":4,"planner_action":{"action":"GotoLocation","location":"loc|2|-4|1|45"}},{"discrete_action":{"action":"PutObject","args":["ladle","countertop"]},"high_idx":5,"planner_action":{"action":"PutObject","coordinateObjectId":["Ladle",[-7.82891036,-7.82891036,0.1290013792,0.1290013792,3.8194496,3.8194496]],"coordinateReceptacleObjectId":["CounterTop",[4.66,4.66,-2.6,-2.6,3.7872,3.7872]],"forceVisible":true,"objectId":"Ladle|-01.96|+00.95|+00.03","receptacleObjectId":"CounterTop|+01.17|+00.95|-00.65"}},{"discrete_action":{"action":"NoOp","args":[]},"high_idx":6,"planner_action":{"action":"End","value":1}}],"low_actions":[{"api_action":{"action":"LookDown","forceAction":true},"discrete_action":{"action":"LookDown_15","args":{}},"high_idx":0},{"api_action":{"action":"RotateLeft","forceAction":true},"discrete_action":{"action":"RotateLeft_90","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"RotateLeft","forceAction":true},"discrete_action":{"action":"RotateLeft_90","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":0},{"api_action":{"action":"LookDown","forceAction":true},"discrete_action":{"action":"LookDown_15","args":{}},"high_idx":0},{"api_action":{"action":"PickupObject","objectId":"Ladle|-01.96|+00.95|+00.03"},"discrete_action":{"action":"PickupObject","args":{"bbox":[123,94,204,118],"mask":[[28031,8],[28329,13],[28627,17],[28926,20],[29225,22],[29524,24],[29824,25],[30124,25],[30423,27],[30723,27],[31023,28],[31323,28],[31623,40],[31924,59],[32224,68],[32524,27],[32560,38],[32824,26],[32875,28],[33125,25],[33185,13],[33201,3],[33426,23],[33492,7],[33501,4],[33726,22],[33798,7],[34027,21],[34103,1],[34328,19],[34629,16],[34931,13],[35233,8]],"point":[162,105]}},"high_idx":1},{"api_action":{"action":"LookUp","forceAction":true},"discrete_action":{"action":"LookUp_15","args":{}},"high_idx":2},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"PutObject","forceAction":true,"objectId":"Ladle|-01.96|+00.95|+00.03","placeStationary":true,"receptacleObjectId":"Sink|+00.16|+00.82|-01.80|SinkBasin"},"discrete_action":{"action":"PutObject","args":{"bbox":[74,140,132,185],"mask":[[41791,37],[42089,41],[42387,44],[42686,45],[42985,47],[43285,47],[43584,49],[43884,49],[44183,50],[44483,50],[44783,50],[45082,51],[45382,51],[45682,51],[45982,51],[46281,52],[46581,51],[46881,51],[47181,51],[47480,52],[47780,52],[48080,52],[48380,52],[48679,53],[48979,53],[49279,53],[49579,53],[49878,54],[50178,54],[50478,54],[50777,55],[51077,54],[51377,54],[51677,54],[51976,55],[52276,55],[52576,55],[52876,55],[53175,55],[53475,54],[53775,53],[54075,52],[54374,52],[54674,50],[54974,48],[55274,44]],"point":[103,161]}},"high_idx":3},{"api_action":{"action":"ToggleObjectOn","cleanObjectId":"Ladle|-01.96|+00.95|+00.03","coordinateObjectId":["Ladle",[-7.82891036,-7.82891036,0.1290013792,0.1290013792,3.8194496,3.8194496]],"coordinateReceptacleObjectId":["SinkBasin",[-0.25512844,-0.25512844,-6.85248328,-6.85248328,3.0634928,3.0634928]],"forceVisible":true,"objectId":"Faucet|-00.10|+01.04|-01.87"},"discrete_action":{"action":"ToggleObjectOn","args":{"bbox":[97,65,117,110],"mask":[[19306,4],[19605,6],[19904,8],[20204,8],[20504,8],[20803,10],[21103,10],[21403,10],[21703,10],[22003,11],[22303,11],[22603,11],[22903,11],[23203,11],[23503,11],[23803,11],[24103,12],[24403,12],[24703,12],[25003,12],[25303,12],[25603,12],[25903,12],[26203,12],[26504,11],[26804,11],[27104,6],[27111,4],[27404,6],[27411,4],[27704,6],[27711,4],[28005,4],[28011,5],[28311,5],[28611,5],[28911,6],[29211,6],[29511,6],[29811,6],[30097,2],[30106,3],[30111,6],[30397,20],[30699,18],[31001,17],[31304,14],[31605,13],[31908,10],[32212,6],[32512,6],[32812,5]],"point":[107,86]}},"high_idx":3},{"api_action":{"action":"ToggleObjectOff","cleanObjectId":"Ladle|-01.96|+00.95|+00.03","coordinateObjectId":["Ladle",[-7.82891036,-7.82891036,0.1290013792,0.1290013792,3.8194496,3.8194496]],"coordinateReceptacleObjectId":["SinkBasin",[-0.25512844,-0.25512844,-6.85248328,-6.85248328,3.0634928,3.0634928]],"forceVisible":true,"objectId":"Faucet|-00.10|+01.04|-01.87"},"discrete_action":{"action":"ToggleObjectOff","args":{"bbox":[97,65,117,110],"mask":[[19306,4],[19605,6],[19904,8],[20204,8],[20504,8],[20803,10],[21103,10],[21403,10],[21703,10],[22003,11],[22303,11],[22603,11],[22903,11],[23203,11],[23503,11],[23803,11],[24103,12],[24403,12],[24703,12],[25003,12],[25303,12],[25603,12],[25903,12],[26203,12],[26504,11],[26804,11],[27104,6],[27111,4],[27404,6],[27411,4],[27704,6],[27711,4],[28005,4],[28011,5],[28311,5],[28611,5],[28911,6],[29211,6],[29511,6],[29811,6],[30097,2],[30106,3],[30111,6],[30397,20],[30699,18],[31001,17],[31304,14],[31605,13],[31908,10],[32212,6],[32512,6],[32812,5]],"point":[107,86]}},"high_idx":3},{"api_action":{"action":"PickupObject","objectId":"Ladle|-01.96|+00.95|+00.03"},"discrete_action":{"action":"PickupObject","args":{"bbox":[108,121,120,176],"mask":[[36116,1],[36415,3],[36716,2],[37016,2],[37316,2],[37616,2],[37916,2],[38216,3],[38517,2],[38817,2],[39117,2],[39417,2],[39717,2],[40017,2],[40317,2],[40617,2],[40918,1],[41218,1],[41518,1],[41818,1],[42118,1],[42418,1],[42718,1],[43018,1],[43318,1],[43618,1],[43917,2],[44217,2],[44517,2],[44817,2],[45117,2],[45417,2],[45717,1],[46017,1],[46316,4],[46614,6],[46912,8],[47211,9],[47510,11],[47810,11],[48109,12],[48409,12],[48708,13],[49008,13],[49308,13],[49608,13],[49908,13],[50208,13],[50508,13],[50809,12],[51109,12],[51410,11],[51711,9],[52012,8],[52313,7],[52615,5]],"point":[117,147]}},"high_idx":3},{"api_action":{"action":"RotateLeft","forceAction":true},"discrete_action":{"action":"RotateLeft_90","args":{}},"high_idx":4},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":4},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":4},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":4},{"api_action":{"action":"PutObject","forceAction":true,"objectId":"Ladle|-01.96|+00.95|+00.03","placeStationary":true,"receptacleObjectId":"CounterTop|+01.17|+00.95|-00.65"},"discrete_action":{"action":"PutObject","args":{"bbox":[0,99,299,280],"mask":[[29400,47],[29489,256],[29790,252],[30090,250],[30391,248],[30691,246],[30991,245],[31292,242],[31592,241],[31892,241],[32192,240],[32492,239],[32793,238],[33093,237],[33393,237],[33693,237],[33993,237],[34293,237],[34592,238],[34892,239],[35192,239],[35492,240],[35791,242],[36090,246],[36390,254],[36689,281],[36985,293],[37281,3364],[40648,296],[40948,296],[41248,296],[41548,296],[41848,296],[42149,294],[42449,294],[42749,294],[43049,294],[43349,294],[43649,294],[43949,294],[44249,294],[44549,294],[44849,294],[45149,294],[45449,294],[45749,294],[46049,294],[46349,294],[46649,294],[46949,294],[47250,292],[47550,292],[47851,291],[48151,291],[48451,291],[48751,291],[49051,291],[49351,291],[49651,291],[49951,291],[50251,291],[50551,291],[50851,291],[51151,291],[51452,290],[51752,290],[52052,290],[52352,290],[52652,290],[52952,290],[53252,290],[53552,290],[53852,290],[54152,290],[54452,290],[54752,290],[55052,290],[55352,289],[55652,289],[55952,289],[56252,289],[56552,289],[56852,289],[57152,289],[57452,289],[57752,289],[58052,289],[58352,289],[58652,289],[58952,289],[59252,289],[59552,289],[59852,289],[60152,289],[60452,289],[60752,289],[61052,289],[61352,289],[61652,289],[61952,290],[62252,290],[62552,290],[62852,290],[63152,290],[63452,290],[63752,290],[64052,290],[64352,290],[64652,291],[64950,295],[65248,4740],[69994,288],[70300,280],[70602,275],[70904,196],[71383,17],[71683,17],[71984,16],[72284,16],[72585,15],[72885,15],[73185,15],[73486,14],[73786,14],[74086,14],[74387,13],[74687,13],[74988,12],[75288,12],[75588,12],[75889,11],[76189,11],[76490,10],[76790,10],[77090,10],[77391,9],[77691,9],[77991,9],[78292,8],[78592,8],[78893,7],[79193,7],[79493,7],[79794,6],[80094,6],[80395,5],[80695,5],[80995,5],[81296,4],[81596,4],[81896,4],[82197,3],[82497,3],[82798,2],[83098,2],[83398,2],[83699,1],[83999,1]],"point":[152,188]}},"high_idx":5}]},"repeat_idx":1,"root":"alfred/data/json_2.1.0/pick_clean_then_place_in_recep-Ladle-None-CounterTop-8/trial_T20190909_121908_219603","scene":{"dirty_and_empty":true,"floor_plan":"FloorPlan8","init_action":{"action":"TeleportFull","horizon":30,"rotateOnTeleport":true,"rotation":0,"x":-0.25,"y":0.9009992,"z":0.25},"object_poses":[{"objectName":"SprayBottle_abf5c390","position":{"x":0.927595,"y":0.9107041,"z":-0.9908546},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Pen_73e168e3","position":{"x":-2.07940626,"y":0.9131528,"z":0.3772499},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Potato_1cf505ed","position":{"x":-1.835049,"y":0.9522963,"z":0.5497497},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Potato_1cf505ed","position":{"x":-2.445942,"y":0.9522963,"z":0.3772499},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"DishSponge_b7024f32","position":{"x":-0.342157066,"y":0.11631757,"z":-1.5866},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Glassbottle_b308514b","position":{"x":1.27506208,"y":1.36818409,"z":1.97600031},"rotation":{"x":0.0,"y":270.000183,"z":0.0}},{"objectName":"Fork_7aaf3771","position":{"x":0.115530707,"y":0.920098543,"z":-1.75846982},"rotation":{"x":0.0,"y":270.0,"z":0.0}},{"objectName":"Pot_316d55f0","position":{"x":1.0923003,"y":0.12020123,"z":0.37244302},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Pot_316d55f0","position":{"x":-1.431,"y":0.949799955,"z":-1.81},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Egg_e08d0eeb","position":{"x":0.285940379,"y":0.9488791,"z":-1.85936081},"rotation":{"x":0.0,"y":270.0,"z":0.0}},{"objectName":"Cup_bfcb0336","position":{"x":1.27506363,"y":1.36794627,"z":2.47600055},"rotation":{"x":0.0,"y":270.000183,"z":0.0}},{"objectName":"SoapBottle_c69c5340","position":{"x":1.30206108,"y":0.214442372,"z":1.02203965},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Bowl_a0ece05a","position":{"x":0.9773754,"y":0.115760088,"z":-1.129},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"PepperShaker_1de14ecd","position":{"x":-1.48177278,"y":1.85330641,"z":-1.87467384},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"SaltShaker_a2768593","position":{"x":-1.8091464,"y":0.9055,"z":-1.96574974},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"SaltShaker_a2768593","position":{"x":-1.16800344,"y":1.84554827,"z":-1.94936},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Lettuce_0f08525d","position":{"x":-2.32376337,"y":0.979665339,"z":0.118500233},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Lettuce_0f08525d","position":{"x":1.34322,"y":0.980465353,"z":-0.65},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Mug_49b86ad0","position":{"x":-0.133226469,"y":0.109609365,"z":-1.536113},"rotation":{"x":0.0,"y":90.0,"z":0.0}},{"objectName":"Mug_49b86ad0","position":{"x":1.476937,"y":1.36246753,"z":1.85099959},"rotation":{"x":0.0,"y":270.000183,"z":0.0}},{"objectName":"Apple_b66a32b5","position":{"x":1.4207617,"y":1.7549094,"z":1.65052772},"rotation":{"x":0.0,"y":270.000183,"z":0.0}},{"objectName":"Apple_b66a32b5","position":{"x":0.14961265,"y":0.9542329,"z":-1.65757918},"rotation":{"x":0.0,"y":270.0,"z":0.0}},{"objectName":"Tomato_441a8bda","position":{"x":1.38846326,"y":1.76034415,"z":1.90114307},"rotation":{"x":0.0,"y":270.000183,"z":0.0}},{"objectName":"Glassbottle_b308514b","position":{"x":1.37600088,"y":1.36818409,"z":2.35100031},"rotation":{"x":0.0,"y":270.000183,"z":0.0}},{"objectName":"Knife_af290bda","position":{"x":0.949094832,"y":0.804617167,"z":-1.06875849},"rotation":{"x":0.0,"y":270.0,"z":0.0}},{"objectName":"Plate_9b9c5535","position":{"x":0.200377092,"y":1.65624368,"z":-1.839},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Fork_7aaf3771","position":{"x":1.53373933,"y":1.16274869,"z":-1.34564734},"rotation":{"x":0.0,"y":90.0,"z":0.0}},{"objectName":"Ladle_238538e2","position":{"x":-1.95722759,"y":0.9548624,"z":0.0322503448},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Potato_1cf505ed","position":{"x":1.37525809,"y":1.20399642,"z":0.3709073},"rotation":{"x":0.0,"y":90.0,"z":0.0}},{"objectName":"Lettuce_0f08525d","position":{"x":1.32553053,"y":1.43663275,"z":1.85100007},"rotation":{"x":0.0,"y":270.000183,"z":0.0}},{"objectName":"Kettle_e75d4607","position":{"x":-1.431,"y":0.949799955,"z":-1.5257},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Pen_73e168e3","position":{"x":1.45449877,"y":1.164853,"z":-1.00233626},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"SaltShaker_a2768593","position":{"x":-2.32376337,"y":0.9055,"z":0.291},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Cup_bfcb0336","position":{"x":1.33563781,"y":1.162679,"z":-1.68895817},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Egg_e08d0eeb","position":{"x":-2.19359946,"y":0.9398291,"z":-1.87949979},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Spatula_1d30af71","position":{"x":-1.95722759,"y":0.925499856,"z":0.204750121},"rotation":{"x":0.0,"y":180.0,"z":0.0}},{"objectName":"Bowl_a0ece05a","position":{"x":0.589147866,"y":0.117611706,"z":-1.63311362},"rotation":{"x":0.0,"y":90.0,"z":0.0}},{"objectName":"SprayBottle_abf5c390","position":{"x":-1.8091464,"y":0.909904063,"z":-1.707},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Pan_c0048524","position":{"x":-1.07936192,"y":0.94527024,"z":-1.52895641},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"SoapBottle_c69c5340","position":{"x":1.40199959,"y":1.65596771,"z":-0.73690623},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Pot_316d55f0","position":{"x":-1.0811,"y":0.949799955,"z":-1.81},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"ButterKnife_7cca838f","position":{"x":0.3200223,"y":0.9195921,"z":-1.75846994},"rotation":{"x":0.0,"y":270.0,"z":0.0}},{"objectName":"PepperShaker_1de14ecd","position":{"x":-1.88603711,"y":0.9055,"z":-1.79324985},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"DishSponge_b7024f32","position":{"x":-0.6526729,"y":0.111328661,"z":-1.68133461},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Bread_9b638b9f","position":{"x":-0.552625656,"y":0.9894411,"z":-1.53404069},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Apple_b66a32b5","position":{"x":1.45449877,"y":1.196883,"z":-1.34564734},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Spoon_6f7c42a7","position":{"x":1.03566837,"y":0.774564,"z":0.377106577},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Mug_49b86ad0","position":{"x":-1.73225582,"y":0.9055,"z":-1.53450024},"rotation":{"x":0.0,"y":0.0,"z":0.0}}],"object_toggles":[],"random_seed":3670442081,"scene_num":8},"split":"valid_seen","task_id":"trial_T20190909_121908_219603","task_type":"pick_clean_then_place_in_recep","turk_annotations":{"anns":[{"assignment_id":"A1ELPYAFO7MANS_37ZHEEHM6ZD73VDROZYW1QPLJX837B","high_descs":["Turn left and walk to the counter, then walk to the left side and face it.","Pick up the ladle on the counter.","Turn right and walk to the sink.","Wash the ladle in the sink.","Turn left and walk to the counter.","Place the ladle on the counter to the right of the spray bottle."],"task_desc":"Place a clean ladle on a counter.","votes":[1,1]},{"assignment_id":"A1RLO9LNUJIW5S_392CY0QWG4IPABDR747C2K70BDK4IX","high_descs":["Turn left and walk to the counter then move to your left until you're past the counter and walk to the lip of the wall in front of you and turn right.","Pick up the ice cream scoop that's in front of you.","Turn right and walk to the sink that's on your right and stand in front of it facing it.","Wash the ice cream scoop in the sink and then pick it back up and shut off the water.","Turn left and walk to the counter.","Put the scoop to the right of the blue spray bottle."],"task_desc":"Put a clean ice cream scoop on the counter.","votes":[1,1]},{"assignment_id":"A20FCMWP43CVIU_3SB5N7Y3O6VUFWPVYFK75547FO20GB","high_descs":["walk to face small table","pick up ladle from table","walk to face sink","wash and remove ladle from sink","walk to face counter with spray bottle","put ladle on counter"],"task_desc":"put washed ladle on counter","votes":[1,1]}]}}},"observations":[],"question":{"options":[],"original":"Put a clean ice cream ladle on the counter.","text":"Put a clean ice cream ladle on the counter."},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"AI2-THOR / ALFRED","eval_set":"base","instruction_override":"Put a clean ice cream ladle on the counter.","mode":"interactive","native_episode_locator":{"file":"pick_clean_then_place_in_recep-Ladle-None-CounterTop-8/trial_T20190909_121908_219603/pp/ann_1.json","format":"hf_file"},"observation_policy":"current RGB and upstream feedback; demonstration plans and hidden task metadata excluded from model input","repo":"EmbodiedBench/EmbodiedBench","revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","selected_index":49},"sampling":{"component_id":"185c0015a7715a375b59","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":21,"stratum_pool":50},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"embodiedbench/envs/eb_alfred/data/splits/splits.json","annotation_sha256":"fe607575ef56ccd7f58bd26047b66f949d98e700ae68e59a384a74634e8267b7","host":"huggingface","license":"apache-2.0","media_policy":"upstream-reference; source media terms apply","native_episode_sha256":"5fc9486f68098e1fac9282b740233916c9574ee12ab754f64d9065739c65ed4f","repo":"EmbodiedBench/EB-ALFRED","revision":"af55cc721725ed058830fd7a8aee66c1f69efbaa","row_sha256":"7f3e44b05b05d551bb003ba023c7b4ef855269d4b2960e6f10989b5e45e16b9a","runtime_revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","sample_id":"base/49","split":"base","upstream_dataset":"EB-ALFRED","url":"https://huggingface.co/datasets/EmbodiedBench/EB-ALFRED"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_environment_success","original_answer":null},"task":{"category":"base","role":"spatial_core","skill_tags":["base","base"],"stratum":"EB-ALFRED/base/base","subcategory":"base"},"transforms":[]}
{"dataset":"EB-ALFRED","group":{"id":"AI2THOR/FloorPlan326","kind":"scene","scene":"FloorPlan326"},"id":"2b19e08b94000fddf860","native_annotation":{"instruction":"Place a timekeeping device in a round container on the shelf.","repeat_idx":2,"task":"pick_and_place_with_movable_recep-Watch-Bowl-Shelf-326/trial_T20190909_031836_927615","upstream_episode":{"ann":{"goal":[" put "," a "," watch "," in "," a "," bowl "," on "," the "," shelf ",". ","<<goal>>"],"instr":[[" turn "," around "," and "," walk "," to "," the "," wall "," then "," turn "," left "," and "," walk "," three "," steps "," then "," turn "," right "," and "," walk "," to "," the "," desk "," between "," the "," two "," black "," chairs ",". "],[" pick "," up "," the "," bowl "," that ","'"," s "," in "," front "," of "," you "," under "," the "," light ",". "],[" turnaround "," and "," walk "," to "," the "," bed "," then "," turn "," left "," and "," walk "," to "," the "," wall "," then "," turn "," left "," and "," walk "," to "," the "," shelves ",". "],[" put "," the "," bowl "," on "," the "," shelf "," to "," the "," left "," of "," the "," watch ",". "],[" pick "," up "," the "," watch ",". "],[" put "," the "," watch "," in "," the "," bowl ",". "],["<<stop>>"]],"repeat_idx":2},"images":[{"high_idx":0,"image_name":"000000000.png","low_idx":0},{"high_idx":0,"image_name":"000000001.png","low_idx":0},{"high_idx":0,"image_name":"000000002.png","low_idx":0},{"high_idx":0,"image_name":"000000003.png","low_idx":0},{"high_idx":0,"image_name":"000000004.png","low_idx":0},{"high_idx":0,"image_name":"000000005.png","low_idx":0},{"high_idx":0,"image_name":"000000006.png","low_idx":0},{"high_idx":0,"image_name":"000000007.png","low_idx":0},{"high_idx":0,"image_name":"000000008.png","low_idx":0},{"high_idx":0,"image_name":"000000009.png","low_idx":0},{"high_idx":0,"image_name":"000000010.png","low_idx":0},{"high_idx":0,"image_name":"000000011.png","low_idx":1},{"high_idx":0,"image_name":"000000012.png","low_idx":1},{"high_idx":0,"image_name":"000000013.png","low_idx":1},{"high_idx":0,"image_name":"000000014.png","low_idx":1},{"high_idx":0,"image_name":"000000015.png","low_idx":1},{"high_idx":0,"image_name":"000000016.png","low_idx":1},{"high_idx":0,"image_name":"000000017.png","low_idx":1},{"high_idx":0,"image_name":"000000018.png","low_idx":1},{"high_idx":0,"image_name":"000000019.png","low_idx":1},{"high_idx":0,"image_name":"000000020.png","low_idx":1},{"high_idx":0,"image_name":"000000021.png","low_idx":1},{"high_idx":0,"image_name":"000000022.png","low_idx":2},{"high_idx":0,"image_name":"000000023.png","low_idx":2},{"high_idx":0,"image_name":"000000024.png","low_idx":3},{"high_idx":0,"image_name":"000000025.png","low_idx":3},{"high_idx":0,"image_name":"000000026.png","low_idx":3},{"high_idx":0,"image_name":"000000027.png","low_idx":3},{"high_idx":0,"image_name":"000000028.png","low_idx":3},{"high_idx":0,"image_name":"000000029.png","low_idx":3},{"high_idx":0,"image_name":"000000030.png","low_idx":3},{"high_idx":0,"image_name":"000000031.png","low_idx":3},{"high_idx":0,"image_name":"000000032.png","low_idx":3},{"high_idx":0,"image_name":"000000033.png","low_idx":3},{"high_idx":0,"image_name":"000000034.png","low_idx":3},{"high_idx":0,"image_name":"000000035.png","low_idx":4},{"high_idx":0,"image_name":"000000036.png","low_idx":4},{"high_idx":0,"image_name":"000000037.png","low_idx":5},{"high_idx":0,"image_name":"000000038.png","low_idx":5},{"high_idx":0,"image_name":"000000039.png","low_idx":6},{"high_idx":0,"image_name":"000000040.png","low_idx":6},{"high_idx":0,"image_name":"000000041.png","low_idx":7},{"high_idx":0,"image_name":"000000042.png","low_idx":7},{"high_idx":0,"image_name":"000000043.png","low_idx":8},{"high_idx":0,"image_name":"000000044.png","low_idx":8},{"high_idx":0,"image_name":"000000045.png","low_idx":9},{"high_idx":0,"image_name":"000000046.png","low_idx":9},{"high_idx":0,"image_name":"000000047.png","low_idx":10},{"high_idx":0,"image_name":"000000048.png","low_idx":10},{"high_idx":0,"image_name":"000000049.png","low_idx":11},{"high_idx":0,"image_name":"000000050.png","low_idx":11},{"high_idx":0,"image_name":"000000051.png","low_idx":12},{"high_idx":0,"image_name":"000000052.png","low_idx":12},{"high_idx":0,"image_name":"000000053.png","low_idx":13},{"high_idx":0,"image_name":"000000054.png","low_idx":13},{"high_idx":0,"image_name":"000000055.png","low_idx":14},{"high_idx":0,"image_name":"000000056.png","low_idx":14},{"high_idx":0,"image_name":"000000057.png","low_idx":15},{"high_idx":0,"image_name":"000000058.png","low_idx":15},{"high_idx":0,"image_name":"000000059.png","low_idx":15},{"high_idx":0,"image_name":"000000060.png","low_idx":15},{"high_idx":0,"image_name":"000000061.png","low_idx":15},{"high_idx":0,"image_name":"000000062.png","low_idx":15},{"high_idx":0,"image_name":"000000063.png","low_idx":15},{"high_idx":0,"image_name":"000000064.png","low_idx":15},{"high_idx":0,"image_name":"000000065.png","low_idx":15},{"high_idx":0,"image_name":"000000066.png","low_idx":15},{"high_idx":0,"image_name":"000000067.png","low_idx":15},{"high_idx":0,"image_name":"000000068.png","low_idx":16},{"high_idx":0,"image_name":"000000069.png","low_idx":16},{"high_idx":0,"image_name":"000000070.png","low_idx":17},{"high_idx":0,"image_name":"000000071.png","low_idx":17},{"high_idx":0,"image_name":"000000072.png","low_idx":18},{"high_idx":0,"image_name":"000000073.png","low_idx":18},{"high_idx":0,"image_name":"000000074.png","low_idx":19},{"high_idx":0,"image_name":"000000075.png","low_idx":19},{"high_idx":0,"image_name":"000000076.png","low_idx":20},{"high_idx":0,"image_name":"000000077.png","low_idx":20},{"high_idx":0,"image_name":"000000078.png","low_idx":21},{"high_idx":0,"image_name":"000000079.png","low_idx":21},{"high_idx":0,"image_name":"000000080.png","low_idx":22},{"high_idx":0,"image_name":"000000081.png","low_idx":22},{"high_idx":0,"image_name":"000000082.png","low_idx":23},{"high_idx":0,"image_name":"000000083.png","low_idx":23},{"high_idx":0,"image_name":"000000084.png","low_idx":23},{"high_idx":0,"image_name":"000000085.png","low_idx":23},{"high_idx":0,"image_name":"000000086.png","low_idx":23},{"high_idx":0,"image_name":"000000087.png","low_idx":23},{"high_idx":0,"image_name":"000000088.png","low_idx":23},{"high_idx":0,"image_name":"000000089.png","low_idx":23},{"high_idx":0,"image_name":"000000090.png","low_idx":23},{"high_idx":0,"image_name":"000000091.png","low_idx":23},{"high_idx":0,"image_name":"000000092.png","low_idx":23},{"high_idx":0,"image_name":"000000093.png","low_idx":24},{"high_idx":0,"image_name":"000000094.png","low_idx":24},{"high_idx":0,"image_name":"000000095.png","low_idx":25},{"high_idx":0,"image_name":"000000096.png","low_idx":25},{"high_idx":0,"image_name":"000000097.png","low_idx":26},{"high_idx":0,"image_name":"000000098.png","low_idx":26},{"high_idx":0,"image_name":"000000099.png","low_idx":27},{"high_idx":0,"image_name":"000000100.png","low_idx":27},{"high_idx":0,"image_name":"000000101.png","low_idx":28},{"high_idx":0,"image_name":"000000102.png","low_idx":28},{"high_idx":0,"image_name":"000000103.png","low_idx":29},{"high_idx":0,"image_name":"000000104.png","low_idx":29},{"high_idx":0,"image_name":"000000105.png","low_idx":30},{"high_idx":0,"image_name":"000000106.png","low_idx":30},{"high_idx":0,"image_name":"000000107.png","low_idx":31},{"high_idx":0,"image_name":"000000108.png","low_idx":31},{"high_idx":0,"image_name":"000000109.png","low_idx":32},{"high_idx":0,"image_name":"000000110.png","low_idx":32},{"high_idx":0,"image_name":"000000111.png","low_idx":33},{"high_idx":0,"image_name":"000000112.png","low_idx":33},{"high_idx":0,"image_name":"000000113.png","low_idx":33},{"high_idx":0,"image_name":"000000114.png","low_idx":33},{"high_idx":0,"image_name":"000000115.png","low_idx":33},{"high_idx":0,"image_name":"000000116.png","low_idx":33},{"high_idx":0,"image_name":"000000117.png","low_idx":33},{"high_idx":0,"image_name":"000000118.png","low_idx":33},{"high_idx":0,"image_name":"000000119.png","low_idx":33},{"high_idx":0,"image_name":"000000120.png","low_idx":33},{"high_idx":0,"image_name":"000000121.png","low_idx":33},{"high_idx":1,"image_name":"000000122.png","low_idx":34},{"high_idx":1,"image_name":"000000123.png","low_idx":34},{"high_idx":1,"image_name":"000000124.png","low_idx":34},{"high_idx":1,"image_name":"000000125.png","low_idx":34},{"high_idx":1,"image_name":"000000126.png","low_idx":34},{"high_idx":1,"image_name":"000000127.png","low_idx":34},{"high_idx":1,"image_name":"000000128.png","low_idx":34},{"high_idx":1,"image_name":"000000129.png","low_idx":34},{"high_idx":1,"image_name":"000000130.png","low_idx":34},{"high_idx":1,"image_name":"000000131.png","low_idx":34},{"high_idx":1,"image_name":"000000132.png","low_idx":34},{"high_idx":1,"image_name":"000000133.png","low_idx":34},{"high_idx":1,"image_name":"000000134.png","low_idx":34},{"high_idx":1,"image_name":"000000135.png","low_idx":34},{"high_idx":1,"image_name":"000000136.png","low_idx":34},{"high_idx":2,"image_name":"000000137.png","low_idx":35},{"high_idx":2,"image_name":"000000138.png","low_idx":35},{"high_idx":2,"image_name":"000000139.png","low_idx":35},{"high_idx":2,"image_name":"000000140.png","low_idx":35},{"high_idx":2,"image_name":"000000141.png","low_idx":35},{"high_idx":2,"image_name":"000000142.png","low_idx":35},{"high_idx":2,"image_name":"000000143.png","low_idx":35},{"high_idx":2,"image_name":"000000144.png","low_idx":35},{"high_idx":2,"image_name":"000000145.png","low_idx":35},{"high_idx":2,"image_name":"000000146.png","low_idx":35},{"high_idx":2,"image_name":"000000147.png","low_idx":35},{"high_idx":2,"image_name":"000000148.png","low_idx":36},{"high_idx":2,"image_name":"000000149.png","low_idx":36},{"high_idx":2,"image_name":"000000150.png","low_idx":36},{"high_idx":2,"image_name":"000000151.png","low_idx":36},{"high_idx":2,"image_name":"000000152.png","low_idx":36},{"high_idx":2,"image_name":"000000153.png","low_idx":36},{"high_idx":2,"image_name":"000000154.png","low_idx":36},{"high_idx":2,"image_name":"000000155.png","low_idx":36},{"high_idx":2,"image_name":"000000156.png","low_idx":36},{"high_idx":2,"image_name":"000000157.png","low_idx":36},{"high_idx":2,"image_name":"000000158.png","low_idx":36},{"high_idx":2,"image_name":"000000159.png","low_idx":37},{"high_idx":2,"image_name":"000000160.png","low_idx":37},{"high_idx":2,"image_name":"000000161.png","low_idx":37},{"high_idx":2,"image_name":"000000162.png","low_idx":37},{"high_idx":2,"image_name":"000000163.png","low_idx":37},{"high_idx":2,"image_name":"000000164.png","low_idx":37},{"high_idx":2,"image_name":"000000165.png","low_idx":37},{"high_idx":2,"image_name":"000000166.png","low_idx":37},{"high_idx":2,"image_name":"000000167.png","low_idx":37},{"high_idx":2,"image_name":"000000168.png","low_idx":37},{"high_idx":2,"image_name":"000000169.png","low_idx":37},{"high_idx":2,"image_name":"000000170.png","low_idx":38},{"high_idx":2,"image_name":"000000171.png","low_idx":38},{"high_idx":2,"image_name":"000000172.png","low_idx":39},{"high_idx":2,"image_name":"000000173.png","low_idx":39},{"high_idx":2,"image_name":"000000174.png","low_idx":40},{"high_idx":2,"image_name":"000000175.png","low_idx":40},{"high_idx":2,"image_name":"000000176.png","low_idx":41},{"high_idx":2,"image_name":"000000177.png","low_idx":41},{"high_idx":2,"image_name":"000000178.png","low_idx":42},{"high_idx":2,"image_name":"000000179.png","low_idx":42},{"high_idx":2,"image_name":"000000180.png","low_idx":43},{"high_idx":2,"image_name":"000000181.png","low_idx":43},{"high_idx":2,"image_name":"000000182.png","low_idx":44},{"high_idx":2,"image_name":"000000183.png","low_idx":44},{"high_idx":2,"image_name":"000000184.png","low_idx":45},{"high_idx":2,"image_name":"000000185.png","low_idx":45},{"high_idx":2,"image_name":"000000186.png","low_idx":46},{"high_idx":2,"image_name":"000000187.png","low_idx":46},{"high_idx":2,"image_name":"000000188.png","low_idx":46},{"high_idx":2,"image_name":"000000189.png","low_idx":46},{"high_idx":2,"image_name":"000000190.png","low_idx":46},{"high_idx":2,"image_name":"000000191.png","low_idx":46},{"high_idx":2,"image_name":"000000192.png","low_idx":46},{"high_idx":2,"image_name":"000000193.png","low_idx":46},{"high_idx":2,"image_name":"000000194.png","low_idx":46},{"high_idx":2,"image_name":"000000195.png","low_idx":46},{"high_idx":2,"image_name":"000000196.png","low_idx":46},{"high_idx":2,"image_name":"000000197.png","low_idx":47},{"high_idx":2,"image_name":"000000198.png","low_idx":47},{"high_idx":2,"image_name":"000000199.png","low_idx":48},{"high_idx":2,"image_name":"000000200.png","low_idx":48},{"high_idx":2,"image_name":"000000201.png","low_idx":49},{"high_idx":2,"image_name":"000000202.png","low_idx":49},{"high_idx":2,"image_name":"000000203.png","low_idx":50},{"high_idx":2,"image_name":"000000204.png","low_idx":50},{"high_idx":2,"image_name":"000000205.png","low_idx":51},{"high_idx":2,"image_name":"000000206.png","low_idx":51},{"high_idx":2,"image_name":"000000207.png","low_idx":52},{"high_idx":2,"image_name":"000000208.png","low_idx":52},{"high_idx":2,"image_name":"000000209.png","low_idx":53},{"high_idx":2,"image_name":"000000210.png","low_idx":53},{"high_idx":2,"image_name":"000000211.png","low_idx":54},{"high_idx":2,"image_name":"000000212.png","low_idx":54},{"high_idx":2,"image_name":"000000213.png","low_idx":54},{"high_idx":2,"image_name":"000000214.png","low_idx":54},{"high_idx":2,"image_name":"000000215.png","low_idx":54},{"high_idx":2,"image_name":"000000216.png","low_idx":54},{"high_idx":2,"image_name":"000000217.png","low_idx":54},{"high_idx":2,"image_name":"000000218.png","low_idx":54},{"high_idx":2,"image_name":"000000219.png","low_idx":54},{"high_idx":2,"image_name":"000000220.png","low_idx":54},{"high_idx":2,"image_name":"000000221.png","low_idx":54},{"high_idx":2,"image_name":"000000222.png","low_idx":55},{"high_idx":2,"image_name":"000000223.png","low_idx":55},{"high_idx":2,"image_name":"000000224.png","low_idx":56},{"high_idx":2,"image_name":"000000225.png","low_idx":56},{"high_idx":2,"image_name":"000000226.png","low_idx":57},{"high_idx":2,"image_name":"000000227.png","low_idx":57},{"high_idx":2,"image_name":"000000228.png","low_idx":58},{"high_idx":2,"image_name":"000000229.png","low_idx":58},{"high_idx":2,"image_name":"000000230.png","low_idx":59},{"high_idx":2,"image_name":"000000231.png","low_idx":59},{"high_idx":2,"image_name":"000000232.png","low_idx":60},{"high_idx":2,"image_name":"000000233.png","low_idx":60},{"high_idx":2,"image_name":"000000234.png","low_idx":61},{"high_idx":2,"image_name":"000000235.png","low_idx":61},{"high_idx":2,"image_name":"000000236.png","low_idx":62},{"high_idx":2,"image_name":"000000237.png","low_idx":62},{"high_idx":2,"image_name":"000000238.png","low_idx":63},{"high_idx":2,"image_name":"000000239.png","low_idx":63},{"high_idx":2,"image_name":"000000240.png","low_idx":64},{"high_idx":2,"image_name":"000000241.png","low_idx":64},{"high_idx":2,"image_name":"000000242.png","low_idx":65},{"high_idx":2,"image_name":"000000243.png","low_idx":65},{"high_idx":2,"image_name":"000000244.png","low_idx":66},{"high_idx":2,"image_name":"000000245.png","low_idx":66},{"high_idx":3,"image_name":"000000246.png","low_idx":67},{"high_idx":3,"image_name":"000000247.png","low_idx":67},{"high_idx":3,"image_name":"000000248.png","low_idx":67},{"high_idx":3,"image_name":"000000249.png","low_idx":67},{"high_idx":3,"image_name":"000000250.png","low_idx":67},{"high_idx":3,"image_name":"000000251.png","low_idx":67},{"high_idx":3,"image_name":"000000252.png","low_idx":67},{"high_idx":3,"image_name":"000000253.png","low_idx":67},{"high_idx":3,"image_name":"000000254.png","low_idx":67},{"high_idx":3,"image_name":"000000255.png","low_idx":67},{"high_idx":3,"image_name":"000000256.png","low_idx":67},{"high_idx":3,"image_name":"000000257.png","low_idx":67},{"high_idx":3,"image_name":"000000258.png","low_idx":67},{"high_idx":3,"image_name":"000000259.png","low_idx":67},{"high_idx":3,"image_name":"000000260.png","low_idx":67},{"high_idx":4,"image_name":"000000261.png","low_idx":68},{"high_idx":4,"image_name":"000000262.png","low_idx":68},{"high_idx":4,"image_name":"000000263.png","low_idx":68},{"high_idx":4,"image_name":"000000264.png","low_idx":68},{"high_idx":4,"image_name":"000000265.png","low_idx":68},{"high_idx":4,"image_name":"000000266.png","low_idx":68},{"high_idx":4,"image_name":"000000267.png","low_idx":68},{"high_idx":4,"image_name":"000000268.png","low_idx":68},{"high_idx":4,"image_name":"000000269.png","low_idx":68},{"high_idx":4,"image_name":"000000270.png","low_idx":68},{"high_idx":4,"image_name":"000000271.png","low_idx":68},{"high_idx":4,"image_name":"000000272.png","low_idx":68},{"high_idx":4,"image_name":"000000273.png","low_idx":68},{"high_idx":4,"image_name":"000000274.png","low_idx":68},{"high_idx":4,"image_name":"000000275.png","low_idx":68},{"high_idx":5,"image_name":"000000276.png","low_idx":69},{"high_idx":5,"image_name":"000000277.png","low_idx":69},{"high_idx":5,"image_name":"000000278.png","low_idx":69},{"high_idx":5,"image_name":"000000279.png","low_idx":69},{"high_idx":5,"image_name":"000000280.png","low_idx":69},{"high_idx":5,"image_name":"000000281.png","low_idx":69},{"high_idx":5,"image_name":"000000282.png","low_idx":69},{"high_idx":5,"image_name":"000000283.png","low_idx":69},{"high_idx":5,"image_name":"000000284.png","low_idx":69},{"high_idx":5,"image_name":"000000285.png","low_idx":69},{"high_idx":5,"image_name":"000000286.png","low_idx":69},{"high_idx":5,"image_name":"000000287.png","low_idx":69},{"high_idx":5,"image_name":"000000288.png","low_idx":69},{"high_idx":5,"image_name":"000000289.png","low_idx":69},{"high_idx":5,"image_name":"000000290.png","low_idx":69}],"num":{"action_high":[{"action":3,"action_high_args":[4],"high_idx":0},{"action":5,"action_high_args":[80],"high_idx":1},{"action":3,"action_high_args":[46],"high_idx":2},{"action":10,"action_high_args":[80,46],"high_idx":3},{"action":5,"action_high_args":[72],"high_idx":4},{"action":10,"action_high_args":[72,80],"high_idx":5},{"action":12,"action_high_args":[],"high_idx":6}],"action_low":[[{"action":3,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":5,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":3,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0}],[{"action":6,"action_high_args":{"bbox":[140,98,193,147],"mask":[[29263,7],[29555,22],[29852,29],[30149,35],[30447,39],[30746,41],[31045,43],[31345,43],[31644,45],[31944,46],[32243,47],[32543,48],[32842,49],[33142,49],[33442,50],[33742,50],[34041,51],[34341,52],[34641,52],[34941,52],[35241,52],[35540,54],[35841,53],[36141,52],[36441,52],[36741,52],[37041,52],[37341,52],[37641,52],[37942,51],[38242,51],[38542,51],[38843,49],[39143,49],[39444,47],[39744,47],[40045,46],[40345,45],[40646,44],[40946,43],[41247,40],[41548,38],[41849,36],[42150,34],[42450,33],[42751,31],[43052,28],[43353,26],[43657,18],[43964,5]],"point":[166,121]},"centroid":[0.555,0.4083333333333333],"high_idx":1,"mask":[[29263,7],[29555,22],[29852,29],[30149,35],[30447,39],[30746,41],[31045,43],[31345,43],[31644,45],[31944,46],[32243,47],[32543,48],[32842,49],[33142,49],[33442,50],[33742,50],[34041,51],[34341,52],[34641,52],[34941,52],[35241,52],[35540,54],[35841,53],[36141,52],[36441,52],[36741,52],[37041,52],[37341,52],[37641,52],[37942,51],[38242,51],[38542,51],[38843,49],[39143,49],[39444,47],[39744,47],[40045,46],[40345,45],[40646,44],[40946,43],[41247,40],[41548,38],[41849,36],[42150,34],[42450,33],[42751,31],[43052,28],[43353,26],[43657,18],[43964,5]],"valid_interact":1}],[{"action":8,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":5,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0}],[{"action":11,"action_high_args":{"bbox":[13,103,299,189],"mask":[[30613,287],[30913,287],[31214,286],[31514,286],[31815,285],[32115,285],[32416,284],[32716,284],[33017,283],[33317,283],[33617,283],[33918,282],[34218,282],[34519,281],[34819,281],[35120,280],[35420,280],[35721,279],[36021,279],[36321,279],[36622,278],[36922,278],[37223,277],[37523,277],[37824,196],[38027,73],[38124,194],[38329,71],[38425,192],[38629,1],[38631,69],[38725,187],[38935,65],[39025,185],[39237,63],[39326,183],[39539,61],[39626,182],[39839,61],[39927,181],[40111,6],[40126,7],[40140,60],[40227,181],[40409,10],[40424,11],[40440,60],[40528,180],[40709,27],[40740,60],[40828,180],[41010,27],[41039,61],[41129,179],[41311,26],[41339,61],[41429,179],[41612,25],[41638,62],[41730,178],[41914,21],[41938,62],[42030,179],[42218,2],[42221,11],[42237,63],[42330,180],[42536,64],[42631,181],[42835,65],[42931,183],[43133,67],[43232,187],[43427,73],[43532,268],[43833,267],[44133,267],[44434,266],[44734,266],[45034,266],[45335,265],[45635,265],[45936,264],[46236,264],[46537,263],[46837,263],[47138,262],[47438,262],[47738,262],[48039,261],[48339,261],[48640,260],[48940,260],[49241,259],[49541,259],[49842,258],[50142,258],[50442,258],[50743,257],[51043,257],[51344,256],[51644,256],[51945,255],[52245,255],[52546,254],[52846,254],[53146,254],[53447,253],[53747,101],[53852,148],[54048,93],[54159,141],[54348,85],[54467,133],[54649,77],[54774,126],[54949,72],[55079,121],[55250,68],[55382,118],[55550,65],[55685,115],[55850,63],[55987,113],[56151,59],[56290,110],[56451,56],[56593,106]],"point":[156,145]},"centroid":[0.52,0.4866666666666667],"high_idx":3,"mask":[[30613,287],[30913,287],[31214,286],[31514,286],[31815,285],[32115,285],[32416,284],[32716,284],[33017,283],[33317,283],[33617,283],[33918,282],[34218,282],[34519,281],[34819,281],[35120,280],[35420,280],[35721,279],[36021,279],[36321,279],[36622,278],[36922,278],[37223,277],[37523,277],[37824,196],[38027,73],[38124,194],[38329,71],[38425,192],[38629,1],[38631,69],[38725,187],[38935,65],[39025,185],[39237,63],[39326,183],[39539,61],[39626,182],[39839,61],[39927,181],[40111,6],[40126,7],[40140,60],[40227,181],[40409,10],[40424,11],[40440,60],[40528,180],[40709,27],[40740,60],[40828,180],[41010,27],[41039,61],[41129,179],[41311,26],[41339,61],[41429,179],[41612,25],[41638,62],[41730,178],[41914,21],[41938,62],[42030,179],[42218,2],[42221,11],[42237,63],[42330,180],[42536,64],[42631,181],[42835,65],[42931,183],[43133,67],[43232,187],[43427,73],[43532,268],[43833,267],[44133,267],[44434,266],[44734,266],[45034,266],[45335,265],[45635,265],[45936,264],[46236,264],[46537,263],[46837,263],[47138,262],[47438,262],[47738,262],[48039,261],[48339,261],[48640,260],[48940,260],[49241,259],[49541,259],[49842,258],[50142,258],[50442,258],[50743,257],[51043,257],[51344,256],[51644,256],[51945,255],[52245,255],[52546,254],[52846,254],[53146,254],[53447,253],[53747,101],[53852,148],[54048,93],[54159,141],[54348,85],[54467,133],[54649,77],[54774,126],[54949,72],[55079,121],[55250,68],[55382,118],[55550,65],[55685,115],[55850,63],[55987,113],[56151,59],[56290,110],[56451,56],[56593,106]],"valid_interact":1}],[{"action":6,"action_high_args":{"bbox":[208,127,239,145],"mask":[[38020,7],[38318,11],[38617,12],[38630,1],[38912,23],[39210,27],[39509,30],[39808,31],[40108,3],[40117,9],[40133,7],[40408,1],[40419,5],[40435,5],[40708,1],[40736,4],[41008,2],[41037,2],[41308,3],[41337,2],[41608,4],[41637,1],[41908,6],[41935,3],[42209,9],[42220,1],[42232,5],[42510,26],[42812,23],[43114,19],[43419,8]],"point":[223,134]},"centroid":[0.745,0.4533333333333333],"high_idx":4,"mask":[[38020,7],[38318,11],[38617,12],[38630,1],[38912,23],[39210,27],[39509,30],[39808,31],[40108,3],[40117,9],[40133,7],[40408,1],[40419,5],[40435,5],[40708,1],[40736,4],[41008,2],[41037,2],[41308,3],[41337,2],[41608,4],[41637,1],[41908,6],[41935,3],[42209,9],[42220,1],[42232,5],[42510,26],[42812,23],[43114,19],[43419,8]],"valid_interact":1}],[{"action":11,"action_high_args":{"bbox":[102,103,186,175],"mask":[[30722,45],[31018,54],[31314,61],[31613,63],[31913,64],[32212,66],[32511,67],[32810,69],[33109,71],[33408,73],[33708,73],[34007,75],[34306,77],[34606,77],[34905,78],[35205,79],[35505,79],[35804,81],[36104,81],[36403,82],[36703,83],[37002,84],[37302,85],[37602,85],[37902,85],[38202,85],[38502,85],[38802,85],[39102,85],[39402,85],[39702,85],[40002,84],[40302,84],[40602,84],[40902,84],[41202,84],[41502,84],[41802,83],[42103,82],[42403,82],[42704,80],[43004,80],[43304,79],[43605,78],[43905,77],[44205,77],[44506,76],[44806,75],[45107,73],[45408,72],[45709,70],[46009,69],[46310,68],[46611,66],[46912,65],[47212,64],[47513,62],[47814,61],[48115,59],[48415,58],[48716,56],[49017,55],[49318,53],[49618,52],[49919,51],[50220,49],[50521,47],[50821,47],[51122,45],[51425,39],[51729,31],[52034,21],[52343,3]],"point":[144,138]},"centroid":[0.48,0.4633333333333333],"high_idx":5,"mask":[[30722,45],[31018,54],[31314,61],[31613,63],[31913,64],[32212,66],[32511,67],[32810,69],[33109,71],[33408,73],[33708,73],[34007,75],[34306,77],[34606,77],[34905,78],[35205,79],[35505,79],[35804,81],[36104,81],[36403,82],[36703,83],[37002,84],[37302,85],[37602,85],[37902,85],[38202,85],[38502,85],[38802,85],[39102,85],[39402,85],[39702,85],[40002,84],[40302,84],[40602,84],[40902,84],[41202,84],[41502,84],[41802,83],[42103,82],[42403,82],[42704,80],[43004,80],[43304,79],[43605,78],[43905,77],[44205,77],[44506,76],[44806,75],[45107,73],[45408,72],[45709,70],[46009,69],[46310,68],[46611,66],[46912,65],[47212,64],[47513,62],[47814,61],[48115,59],[48415,58],[48716,56],[49017,55],[49318,53],[49618,52],[49919,51],[50220,49],[50521,47],[50821,47],[51122,45],[51425,39],[51729,31],[52034,21],[52343,3]],"valid_interact":1}],[{"action":2,"action_high_args":{},"centroid":[-1,-1],"high_idx":6,"mask":null,"valid_interact":0}]],"lang_goal":[14,35,442,11,35,313,15,4,189,16,2],"lang_instr":[[24,25,26,47,18,4,258,37,24,19,26,47,227,224,37,24,38,26,47,18,4,113,198,4,105,123,590,16],[22,23,4,313,79,80,81,11,40,21,203,94,4,95,16],[897,26,47,18,4,99,37,24,19,26,47,18,4,258,37,24,19,26,47,18,4,438,16],[14,4,313,15,4,189,18,4,19,21,4,442,16],[22,23,4,442,16],[14,4,442,11,4,313,16],[34]],"low_to_high_idx":[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,3,4,5,6]},"pddl_params":{"mrecep_target":"Bowl","object_sliced":false,"object_target":"Watch","parent_target":"Shelf","toggle_target":""},"plan":{"high_pddl":[{"discrete_action":{"action":"GotoLocation","args":["diningtable"]},"high_idx":0,"planner_action":{"action":"GotoLocation","location":"loc|10|-2|1|60"}},{"discrete_action":{"action":"PickupObject","args":["bowl"]},"high_idx":1,"planner_action":{"action":"PickupObject","coordinateObjectId":["Bowl",[12.0979786,12.0979786,-2.2265096,-2.2265096,3.165074,3.165074]],"coordinateReceptacleObjectId":["DiningTable",[12.632,12.632,-5.66,-5.66,-0.02,-0.02]],"forceVisible":true,"objectId":"Bowl|+03.02|+00.79|-00.56"}},{"discrete_action":{"action":"GotoLocation","args":["shelf"]},"high_idx":2,"planner_action":{"action":"GotoLocation","location":"loc|-10|-9|3|45"}},{"discrete_action":{"action":"PutObject","args":["bowl","shelf"]},"high_idx":3,"planner_action":{"action":"PutObject","coordinateObjectId":["Bowl",[12.0979786,12.0979786,-2.2265096,-2.2265096,3.165074,3.165074]],"coordinateReceptacleObjectId":["Shelf",[-11.7928,-11.7928,-8.7528,-8.7528,4.5356,4.5356]],"forceVisible":true,"objectId":"Bowl|+03.02|+00.79|-00.56","receptacleObjectId":"Shelf|-02.95|+01.13|-02.19"}},{"discrete_action":{"action":"PickupObject","args":["watch"]},"high_idx":4,"planner_action":{"action":"PickupObject","coordinateObjectId":["Watch",[-11.91880988,-11.91880988,-8.2745714,-8.2745714,4.5678978,4.5678978]],"coordinateReceptacleObjectId":["Shelf",[-11.7928,-11.7928,-8.7528,-8.7528,4.5356,4.5356]],"forceVisible":true,"objectId":"Watch|-02.98|+01.14|-02.07"}},{"discrete_action":{"action":"PutObject","args":["watch","bowl"]},"high_idx":5,"planner_action":{"action":"PutObject","coordinateObjectId":["Watch",[-11.91880988,-11.91880988,-8.2745714,-8.2745714,4.5678978,4.5678978]],"coordinateReceptacleObjectId":["Bowl",[12.0979786,12.0979786,-2.2265096,-2.2265096,3.165074,3.165074]],"forceVisible":true,"objectId":"Watch|-02.98|+01.14|-02.07","receptacleObjectId":"Bowl|+03.02|+00.79|-00.56"}},{"discrete_action":{"action":"NoOp","args":[]},"high_idx":6,"planner_action":{"action":"End","value":1}}],"low_actions":[{"api_action":{"action":"LookDown","forceAction":true},"discrete_action":{"action":"LookDown_15","args":{}},"high_idx":0},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"RotateLeft","forceAction":true},"discrete_action":{"action":"RotateLeft_90","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"LookDown","forceAction":true},"discrete_action":{"action":"LookDown_15","args":{}},"high_idx":0},{"api_action":{"action":"PickupObject","objectId":"Bowl|+03.02|+00.79|-00.56"},"discrete_action":{"action":"PickupObject","args":{"bbox":[140,98,193,147],"mask":[[29263,7],[29555,22],[29852,29],[30149,35],[30447,39],[30746,41],[31045,43],[31345,43],[31644,45],[31944,46],[32243,47],[32543,48],[32842,49],[33142,49],[33442,50],[33742,50],[34041,51],[34341,52],[34641,52],[34941,52],[35241,52],[35540,54],[35841,53],[36141,52],[36441,52],[36741,52],[37041,52],[37341,52],[37641,52],[37942,51],[38242,51],[38542,51],[38843,49],[39143,49],[39444,47],[39744,47],[40045,46],[40345,45],[40646,44],[40946,43],[41247,40],[41548,38],[41849,36],[42150,34],[42450,33],[42751,31],[43052,28],[43353,26],[43657,18],[43964,5]],"point":[166,121]}},"high_idx":1},{"api_action":{"action":"LookUp","forceAction":true},"discrete_action":{"action":"LookUp_15","args":{}},"high_idx":2},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":2},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"RotateLeft","forceAction":true},"discrete_action":{"action":"RotateLeft_90","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"PutObject","forceAction":true,"objectId":"Bowl|+03.02|+00.79|-00.56","placeStationary":true,"receptacleObjectId":"Shelf|-02.95|+01.13|-02.19"},"discrete_action":{"action":"PutObject","args":{"bbox":[13,103,299,189],"mask":[[30613,287],[30913,287],[31214,286],[31514,286],[31815,285],[32115,285],[32416,284],[32716,284],[33017,283],[33317,283],[33617,283],[33918,282],[34218,282],[34519,281],[34819,281],[35120,280],[35420,280],[35721,279],[36021,279],[36321,279],[36622,278],[36922,278],[37223,277],[37523,277],[37824,196],[38027,73],[38124,194],[38329,71],[38425,192],[38629,1],[38631,69],[38725,187],[38935,65],[39025,185],[39237,63],[39326,183],[39539,61],[39626,182],[39839,61],[39927,181],[40111,6],[40126,7],[40140,60],[40227,181],[40409,10],[40424,11],[40440,60],[40528,180],[40709,27],[40740,60],[40828,180],[41010,27],[41039,61],[41129,179],[41311,26],[41339,61],[41429,179],[41612,25],[41638,62],[41730,178],[41914,21],[41938,62],[42030,179],[42218,2],[42221,11],[42237,63],[42330,180],[42536,64],[42631,181],[42835,65],[42931,183],[43133,67],[43232,187],[43427,73],[43532,268],[43833,267],[44133,267],[44434,266],[44734,266],[45034,266],[45335,265],[45635,265],[45936,264],[46236,264],[46537,263],[46837,263],[47138,262],[47438,262],[47738,262],[48039,261],[48339,261],[48640,260],[48940,260],[49241,259],[49541,259],[49842,258],[50142,258],[50442,258],[50743,257],[51043,257],[51344,256],[51644,256],[51945,255],[52245,255],[52546,254],[52846,254],[53146,254],[53447,253],[53747,101],[53852,148],[54048,93],[54159,141],[54348,85],[54467,133],[54649,77],[54774,126],[54949,72],[55079,121],[55250,68],[55382,118],[55550,65],[55685,115],[55850,63],[55987,113],[56151,59],[56290,110],[56451,56],[56593,106]],"point":[156,145]}},"high_idx":3},{"api_action":{"action":"PickupObject","objectId":"Watch|-02.98|+01.14|-02.07"},"discrete_action":{"action":"PickupObject","args":{"bbox":[208,127,239,145],"mask":[[38020,7],[38318,11],[38617,12],[38630,1],[38912,23],[39210,27],[39509,30],[39808,31],[40108,3],[40117,9],[40133,7],[40408,1],[40419,5],[40435,5],[40708,1],[40736,4],[41008,2],[41037,2],[41308,3],[41337,2],[41608,4],[41637,1],[41908,6],[41935,3],[42209,9],[42220,1],[42232,5],[42510,26],[42812,23],[43114,19],[43419,8]],"point":[223,134]}},"high_idx":4},{"api_action":{"action":"PutObject","forceAction":true,"objectId":"Watch|-02.98|+01.14|-02.07","placeStationary":true,"receptacleObjectId":"Bowl|+03.02|+00.79|-00.56"},"discrete_action":{"action":"PutObject","args":{"bbox":[102,103,186,175],"mask":[[30722,45],[31018,54],[31314,61],[31613,63],[31913,64],[32212,66],[32511,67],[32810,69],[33109,71],[33408,73],[33708,73],[34007,75],[34306,77],[34606,77],[34905,78],[35205,79],[35505,79],[35804,81],[36104,81],[36403,82],[36703,83],[37002,84],[37302,85],[37602,85],[37902,85],[38202,85],[38502,85],[38802,85],[39102,85],[39402,85],[39702,85],[40002,84],[40302,84],[40602,84],[40902,84],[41202,84],[41502,84],[41802,83],[42103,82],[42403,82],[42704,80],[43004,80],[43304,79],[43605,78],[43905,77],[44205,77],[44506,76],[44806,75],[45107,73],[45408,72],[45709,70],[46009,69],[46310,68],[46611,66],[46912,65],[47212,64],[47513,62],[47814,61],[48115,59],[48415,58],[48716,56],[49017,55],[49318,53],[49618,52],[49919,51],[50220,49],[50521,47],[50821,47],[51122,45],[51425,39],[51729,31],[52034,21],[52343,3]],"point":[144,138]}},"high_idx":5}]},"repeat_idx":2,"root":"alfred/data/json_2.1.0/pick_and_place_with_movable_recep-Watch-Bowl-Shelf-326/trial_T20190909_031836_927615","scene":{"dirty_and_empty":false,"floor_plan":"FloorPlan326","init_action":{"action":"TeleportFull","horizon":30,"rotateOnTeleport":true,"rotation":270,"x":-2.5,"y":0.899458051,"z":-2.5},"object_poses":[{"objectName":"Watch_e31da285","position":{"x":-1.3837378,"y":0.614172637,"z":0.422043175},"rotation":{"x":0.0,"y":180.000381,"z":0.0}},{"objectName":"CD_f52f155c","position":{"x":-1.523,"y":0.0748719,"z":0.393150926},"rotation":{"x":0.0,"y":6.488679e-05,"z":0.0}},{"objectName":"CD_f52f155c","position":{"x":3.08615255,"y":0.7923601,"z":-1.12131548},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"CellPhone_1f80dd7b","position":{"x":3.14781022,"y":0.791858,"z":-1.96834755},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Pencil_b98eece4","position":{"x":0.9226029,"y":1.41888618,"z":-1.73007965},"rotation":{"x":0.0,"y":270.000183,"z":0.0}},{"objectName":"Pencil_b98eece4","position":{"x":3.27112579,"y":0.7982379,"z":-1.40365946},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"CreditCard_096e7851","position":{"x":3.33278346,"y":0.791644,"z":-1.12131548},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Book_4c818726","position":{"x":-2.9169023,"y":0.599222958,"z":-1.44223917},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"AlarmClock_0397722d","position":{"x":-2.97970247,"y":1.1429919,"z":-1.49768555},"rotation":{"x":0.0,"y":89.99983,"z":0.0}},{"objectName":"AlarmClock_0397722d","position":{"x":-1.59263039,"y":0.615190148,"z":0.5032387},"rotation":{"x":0.0,"y":180.000381,"z":0.0}},{"objectName":"Laptop_af69458f","position":{"x":-0.9366015,"y":0.6141396,"z":-1.16096044},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Book_4c818726","position":{"x":-2.9169023,"y":0.599222958,"z":-0.8796817},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Laptop_af69458f","position":{"x":3.154,"y":0.7857534,"z":-2.267},"rotation":{"x":0.0,"y":270.000183,"z":0.0}},{"objectName":"KeyChain_b854204c","position":{"x":-1.523,"y":0.339503527,"z":0.393150926},"rotation":{"x":0.0,"y":6.488679e-05,"z":0.0}},{"objectName":"Cloth_9b18bd81","position":{"x":0.970993042,"y":-0.00154149532,"z":-2.404656},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"BaseballBat_7718edb2","position":{"x":-2.982,"y":0.015,"z":-2.698},"rotation":{"x":270.0,"y":350.597961,"z":0.0}},{"objectName":"BasketBall_11d56643","position":{"x":-2.718,"y":0.1184585,"z":-1.925},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Pillow_d4cff861","position":{"x":-2.465228,"y":0.661,"z":0.110807896},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Pillow_6aec589e","position":{"x":-0.6261245,"y":0.650000036,"z":0.129896164},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"TennisRacket_8b81f72e","position":{"x":-3.018,"y":0.301,"z":-2.199},"rotation":{"x":19.103323,"y":272.232483,"z":184.97876}},{"objectName":"Pencil_b98eece4","position":{"x":-2.94820023,"y":1.14718628,"z":-2.68281627},"rotation":{"x":0.0,"y":89.99983,"z":0.0}},{"objectName":"CreditCard_096e7851","position":{"x":3.14781022,"y":0.7927494,"z":-1.68600345},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Cloth_85b554b9","position":{"x":0.911633968,"y":0.025,"z":-2.70249653},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"TeddyBear_d565c4f0","position":{"x":-2.64507127,"y":0.6247293,"z":-0.4025734},"rotation":{"x":0.0,"y":286.876434,"z":0.0}},{"objectName":"Pen_cbcd5e6d","position":{"x":0.8280941,"y":1.1473546,"z":-2.02539063},"rotation":{"x":0.0,"y":270.000183,"z":0.0}},{"objectName":"Cloth_83c511c6","position":{"x":0.705,"y":-0.00154149532,"z":-2.75},"rotation":{"x":0.0,"y":269.152557,"z":0.0}},{"objectName":"AlarmClock_0397722d","position":{"x":0.891095,"y":1.41469181,"z":-2.586311},"rotation":{"x":0.0,"y":270.000183,"z":0.0}},{"objectName":"Watch_e31da285","position":{"x":-2.97970247,"y":1.14197445,"z":-2.06864285},"rotation":{"x":0.0,"y":89.99983,"z":0.0}},{"objectName":"CellPhone_1f80dd7b","position":{"x":-1.45336854,"y":0.61411,"z":0.462640673},"rotation":{"x":0.0,"y":180.000381,"z":0.0}},{"objectName":"CD_f52f155c","position":{"x":-1.73189247,"y":0.6135067,"z":0.5032396},"rotation":{"x":0.0,"y":180.000381,"z":0.0}},{"objectName":"Mug_0fbdf42c","position":{"x":3.33278346,"y":0.789648,"z":-1.68600345},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Bowl_8c269f0e","position":{"x":3.02449465,"y":0.7912685,"z":-0.5566274},"rotation":{"x":0.0,"y":0.0,"z":0.0}}],"object_toggles":[],"random_seed":569614244,"scene_num":326},"split":"valid_seen","task_id":"trial_T20190909_031836_927615","task_type":"pick_and_place_with_movable_recep","turk_annotations":{"anns":[{"assignment_id":"A2871R3LEPWMMK_34T446B1C35HYK9QWTOOFEJSHNQ0CZ","high_descs":["Turn around, hang a left at the wooden shelves, head right at the door and walk to the wooden desk.","Pick up the gray bowl in front of the small lamp on the desk.","Turn around, hang a left at the bed, take a right at the wall and walk to the wooden shelves on the wall.","Put the gray bowl on the bottom middle shelf to the left of the watch.","Pick up the watch to the right of the gray bowl on the shelf.","Put the watch inside the gray bowl on the shelf."],"task_desc":"Place a bowl with a watch on a shelf.","votes":[1,1]},{"assignment_id":"A1MKCTVKE7J0ZP_3AWETUDC95J5D81GSXX2WGK9CZJIZ1","high_descs":["Turn around and go toward the shelves, then turn left and move forward, then turn right to go to the desk with the lamp on it.","Pick up the bowl from the desk.","Turn around and go forward to the bed, then turn left and go to the wall, then turn right to go to the shelves ahead.","Put the bowl on the bottom shelf.","Pick up the watch on the bottom shelf.","Put the watch in the bowl."],"task_desc":"Put a bowl with the watch in it on the shelf.","votes":[1,1]},{"assignment_id":"A1RLO9LNUJIW5S_3HWRJOOET8TWWRDG1MD3F8PEXROESV","high_descs":["Turn around and walk to the wall then turn left and walk three steps then turn right and walk to the desk between the two black chairs.","Pick up the bowl that's in front of you under the light.","Turnaround and walk to the bed then turn left and walk to the wall then turn left and walk to the shelves.","Put the bowl on the shelf to the left of the watch.","Pick up the watch.","Put the watch in the bowl."],"task_desc":"Put a watch in a bowl on the shelf.","votes":[1,1]}]}}},"observations":[],"question":{"options":[],"original":"Place a timekeeping device in a round container on the shelf.","text":"Place a timekeeping device in a round container on the shelf."},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"AI2-THOR / ALFRED","eval_set":"common_sense","instruction_override":"Place a timekeeping device in a round container on the shelf.","mode":"interactive","native_episode_locator":{"file":"pick_and_place_with_movable_recep-Watch-Bowl-Shelf-326/trial_T20190909_031836_927615/pp/ann_2.json","format":"hf_file"},"observation_policy":"current RGB and upstream feedback; demonstration plans and hidden task metadata excluded from model input","repo":"EmbodiedBench/EmbodiedBench","revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","selected_index":49},"sampling":{"component_id":"09684523d82574974e70","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":23,"stratum_pool":50},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"embodiedbench/envs/eb_alfred/data/splits/splits.json","annotation_sha256":"fe607575ef56ccd7f58bd26047b66f949d98e700ae68e59a384a74634e8267b7","host":"huggingface","license":"apache-2.0","media_policy":"upstream-reference; source media terms apply","native_episode_sha256":"3dd3976b99b31f893041e1844b1304337b0f1e98fce5da89085754a68c0ec754","repo":"EmbodiedBench/EB-ALFRED","revision":"af55cc721725ed058830fd7a8aee66c1f69efbaa","row_sha256":"c2640ef4a57c86e1bf4e141f15d2cdceaa419842db27b48f3e714e6d7c2c023d","runtime_revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","sample_id":"common_sense/49","split":"common_sense","upstream_dataset":"EB-ALFRED","url":"https://huggingface.co/datasets/EmbodiedBench/EB-ALFRED"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_environment_success","original_answer":null},"task":{"category":"common_sense","role":"spatial_core","skill_tags":["common_sense","common_sense"],"stratum":"EB-ALFRED/common_sense/common_sense","subcategory":"common_sense"},"transforms":[]}
{"dataset":"EB-ALFRED","group":{"id":"AI2THOR/FloorPlan304","kind":"scene","scene":"FloorPlan304"},"id":"2f5dbfe1fa74abcd0dd8","native_annotation":{"instruction":"After organizing your music collection, relocate two music discs to the bottom drawer of the desk.","repeat_idx":0,"task":"pick_two_obj_and_place-CD-None-Drawer-304/trial_T20190907_230232_832893","upstream_episode":{"ann":{"goal":[" move "," two "," cds "," to "," the "," bottom "," drawer "," of "," the "," desk ",". ","<<goal>>"],"instr":[[" turn "," around "," and "," face "," the "," desk "," behind "," you ",". "],[" pick "," up "," the "," cd "," that ","'"," s "," directly "," to "," the "," left "," of "," the "," small "," clock ",". "],[" move "," back "," a "," step "," with "," the "," cd ",", "," so "," you "," have "," enough "," space "," to "," open "," a "," desk "," drawer ",". "],[" open "," the "," bottom "," drawer "," and "," place "," the "," cd "," in "," the "," front "," left "," corner ",", "," and "," then "," close "," the "," drawer ",". "],[" step "," back "," closer "," to "," the "," desk "," again ",". "],[" pick "," up "," the "," remaining "," cd "," from "," the "," desk ",". "],[" move "," back "," once "," again "," away "," from "," the "," desk ",", "," so "," you "," have "," room "," to "," open "," a "," drawer ",". "],[" open "," the "," bottom "," desk "," drawer "," and "," place "," the "," cd "," inside "," behind "," the "," one "," you "," previously "," put "," there ",". "],["<<stop>>"]],"repeat_idx":0},"images":[{"high_idx":0,"image_name":"000000000.png","low_idx":0},{"high_idx":0,"image_name":"000000001.png","low_idx":0},{"high_idx":0,"image_name":"000000002.png","low_idx":0},{"high_idx":0,"image_name":"000000003.png","low_idx":0},{"high_idx":0,"image_name":"000000004.png","low_idx":0},{"high_idx":0,"image_name":"000000005.png","low_idx":0},{"high_idx":0,"image_name":"000000006.png","low_idx":0},{"high_idx":0,"image_name":"000000007.png","low_idx":0},{"high_idx":0,"image_name":"000000008.png","low_idx":0},{"high_idx":0,"image_name":"000000009.png","low_idx":0},{"high_idx":0,"image_name":"000000010.png","low_idx":0},{"high_idx":0,"image_name":"000000011.png","low_idx":1},{"high_idx":0,"image_name":"000000012.png","low_idx":1},{"high_idx":0,"image_name":"000000013.png","low_idx":1},{"high_idx":0,"image_name":"000000014.png","low_idx":1},{"high_idx":0,"image_name":"000000015.png","low_idx":1},{"high_idx":0,"image_name":"000000016.png","low_idx":1},{"high_idx":0,"image_name":"000000017.png","low_idx":1},{"high_idx":0,"image_name":"000000018.png","low_idx":1},{"high_idx":0,"image_name":"000000019.png","low_idx":1},{"high_idx":0,"image_name":"000000020.png","low_idx":1},{"high_idx":0,"image_name":"000000021.png","low_idx":1},{"high_idx":0,"image_name":"000000022.png","low_idx":2},{"high_idx":0,"image_name":"000000023.png","low_idx":2},{"high_idx":0,"image_name":"000000024.png","low_idx":2},{"high_idx":0,"image_name":"000000025.png","low_idx":2},{"high_idx":0,"image_name":"000000026.png","low_idx":2},{"high_idx":0,"image_name":"000000027.png","low_idx":2},{"high_idx":0,"image_name":"000000028.png","low_idx":2},{"high_idx":0,"image_name":"000000029.png","low_idx":2},{"high_idx":0,"image_name":"000000030.png","low_idx":2},{"high_idx":0,"image_name":"000000031.png","low_idx":2},{"high_idx":0,"image_name":"000000032.png","low_idx":2},{"high_idx":0,"image_name":"000000033.png","low_idx":3},{"high_idx":0,"image_name":"000000034.png","low_idx":3},{"high_idx":0,"image_name":"000000035.png","low_idx":4},{"high_idx":0,"image_name":"000000036.png","low_idx":4},{"high_idx":0,"image_name":"000000037.png","low_idx":4},{"high_idx":0,"image_name":"000000038.png","low_idx":4},{"high_idx":0,"image_name":"000000039.png","low_idx":4},{"high_idx":0,"image_name":"000000040.png","low_idx":4},{"high_idx":0,"image_name":"000000041.png","low_idx":4},{"high_idx":0,"image_name":"000000042.png","low_idx":4},{"high_idx":0,"image_name":"000000043.png","low_idx":4},{"high_idx":0,"image_name":"000000044.png","low_idx":4},{"high_idx":0,"image_name":"000000045.png","low_idx":4},{"high_idx":1,"image_name":"000000046.png","low_idx":5},{"high_idx":1,"image_name":"000000047.png","low_idx":5},{"high_idx":1,"image_name":"000000048.png","low_idx":5},{"high_idx":1,"image_name":"000000049.png","low_idx":5},{"high_idx":1,"image_name":"000000050.png","low_idx":5},{"high_idx":1,"image_name":"000000051.png","low_idx":5},{"high_idx":1,"image_name":"000000052.png","low_idx":5},{"high_idx":1,"image_name":"000000053.png","low_idx":5},{"high_idx":1,"image_name":"000000054.png","low_idx":5},{"high_idx":1,"image_name":"000000055.png","low_idx":5},{"high_idx":1,"image_name":"000000056.png","low_idx":5},{"high_idx":1,"image_name":"000000057.png","low_idx":5},{"high_idx":1,"image_name":"000000058.png","low_idx":5},{"high_idx":1,"image_name":"000000059.png","low_idx":5},{"high_idx":1,"image_name":"000000060.png","low_idx":5},{"high_idx":2,"image_name":"000000061.png","low_idx":6},{"high_idx":2,"image_name":"000000062.png","low_idx":6},{"high_idx":2,"image_name":"000000063.png","low_idx":6},{"high_idx":2,"image_name":"000000064.png","low_idx":6},{"high_idx":2,"image_name":"000000065.png","low_idx":6},{"high_idx":2,"image_name":"000000066.png","low_idx":6},{"high_idx":2,"image_name":"000000067.png","low_idx":6},{"high_idx":2,"image_name":"000000068.png","low_idx":6},{"high_idx":2,"image_name":"000000069.png","low_idx":6},{"high_idx":2,"image_name":"000000070.png","low_idx":6},{"high_idx":2,"image_name":"000000071.png","low_idx":6},{"high_idx":2,"image_name":"000000072.png","low_idx":7},{"high_idx":2,"image_name":"000000073.png","low_idx":7},{"high_idx":2,"image_name":"000000074.png","low_idx":7},{"high_idx":2,"image_name":"000000075.png","low_idx":7},{"high_idx":2,"image_name":"000000076.png","low_idx":7},{"high_idx":2,"image_name":"000000077.png","low_idx":7},{"high_idx":2,"image_name":"000000078.png","low_idx":7},{"high_idx":2,"image_name":"000000079.png","low_idx":7},{"high_idx":2,"image_name":"000000080.png","low_idx":7},{"high_idx":2,"image_name":"000000081.png","low_idx":7},{"high_idx":2,"image_name":"000000082.png","low_idx":7},{"high_idx":2,"image_name":"000000083.png","low_idx":8},{"high_idx":2,"image_name":"000000084.png","low_idx":8},{"high_idx":2,"image_name":"000000085.png","low_idx":8},{"high_idx":2,"image_name":"000000086.png","low_idx":8},{"high_idx":2,"image_name":"000000087.png","low_idx":8},{"high_idx":2,"image_name":"000000088.png","low_idx":8},{"high_idx":2,"image_name":"000000089.png","low_idx":8},{"high_idx":2,"image_name":"000000090.png","low_idx":8},{"high_idx":2,"image_name":"000000091.png","low_idx":8},{"high_idx":2,"image_name":"000000092.png","low_idx":8},{"high_idx":2,"image_name":"000000093.png","low_idx":8},{"high_idx":2,"image_name":"000000094.png","low_idx":9},{"high_idx":2,"image_name":"000000095.png","low_idx":9},{"high_idx":2,"image_name":"000000096.png","low_idx":10},{"high_idx":2,"image_name":"000000097.png","low_idx":10},{"high_idx":2,"image_name":"000000098.png","low_idx":11},{"high_idx":2,"image_name":"000000099.png","low_idx":11},{"high_idx":2,"image_name":"000000100.png","low_idx":11},{"high_idx":2,"image_name":"000000101.png","low_idx":11},{"high_idx":2,"image_name":"000000102.png","low_idx":11},{"high_idx":2,"image_name":"000000103.png","low_idx":11},{"high_idx":2,"image_name":"000000104.png","low_idx":11},{"high_idx":2,"image_name":"000000105.png","low_idx":11},{"high_idx":2,"image_name":"000000106.png","low_idx":11},{"high_idx":2,"image_name":"000000107.png","low_idx":11},{"high_idx":2,"image_name":"000000108.png","low_idx":11},{"high_idx":2,"image_name":"000000109.png","low_idx":12},{"high_idx":2,"image_name":"000000110.png","low_idx":12},{"high_idx":2,"image_name":"000000111.png","low_idx":13},{"high_idx":2,"image_name":"000000112.png","low_idx":13},{"high_idx":2,"image_name":"000000113.png","low_idx":13},{"high_idx":2,"image_name":"000000114.png","low_idx":13},{"high_idx":2,"image_name":"000000115.png","low_idx":13},{"high_idx":2,"image_name":"000000116.png","low_idx":13},{"high_idx":2,"image_name":"000000117.png","low_idx":13},{"high_idx":2,"image_name":"000000118.png","low_idx":13},{"high_idx":2,"image_name":"000000119.png","low_idx":13},{"high_idx":2,"image_name":"000000120.png","low_idx":13},{"high_idx":2,"image_name":"000000121.png","low_idx":13},{"high_idx":2,"image_name":"000000122.png","low_idx":14},{"high_idx":2,"image_name":"000000123.png","low_idx":14},{"high_idx":2,"image_name":"000000124.png","low_idx":14},{"high_idx":2,"image_name":"000000125.png","low_idx":14},{"high_idx":2,"image_name":"000000126.png","low_idx":14},{"high_idx":2,"image_name":"000000127.png","low_idx":14},{"high_idx":2,"image_name":"000000128.png","low_idx":14},{"high_idx":2,"image_name":"000000129.png","low_idx":14},{"high_idx":2,"image_name":"000000130.png","low_idx":14},{"high_idx":2,"image_name":"000000131.png","low_idx":14},{"high_idx":2,"image_name":"000000132.png","low_idx":14},{"high_idx":3,"image_name":"000000133.png","low_idx":15},{"high_idx":3,"image_name":"000000134.png","low_idx":15},{"high_idx":3,"image_name":"000000135.png","low_idx":15},{"high_idx":3,"image_name":"000000136.png","low_idx":15},{"high_idx":3,"image_name":"000000137.png","low_idx":16},{"high_idx":3,"image_name":"000000138.png","low_idx":16},{"high_idx":3,"image_name":"000000139.png","low_idx":16},{"high_idx":3,"image_name":"000000140.png","low_idx":16},{"high_idx":3,"image_name":"000000141.png","low_idx":16},{"high_idx":3,"image_name":"000000142.png","low_idx":16},{"high_idx":3,"image_name":"000000143.png","low_idx":16},{"high_idx":3,"image_name":"000000144.png","low_idx":16},{"high_idx":3,"image_name":"000000145.png","low_idx":16},{"high_idx":3,"image_name":"000000146.png","low_idx":16},{"high_idx":3,"image_name":"000000147.png","low_idx":16},{"high_idx":3,"image_name":"000000148.png","low_idx":16},{"high_idx":3,"image_name":"000000149.png","low_idx":16},{"high_idx":3,"image_name":"000000150.png","low_idx":16},{"high_idx":3,"image_name":"000000151.png","low_idx":16},{"high_idx":3,"image_name":"000000152.png","low_idx":17},{"high_idx":3,"image_name":"000000153.png","low_idx":17},{"high_idx":3,"image_name":"000000154.png","low_idx":17},{"high_idx":3,"image_name":"000000155.png","low_idx":17},{"high_idx":4,"image_name":"000000156.png","low_idx":18},{"high_idx":4,"image_name":"000000157.png","low_idx":18},{"high_idx":4,"image_name":"000000158.png","low_idx":18},{"high_idx":4,"image_name":"000000159.png","low_idx":18},{"high_idx":4,"image_name":"000000160.png","low_idx":18},{"high_idx":4,"image_name":"000000161.png","low_idx":18},{"high_idx":4,"image_name":"000000162.png","low_idx":18},{"high_idx":4,"image_name":"000000163.png","low_idx":18},{"high_idx":4,"image_name":"000000164.png","low_idx":18},{"high_idx":4,"image_name":"000000165.png","low_idx":18},{"high_idx":4,"image_name":"000000166.png","low_idx":18},{"high_idx":4,"image_name":"000000167.png","low_idx":19},{"high_idx":4,"image_name":"000000168.png","low_idx":19},{"high_idx":4,"image_name":"000000169.png","low_idx":20},{"high_idx":4,"image_name":"000000170.png","low_idx":20},{"high_idx":4,"image_name":"000000171.png","low_idx":20},{"high_idx":4,"image_name":"000000172.png","low_idx":20},{"high_idx":4,"image_name":"000000173.png","low_idx":20},{"high_idx":4,"image_name":"000000174.png","low_idx":20},{"high_idx":4,"image_name":"000000175.png","low_idx":20},{"high_idx":4,"image_name":"000000176.png","low_idx":20},{"high_idx":4,"image_name":"000000177.png","low_idx":20},{"high_idx":4,"image_name":"000000178.png","low_idx":20},{"high_idx":4,"image_name":"000000179.png","low_idx":20},{"high_idx":4,"image_name":"000000180.png","low_idx":21},{"high_idx":4,"image_name":"000000181.png","low_idx":21},{"high_idx":4,"image_name":"000000182.png","low_idx":22},{"high_idx":4,"image_name":"000000183.png","low_idx":22},{"high_idx":4,"image_name":"000000184.png","low_idx":23},{"high_idx":4,"image_name":"000000185.png","low_idx":23},{"high_idx":4,"image_name":"000000186.png","low_idx":23},{"high_idx":4,"image_name":"000000187.png","low_idx":23},{"high_idx":4,"image_name":"000000188.png","low_idx":23},{"high_idx":4,"image_name":"000000189.png","low_idx":23},{"high_idx":4,"image_name":"000000190.png","low_idx":23},{"high_idx":4,"image_name":"000000191.png","low_idx":23},{"high_idx":4,"image_name":"000000192.png","low_idx":23},{"high_idx":4,"image_name":"000000193.png","low_idx":23},{"high_idx":4,"image_name":"000000194.png","low_idx":23},{"high_idx":4,"image_name":"000000195.png","low_idx":24},{"high_idx":4,"image_name":"000000196.png","low_idx":24},{"high_idx":4,"image_name":"000000197.png","low_idx":25},{"high_idx":4,"image_name":"000000198.png","low_idx":25},{"high_idx":4,"image_name":"000000199.png","low_idx":25},{"high_idx":4,"image_name":"000000200.png","low_idx":25},{"high_idx":4,"image_name":"000000201.png","low_idx":25},{"high_idx":4,"image_name":"000000202.png","low_idx":25},{"high_idx":4,"image_name":"000000203.png","low_idx":25},{"high_idx":4,"image_name":"000000204.png","low_idx":25},{"high_idx":4,"image_name":"000000205.png","low_idx":25},{"high_idx":4,"image_name":"000000206.png","low_idx":25},{"high_idx":4,"image_name":"000000207.png","low_idx":25},{"high_idx":5,"image_name":"000000208.png","low_idx":26},{"high_idx":5,"image_name":"000000209.png","low_idx":26},{"high_idx":5,"image_name":"000000210.png","low_idx":26},{"high_idx":5,"image_name":"000000211.png","low_idx":26},{"high_idx":5,"image_name":"000000212.png","low_idx":26},{"high_idx":5,"image_name":"000000213.png","low_idx":26},{"high_idx":5,"image_name":"000000214.png","low_idx":26},{"high_idx":5,"image_name":"000000215.png","low_idx":26},{"high_idx":5,"image_name":"000000216.png","low_idx":26},{"high_idx":5,"image_name":"000000217.png","low_idx":26},{"high_idx":5,"image_name":"000000218.png","low_idx":26},{"high_idx":5,"image_name":"000000219.png","low_idx":26},{"high_idx":5,"image_name":"000000220.png","low_idx":26},{"high_idx":5,"image_name":"000000221.png","low_idx":26},{"high_idx":5,"image_name":"000000222.png","low_idx":26},{"high_idx":6,"image_name":"000000223.png","low_idx":27},{"high_idx":6,"image_name":"000000224.png","low_idx":27},{"high_idx":6,"image_name":"000000225.png","low_idx":27},{"high_idx":6,"image_name":"000000226.png","low_idx":27},{"high_idx":6,"image_name":"000000227.png","low_idx":27},{"high_idx":6,"image_name":"000000228.png","low_idx":27},{"high_idx":6,"image_name":"000000229.png","low_idx":27},{"high_idx":6,"image_name":"000000230.png","low_idx":27},{"high_idx":6,"image_name":"000000231.png","low_idx":27},{"high_idx":6,"image_name":"000000232.png","low_idx":27},{"high_idx":6,"image_name":"000000233.png","low_idx":27},{"high_idx":6,"image_name":"000000234.png","low_idx":28},{"high_idx":6,"image_name":"000000235.png","low_idx":28},{"high_idx":6,"image_name":"000000236.png","low_idx":28},{"high_idx":6,"image_name":"000000237.png","low_idx":28},{"high_idx":6,"image_name":"000000238.png","low_idx":28},{"high_idx":6,"image_name":"000000239.png","low_idx":28},{"high_idx":6,"image_name":"000000240.png","low_idx":28},{"high_idx":6,"image_name":"000000241.png","low_idx":28},{"high_idx":6,"image_name":"000000242.png","low_idx":28},{"high_idx":6,"image_name":"000000243.png","low_idx":28},{"high_idx":6,"image_name":"000000244.png","low_idx":28},{"high_idx":6,"image_name":"000000245.png","low_idx":29},{"high_idx":6,"image_name":"000000246.png","low_idx":29},{"high_idx":6,"image_name":"000000247.png","low_idx":30},{"high_idx":6,"image_name":"000000248.png","low_idx":30},{"high_idx":6,"image_name":"000000249.png","low_idx":30},{"high_idx":6,"image_name":"000000250.png","low_idx":30},{"high_idx":6,"image_name":"000000251.png","low_idx":30},{"high_idx":6,"image_name":"000000252.png","low_idx":30},{"high_idx":6,"image_name":"000000253.png","low_idx":30},{"high_idx":6,"image_name":"000000254.png","low_idx":30},{"high_idx":6,"image_name":"000000255.png","low_idx":30},{"high_idx":6,"image_name":"000000256.png","low_idx":30},{"high_idx":6,"image_name":"000000257.png","low_idx":30},{"high_idx":6,"image_name":"000000258.png","low_idx":31},{"high_idx":6,"image_name":"000000259.png","low_idx":31},{"high_idx":6,"image_name":"000000260.png","low_idx":32},{"high_idx":6,"image_name":"000000261.png","low_idx":32},{"high_idx":6,"image_name":"000000262.png","low_idx":33},{"high_idx":6,"image_name":"000000263.png","low_idx":33},{"high_idx":6,"image_name":"000000264.png","low_idx":33},{"high_idx":6,"image_name":"000000265.png","low_idx":33},{"high_idx":6,"image_name":"000000266.png","low_idx":33},{"high_idx":6,"image_name":"000000267.png","low_idx":33},{"high_idx":6,"image_name":"000000268.png","low_idx":33},{"high_idx":6,"image_name":"000000269.png","low_idx":33},{"high_idx":6,"image_name":"000000270.png","low_idx":33},{"high_idx":6,"image_name":"000000271.png","low_idx":33},{"high_idx":6,"image_name":"000000272.png","low_idx":33},{"high_idx":6,"image_name":"000000273.png","low_idx":34},{"high_idx":6,"image_name":"000000274.png","low_idx":34},{"high_idx":6,"image_name":"000000275.png","low_idx":35},{"high_idx":6,"image_name":"000000276.png","low_idx":35},{"high_idx":6,"image_name":"000000277.png","low_idx":35},{"high_idx":6,"image_name":"000000278.png","low_idx":35},{"high_idx":6,"image_name":"000000279.png","low_idx":35},{"high_idx":6,"image_name":"000000280.png","low_idx":35},{"high_idx":6,"image_name":"000000281.png","low_idx":35},{"high_idx":6,"image_name":"000000282.png","low_idx":35},{"high_idx":6,"image_name":"000000283.png","low_idx":35},{"high_idx":6,"image_name":"000000284.png","low_idx":35},{"high_idx":6,"image_name":"000000285.png","low_idx":35},{"high_idx":6,"image_name":"000000286.png","low_idx":36},{"high_idx":6,"image_name":"000000287.png","low_idx":36},{"high_idx":6,"image_name":"000000288.png","low_idx":36},{"high_idx":6,"image_name":"000000289.png","low_idx":36},{"high_idx":6,"image_name":"000000290.png","low_idx":36},{"high_idx":6,"image_name":"000000291.png","low_idx":36},{"high_idx":6,"image_name":"000000292.png","low_idx":36},{"high_idx":6,"image_name":"000000293.png","low_idx":36},{"high_idx":6,"image_name":"000000294.png","low_idx":36},{"high_idx":6,"image_name":"000000295.png","low_idx":36},{"high_idx":6,"image_name":"000000296.png","low_idx":36},{"high_idx":7,"image_name":"000000297.png","low_idx":37},{"high_idx":7,"image_name":"000000298.png","low_idx":37},{"high_idx":7,"image_name":"000000299.png","low_idx":37},{"high_idx":7,"image_name":"000000300.png","low_idx":37},{"high_idx":7,"image_name":"000000301.png","low_idx":38},{"high_idx":7,"image_name":"000000302.png","low_idx":38},{"high_idx":7,"image_name":"000000303.png","low_idx":38},{"high_idx":7,"image_name":"000000304.png","low_idx":38},{"high_idx":7,"image_name":"000000305.png","low_idx":38},{"high_idx":7,"image_name":"000000306.png","low_idx":38},{"high_idx":7,"image_name":"000000307.png","low_idx":38},{"high_idx":7,"image_name":"000000308.png","low_idx":38},{"high_idx":7,"image_name":"000000309.png","low_idx":38},{"high_idx":7,"image_name":"000000310.png","low_idx":38},{"high_idx":7,"image_name":"000000311.png","low_idx":38},{"high_idx":7,"image_name":"000000312.png","low_idx":38},{"high_idx":7,"image_name":"000000313.png","low_idx":38},{"high_idx":7,"image_name":"000000314.png","low_idx":38},{"high_idx":7,"image_name":"000000315.png","low_idx":38},{"high_idx":7,"image_name":"000000316.png","low_idx":39},{"high_idx":7,"image_name":"000000317.png","low_idx":39},{"high_idx":7,"image_name":"000000318.png","low_idx":39},{"high_idx":7,"image_name":"000000319.png","low_idx":39}],"num":{"action_high":[{"action":3,"action_high_args":[32],"high_idx":0},{"action":5,"action_high_args":[74],"high_idx":1},{"action":3,"action_high_args":[36],"high_idx":2},{"action":10,"action_high_args":[74,36],"high_idx":3},{"action":3,"action_high_args":[32],"high_idx":4},{"action":5,"action_high_args":[74],"high_idx":5},{"action":3,"action_high_args":[36],"high_idx":6},{"action":10,"action_high_args":[74,36],"high_idx":7},{"action":12,"action_high_args":[],"high_idx":8}],"action_low":[[{"action":3,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":8,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0}],[{"action":6,"action_high_args":{"bbox":[125,157,150,170],"mask":[[46934,9],[47231,15],[47529,19],[47827,22],[48126,24],[48426,24],[48725,11],[48740,11],[49025,11],[49039,12],[49325,25],[49625,25],[49926,23],[50227,21],[50529,17],[50831,12]],"point":[137,161]},"centroid":[0.4583333333333333,0.545],"high_idx":1,"mask":[[46934,9],[47231,15],[47529,19],[47827,22],[48126,24],[48426,24],[48725,11],[48740,11],[49025,11],[49039,12],[49325,25],[49625,25],[49926,23],[50227,21],[50529,17],[50831,12]],"valid_interact":1}],[{"action":3,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":5,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":5,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":3,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0}],[{"action":10,"action_high_args":{"bbox":[156,120,285,148],"mask":[[35858,128],[36158,128],[36458,127],[36757,128],[37057,127],[37357,126],[37657,125],[37957,124],[38257,124],[38557,123],[38857,122],[39157,121],[39457,121],[39757,120],[40057,119],[40357,118],[40657,118],[40957,117],[41257,116],[41557,115],[41857,115],[42157,114],[42457,113],[42757,112],[43057,112],[43357,111],[43657,110],[43956,110],[44256,110]],"point":[220,133]},"centroid":[0.735,0.44666666666666666],"high_idx":3,"mask":[[35858,128],[36158,128],[36458,127],[36757,128],[37057,127],[37357,126],[37657,125],[37957,124],[38257,124],[38557,123],[38857,122],[39157,121],[39457,121],[39757,120],[40057,119],[40357,118],[40657,118],[40957,117],[41257,116],[41557,115],[41857,115],[42157,114],[42457,113],[42757,112],[43057,112],[43357,111],[43657,110],[43956,110],[44256,110]],"valid_interact":1},{"action":11,"action_high_args":{"bbox":[157,120,299,198],"mask":[[35859,124],[36159,124],[36459,125],[36759,125],[37059,125],[37359,126],[37659,126],[37959,126],[38259,127],[38559,127],[38859,127],[39158,128],[39458,129],[39758,129],[40058,129],[40358,130],[40658,130],[40958,130],[41258,131],[41558,131],[41858,131],[42158,132],[42458,132],[42758,132],[43058,133],[43358,133],[43658,27],[43690,101],[43958,27],[43990,102],[44258,27],[44290,102],[44558,27],[44590,102],[44858,27],[44890,102],[45158,27],[45190,103],[45458,27],[45490,103],[45758,28],[45790,103],[46058,28],[46089,105],[46358,28],[46389,105],[46658,28],[46690,104],[46958,28],[46991,104],[47258,29],[47290,105],[47558,31],[47590,105],[47858,28],[47887,2],[47890,106],[48158,28],[48187,2],[48191,105],[48458,138],[48758,27],[48786,111],[49058,139],[49358,139],[49658,140],[49958,140],[50258,140],[50558,140],[50858,141],[51158,141],[51458,141],[51758,142],[52058,142],[52358,142],[52658,142],[52959,141],[53258,142],[53558,142],[53858,142],[54158,142],[54458,141],[54758,140],[55058,138],[55358,137],[55658,136],[55958,135],[56258,133],[56558,132],[56858,131],[57158,130],[57458,128],[57757,128],[58057,127],[58357,126],[58657,124],[58957,123],[59257,122]],"point":[228,158]},"centroid":[0.76,0.53],"high_idx":3,"mask":[[35859,124],[36159,124],[36459,125],[36759,125],[37059,125],[37359,126],[37659,126],[37959,126],[38259,127],[38559,127],[38859,127],[39158,128],[39458,129],[39758,129],[40058,129],[40358,130],[40658,130],[40958,130],[41258,131],[41558,131],[41858,131],[42158,132],[42458,132],[42758,132],[43058,133],[43358,133],[43658,27],[43690,101],[43958,27],[43990,102],[44258,27],[44290,102],[44558,27],[44590,102],[44858,27],[44890,102],[45158,27],[45190,103],[45458,27],[45490,103],[45758,28],[45790,103],[46058,28],[46089,105],[46358,28],[46389,105],[46658,28],[46690,104],[46958,28],[46991,104],[47258,29],[47290,105],[47558,31],[47590,105],[47858,28],[47887,2],[47890,106],[48158,28],[48187,2],[48191,105],[48458,138],[48758,27],[48786,111],[49058,139],[49358,139],[49658,140],[49958,140],[50258,140],[50558,140],[50858,141],[51158,141],[51458,141],[51758,142],[52058,142],[52358,142],[52658,142],[52959,141],[53258,142],[53558,142],[53858,142],[54158,142],[54458,141],[54758,140],[55058,138],[55358,137],[55658,136],[55958,135],[56258,133],[56558,132],[56858,131],[57158,130],[57458,128],[57757,128],[58057,127],[58357,126],[58657,124],[58957,123],[59257,122]],"valid_interact":1},{"action":12,"action_high_args":{"bbox":[157,120,299,198],"mask":[[35859,124],[36159,124],[36459,125],[36759,125],[37059,125],[37359,126],[37659,126],[37959,126],[38259,127],[38559,127],[38859,127],[39158,128],[39458,129],[39758,129],[40058,129],[40358,130],[40658,130],[40958,130],[41258,131],[41558,131],[41858,131],[42158,132],[42458,132],[42758,132],[43058,133],[43358,133],[43658,27],[43690,101],[43958,27],[43990,102],[44258,27],[44290,102],[44558,27],[44590,102],[44858,27],[44890,102],[45158,27],[45190,103],[45458,27],[45490,103],[45758,28],[45790,103],[46058,28],[46089,105],[46358,28],[46389,105],[46658,28],[46690,104],[46958,28],[46991,104],[47258,29],[47290,105],[47558,31],[47590,105],[47858,28],[47887,2],[47890,106],[48158,28],[48187,2],[48191,105],[48458,138],[48758,27],[48786,111],[49058,139],[49358,139],[49658,140],[49958,140],[50258,140],[50558,140],[50858,141],[51158,141],[51458,12],[51478,121],[51758,11],[51780,120],[52058,10],[52081,119],[52358,142],[52658,142],[52959,141],[53258,142],[53558,142],[53858,142],[54158,142],[54458,141],[54758,140],[55058,138],[55358,137],[55658,136],[55958,135],[56258,133],[56558,132],[56858,131],[57158,130],[57458,128],[57757,128],[58057,127],[58357,126],[58657,124],[58957,123],[59257,122]],"point":[228,158]},"centroid":[0.76,0.53],"high_idx":3,"mask":[[35859,124],[36159,124],[36459,125],[36759,125],[37059,125],[37359,126],[37659,126],[37959,126],[38259,127],[38559,127],[38859,127],[39158,128],[39458,129],[39758,129],[40058,129],[40358,130],[40658,130],[40958,130],[41258,131],[41558,131],[41858,131],[42158,132],[42458,132],[42758,132],[43058,133],[43358,133],[43658,27],[43690,101],[43958,27],[43990,102],[44258,27],[44290,102],[44558,27],[44590,102],[44858,27],[44890,102],[45158,27],[45190,103],[45458,27],[45490,103],[45758,28],[45790,103],[46058,28],[46089,105],[46358,28],[46389,105],[46658,28],[46690,104],[46958,28],[46991,104],[47258,29],[47290,105],[47558,31],[47590,105],[47858,28],[47887,2],[47890,106],[48158,28],[48187,2],[48191,105],[48458,138],[48758,27],[48786,111],[49058,139],[49358,139],[49658,140],[49958,140],[50258,140],[50558,140],[50858,141],[51158,141],[51458,12],[51478,121],[51758,11],[51780,120],[52058,10],[52081,119],[52358,142],[52658,142],[52959,141],[53258,142],[53558,142],[53858,142],[54158,142],[54458,141],[54758,140],[55058,138],[55358,137],[55658,136],[55958,135],[56258,133],[56558,132],[56858,131],[57158,130],[57458,128],[57757,128],[58057,127],[58357,126],[58657,124],[58957,123],[59257,122]],"valid_interact":1}],[{"action":8,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0},{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0},{"action":5,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0},{"action":3,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0}],[{"action":6,"action_high_args":{"bbox":[96,106,134,136],"mask":[[31610,13],[31908,18],[32206,21],[32504,25],[32802,28],[33101,30],[33400,32],[33699,34],[33999,34],[34298,36],[34598,36],[34897,37],[35197,18],[35217,18],[35496,17],[35518,17],[35796,17],[35819,16],[36096,17],[36118,17],[36396,17],[36418,17],[36696,38],[36997,37],[37297,37],[37597,36],[37897,36],[38198,34],[38499,32],[38799,31],[39100,29],[39401,27],[39703,23],[40004,20],[40306,17],[40611,7]],"point":[115,122]},"centroid":[0.38333333333333336,0.4033333333333333],"high_idx":5,"mask":[[31610,13],[31908,18],[32206,21],[32504,25],[32802,28],[33101,30],[33400,32],[33699,34],[33999,34],[34298,36],[34598,36],[34897,37],[35197,18],[35217,18],[35496,17],[35518,17],[35796,17],[35819,16],[36096,17],[36118,17],[36396,17],[36418,17],[36696,38],[36997,37],[37297,37],[37597,36],[37897,36],[38198,34],[38499,32],[38799,31],[39100,29],[39401,27],[39703,23],[40004,20],[40306,17],[40611,7]],"valid_interact":1}],[{"action":8,"action_high_args":{},"centroid":[-1,-1],"high_idx":6,"mask":null,"valid_interact":0},{"action":5,"action_high_args":{},"centroid":[-1,-1],"high_idx":6,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":6,"mask":null,"valid_interact":0},{"action":5,"action_high_args":{},"centroid":[-1,-1],"high_idx":6,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":6,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":6,"mask":null,"valid_interact":0},{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":6,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":6,"mask":null,"valid_interact":0},{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":6,"mask":null,"valid_interact":0},{"action":3,"action_high_args":{},"centroid":[-1,-1],"high_idx":6,"mask":null,"valid_interact":0}],[{"action":10,"action_high_args":{"bbox":[156,120,285,148],"mask":[[35858,128],[36158,128],[36458,127],[36757,128],[37057,127],[37357,126],[37657,125],[37957,124],[38257,124],[38557,123],[38857,122],[39157,121],[39457,121],[39757,120],[40057,119],[40357,118],[40657,118],[40957,117],[41257,116],[41557,115],[41857,115],[42157,114],[42457,113],[42757,112],[43057,112],[43357,111],[43657,110],[43956,110],[44256,110]],"point":[220,133]},"centroid":[0.735,0.44666666666666666],"high_idx":7,"mask":[[35858,128],[36158,128],[36458,127],[36757,128],[37057,127],[37357,126],[37657,125],[37957,124],[38257,124],[38557,123],[38857,122],[39157,121],[39457,121],[39757,120],[40057,119],[40357,118],[40657,118],[40957,117],[41257,116],[41557,115],[41857,115],[42157,114],[42457,113],[42757,112],[43057,112],[43357,111],[43657,110],[43956,110],[44256,110]],"valid_interact":1},{"action":11,"action_high_args":{"bbox":[157,120,299,198],"mask":[[35859,124],[36159,124],[36459,125],[36759,125],[37059,125],[37359,126],[37659,126],[37959,126],[38259,127],[38559,127],[38859,127],[39158,128],[39458,129],[39758,129],[40058,129],[40358,130],[40658,130],[40958,130],[41258,131],[41558,131],[41858,131],[42158,132],[42458,132],[42758,132],[43058,133],[43358,133],[43658,27],[43689,102],[43958,27],[43990,102],[44258,27],[44290,102],[44558,27],[44590,102],[44858,27],[44890,102],[45158,27],[45190,103],[45458,27],[45490,103],[45758,27],[45790,103],[46058,28],[46089,105],[46358,28],[46389,105],[46658,28],[46690,104],[46958,28],[46991,104],[47258,29],[47290,105],[47558,28],[47587,2],[47590,105],[47858,28],[47887,2],[47890,106],[48158,28],[48187,2],[48191,105],[48458,138],[48758,27],[48786,111],[49058,139],[49358,139],[49658,140],[49958,140],[50258,140],[50558,140],[50858,141],[51158,141],[51458,12],[51478,121],[51758,11],[51780,120],[52058,10],[52081,119],[52358,142],[52658,142],[52959,141],[53258,142],[53558,142],[53858,142],[54158,142],[54458,141],[54758,140],[55058,138],[55358,137],[55658,136],[55958,135],[56258,133],[56558,132],[56858,131],[57158,130],[57458,128],[57757,128],[58057,127],[58357,126],[58657,124],[58957,123],[59257,122]],"point":[228,158]},"centroid":[0.76,0.53],"high_idx":7,"mask":[[35859,124],[36159,124],[36459,125],[36759,125],[37059,125],[37359,126],[37659,126],[37959,126],[38259,127],[38559,127],[38859,127],[39158,128],[39458,129],[39758,129],[40058,129],[40358,130],[40658,130],[40958,130],[41258,131],[41558,131],[41858,131],[42158,132],[42458,132],[42758,132],[43058,133],[43358,133],[43658,27],[43689,102],[43958,27],[43990,102],[44258,27],[44290,102],[44558,27],[44590,102],[44858,27],[44890,102],[45158,27],[45190,103],[45458,27],[45490,103],[45758,27],[45790,103],[46058,28],[46089,105],[46358,28],[46389,105],[46658,28],[46690,104],[46958,28],[46991,104],[47258,29],[47290,105],[47558,28],[47587,2],[47590,105],[47858,28],[47887,2],[47890,106],[48158,28],[48187,2],[48191,105],[48458,138],[48758,27],[48786,111],[49058,139],[49358,139],[49658,140],[49958,140],[50258,140],[50558,140],[50858,141],[51158,141],[51458,12],[51478,121],[51758,11],[51780,120],[52058,10],[52081,119],[52358,142],[52658,142],[52959,141],[53258,142],[53558,142],[53858,142],[54158,142],[54458,141],[54758,140],[55058,138],[55358,137],[55658,136],[55958,135],[56258,133],[56558,132],[56858,131],[57158,130],[57458,128],[57757,128],[58057,127],[58357,126],[58657,124],[58957,123],[59257,122]],"valid_interact":1},{"action":12,"action_high_args":{"bbox":[157,120,299,198],"mask":[[35859,124],[36159,124],[36459,125],[36759,125],[37059,125],[37359,126],[37659,126],[37959,126],[38259,127],[38559,127],[38859,127],[39158,128],[39458,129],[39758,129],[40058,129],[40358,130],[40658,130],[40958,130],[41258,131],[41558,131],[41858,131],[42158,132],[42458,132],[42758,132],[43058,133],[43358,133],[43658,27],[43689,102],[43958,27],[43990,102],[44258,27],[44290,102],[44558,27],[44590,102],[44858,27],[44890,102],[45158,27],[45190,103],[45458,27],[45490,103],[45758,12],[45776,9],[45790,103],[46058,10],[46078,8],[46089,105],[46358,9],[46380,6],[46389,105],[46658,8],[46680,6],[46690,104],[46958,7],[46981,5],[46991,104],[47258,7],[47282,5],[47290,105],[47558,7],[47573,1],[47582,4],[47587,2],[47590,105],[47858,7],[47872,3],[47882,4],[47887,2],[47890,106],[48158,7],[48173,1],[48182,4],[48187,2],[48191,105],[48458,7],[48482,114],[48758,8],[48782,3],[48786,111],[49058,8],[49081,116],[49358,9],[49380,117],[49658,10],[49679,119],[49958,12],[49978,120],[50258,140],[50558,140],[50858,141],[51158,141],[51458,12],[51478,121],[51758,11],[51780,120],[52058,10],[52081,119],[52358,142],[52658,142],[52959,141],[53258,142],[53558,142],[53858,142],[54158,142],[54458,141],[54758,140],[55058,138],[55358,137],[55658,136],[55958,135],[56258,133],[56558,132],[56858,131],[57158,130],[57458,128],[57757,128],[58057,127],[58357,126],[58657,124],[58957,123],[59257,122]],"point":[228,158]},"centroid":[0.76,0.53],"high_idx":7,"mask":[[35859,124],[36159,124],[36459,125],[36759,125],[37059,125],[37359,126],[37659,126],[37959,126],[38259,127],[38559,127],[38859,127],[39158,128],[39458,129],[39758,129],[40058,129],[40358,130],[40658,130],[40958,130],[41258,131],[41558,131],[41858,131],[42158,132],[42458,132],[42758,132],[43058,133],[43358,133],[43658,27],[43689,102],[43958,27],[43990,102],[44258,27],[44290,102],[44558,27],[44590,102],[44858,27],[44890,102],[45158,27],[45190,103],[45458,27],[45490,103],[45758,12],[45776,9],[45790,103],[46058,10],[46078,8],[46089,105],[46358,9],[46380,6],[46389,105],[46658,8],[46680,6],[46690,104],[46958,7],[46981,5],[46991,104],[47258,7],[47282,5],[47290,105],[47558,7],[47573,1],[47582,4],[47587,2],[47590,105],[47858,7],[47872,3],[47882,4],[47887,2],[47890,106],[48158,7],[48173,1],[48182,4],[48187,2],[48191,105],[48458,7],[48482,114],[48758,8],[48782,3],[48786,111],[49058,8],[49081,116],[49358,9],[49380,117],[49658,10],[49679,119],[49958,12],[49978,120],[50258,140],[50558,140],[50858,141],[51158,141],[51458,12],[51478,121],[51758,11],[51780,120],[52058,10],[52081,119],[52358,142],[52658,142],[52959,141],[53258,142],[53558,142],[53858,142],[54158,142],[54458,141],[54758,140],[55058,138],[55358,137],[55658,136],[55958,135],[56258,133],[56558,132],[56858,131],[57158,130],[57458,128],[57757,128],[58057,127],[58357,126],[58657,124],[58957,123],[59257,122]],"valid_interact":1}],[{"action":2,"action_high_args":{},"centroid":[-1,-1],"high_idx":8,"mask":null,"valid_interact":0}]],"lang_goal":[17,105,106,18,4,254,298,21,4,113,16,2],"lang_instr":[[24,25,26,39,4,113,32,203,16],[22,23,4,109,79,80,81,411,18,4,19,21,4,58,381,16],[17,29,35,201,51,4,109,9,229,203,690,999,503,18,82,35,113,298,16],[82,4,254,298,26,10,4,109,11,4,40,19,121,9,26,37,84,4,298,16],[201,29,537,18,4,113,43,16],[22,23,4,273,109,6,4,113,16],[17,29,526,43,312,6,4,113,9,229,203,690,165,18,82,35,298,16],[82,4,254,113,298,26,10,4,109,68,32,4,70,203,636,14,278,16],[34]],"low_to_high_idx":[0,0,0,0,0,1,2,2,2,2,2,2,2,2,2,3,3,3,4,4,4,4,4,4,4,4,5,6,6,6,6,6,6,6,6,6,6,7,7,7,8]},"pddl_params":{"mrecep_target":"","object_sliced":false,"object_target":"CD","parent_target":"Drawer","toggle_target":""},"plan":{"high_pddl":[{"discrete_action":{"action":"GotoLocation","args":["desk"]},"high_idx":0,"planner_action":{"action":"GotoLocation","location":"loc|-5|-3|2|30"}},{"discrete_action":{"action":"PickupObject","args":["cd"]},"high_idx":1,"planner_action":{"action":"PickupObject","coordinateObjectId":["CD",[-4.79238464,-4.79238464,-6.74978256,-6.74978256,3.9244268,3.9244268]],"coordinateReceptacleObjectId":["Desk",[-3.504,-3.504,-5.644,-5.644,0.0,0.0]],"forceVisible":true,"objectId":"CD|-01.20|+00.98|-01.69"}},{"discrete_action":{"action":"GotoLocation","args":["drawer"]},"high_idx":2,"planner_action":{"action":"GotoLocation","location":"loc|-4|-1|2|60"}},{"discrete_action":{"action":"PutObject","args":["cd","drawer"]},"high_idx":3,"planner_action":{"action":"PutObject","coordinateObjectId":["CD",[-4.79238464,-4.79238464,-6.74978256,-6.74978256,3.9244268,3.9244268]],"coordinateReceptacleObjectId":["Drawer",[-5.653528,-5.653528,-5.3524,-5.3524,0.8668,0.8668]],"forceVisible":true,"objectId":"CD|-01.20|+00.98|-01.69","receptacleObjectId":"Drawer|-01.41|+00.22|-01.34"}},{"discrete_action":{"action":"GotoLocation","args":["desk"]},"high_idx":4,"planner_action":{"action":"GotoLocation","location":"loc|-6|-3|2|60"}},{"discrete_action":{"action":"PickupObject","args":["cd"]},"high_idx":5,"planner_action":{"action":"PickupObject","coordinateObjectId":["CD",[-5.60295248,-5.60295248,-4.80028676,-4.80028676,3.928021432,3.928021432]],"coordinateReceptacleObjectId":["Desk",[-3.504,-3.504,-5.644,-5.644,0.0,0.0]],"forceVisible":true,"objectId":"CD|-01.40|+00.98|-01.20"}},{"discrete_action":{"action":"GotoLocation","args":["drawer"]},"high_idx":6,"planner_action":{"action":"GotoLocation","location":"loc|-4|-1|2|60"}},{"discrete_action":{"action":"PutObject","args":["cd","drawer"]},"high_idx":7,"planner_action":{"action":"PutObject","coordinateObjectId":["CD",[-5.60295248,-5.60295248,-4.80028676,-4.80028676,3.928021432,3.928021432]],"coordinateReceptacleObjectId":["Drawer",[-5.653528,-5.653528,-5.3524,-5.3524,0.8668,0.8668]],"forceVisible":true,"objectId":"CD|-01.40|+00.98|-01.20","receptacleObjectId":"Drawer|-01.41|+00.22|-01.34"}},{"discrete_action":{"action":"NoOp","args":[]},"high_idx":8,"planner_action":{"action":"End","value":1}}],"low_actions":[{"api_action":{"action":"LookDown","forceAction":true},"discrete_action":{"action":"LookDown_15","args":{}},"high_idx":0},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":0},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"LookUp","forceAction":true},"discrete_action":{"action":"LookUp_15","args":{}},"high_idx":0},{"api_action":{"action":"PickupObject","objectId":"CD|-01.20|+00.98|-01.69"},"discrete_action":{"action":"PickupObject","args":{"bbox":[125,157,150,170],"mask":[[46934,9],[47231,15],[47529,19],[47827,22],[48126,24],[48426,24],[48725,11],[48740,11],[49025,11],[49039,12],[49325,25],[49625,25],[49926,23],[50227,21],[50529,17],[50831,12]],"point":[137,161]}},"high_idx":1},{"api_action":{"action":"LookDown","forceAction":true},"discrete_action":{"action":"LookDown_15","args":{}},"high_idx":2},{"api_action":{"action":"RotateLeft","forceAction":true},"discrete_action":{"action":"RotateLeft_90","args":{}},"high_idx":2},{"api_action":{"action":"RotateLeft","forceAction":true},"discrete_action":{"action":"RotateLeft_90","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":2},{"api_action":{"action":"LookDown","forceAction":true},"discrete_action":{"action":"LookDown_15","args":{}},"high_idx":2},{"api_action":{"action":"OpenObject","objectId":"Drawer|-01.41|+00.22|-01.34"},"discrete_action":{"action":"OpenObject","args":{"bbox":[156,120,285,148],"mask":[[35858,128],[36158,128],[36458,127],[36757,128],[37057,127],[37357,126],[37657,125],[37957,124],[38257,124],[38557,123],[38857,122],[39157,121],[39457,121],[39757,120],[40057,119],[40357,118],[40657,118],[40957,117],[41257,116],[41557,115],[41857,115],[42157,114],[42457,113],[42757,112],[43057,112],[43357,111],[43657,110],[43956,110],[44256,110]],"point":[220,133]}},"high_idx":3},{"api_action":{"action":"PutObject","forceAction":true,"objectId":"CD|-01.20|+00.98|-01.69","placeStationary":true,"receptacleObjectId":"Drawer|-01.41|+00.22|-01.34"},"discrete_action":{"action":"PutObject","args":{"bbox":[157,120,299,198],"mask":[[35859,124],[36159,124],[36459,125],[36759,125],[37059,125],[37359,126],[37659,126],[37959,126],[38259,127],[38559,127],[38859,127],[39158,128],[39458,129],[39758,129],[40058,129],[40358,130],[40658,130],[40958,130],[41258,131],[41558,131],[41858,131],[42158,132],[42458,132],[42758,132],[43058,133],[43358,133],[43658,27],[43690,101],[43958,27],[43990,102],[44258,27],[44290,102],[44558,27],[44590,102],[44858,27],[44890,102],[45158,27],[45190,103],[45458,27],[45490,103],[45758,28],[45790,103],[46058,28],[46089,105],[46358,28],[46389,105],[46658,28],[46690,104],[46958,28],[46991,104],[47258,29],[47290,105],[47558,31],[47590,105],[47858,28],[47887,2],[47890,106],[48158,28],[48187,2],[48191,105],[48458,138],[48758,27],[48786,111],[49058,139],[49358,139],[49658,140],[49958,140],[50258,140],[50558,140],[50858,141],[51158,141],[51458,141],[51758,142],[52058,142],[52358,142],[52658,142],[52959,141],[53258,142],[53558,142],[53858,142],[54158,142],[54458,141],[54758,140],[55058,138],[55358,137],[55658,136],[55958,135],[56258,133],[56558,132],[56858,131],[57158,130],[57458,128],[57757,128],[58057,127],[58357,126],[58657,124],[58957,123],[59257,122]],"point":[228,158]}},"high_idx":3},{"api_action":{"action":"CloseObject","objectId":"Drawer|-01.41|+00.22|-01.34"},"discrete_action":{"action":"CloseObject","args":{"bbox":[157,120,299,198],"mask":[[35859,124],[36159,124],[36459,125],[36759,125],[37059,125],[37359,126],[37659,126],[37959,126],[38259,127],[38559,127],[38859,127],[39158,128],[39458,129],[39758,129],[40058,129],[40358,130],[40658,130],[40958,130],[41258,131],[41558,131],[41858,131],[42158,132],[42458,132],[42758,132],[43058,133],[43358,133],[43658,27],[43690,101],[43958,27],[43990,102],[44258,27],[44290,102],[44558,27],[44590,102],[44858,27],[44890,102],[45158,27],[45190,103],[45458,27],[45490,103],[45758,28],[45790,103],[46058,28],[46089,105],[46358,28],[46389,105],[46658,28],[46690,104],[46958,28],[46991,104],[47258,29],[47290,105],[47558,31],[47590,105],[47858,28],[47887,2],[47890,106],[48158,28],[48187,2],[48191,105],[48458,138],[48758,27],[48786,111],[49058,139],[49358,139],[49658,140],[49958,140],[50258,140],[50558,140],[50858,141],[51158,141],[51458,12],[51478,121],[51758,11],[51780,120],[52058,10],[52081,119],[52358,142],[52658,142],[52959,141],[53258,142],[53558,142],[53858,142],[54158,142],[54458,141],[54758,140],[55058,138],[55358,137],[55658,136],[55958,135],[56258,133],[56558,132],[56858,131],[57158,130],[57458,128],[57757,128],[58057,127],[58357,126],[58657,124],[58957,123],[59257,122]],"point":[228,158]}},"high_idx":3},{"api_action":{"action":"LookUp","forceAction":true},"discrete_action":{"action":"LookUp_15","args":{}},"high_idx":4},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":4},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":4},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":4},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":4},{"api_action":{"action":"RotateLeft","forceAction":true},"discrete_action":{"action":"RotateLeft_90","args":{}},"high_idx":4},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":4},{"api_action":{"action":"LookDown","forceAction":true},"discrete_action":{"action":"LookDown_15","args":{}},"high_idx":4},{"api_action":{"action":"PickupObject","objectId":"CD|-01.40|+00.98|-01.20"},"discrete_action":{"action":"PickupObject","args":{"bbox":[96,106,134,136],"mask":[[31610,13],[31908,18],[32206,21],[32504,25],[32802,28],[33101,30],[33400,32],[33699,34],[33999,34],[34298,36],[34598,36],[34897,37],[35197,18],[35217,18],[35496,17],[35518,17],[35796,17],[35819,16],[36096,17],[36118,17],[36396,17],[36418,17],[36696,38],[36997,37],[37297,37],[37597,36],[37897,36],[38198,34],[38499,32],[38799,31],[39100,29],[39401,27],[39703,23],[40004,20],[40306,17],[40611,7]],"point":[115,122]}},"high_idx":5},{"api_action":{"action":"LookUp","forceAction":true},"discrete_action":{"action":"LookUp_15","args":{}},"high_idx":6},{"api_action":{"action":"RotateLeft","forceAction":true},"discrete_action":{"action":"RotateLeft_90","args":{}},"high_idx":6},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":6},{"api_action":{"action":"RotateLeft","forceAction":true},"discrete_action":{"action":"RotateLeft_90","args":{}},"high_idx":6},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":6},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":6},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":6},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":6},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":6},{"api_action":{"action":"LookDown","forceAction":true},"discrete_action":{"action":"LookDown_15","args":{}},"high_idx":6},{"api_action":{"action":"OpenObject","objectId":"Drawer|-01.41|+00.22|-01.34"},"discrete_action":{"action":"OpenObject","args":{"bbox":[156,120,285,148],"mask":[[35858,128],[36158,128],[36458,127],[36757,128],[37057,127],[37357,126],[37657,125],[37957,124],[38257,124],[38557,123],[38857,122],[39157,121],[39457,121],[39757,120],[40057,119],[40357,118],[40657,118],[40957,117],[41257,116],[41557,115],[41857,115],[42157,114],[42457,113],[42757,112],[43057,112],[43357,111],[43657,110],[43956,110],[44256,110]],"point":[220,133]}},"high_idx":7},{"api_action":{"action":"PutObject","forceAction":true,"objectId":"CD|-01.40|+00.98|-01.20","placeStationary":true,"receptacleObjectId":"Drawer|-01.41|+00.22|-01.34"},"discrete_action":{"action":"PutObject","args":{"bbox":[157,120,299,198],"mask":[[35859,124],[36159,124],[36459,125],[36759,125],[37059,125],[37359,126],[37659,126],[37959,126],[38259,127],[38559,127],[38859,127],[39158,128],[39458,129],[39758,129],[40058,129],[40358,130],[40658,130],[40958,130],[41258,131],[41558,131],[41858,131],[42158,132],[42458,132],[42758,132],[43058,133],[43358,133],[43658,27],[43689,102],[43958,27],[43990,102],[44258,27],[44290,102],[44558,27],[44590,102],[44858,27],[44890,102],[45158,27],[45190,103],[45458,27],[45490,103],[45758,27],[45790,103],[46058,28],[46089,105],[46358,28],[46389,105],[46658,28],[46690,104],[46958,28],[46991,104],[47258,29],[47290,105],[47558,28],[47587,2],[47590,105],[47858,28],[47887,2],[47890,106],[48158,28],[48187,2],[48191,105],[48458,138],[48758,27],[48786,111],[49058,139],[49358,139],[49658,140],[49958,140],[50258,140],[50558,140],[50858,141],[51158,141],[51458,12],[51478,121],[51758,11],[51780,120],[52058,10],[52081,119],[52358,142],[52658,142],[52959,141],[53258,142],[53558,142],[53858,142],[54158,142],[54458,141],[54758,140],[55058,138],[55358,137],[55658,136],[55958,135],[56258,133],[56558,132],[56858,131],[57158,130],[57458,128],[57757,128],[58057,127],[58357,126],[58657,124],[58957,123],[59257,122]],"point":[228,158]}},"high_idx":7},{"api_action":{"action":"CloseObject","objectId":"Drawer|-01.41|+00.22|-01.34"},"discrete_action":{"action":"CloseObject","args":{"bbox":[157,120,299,198],"mask":[[35859,124],[36159,124],[36459,125],[36759,125],[37059,125],[37359,126],[37659,126],[37959,126],[38259,127],[38559,127],[38859,127],[39158,128],[39458,129],[39758,129],[40058,129],[40358,130],[40658,130],[40958,130],[41258,131],[41558,131],[41858,131],[42158,132],[42458,132],[42758,132],[43058,133],[43358,133],[43658,27],[43689,102],[43958,27],[43990,102],[44258,27],[44290,102],[44558,27],[44590,102],[44858,27],[44890,102],[45158,27],[45190,103],[45458,27],[45490,103],[45758,12],[45776,9],[45790,103],[46058,10],[46078,8],[46089,105],[46358,9],[46380,6],[46389,105],[46658,8],[46680,6],[46690,104],[46958,7],[46981,5],[46991,104],[47258,7],[47282,5],[47290,105],[47558,7],[47573,1],[47582,4],[47587,2],[47590,105],[47858,7],[47872,3],[47882,4],[47887,2],[47890,106],[48158,7],[48173,1],[48182,4],[48187,2],[48191,105],[48458,7],[48482,114],[48758,8],[48782,3],[48786,111],[49058,8],[49081,116],[49358,9],[49380,117],[49658,10],[49679,119],[49958,12],[49978,120],[50258,140],[50558,140],[50858,141],[51158,141],[51458,12],[51478,121],[51758,11],[51780,120],[52058,10],[52081,119],[52358,142],[52658,142],[52959,141],[53258,142],[53558,142],[53858,142],[54158,142],[54458,141],[54758,140],[55058,138],[55358,137],[55658,136],[55958,135],[56258,133],[56558,132],[56858,131],[57158,130],[57458,128],[57757,128],[58057,127],[58357,126],[58657,124],[58957,123],[59257,122]],"point":[228,158]}},"high_idx":7}]},"repeat_idx":0,"root":"alfred/data/json_2.1.0/pick_two_obj_and_place-CD-None-Drawer-304/trial_T20190907_230232_832893","scene":{"dirty_and_empty":false,"floor_plan":"FloorPlan304","init_action":{"action":"TeleportFull","horizon":30,"rotateOnTeleport":true,"rotation":0,"x":-1.25,"y":0.9069997,"z":-0.5},"object_poses":[{"objectName":"Bowl_02cd1747","position":{"x":-1.19809616,"y":0.9829967,"z":-1.28130066},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"KeyChain_666099e9","position":{"x":-1.23898792,"y":0.098386474,"z":-1.48039091},"rotation":{"x":0.0,"y":90.0,"z":0.0}},{"objectName":"CD_dc6e6a5d","position":{"x":-1.19809616,"y":0.9811067,"z":-1.68744564},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"CD_dc6e6a5d","position":{"x":-1.40073812,"y":0.982005358,"z":-1.20007169},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"CellPhone_6e288678","position":{"x":-1.40073812,"y":0.9833256,"z":-1.44375873},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"CellPhone_6e288678","position":{"x":-1.6033802,"y":0.9833256,"z":-1.36252964},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Pen_c45454a8","position":{"x":-1.38216937,"y":1.54217827,"z":-1.593},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Pen_c45454a8","position":{"x":-1.413382,"y":0.4274922,"z":-1.34525383},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Book_d700f4b7","position":{"x":-1.413382,"y":0.7405708,"z":-1.39029956},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Pillow_ecb6b6d6","position":{"x":-1.02676511,"y":0.9529948,"z":1.16099143},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"AlarmClock_8fa1421f","position":{"x":-1.40073812,"y":0.982944965,"z":-1.60621667},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Book_d700f4b7","position":{"x":-1.23898792,"y":0.423097372,"z":-1.34525383},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Box_a85b8778","position":{"x":1.563,"y":0.286,"z":-1.069},"rotation":{"x":0.0,"y":347.500916,"z":0.0}},{"objectName":"BasketBall_79639fdd","position":{"x":-1.65760016,"y":0.12600024,"z":-0.09081757},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Pen_c45454a8","position":{"x":-0.5901701,"y":0.9871528,"z":-1.20007169},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Pencil_2ab1dea5","position":{"x":-0.5901701,"y":0.9857478,"z":-1.68744564},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Laptop_ec2a1448","position":{"x":-1.29933,"y":0.894005239,"z":0.5753019},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Pillow_ecb6b6d6","position":{"x":-1.16304755,"y":0.9529948,"z":2.33237052},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"KeyChain_666099e9","position":{"x":-1.413382,"y":0.0983863547,"z":-1.30020809},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Bowl_02cd1747","position":{"x":-1.18312335,"y":1.52871752,"z":-1.590147},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"CreditCard_8cd9998a","position":{"x":-1.326185,"y":0.0982353762,"z":-1.43534517},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"CellPhone_6e288678","position":{"x":-1.23898792,"y":0.740239739,"z":-1.39029956},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"CD_dc6e6a5d","position":{"x":-0.6210288,"y":1.5361321,"z":-1.593},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"AlarmClock_8fa1421f","position":{"x":-0.8113139,"y":1.5370717,"z":-1.67128921},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Mug_9c9dffb8","position":{"x":-0.387528062,"y":0.9795,"z":-1.28130066},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Statue_f17ac2ff","position":{"x":-1.50339,"y":1.528718,"z":-1.590862},"rotation":{"x":0.0,"y":0.0,"z":0.0}}],"object_toggles":[],"random_seed":2371950931,"scene_num":304},"split":"valid_seen","task_id":"trial_T20190907_230232_832893","task_type":"pick_two_obj_and_place","turk_annotations":{"anns":[{"assignment_id":"AFU00NU09CFXE_3E4GGUZ1TB8YS32U7LKJLZ5DP3T2KT","high_descs":["Turn around and face the desk behind you.","Pick up the CD that's directly to the left of the small clock.","Move back a step with the CD, so you have enough space to open a desk drawer.","Open the bottom drawer and place the CD in the front left corner, and then close the drawer.","Step back closer to the desk again.","Pick up the remaining CD from the desk.","Move back once again away from the desk, so you have room to open a drawer.","Open the bottom desk drawer and place the CD inside behind the one you previously put there."],"task_desc":"Move two CDs to the bottom drawer of the desk.","votes":[1,1,1]},{"assignment_id":"A36DK84J5YJ942_3LO69W1SU6UZR3SJR0H923CTOPBGL7","high_descs":["move to the desk at the foot of the bed","pick up a CD from the desk","move to the middle of the desk at the foot of the bed","put the CD in the bottom drawer","move to the desk at the foot of the bed","pick up a CD from the desk","move to the middle of the desk at the foot of the bed","put the CD in the bottom drawer"],"task_desc":"Put two CDs in the bottom drawer of the desk at the foot of the bed.","votes":[1,1,1]},{"assignment_id":"AUTYWXILTACCR_3KWTYT0873K1B63ZA4YIY6L4YGIL5F","high_descs":["Turn around to face the desk","Grab the cd on the back of the desk to the left of the clock.","Back up a bit from the desk and open the bottom drawer.","Place the cd in the outer left corner of the drawer.","Approach the front of the desk again.","Grab the CD nearest the edge of the desk.","Return to the bottom drawer of the desk.","Place the CD in the drawer, behind the other one."],"task_desc":"Place two CD's in a desk drawer.","votes":[1,1,0]}]}}},"observations":[],"question":{"options":[],"original":"After organizing your music collection, relocate two music discs to the bottom drawer of the desk.","text":"After organizing your music collection, relocate two music discs to the bottom drawer of the desk."},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"AI2-THOR / ALFRED","eval_set":"common_sense","instruction_override":"After organizing your music collection, relocate two music discs to the bottom drawer of the desk.","mode":"interactive","native_episode_locator":{"file":"pick_two_obj_and_place-CD-None-Drawer-304/trial_T20190907_230232_832893/pp/ann_0.json","format":"hf_file"},"observation_policy":"current RGB and upstream feedback; demonstration plans and hidden task metadata excluded from model input","repo":"EmbodiedBench/EmbodiedBench","revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","selected_index":8},"sampling":{"component_id":"2f5dbfe1fa74abcd0dd8","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":23,"stratum_pool":50},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"embodiedbench/envs/eb_alfred/data/splits/splits.json","annotation_sha256":"fe607575ef56ccd7f58bd26047b66f949d98e700ae68e59a384a74634e8267b7","host":"huggingface","license":"apache-2.0","media_policy":"upstream-reference; source media terms apply","native_episode_sha256":"4fb59eb094ab2b3dfb8e0c18a2818c734322d28390c769789000732544d2e19f","repo":"EmbodiedBench/EB-ALFRED","revision":"af55cc721725ed058830fd7a8aee66c1f69efbaa","row_sha256":"91b1da080c77bc8815fe24f13975fedbbb369338351398fbb6a1ee879a981b27","runtime_revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","sample_id":"common_sense/8","split":"common_sense","upstream_dataset":"EB-ALFRED","url":"https://huggingface.co/datasets/EmbodiedBench/EB-ALFRED"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_environment_success","original_answer":null},"task":{"category":"common_sense","role":"spatial_core","skill_tags":["common_sense","common_sense"],"stratum":"EB-ALFRED/common_sense/common_sense","subcategory":"common_sense"},"transforms":[]}
{"dataset":"EB-ALFRED","group":{"id":"AI2THOR/FloorPlan20","kind":"scene","scene":"FloorPlan20"},"id":"76157aa7671237a9afef","native_annotation":{"instruction":"Please place a rinsed slice of tomato in the microwave. It's quick and easy this way, whenever you're ready to use it.","repeat_idx":0,"task":"pick_clean_then_place_in_recep-TomatoSliced-None-Microwave-20/trial_T20190918_161337_246067","upstream_episode":{"ann":{"goal":[" place "," a "," rinsed "," slice "," of "," tomato "," in "," the "," microwave ","<<goal>>"],"instr":[[" turn "," right ",", "," head "," to "," the "," door ",", "," turn "," right ",", "," heads "," to "," the "," shelf ",", "," turn "," right ",", "," head "," to "," the "," stove ",", "," turn "," right "," to "," face "," the "," table "],[" take "," the "," tomato "," in "," front "," of "," the "," fork "],[" turn "," left ",", "," advance "," next "," to "," the "," stove "," and "," not "," next "," to "," the "," table ",", "," turn "," right ",", "," head "," to "," the "," refrigerator ",", "," turn "," left ",", "," head "," to "," sink "],[" put "," tomato "," in "," sink "," on "," right "," side "],[" take "," knife "," from "," sink "],[" use "," knife "," from "," sink "," to "," make "," a "," tomato "," slice "],[" put "," knife "," in "," sink "],[" take "," tomato "," slice "," from "," sink "],[" put "," tomato "," slice "," on "," left "," side "," of "," sink ",", "," use "," water "," from "," faucet "," to "," cover "," items "," in "," sink "," with "," water ",", "," take "," the "," tomato "," slice "," from "," the "," left "," side "," of "," the "," sink "],[" turn "," right "," to "," face "," microwave "],[" put "," tomato "," slice "," in "," microwave "],["<<stop>>"]],"repeat_idx":0},"images":[{"high_idx":0,"image_name":"000000000.png","low_idx":0},{"high_idx":0,"image_name":"000000001.png","low_idx":0},{"high_idx":0,"image_name":"000000002.png","low_idx":0},{"high_idx":0,"image_name":"000000003.png","low_idx":0},{"high_idx":0,"image_name":"000000004.png","low_idx":0},{"high_idx":0,"image_name":"000000005.png","low_idx":0},{"high_idx":0,"image_name":"000000006.png","low_idx":0},{"high_idx":0,"image_name":"000000007.png","low_idx":0},{"high_idx":0,"image_name":"000000008.png","low_idx":0},{"high_idx":0,"image_name":"000000009.png","low_idx":0},{"high_idx":0,"image_name":"000000010.png","low_idx":0},{"high_idx":0,"image_name":"000000011.png","low_idx":1},{"high_idx":0,"image_name":"000000012.png","low_idx":1},{"high_idx":0,"image_name":"000000013.png","low_idx":1},{"high_idx":0,"image_name":"000000014.png","low_idx":1},{"high_idx":0,"image_name":"000000015.png","low_idx":1},{"high_idx":0,"image_name":"000000016.png","low_idx":1},{"high_idx":0,"image_name":"000000017.png","low_idx":1},{"high_idx":0,"image_name":"000000018.png","low_idx":1},{"high_idx":0,"image_name":"000000019.png","low_idx":1},{"high_idx":0,"image_name":"000000020.png","low_idx":1},{"high_idx":0,"image_name":"000000021.png","low_idx":1},{"high_idx":0,"image_name":"000000022.png","low_idx":2},{"high_idx":0,"image_name":"000000023.png","low_idx":2},{"high_idx":0,"image_name":"000000024.png","low_idx":3},{"high_idx":0,"image_name":"000000025.png","low_idx":3},{"high_idx":0,"image_name":"000000026.png","low_idx":4},{"high_idx":0,"image_name":"000000027.png","low_idx":4},{"high_idx":0,"image_name":"000000028.png","low_idx":5},{"high_idx":0,"image_name":"000000029.png","low_idx":5},{"high_idx":0,"image_name":"000000030.png","low_idx":5},{"high_idx":0,"image_name":"000000031.png","low_idx":5},{"high_idx":0,"image_name":"000000032.png","low_idx":5},{"high_idx":0,"image_name":"000000033.png","low_idx":5},{"high_idx":0,"image_name":"000000034.png","low_idx":5},{"high_idx":0,"image_name":"000000035.png","low_idx":5},{"high_idx":0,"image_name":"000000036.png","low_idx":5},{"high_idx":0,"image_name":"000000037.png","low_idx":5},{"high_idx":0,"image_name":"000000038.png","low_idx":5},{"high_idx":0,"image_name":"000000039.png","low_idx":6},{"high_idx":0,"image_name":"000000040.png","low_idx":6},{"high_idx":0,"image_name":"000000041.png","low_idx":7},{"high_idx":0,"image_name":"000000042.png","low_idx":7},{"high_idx":0,"image_name":"000000043.png","low_idx":8},{"high_idx":0,"image_name":"000000044.png","low_idx":8},{"high_idx":0,"image_name":"000000045.png","low_idx":9},{"high_idx":0,"image_name":"000000046.png","low_idx":9},{"high_idx":0,"image_name":"000000047.png","low_idx":10},{"high_idx":0,"image_name":"000000048.png","low_idx":10},{"high_idx":0,"image_name":"000000049.png","low_idx":11},{"high_idx":0,"image_name":"000000050.png","low_idx":11},{"high_idx":0,"image_name":"000000051.png","low_idx":12},{"high_idx":0,"image_name":"000000052.png","low_idx":12},{"high_idx":0,"image_name":"000000053.png","low_idx":13},{"high_idx":0,"image_name":"000000054.png","low_idx":13},{"high_idx":0,"image_name":"000000055.png","low_idx":14},{"high_idx":0,"image_name":"000000056.png","low_idx":14},{"high_idx":0,"image_name":"000000057.png","low_idx":14},{"high_idx":0,"image_name":"000000058.png","low_idx":14},{"high_idx":0,"image_name":"000000059.png","low_idx":14},{"high_idx":0,"image_name":"000000060.png","low_idx":14},{"high_idx":0,"image_name":"000000061.png","low_idx":14},{"high_idx":0,"image_name":"000000062.png","low_idx":14},{"high_idx":0,"image_name":"000000063.png","low_idx":14},{"high_idx":0,"image_name":"000000064.png","low_idx":14},{"high_idx":0,"image_name":"000000065.png","low_idx":14},{"high_idx":0,"image_name":"000000066.png","low_idx":15},{"high_idx":0,"image_name":"000000067.png","low_idx":15},{"high_idx":0,"image_name":"000000068.png","low_idx":16},{"high_idx":0,"image_name":"000000069.png","low_idx":16},{"high_idx":0,"image_name":"000000070.png","low_idx":17},{"high_idx":0,"image_name":"000000071.png","low_idx":17},{"high_idx":0,"image_name":"000000072.png","low_idx":18},{"high_idx":0,"image_name":"000000073.png","low_idx":18},{"high_idx":0,"image_name":"000000074.png","low_idx":19},{"high_idx":0,"image_name":"000000075.png","low_idx":19},{"high_idx":0,"image_name":"000000076.png","low_idx":20},{"high_idx":0,"image_name":"000000077.png","low_idx":20},{"high_idx":0,"image_name":"000000078.png","low_idx":21},{"high_idx":0,"image_name":"000000079.png","low_idx":21},{"high_idx":0,"image_name":"000000080.png","low_idx":22},{"high_idx":0,"image_name":"000000081.png","low_idx":22},{"high_idx":0,"image_name":"000000082.png","low_idx":22},{"high_idx":0,"image_name":"000000083.png","low_idx":22},{"high_idx":0,"image_name":"000000084.png","low_idx":22},{"high_idx":0,"image_name":"000000085.png","low_idx":22},{"high_idx":0,"image_name":"000000086.png","low_idx":22},{"high_idx":0,"image_name":"000000087.png","low_idx":22},{"high_idx":0,"image_name":"000000088.png","low_idx":22},{"high_idx":0,"image_name":"000000089.png","low_idx":22},{"high_idx":0,"image_name":"000000090.png","low_idx":22},{"high_idx":0,"image_name":"000000091.png","low_idx":23},{"high_idx":0,"image_name":"000000092.png","low_idx":23},{"high_idx":0,"image_name":"000000093.png","low_idx":23},{"high_idx":0,"image_name":"000000094.png","low_idx":23},{"high_idx":0,"image_name":"000000095.png","low_idx":23},{"high_idx":0,"image_name":"000000096.png","low_idx":23},{"high_idx":0,"image_name":"000000097.png","low_idx":23},{"high_idx":0,"image_name":"000000098.png","low_idx":23},{"high_idx":0,"image_name":"000000099.png","low_idx":23},{"high_idx":0,"image_name":"000000100.png","low_idx":23},{"high_idx":0,"image_name":"000000101.png","low_idx":23},{"high_idx":1,"image_name":"000000102.png","low_idx":24},{"high_idx":1,"image_name":"000000103.png","low_idx":24},{"high_idx":1,"image_name":"000000104.png","low_idx":24},{"high_idx":1,"image_name":"000000105.png","low_idx":24},{"high_idx":1,"image_name":"000000106.png","low_idx":24},{"high_idx":1,"image_name":"000000107.png","low_idx":24},{"high_idx":1,"image_name":"000000108.png","low_idx":24},{"high_idx":1,"image_name":"000000109.png","low_idx":24},{"high_idx":1,"image_name":"000000110.png","low_idx":24},{"high_idx":1,"image_name":"000000111.png","low_idx":24},{"high_idx":1,"image_name":"000000112.png","low_idx":24},{"high_idx":1,"image_name":"000000113.png","low_idx":24},{"high_idx":1,"image_name":"000000114.png","low_idx":24},{"high_idx":1,"image_name":"000000115.png","low_idx":24},{"high_idx":1,"image_name":"000000116.png","low_idx":24},{"high_idx":2,"image_name":"000000117.png","low_idx":25},{"high_idx":2,"image_name":"000000118.png","low_idx":25},{"high_idx":2,"image_name":"000000119.png","low_idx":25},{"high_idx":2,"image_name":"000000120.png","low_idx":25},{"high_idx":2,"image_name":"000000121.png","low_idx":25},{"high_idx":2,"image_name":"000000122.png","low_idx":25},{"high_idx":2,"image_name":"000000123.png","low_idx":25},{"high_idx":2,"image_name":"000000124.png","low_idx":25},{"high_idx":2,"image_name":"000000125.png","low_idx":25},{"high_idx":2,"image_name":"000000126.png","low_idx":25},{"high_idx":2,"image_name":"000000127.png","low_idx":25},{"high_idx":2,"image_name":"000000128.png","low_idx":26},{"high_idx":2,"image_name":"000000129.png","low_idx":26},{"high_idx":2,"image_name":"000000130.png","low_idx":26},{"high_idx":2,"image_name":"000000131.png","low_idx":26},{"high_idx":2,"image_name":"000000132.png","low_idx":26},{"high_idx":2,"image_name":"000000133.png","low_idx":26},{"high_idx":2,"image_name":"000000134.png","low_idx":26},{"high_idx":2,"image_name":"000000135.png","low_idx":26},{"high_idx":2,"image_name":"000000136.png","low_idx":26},{"high_idx":2,"image_name":"000000137.png","low_idx":26},{"high_idx":2,"image_name":"000000138.png","low_idx":26},{"high_idx":2,"image_name":"000000139.png","low_idx":27},{"high_idx":2,"image_name":"000000140.png","low_idx":27},{"high_idx":2,"image_name":"000000141.png","low_idx":28},{"high_idx":2,"image_name":"000000142.png","low_idx":28},{"high_idx":2,"image_name":"000000143.png","low_idx":29},{"high_idx":2,"image_name":"000000144.png","low_idx":29},{"high_idx":2,"image_name":"000000145.png","low_idx":30},{"high_idx":2,"image_name":"000000146.png","low_idx":30},{"high_idx":2,"image_name":"000000147.png","low_idx":30},{"high_idx":2,"image_name":"000000148.png","low_idx":30},{"high_idx":2,"image_name":"000000149.png","low_idx":30},{"high_idx":2,"image_name":"000000150.png","low_idx":30},{"high_idx":2,"image_name":"000000151.png","low_idx":30},{"high_idx":2,"image_name":"000000152.png","low_idx":30},{"high_idx":2,"image_name":"000000153.png","low_idx":30},{"high_idx":2,"image_name":"000000154.png","low_idx":30},{"high_idx":2,"image_name":"000000155.png","low_idx":30},{"high_idx":2,"image_name":"000000156.png","low_idx":31},{"high_idx":2,"image_name":"000000157.png","low_idx":31},{"high_idx":2,"image_name":"000000158.png","low_idx":32},{"high_idx":2,"image_name":"000000159.png","low_idx":32},{"high_idx":2,"image_name":"000000160.png","low_idx":33},{"high_idx":2,"image_name":"000000161.png","low_idx":33},{"high_idx":2,"image_name":"000000162.png","low_idx":34},{"high_idx":2,"image_name":"000000163.png","low_idx":34},{"high_idx":2,"image_name":"000000164.png","low_idx":35},{"high_idx":2,"image_name":"000000165.png","low_idx":35},{"high_idx":2,"image_name":"000000166.png","low_idx":36},{"high_idx":2,"image_name":"000000167.png","low_idx":36},{"high_idx":2,"image_name":"000000168.png","low_idx":36},{"high_idx":2,"image_name":"000000169.png","low_idx":36},{"high_idx":2,"image_name":"000000170.png","low_idx":36},{"high_idx":2,"image_name":"000000171.png","low_idx":36},{"high_idx":2,"image_name":"000000172.png","low_idx":36},{"high_idx":2,"image_name":"000000173.png","low_idx":36},{"high_idx":2,"image_name":"000000174.png","low_idx":36},{"high_idx":2,"image_name":"000000175.png","low_idx":36},{"high_idx":2,"image_name":"000000176.png","low_idx":36},{"high_idx":2,"image_name":"000000177.png","low_idx":37},{"high_idx":2,"image_name":"000000178.png","low_idx":37},{"high_idx":2,"image_name":"000000179.png","low_idx":38},{"high_idx":2,"image_name":"000000180.png","low_idx":38},{"high_idx":2,"image_name":"000000181.png","low_idx":39},{"high_idx":2,"image_name":"000000182.png","low_idx":39},{"high_idx":3,"image_name":"000000183.png","low_idx":40},{"high_idx":3,"image_name":"000000184.png","low_idx":40},{"high_idx":3,"image_name":"000000185.png","low_idx":40},{"high_idx":3,"image_name":"000000186.png","low_idx":40},{"high_idx":3,"image_name":"000000187.png","low_idx":40},{"high_idx":3,"image_name":"000000188.png","low_idx":40},{"high_idx":3,"image_name":"000000189.png","low_idx":40},{"high_idx":3,"image_name":"000000190.png","low_idx":40},{"high_idx":3,"image_name":"000000191.png","low_idx":40},{"high_idx":3,"image_name":"000000192.png","low_idx":40},{"high_idx":3,"image_name":"000000193.png","low_idx":40},{"high_idx":3,"image_name":"000000194.png","low_idx":40},{"high_idx":3,"image_name":"000000195.png","low_idx":40},{"high_idx":3,"image_name":"000000196.png","low_idx":40},{"high_idx":3,"image_name":"000000197.png","low_idx":40},{"high_idx":4,"image_name":"000000198.png","low_idx":41},{"high_idx":4,"image_name":"000000199.png","low_idx":41},{"high_idx":4,"image_name":"000000200.png","low_idx":41},{"high_idx":4,"image_name":"000000201.png","low_idx":41},{"high_idx":4,"image_name":"000000202.png","low_idx":41},{"high_idx":4,"image_name":"000000203.png","low_idx":41},{"high_idx":4,"image_name":"000000204.png","low_idx":41},{"high_idx":4,"image_name":"000000205.png","low_idx":41},{"high_idx":4,"image_name":"000000206.png","low_idx":41},{"high_idx":4,"image_name":"000000207.png","low_idx":41},{"high_idx":4,"image_name":"000000208.png","low_idx":41},{"high_idx":4,"image_name":"000000209.png","low_idx":41},{"high_idx":4,"image_name":"000000210.png","low_idx":41},{"high_idx":4,"image_name":"000000211.png","low_idx":41},{"high_idx":4,"image_name":"000000212.png","low_idx":41},{"high_idx":5,"image_name":"000000213.png","low_idx":42},{"high_idx":5,"image_name":"000000214.png","low_idx":42},{"high_idx":5,"image_name":"000000215.png","low_idx":42},{"high_idx":5,"image_name":"000000216.png","low_idx":42},{"high_idx":5,"image_name":"000000217.png","low_idx":42},{"high_idx":5,"image_name":"000000218.png","low_idx":42},{"high_idx":5,"image_name":"000000219.png","low_idx":42},{"high_idx":5,"image_name":"000000220.png","low_idx":42},{"high_idx":5,"image_name":"000000221.png","low_idx":42},{"high_idx":5,"image_name":"000000222.png","low_idx":42},{"high_idx":6,"image_name":"000000223.png","low_idx":43},{"high_idx":6,"image_name":"000000224.png","low_idx":43},{"high_idx":6,"image_name":"000000225.png","low_idx":43},{"high_idx":6,"image_name":"000000226.png","low_idx":43},{"high_idx":6,"image_name":"000000227.png","low_idx":43},{"high_idx":6,"image_name":"000000228.png","low_idx":43},{"high_idx":6,"image_name":"000000229.png","low_idx":43},{"high_idx":6,"image_name":"000000230.png","low_idx":43},{"high_idx":6,"image_name":"000000231.png","low_idx":43},{"high_idx":6,"image_name":"000000232.png","low_idx":43},{"high_idx":6,"image_name":"000000233.png","low_idx":43},{"high_idx":6,"image_name":"000000234.png","low_idx":43},{"high_idx":6,"image_name":"000000235.png","low_idx":43},{"high_idx":6,"image_name":"000000236.png","low_idx":43},{"high_idx":6,"image_name":"000000237.png","low_idx":43},{"high_idx":7,"image_name":"000000238.png","low_idx":44},{"high_idx":7,"image_name":"000000239.png","low_idx":44},{"high_idx":7,"image_name":"000000240.png","low_idx":44},{"high_idx":7,"image_name":"000000241.png","low_idx":44},{"high_idx":7,"image_name":"000000242.png","low_idx":44},{"high_idx":7,"image_name":"000000243.png","low_idx":44},{"high_idx":7,"image_name":"000000244.png","low_idx":44},{"high_idx":7,"image_name":"000000245.png","low_idx":44},{"high_idx":7,"image_name":"000000246.png","low_idx":44},{"high_idx":7,"image_name":"000000247.png","low_idx":44},{"high_idx":7,"image_name":"000000248.png","low_idx":44},{"high_idx":7,"image_name":"000000249.png","low_idx":44},{"high_idx":7,"image_name":"000000250.png","low_idx":44},{"high_idx":7,"image_name":"000000251.png","low_idx":44},{"high_idx":7,"image_name":"000000252.png","low_idx":44},{"high_idx":8,"image_name":"000000253.png","low_idx":45},{"high_idx":8,"image_name":"000000254.png","low_idx":45},{"high_idx":8,"image_name":"000000255.png","low_idx":45},{"high_idx":8,"image_name":"000000256.png","low_idx":45},{"high_idx":8,"image_name":"000000257.png","low_idx":45},{"high_idx":8,"image_name":"000000258.png","low_idx":45},{"high_idx":8,"image_name":"000000259.png","low_idx":45},{"high_idx":8,"image_name":"000000260.png","low_idx":45},{"high_idx":8,"image_name":"000000261.png","low_idx":45},{"high_idx":8,"image_name":"000000262.png","low_idx":45},{"high_idx":8,"image_name":"000000263.png","low_idx":45},{"high_idx":8,"image_name":"000000264.png","low_idx":45},{"high_idx":8,"image_name":"000000265.png","low_idx":45},{"high_idx":8,"image_name":"000000266.png","low_idx":45},{"high_idx":8,"image_name":"000000267.png","low_idx":45},{"high_idx":8,"image_name":"000000268.png","low_idx":46},{"high_idx":8,"image_name":"000000269.png","low_idx":46},{"high_idx":8,"image_name":"000000270.png","low_idx":46},{"high_idx":8,"image_name":"000000271.png","low_idx":46},{"high_idx":8,"image_name":"000000272.png","low_idx":46},{"high_idx":8,"image_name":"000000273.png","low_idx":46},{"high_idx":8,"image_name":"000000274.png","low_idx":46},{"high_idx":8,"image_name":"000000275.png","low_idx":46},{"high_idx":8,"image_name":"000000276.png","low_idx":46},{"high_idx":8,"image_name":"000000277.png","low_idx":46},{"high_idx":8,"image_name":"000000278.png","low_idx":46},{"high_idx":8,"image_name":"000000279.png","low_idx":46},{"high_idx":8,"image_name":"000000280.png","low_idx":46},{"high_idx":8,"image_name":"000000281.png","low_idx":46},{"high_idx":8,"image_name":"000000282.png","low_idx":46},{"high_idx":8,"image_name":"000000283.png","low_idx":46},{"high_idx":8,"image_name":"000000284.png","low_idx":46},{"high_idx":8,"image_name":"000000285.png","low_idx":46},{"high_idx":8,"image_name":"000000286.png","low_idx":47},{"high_idx":8,"image_name":"000000287.png","low_idx":47},{"high_idx":8,"image_name":"000000288.png","low_idx":47},{"high_idx":8,"image_name":"000000289.png","low_idx":47},{"high_idx":8,"image_name":"000000290.png","low_idx":47},{"high_idx":8,"image_name":"000000291.png","low_idx":47},{"high_idx":8,"image_name":"000000292.png","low_idx":48},{"high_idx":8,"image_name":"000000293.png","low_idx":48},{"high_idx":8,"image_name":"000000294.png","low_idx":48},{"high_idx":8,"image_name":"000000295.png","low_idx":48},{"high_idx":8,"image_name":"000000296.png","low_idx":48},{"high_idx":8,"image_name":"000000297.png","low_idx":48},{"high_idx":8,"image_name":"000000298.png","low_idx":48},{"high_idx":8,"image_name":"000000299.png","low_idx":48},{"high_idx":8,"image_name":"000000300.png","low_idx":48},{"high_idx":8,"image_name":"000000301.png","low_idx":48},{"high_idx":8,"image_name":"000000302.png","low_idx":48},{"high_idx":8,"image_name":"000000303.png","low_idx":48},{"high_idx":8,"image_name":"000000304.png","low_idx":48},{"high_idx":8,"image_name":"000000305.png","low_idx":48},{"high_idx":8,"image_name":"000000306.png","low_idx":48},{"high_idx":9,"image_name":"000000307.png","low_idx":49},{"high_idx":9,"image_name":"000000308.png","low_idx":49},{"high_idx":9,"image_name":"000000309.png","low_idx":49},{"high_idx":9,"image_name":"000000310.png","low_idx":49},{"high_idx":9,"image_name":"000000311.png","low_idx":49},{"high_idx":9,"image_name":"000000312.png","low_idx":49},{"high_idx":9,"image_name":"000000313.png","low_idx":49},{"high_idx":9,"image_name":"000000314.png","low_idx":49},{"high_idx":9,"image_name":"000000315.png","low_idx":49},{"high_idx":9,"image_name":"000000316.png","low_idx":49},{"high_idx":9,"image_name":"000000317.png","low_idx":49},{"high_idx":9,"image_name":"000000318.png","low_idx":50},{"high_idx":9,"image_name":"000000319.png","low_idx":50},{"high_idx":9,"image_name":"000000320.png","low_idx":50},{"high_idx":9,"image_name":"000000321.png","low_idx":50},{"high_idx":9,"image_name":"000000322.png","low_idx":50},{"high_idx":9,"image_name":"000000323.png","low_idx":50},{"high_idx":9,"image_name":"000000324.png","low_idx":50},{"high_idx":9,"image_name":"000000325.png","low_idx":50},{"high_idx":9,"image_name":"000000326.png","low_idx":50},{"high_idx":9,"image_name":"000000327.png","low_idx":50},{"high_idx":9,"image_name":"000000328.png","low_idx":50},{"high_idx":10,"image_name":"000000329.png","low_idx":51},{"high_idx":10,"image_name":"000000330.png","low_idx":51},{"high_idx":10,"image_name":"000000331.png","low_idx":51},{"high_idx":10,"image_name":"000000332.png","low_idx":51},{"high_idx":10,"image_name":"000000333.png","low_idx":52},{"high_idx":10,"image_name":"000000334.png","low_idx":52},{"high_idx":10,"image_name":"000000335.png","low_idx":52},{"high_idx":10,"image_name":"000000336.png","low_idx":52},{"high_idx":10,"image_name":"000000337.png","low_idx":52},{"high_idx":10,"image_name":"000000338.png","low_idx":52},{"high_idx":10,"image_name":"000000339.png","low_idx":52},{"high_idx":10,"image_name":"000000340.png","low_idx":52},{"high_idx":10,"image_name":"000000341.png","low_idx":52},{"high_idx":10,"image_name":"000000342.png","low_idx":52},{"high_idx":10,"image_name":"000000343.png","low_idx":52},{"high_idx":10,"image_name":"000000344.png","low_idx":52},{"high_idx":10,"image_name":"000000345.png","low_idx":52},{"high_idx":10,"image_name":"000000346.png","low_idx":52},{"high_idx":10,"image_name":"000000347.png","low_idx":52},{"high_idx":10,"image_name":"000000348.png","low_idx":53},{"high_idx":10,"image_name":"000000349.png","low_idx":53},{"high_idx":10,"image_name":"000000350.png","low_idx":53},{"high_idx":10,"image_name":"000000351.png","low_idx":53}],"num":{"action_high":[{"action":3,"action_high_args":[4],"high_idx":0},{"action":5,"action_high_args":[28],"high_idx":1},{"action":3,"action_high_args":[20],"high_idx":2},{"action":10,"action_high_args":[28,20],"high_idx":3},{"action":5,"action_high_args":[6],"high_idx":4},{"action":7,"action_high_args":[28],"high_idx":5},{"action":10,"action_high_args":[6,20],"high_idx":6},{"action":5,"action_high_args":[28],"high_idx":7},{"action":24,"action_high_args":[6],"high_idx":8},{"action":3,"action_high_args":[18],"high_idx":9},{"action":10,"action_high_args":[28,18],"high_idx":10},{"action":12,"action_high_args":[],"high_idx":11}],"action_low":[[{"action":3,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":3,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0}],[{"action":6,"action_high_args":{"bbox":[144,97,189,138],"mask":[[28960,16],[29256,22],[29554,26],[29852,29],[30151,32],[30450,33],[30749,35],[31048,37],[31347,39],[31646,40],[31946,41],[32245,42],[32545,43],[32845,43],[33144,44],[33444,45],[33744,45],[34044,45],[34344,45],[34644,46],[34944,46],[35244,46],[35544,46],[35844,46],[36144,46],[36444,45],[36744,45],[37044,45],[37345,43],[37645,43],[37945,42],[38246,40],[38546,39],[38847,37],[39147,36],[39448,34],[39749,32],[40050,30],[40351,27],[40653,23],[40954,20],[41257,13]],"point":[166,116]},"centroid":[0.555,0.39166666666666666],"high_idx":1,"mask":[[28960,16],[29256,22],[29554,26],[29852,29],[30151,32],[30450,33],[30749,35],[31048,37],[31347,39],[31646,40],[31946,41],[32245,42],[32545,43],[32845,43],[33144,44],[33444,45],[33744,45],[34044,45],[34344,45],[34644,46],[34944,46],[35244,46],[35544,46],[35844,46],[36144,46],[36444,45],[36744,45],[37044,45],[37345,43],[37645,43],[37945,42],[38246,40],[38546,39],[38847,37],[39147,36],[39448,34],[39749,32],[40050,30],[40351,27],[40653,23],[40954,20],[41257,13]],"valid_interact":1}],[{"action":8,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":5,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":5,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0}],[{"action":11,"action_high_args":{"bbox":[54,131,194,169],"mask":[[39077,53],[39152,5],[39158,21],[39374,55],[39452,5],[39458,24],[39672,57],[39753,4],[39758,26],[39970,59],[40053,4],[40058,12],[40071,2],[40074,12],[40268,61],[40353,4],[40358,12],[40371,2],[40374,13],[40567,62],[40653,4],[40658,12],[40671,2],[40674,1],[40676,12],[40866,63],[40953,4],[40958,12],[40971,2],[40974,1],[40976,13],[41165,64],[41253,4],[41258,12],[41271,2],[41274,1],[41276,14],[41465,64],[41553,4],[41558,12],[41571,2],[41574,1],[41576,14],[41764,66],[41853,4],[41858,12],[41871,1],[41874,1],[41876,15],[42063,67],[42152,5],[42158,12],[42171,1],[42174,1],[42176,15],[42363,68],[42452,18],[42471,1],[42473,1],[42476,15],[42663,69],[42751,19],[42777,14],[42963,70],[43050,20],[43077,14],[43262,73],[43349,21],[43377,14],[43562,74],[43648,23],[43676,16],[43862,78],[43945,27],[43975,17],[44161,112],[44275,17],[44461,112],[44575,17],[44761,112],[44875,17],[45060,113],[45175,17],[45360,113],[45475,18],[45660,77],[45742,31],[45775,18],[45959,77],[46044,30],[46075,18],[46259,75],[46346,28],[46375,18],[46559,74],[46647,26],[46676,17],[46858,75],[46947,26],[46976,17],[47158,74],[47248,10],[47259,14],[47276,18],[47458,74],[47549,8],[47559,14],[47576,18],[47757,74],[47849,8],[47860,13],[47876,18],[48057,74],[48149,8],[48160,13],[48176,18],[48357,26],[48386,45],[48450,7],[48460,13],[48477,17],[48656,26],[48684,4],[48697,33],[48750,7],[48760,13],[48777,17],[48956,29],[48990,5],[49001,2],[49012,8],[49050,7],[49060,13],[49077,17],[49255,28],[49286,5],[49350,7],[49360,13],[49377,18],[49555,26],[49584,4],[49602,15],[49650,7],[49660,13],[49677,18],[49855,30],[49889,4],[49900,27],[49950,7],[49960,13],[49977,18],[50154,36],[50199,31],[50250,7],[50260,13],[50278,17],[50454,77],[50550,7],[50560,13],[50578,14]],"point":[124,149]},"centroid":[0.41333333333333333,0.5],"high_idx":3,"mask":[[39077,53],[39152,5],[39158,21],[39374,55],[39452,5],[39458,24],[39672,57],[39753,4],[39758,26],[39970,59],[40053,4],[40058,12],[40071,2],[40074,12],[40268,61],[40353,4],[40358,12],[40371,2],[40374,13],[40567,62],[40653,4],[40658,12],[40671,2],[40674,1],[40676,12],[40866,63],[40953,4],[40958,12],[40971,2],[40974,1],[40976,13],[41165,64],[41253,4],[41258,12],[41271,2],[41274,1],[41276,14],[41465,64],[41553,4],[41558,12],[41571,2],[41574,1],[41576,14],[41764,66],[41853,4],[41858,12],[41871,1],[41874,1],[41876,15],[42063,67],[42152,5],[42158,12],[42171,1],[42174,1],[42176,15],[42363,68],[42452,18],[42471,1],[42473,1],[42476,15],[42663,69],[42751,19],[42777,14],[42963,70],[43050,20],[43077,14],[43262,73],[43349,21],[43377,14],[43562,74],[43648,23],[43676,16],[43862,78],[43945,27],[43975,17],[44161,112],[44275,17],[44461,112],[44575,17],[44761,112],[44875,17],[45060,113],[45175,17],[45360,113],[45475,18],[45660,77],[45742,31],[45775,18],[45959,77],[46044,30],[46075,18],[46259,75],[46346,28],[46375,18],[46559,74],[46647,26],[46676,17],[46858,75],[46947,26],[46976,17],[47158,74],[47248,10],[47259,14],[47276,18],[47458,74],[47549,8],[47559,14],[47576,18],[47757,74],[47849,8],[47860,13],[47876,18],[48057,74],[48149,8],[48160,13],[48176,18],[48357,26],[48386,45],[48450,7],[48460,13],[48477,17],[48656,26],[48684,4],[48697,33],[48750,7],[48760,13],[48777,17],[48956,29],[48990,5],[49001,2],[49012,8],[49050,7],[49060,13],[49077,17],[49255,28],[49286,5],[49350,7],[49360,13],[49377,18],[49555,26],[49584,4],[49602,15],[49650,7],[49660,13],[49677,18],[49855,30],[49889,4],[49900,27],[49950,7],[49960,13],[49977,18],[50154,36],[50199,31],[50250,7],[50260,13],[50278,17],[50454,77],[50550,7],[50560,13],[50578,14]],"valid_interact":1}],[{"action":6,"action_high_args":{"bbox":[157,130,159,169],"mask":[[38857,1],[39157,1],[39457,1],[39757,1],[40057,1],[40357,1],[40657,1],[40957,1],[41257,1],[41557,1],[41857,1],[42157,1],[47258,1],[47557,2],[47857,3],[48157,3],[48457,3],[48757,3],[49057,3],[49357,3],[49657,3],[49957,3],[50257,3],[50557,3]],"point":[157,140]},"centroid":[0.5266666666666666,0.49833333333333335],"high_idx":4,"mask":[[38857,1],[39157,1],[39457,1],[39757,1],[40057,1],[40357,1],[40657,1],[40957,1],[41257,1],[41557,1],[41857,1],[42157,1],[47258,1],[47557,2],[47857,3],[48157,3],[48457,3],[48757,3],[49057,3],[49357,3],[49657,3],[49957,3],[50257,3],[50557,3]],"valid_interact":1}],[{"action":7,"action_high_args":{"bbox":[163,138,190,169],"mask":[[41273,8],[41570,13],[41869,16],[42167,19],[42467,20],[42766,21],[43066,22],[43365,24],[43665,24],[43965,25],[44265,25],[44564,26],[44865,26],[45165,26],[45464,27],[45764,27],[46063,28],[46363,28],[46664,27],[46964,27],[47264,27],[47564,26],[47864,26],[48164,26],[48465,25],[48765,24],[49066,23],[49366,22],[49667,20],[49969,17],[50271,13],[50573,9]],"point":[176,152]},"centroid":[0.5883333333333334,0.5116666666666667],"high_idx":5,"mask":[[41273,8],[41570,13],[41869,16],[42167,19],[42467,20],[42766,21],[43066,22],[43365,24],[43665,24],[43965,25],[44265,25],[44564,26],[44865,26],[45165,26],[45464,27],[45764,27],[46063,28],[46363,28],[46664,27],[46964,27],[47264,27],[47564,26],[47864,26],[48164,26],[48465,25],[48765,24],[49066,23],[49366,22],[49667,20],[49969,17],[50271,13],[50573,9]],"valid_interact":1}],[{"action":11,"action_high_args":{"bbox":[54,131,194,169],"mask":[[39077,102],[39374,108],[39672,112],[39970,103],[40074,12],[40268,102],[40371,2],[40374,13],[40567,103],[40671,2],[40674,1],[40676,12],[40866,69],[40946,24],[40972,1],[40974,1],[40976,13],[41165,69],[41248,22],[41271,2],[41274,1],[41276,14],[41465,67],[41549,21],[41571,2],[41574,1],[41576,14],[41764,67],[41850,20],[41871,2],[41874,1],[41876,15],[42063,67],[42151,19],[42171,1],[42174,1],[42176,5],[42188,3],[42363,67],[42451,19],[42471,1],[42473,1],[42490,1],[42663,66],[42752,18],[42963,66],[43052,18],[43262,66],[43353,16],[43562,66],[43653,14],[43862,66],[43953,13],[44161,67],[44253,13],[44461,67],[44553,13],[44761,67],[44853,12],[45060,68],[45153,12],[45360,68],[45453,12],[45492,1],[45660,68],[45753,12],[45791,2],[45959,69],[46052,13],[46092,1],[46259,69],[46352,13],[46392,1],[46559,70],[46652,13],[46692,1],[46858,71],[46951,14],[46992,1],[47158,72],[47251,14],[47292,2],[47458,72],[47550,15],[47592,2],[47757,74],[47850,15],[47891,3],[48057,75],[48149,16],[48191,3],[48357,26],[48386,47],[48448,17],[48491,3],[48656,26],[48684,4],[48697,38],[48746,19],[48791,3],[48956,29],[48990,5],[49001,2],[49012,9],[49037,1],[49042,23],[49090,4],[49255,28],[49286,5],[49339,27],[49390,5],[49555,26],[49584,4],[49602,15],[49642,24],[49689,6],[49855,30],[49889,4],[49901,26],[49945,22],[49989,6],[50154,36],[50199,35],[50246,21],[50288,7],[50454,78],[50547,21],[50587,5]],"point":[124,149]},"centroid":[0.41333333333333333,0.5],"high_idx":6,"mask":[[39077,102],[39374,108],[39672,112],[39970,103],[40074,12],[40268,102],[40371,2],[40374,13],[40567,103],[40671,2],[40674,1],[40676,12],[40866,69],[40946,24],[40972,1],[40974,1],[40976,13],[41165,69],[41248,22],[41271,2],[41274,1],[41276,14],[41465,67],[41549,21],[41571,2],[41574,1],[41576,14],[41764,67],[41850,20],[41871,2],[41874,1],[41876,15],[42063,67],[42151,19],[42171,1],[42174,1],[42176,5],[42188,3],[42363,67],[42451,19],[42471,1],[42473,1],[42490,1],[42663,66],[42752,18],[42963,66],[43052,18],[43262,66],[43353,16],[43562,66],[43653,14],[43862,66],[43953,13],[44161,67],[44253,13],[44461,67],[44553,13],[44761,67],[44853,12],[45060,68],[45153,12],[45360,68],[45453,12],[45492,1],[45660,68],[45753,12],[45791,2],[45959,69],[46052,13],[46092,1],[46259,69],[46352,13],[46392,1],[46559,70],[46652,13],[46692,1],[46858,71],[46951,14],[46992,1],[47158,72],[47251,14],[47292,2],[47458,72],[47550,15],[47592,2],[47757,74],[47850,15],[47891,3],[48057,75],[48149,16],[48191,3],[48357,26],[48386,47],[48448,17],[48491,3],[48656,26],[48684,4],[48697,38],[48746,19],[48791,3],[48956,29],[48990,5],[49001,2],[49012,9],[49037,1],[49042,23],[49090,4],[49255,28],[49286,5],[49339,27],[49390,5],[49555,26],[49584,4],[49602,15],[49642,24],[49689,6],[49855,30],[49889,4],[49901,26],[49945,22],[49989,6],[50154,36],[50199,35],[50246,21],[50288,7],[50454,78],[50547,21],[50587,5]],"valid_interact":1}],[{"action":6,"action_high_args":{"bbox":[165,146,189,154],"mask":[[43671,13],[43968,10],[43979,8],[44267,4],[44285,4],[44566,3],[44588,2],[44866,2],[45165,2],[45465,1],[45765,1],[46065,1]],"point":[177,146]},"centroid":[0.59,0.5],"high_idx":7,"mask":[[43671,13],[43968,10],[43979,8],[44267,4],[44285,4],[44566,3],[44588,2],[44866,2],[45165,2],[45465,1],[45765,1],[46065,1]],"valid_interact":1}],[{"action":11,"action_high_args":{"bbox":[54,131,194,169],"mask":[[39077,75],[39164,15],[39374,78],[39464,18],[39672,80],[39764,20],[39970,83],[40063,10],[40074,12],[40268,85],[40363,7],[40371,2],[40374,13],[40567,71],[40643,10],[40663,7],[40672,1],[40674,1],[40676,12],[40866,69],[40946,7],[40963,7],[40972,1],[40974,1],[40976,13],[41165,68],[41248,5],[41263,7],[41271,2],[41274,1],[41276,14],[41465,67],[41549,4],[41563,7],[41571,2],[41574,1],[41576,14],[41764,67],[41850,3],[41863,7],[41871,2],[41874,1],[41876,15],[42063,67],[42151,2],[42163,7],[42171,1],[42174,1],[42176,15],[42363,67],[42451,2],[42463,7],[42471,1],[42473,1],[42476,4],[42489,2],[42663,66],[42752,1],[42763,7],[42777,1],[42963,66],[43052,2],[43063,7],[43262,66],[43353,1],[43363,7],[43562,66],[43653,1],[43663,8],[43862,66],[43953,1],[43963,9],[44161,67],[44253,1],[44263,10],[44461,67],[44553,1],[44562,10],[44761,67],[44853,1],[44862,8],[45060,68],[45153,1],[45162,5],[45360,68],[45453,2],[45462,4],[45660,68],[45753,2],[45762,4],[45959,69],[46052,3],[46062,4],[46259,69],[46352,3],[46362,3],[46559,70],[46652,3],[46662,3],[46858,71],[46951,5],[46962,3],[46992,1],[47158,72],[47251,5],[47261,4],[47291,3],[47458,73],[47550,6],[47561,3],[47591,3],[47757,75],[47849,7],[47861,3],[47891,3],[48057,75],[48148,9],[48160,4],[48191,3],[48357,26],[48386,48],[48447,10],[48460,4],[48491,3],[48656,26],[48684,4],[48697,39],[48746,12],[48759,5],[48791,3],[48956,29],[48990,5],[49001,2],[49012,9],[49037,21],[49059,6],[49091,3],[49255,28],[49286,5],[49339,26],[49390,5],[49555,26],[49584,4],[49602,15],[49642,23],[49690,5],[49855,30],[49889,4],[49901,26],[49945,20],[49990,5],[50154,36],[50199,35],[50246,20],[50289,6],[50454,78],[50547,20],[50588,4]],"point":[124,149]},"centroid":[0.41333333333333333,0.5],"high_idx":8,"mask":[[39077,75],[39164,15],[39374,78],[39464,18],[39672,80],[39764,20],[39970,83],[40063,10],[40074,12],[40268,85],[40363,7],[40371,2],[40374,13],[40567,71],[40643,10],[40663,7],[40672,1],[40674,1],[40676,12],[40866,69],[40946,7],[40963,7],[40972,1],[40974,1],[40976,13],[41165,68],[41248,5],[41263,7],[41271,2],[41274,1],[41276,14],[41465,67],[41549,4],[41563,7],[41571,2],[41574,1],[41576,14],[41764,67],[41850,3],[41863,7],[41871,2],[41874,1],[41876,15],[42063,67],[42151,2],[42163,7],[42171,1],[42174,1],[42176,15],[42363,67],[42451,2],[42463,7],[42471,1],[42473,1],[42476,4],[42489,2],[42663,66],[42752,1],[42763,7],[42777,1],[42963,66],[43052,2],[43063,7],[43262,66],[43353,1],[43363,7],[43562,66],[43653,1],[43663,8],[43862,66],[43953,1],[43963,9],[44161,67],[44253,1],[44263,10],[44461,67],[44553,1],[44562,10],[44761,67],[44853,1],[44862,8],[45060,68],[45153,1],[45162,5],[45360,68],[45453,2],[45462,4],[45660,68],[45753,2],[45762,4],[45959,69],[46052,3],[46062,4],[46259,69],[46352,3],[46362,3],[46559,70],[46652,3],[46662,3],[46858,71],[46951,5],[46962,3],[46992,1],[47158,72],[47251,5],[47261,4],[47291,3],[47458,73],[47550,6],[47561,3],[47591,3],[47757,75],[47849,7],[47861,3],[47891,3],[48057,75],[48148,9],[48160,4],[48191,3],[48357,26],[48386,48],[48447,10],[48460,4],[48491,3],[48656,26],[48684,4],[48697,39],[48746,12],[48759,5],[48791,3],[48956,29],[48990,5],[49001,2],[49012,9],[49037,21],[49059,6],[49091,3],[49255,28],[49286,5],[49339,26],[49390,5],[49555,26],[49584,4],[49602,15],[49642,23],[49690,5],[49855,30],[49889,4],[49901,26],[49945,20],[49990,5],[50154,36],[50199,35],[50246,20],[50289,6],[50454,78],[50547,20],[50588,4]],"valid_interact":1},{"action":13,"action_high_args":{"bbox":[111,55,129,96],"mask":[[16321,3],[16620,5],[16920,6],[17220,6],[17519,8],[17819,8],[18119,8],[18419,8],[18719,8],[19019,8],[19319,8],[19619,8],[19919,9],[20219,9],[20519,9],[20819,9],[21119,9],[21419,9],[21719,9],[22019,9],[22319,9],[22619,9],[22919,9],[23219,9],[23520,8],[23820,8],[24120,8],[24421,7],[24724,4],[25024,4],[25324,4],[25624,4],[25924,5],[26224,5],[26524,6],[26819,1],[26824,6],[27111,5],[27117,13],[27412,18],[27714,16],[28017,13],[28318,12],[28622,8]],"point":[120,74]},"centroid":[0.4,0.25166666666666665],"high_idx":8,"mask":[[16321,3],[16620,5],[16920,6],[17220,6],[17519,8],[17819,8],[18119,8],[18419,8],[18719,8],[19019,8],[19319,8],[19619,8],[19919,9],[20219,9],[20519,9],[20819,9],[21119,9],[21419,9],[21719,9],[22019,9],[22319,9],[22619,9],[22919,9],[23219,9],[23520,8],[23820,8],[24120,8],[24421,7],[24724,4],[25024,4],[25324,4],[25624,4],[25924,5],[26224,5],[26524,6],[26819,1],[26824,6],[27111,5],[27117,13],[27412,18],[27714,16],[28017,13],[28318,12],[28622,8]],"valid_interact":1},{"action":14,"action_high_args":{"bbox":[111,55,129,96],"mask":[[16321,3],[16620,5],[16920,6],[17220,6],[17519,8],[17819,8],[18119,8],[18419,8],[18719,8],[19019,8],[19319,8],[19619,8],[19919,9],[20219,9],[20519,9],[20819,9],[21119,9],[21419,9],[21719,9],[22019,9],[22319,9],[22619,9],[22919,9],[23219,9],[23520,8],[23820,8],[24120,8],[24421,7],[24724,4],[25024,4],[25324,4],[25624,4],[25924,5],[26224,5],[26524,6],[26819,1],[26824,6],[27111,5],[27117,13],[27412,18],[27714,16],[28017,13],[28318,12],[28622,8]],"point":[120,74]},"centroid":[0.4,0.25166666666666665],"high_idx":8,"mask":[[16321,3],[16620,5],[16920,6],[17220,6],[17519,8],[17819,8],[18119,8],[18419,8],[18719,8],[19019,8],[19319,8],[19619,8],[19919,9],[20219,9],[20519,9],[20819,9],[21119,9],[21419,9],[21719,9],[22019,9],[22319,9],[22619,9],[22919,9],[23219,9],[23520,8],[23820,8],[24120,8],[24421,7],[24724,4],[25024,4],[25324,4],[25624,4],[25924,5],[26224,5],[26524,6],[26819,1],[26824,6],[27111,5],[27117,13],[27412,18],[27714,16],[28017,13],[28318,12],[28622,8]],"valid_interact":1},{"action":6,"action_high_args":{"bbox":[91,139,119,157],"mask":[[41498,14],[41795,20],[42093,24],[42393,25],[42692,26],[42992,27],[43292,27],[43591,29],[43891,29],[44191,29],[44491,29],[44792,28],[45092,27],[45393,26],[45693,26],[45994,24],[46295,23],[46597,20],[46899,16]],"point":[105,147]},"centroid":[0.35,0.49333333333333335],"high_idx":8,"mask":[[41498,14],[41795,20],[42093,24],[42393,25],[42692,26],[42992,27],[43292,27],[43591,29],[43891,29],[44191,29],[44491,29],[44792,28],[45092,27],[45393,26],[45693,26],[45994,24],[46295,23],[46597,20],[46899,16]],"valid_interact":1}],[{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":9,"mask":null,"valid_interact":0},{"action":8,"action_high_args":{},"centroid":[-1,-1],"high_idx":9,"mask":null,"valid_interact":0}],[{"action":10,"action_high_args":{"bbox":[0,85,133,186],"mask":[[25200,120],[25321,11],[25500,132],[25800,132],[26100,132],[26400,132],[26700,133],[27000,133],[27300,133],[27600,133],[27900,133],[28200,133],[28500,133],[28800,133],[29100,133],[29400,133],[29700,133],[30000,133],[30300,133],[30600,133],[30900,133],[31200,133],[31500,133],[31800,133],[32100,133],[32400,133],[32700,133],[33000,133],[33300,133],[33600,133],[33900,133],[34200,133],[34500,133],[34800,133],[35100,133],[35400,134],[35700,134],[36000,134],[36300,134],[36600,134],[36900,134],[37200,134],[37500,134],[37800,134],[38100,134],[38400,134],[38700,134],[39000,134],[39300,134],[39600,134],[39900,134],[40200,134],[40500,134],[40800,134],[41100,134],[41400,134],[41700,134],[42000,134],[42300,134],[42600,134],[42900,134],[43200,134],[43500,134],[43800,134],[44100,134],[44400,134],[44700,134],[45000,134],[45300,134],[45600,134],[45900,134],[46200,134],[46500,133],[46800,133],[47100,133],[47400,133],[47700,133],[48000,133],[48300,133],[48600,133],[48900,133],[49200,133],[49500,132],[49800,132],[50100,132],[50400,132],[50700,132],[51000,132],[51300,132],[51600,132],[51900,132],[52200,131],[52500,131],[52800,131],[53100,131],[53400,120],[53700,119],[54000,118],[54300,118],[54600,117],[54900,117],[55200,117],[55577,5]],"point":[66,134]},"centroid":[0.22166666666666668,0.45166666666666666],"high_idx":10,"mask":[[25200,120],[25321,11],[25500,132],[25800,132],[26100,132],[26400,132],[26700,133],[27000,133],[27300,133],[27600,133],[27900,133],[28200,133],[28500,133],[28800,133],[29100,133],[29400,133],[29700,133],[30000,133],[30300,133],[30600,133],[30900,133],[31200,133],[31500,133],[31800,133],[32100,133],[32400,133],[32700,133],[33000,133],[33300,133],[33600,133],[33900,133],[34200,133],[34500,133],[34800,133],[35100,133],[35400,134],[35700,134],[36000,134],[36300,134],[36600,134],[36900,134],[37200,134],[37500,134],[37800,134],[38100,134],[38400,134],[38700,134],[39000,134],[39300,134],[39600,134],[39900,134],[40200,134],[40500,134],[40800,134],[41100,134],[41400,134],[41700,134],[42000,134],[42300,134],[42600,134],[42900,134],[43200,134],[43500,134],[43800,134],[44100,134],[44400,134],[44700,134],[45000,134],[45300,134],[45600,134],[45900,134],[46200,134],[46500,133],[46800,133],[47100,133],[47400,133],[47700,133],[48000,133],[48300,133],[48600,133],[48900,133],[49200,133],[49500,132],[49800,132],[50100,132],[50400,132],[50700,132],[51000,132],[51300,132],[51600,132],[51900,132],[52200,131],[52500,131],[52800,131],[53100,131],[53400,120],[53700,119],[54000,118],[54300,118],[54600,117],[54900,117],[55200,117],[55577,5]],"valid_interact":1},{"action":11,"action_high_args":{"bbox":[0,85,133,185],"mask":[[25200,120],[25321,11],[25500,132],[25800,132],[26100,132],[26400,132],[26700,133],[27000,133],[27300,133],[27600,133],[27900,133],[28200,133],[28500,133],[28800,133],[29100,133],[29400,133],[29700,133],[30000,133],[30300,133],[30600,133],[30900,133],[31200,133],[31500,133],[31800,133],[32100,133],[32400,133],[32700,133],[33000,133],[33300,133],[33600,133],[33900,133],[34200,133],[34500,133],[34800,133],[35100,133],[35400,134],[35700,134],[36000,134],[36300,134],[36600,134],[36900,134],[37200,134],[37500,134],[37800,134],[38100,134],[38400,134],[38700,134],[39000,134],[39300,134],[39600,134],[39900,134],[40200,134],[40500,134],[40800,134],[41100,134],[41400,134],[41700,134],[42000,134],[42300,134],[42600,134],[42900,134],[43200,134],[43500,134],[43800,134],[44100,134],[44400,134],[44700,134],[45000,134],[45300,134],[45600,134],[45900,134],[46200,134],[46500,133],[46800,133],[47100,133],[47400,133],[47700,133],[48000,133],[48300,133],[48600,133],[48900,133],[49200,133],[49500,132],[49800,132],[50100,132],[50400,132],[50700,132],[51000,132],[51300,132],[51600,132],[51900,132],[52200,131],[52500,131],[52800,131],[53100,131],[53400,120],[53700,119],[54087,31],[54388,30],[54688,29],[54988,29],[55288,29]],"point":[66,134]},"centroid":[0.22166666666666668,0.45],"high_idx":10,"mask":[[25200,120],[25321,11],[25500,132],[25800,132],[26100,132],[26400,132],[26700,133],[27000,133],[27300,133],[27600,133],[27900,133],[28200,133],[28500,133],[28800,133],[29100,133],[29400,133],[29700,133],[30000,133],[30300,133],[30600,133],[30900,133],[31200,133],[31500,133],[31800,133],[32100,133],[32400,133],[32700,133],[33000,133],[33300,133],[33600,133],[33900,133],[34200,133],[34500,133],[34800,133],[35100,133],[35400,134],[35700,134],[36000,134],[36300,134],[36600,134],[36900,134],[37200,134],[37500,134],[37800,134],[38100,134],[38400,134],[38700,134],[39000,134],[39300,134],[39600,134],[39900,134],[40200,134],[40500,134],[40800,134],[41100,134],[41400,134],[41700,134],[42000,134],[42300,134],[42600,134],[42900,134],[43200,134],[43500,134],[43800,134],[44100,134],[44400,134],[44700,134],[45000,134],[45300,134],[45600,134],[45900,134],[46200,134],[46500,133],[46800,133],[47100,133],[47400,133],[47700,133],[48000,133],[48300,133],[48600,133],[48900,133],[49200,133],[49500,132],[49800,132],[50100,132],[50400,132],[50700,132],[51000,132],[51300,132],[51600,132],[51900,132],[52200,131],[52500,131],[52800,131],[53100,131],[53400,120],[53700,119],[54087,31],[54388,30],[54688,29],[54988,29],[55288,29]],"valid_interact":1},{"action":12,"action_high_args":{"bbox":[0,85,133,185],"mask":[[25200,120],[25321,11],[25500,132],[25800,132],[26100,132],[26400,132],[26700,133],[27000,133],[27300,133],[27600,133],[27900,133],[28200,133],[28500,133],[28800,133],[29100,133],[29400,133],[29700,133],[30000,133],[30300,133],[30600,133],[30900,133],[31200,133],[31500,133],[31800,133],[32100,133],[32400,133],[32700,133],[33000,133],[33300,133],[33600,133],[33900,133],[34200,133],[34500,133],[34800,133],[35100,133],[35400,134],[35700,134],[36000,134],[36300,134],[36600,134],[36900,134],[37200,134],[37500,134],[37800,134],[38100,134],[38400,134],[38700,134],[39000,134],[39300,134],[39600,134],[39900,134],[40200,134],[40500,45],[40557,77],[40800,43],[40859,75],[41100,41],[41161,73],[41400,40],[41462,72],[41700,40],[41763,71],[42000,39],[42064,70],[42300,39],[42364,70],[42600,39],[42665,69],[42900,39],[42965,69],[43200,39],[43265,69],[43500,39],[43566,68],[43800,39],[43866,68],[44100,39],[44166,68],[44400,40],[44466,68],[44700,40],[44766,68],[45000,40],[45067,67],[45300,40],[45367,67],[45600,41],[45667,67],[45900,41],[45967,67],[46200,41],[46267,67],[46500,42],[46567,66],[46800,43],[46866,67],[47100,44],[47166,67],[47400,45],[47465,68],[47700,47],[47764,69],[48000,50],[48062,71],[48300,133],[48600,133],[48900,133],[49200,133],[49500,132],[49800,132],[50100,132],[50400,132],[50700,132],[51000,132],[51300,132],[51600,132],[51900,132],[52200,131],[52500,131],[52800,131],[53100,131],[53400,120],[53700,119],[54087,31],[54388,30],[54688,29],[54988,29],[55288,29]],"point":[66,134]},"centroid":[0.22166666666666668,0.45],"high_idx":10,"mask":[[25200,120],[25321,11],[25500,132],[25800,132],[26100,132],[26400,132],[26700,133],[27000,133],[27300,133],[27600,133],[27900,133],[28200,133],[28500,133],[28800,133],[29100,133],[29400,133],[29700,133],[30000,133],[30300,133],[30600,133],[30900,133],[31200,133],[31500,133],[31800,133],[32100,133],[32400,133],[32700,133],[33000,133],[33300,133],[33600,133],[33900,133],[34200,133],[34500,133],[34800,133],[35100,133],[35400,134],[35700,134],[36000,134],[36300,134],[36600,134],[36900,134],[37200,134],[37500,134],[37800,134],[38100,134],[38400,134],[38700,134],[39000,134],[39300,134],[39600,134],[39900,134],[40200,134],[40500,45],[40557,77],[40800,43],[40859,75],[41100,41],[41161,73],[41400,40],[41462,72],[41700,40],[41763,71],[42000,39],[42064,70],[42300,39],[42364,70],[42600,39],[42665,69],[42900,39],[42965,69],[43200,39],[43265,69],[43500,39],[43566,68],[43800,39],[43866,68],[44100,39],[44166,68],[44400,40],[44466,68],[44700,40],[44766,68],[45000,40],[45067,67],[45300,40],[45367,67],[45600,41],[45667,67],[45900,41],[45967,67],[46200,41],[46267,67],[46500,42],[46567,66],[46800,43],[46866,67],[47100,44],[47166,67],[47400,45],[47465,68],[47700,47],[47764,69],[48000,50],[48062,71],[48300,133],[48600,133],[48900,133],[49200,133],[49500,132],[49800,132],[50100,132],[50400,132],[50700,132],[51000,132],[51300,132],[51600,132],[51900,132],[52200,131],[52500,131],[52800,131],[53100,131],[53400,120],[53700,119],[54087,31],[54388,30],[54688,29],[54988,29],[55288,29]],"valid_interact":1}],[{"action":2,"action_high_args":{},"centroid":[-1,-1],"high_idx":11,"mask":null,"valid_interact":0}]],"lang_goal":[10,35,677,55,21,281,11,4,57,2],"lang_instr":[[24,38,9,156,18,4,83,9,24,38,9,967,18,4,189,9,24,38,9,156,18,4,27,9,24,38,18,39,4,60],[69,4,281,11,40,21,4,353],[24,19,9,1386,73,18,4,27,26,1158,73,18,4,60,9,24,38,9,156,18,4,71,9,24,19,9,156,18,149],[14,281,11,149,15,38,20],[69,63,6,149],[167,63,6,149,18,210,35,281,55],[14,63,11,149],[69,281,55,6,149],[14,281,55,15,19,20,21,149,9,167,179,6,393,18,720,752,11,149,51,179,9,69,4,281,55,6,4,19,20,21,4,149],[24,38,18,39,57],[14,281,55,11,57],[34]],"low_to_high_idx":[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,3,4,5,6,7,8,8,8,8,9,9,10,10,10,11]},"pddl_params":{"mrecep_target":"","object_sliced":true,"object_target":"Tomato","parent_target":"Microwave","toggle_target":""},"plan":{"high_pddl":[{"discrete_action":{"action":"GotoLocation","args":["diningtable"]},"high_idx":0,"planner_action":{"action":"GotoLocation","location":"loc|4|1|3|60"}},{"discrete_action":{"action":"PickupObject","args":["tomato"]},"high_idx":1,"planner_action":{"action":"PickupObject","coordinateObjectId":["Tomato",[2.089287044,2.089287044,1.22134304,1.22134304,3.929794,3.929794]],"coordinateReceptacleObjectId":["DiningTable",[1.66,1.66,2.712,2.712,0.052,0.052]],"forceVisible":true,"objectId":"Tomato|+00.52|+00.98|+00.31"}},{"discrete_action":{"action":"GotoLocation","args":["sinkbasin"]},"high_idx":2,"planner_action":{"action":"GotoLocation","location":"loc|-1|-5|2|45"}},{"discrete_action":{"action":"PutObject","args":["tomato","sinkbasin"]},"high_idx":3,"planner_action":{"action":"PutObject","coordinateObjectId":["Tomato",[2.089287044,2.089287044,1.22134304,1.22134304,3.929794,3.929794]],"coordinateReceptacleObjectId":["SinkBasin",[-0.5932,-0.5932,-8.1056,-8.1056,3.0156,3.0156]],"forceVisible":true,"objectId":"Tomato|+00.52|+00.98|+00.31","receptacleObjectId":"Sink|-00.11|+00.89|-02.01|SinkBasin"}},{"discrete_action":{"action":"PickupObject","args":["knife"]},"high_idx":4,"planner_action":{"action":"PickupObject","coordinateObjectId":["Knife",[-1.135281684,-1.135281684,-7.925941,-7.925941,3.15014696,3.15014696]],"coordinateReceptacleObjectId":["SinkBasin",[-0.5932,-0.5932,-8.1056,-8.1056,3.0156,3.0156]],"forceVisible":true,"objectId":"Knife|-00.28|+00.79|-01.98"}},{"discrete_action":{"action":"SliceObject","args":["tomato"]},"high_idx":5,"planner_action":{"action":"SliceObject","coordinateObjectId":["Tomato",[2.089287044,2.089287044,1.22134304,1.22134304,3.929794,3.929794]],"forceVisible":true,"objectId":"Tomato|+00.52|+00.98|+00.31"}},{"discrete_action":{"action":"PutObject","args":["knife","sinkbasin"]},"high_idx":6,"planner_action":{"action":"PutObject","coordinateObjectId":["Knife",[-1.135281684,-1.135281684,-7.925941,-7.925941,3.15014696,3.15014696]],"coordinateReceptacleObjectId":["SinkBasin",[-0.5932,-0.5932,-8.1056,-8.1056,3.0156,3.0156]],"forceVisible":true,"objectId":"Knife|-00.28|+00.79|-01.98","receptacleObjectId":"Sink|-00.11|+00.89|-02.01|SinkBasin"}},{"discrete_action":{"action":"PickupObject","args":["tomato"]},"high_idx":7,"planner_action":{"action":"PickupObject","coordinateObjectId":["Tomato",[2.089287044,2.089287044,1.22134304,1.22134304,3.929794,3.929794]],"coordinateReceptacleObjectId":["SinkBasin",[-0.5932,-0.5932,-8.1056,-8.1056,3.0156,3.0156]],"forceVisible":true,"objectId":"Tomato|+00.52|+00.98|+00.31|TomatoSliced_1"}},{"discrete_action":{"action":"CleanObject","args":["knife"]},"high_idx":8,"planner_action":{"action":"CleanObject","cleanObjectId":"Tomato|+00.52|+00.98|+00.31","coordinateObjectId":["Tomato",[2.089287044,2.089287044,1.22134304,1.22134304,3.929794,3.929794]],"coordinateReceptacleObjectId":["SinkBasin",[-0.5932,-0.5932,-8.1056,-8.1056,3.0156,3.0156]],"forceVisible":true,"objectId":"Sink|-00.11|+00.89|-02.01|SinkBasin"}},{"discrete_action":{"action":"GotoLocation","args":["microwave"]},"high_idx":9,"planner_action":{"action":"GotoLocation","location":"loc|-1|-5|3|30"}},{"discrete_action":{"action":"PutObject","args":["tomato","microwave"]},"high_idx":10,"planner_action":{"action":"PutObject","coordinateObjectId":["Tomato",[2.089287044,2.089287044,1.22134304,1.22134304,3.929794,3.929794]],"coordinateReceptacleObjectId":["Microwave",[-4.936,-4.936,-6.724,-6.724,3.6,3.6]],"forceVisible":true,"objectId":"Tomato|+00.52|+00.98|+00.31|TomatoSliced_1","receptacleObjectId":"Microwave|-01.23|+00.90|-01.68"}},{"discrete_action":{"action":"NoOp","args":[]},"high_idx":11,"planner_action":{"action":"End","value":1}}],"low_actions":[{"api_action":{"action":"LookDown","forceAction":true},"discrete_action":{"action":"LookDown_15","args":{}},"high_idx":0},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":0},{"api_action":{"action":"LookDown","forceAction":true},"discrete_action":{"action":"LookDown_15","args":{}},"high_idx":0},{"api_action":{"action":"PickupObject","objectId":"Tomato|+00.52|+00.98|+00.31"},"discrete_action":{"action":"PickupObject","args":{"bbox":[144,97,189,138],"mask":[[28960,16],[29256,22],[29554,26],[29852,29],[30151,32],[30450,33],[30749,35],[31048,37],[31347,39],[31646,40],[31946,41],[32245,42],[32545,43],[32845,43],[33144,44],[33444,45],[33744,45],[34044,45],[34344,45],[34644,46],[34944,46],[35244,46],[35544,46],[35844,46],[36144,46],[36444,45],[36744,45],[37044,45],[37345,43],[37645,43],[37945,42],[38246,40],[38546,39],[38847,37],[39147,36],[39448,34],[39749,32],[40050,30],[40351,27],[40653,23],[40954,20],[41257,13]],"point":[166,116]}},"high_idx":1},{"api_action":{"action":"LookUp","forceAction":true},"discrete_action":{"action":"LookUp_15","args":{}},"high_idx":2},{"api_action":{"action":"RotateLeft","forceAction":true},"discrete_action":{"action":"RotateLeft_90","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"RotateLeft","forceAction":true},"discrete_action":{"action":"RotateLeft_90","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"PutObject","forceAction":true,"objectId":"Tomato|+00.52|+00.98|+00.31","placeStationary":true,"receptacleObjectId":"Sink|-00.11|+00.89|-02.01|SinkBasin"},"discrete_action":{"action":"PutObject","args":{"bbox":[54,131,194,169],"mask":[[39077,53],[39152,5],[39158,21],[39374,55],[39452,5],[39458,24],[39672,57],[39753,4],[39758,26],[39970,59],[40053,4],[40058,12],[40071,2],[40074,12],[40268,61],[40353,4],[40358,12],[40371,2],[40374,13],[40567,62],[40653,4],[40658,12],[40671,2],[40674,1],[40676,12],[40866,63],[40953,4],[40958,12],[40971,2],[40974,1],[40976,13],[41165,64],[41253,4],[41258,12],[41271,2],[41274,1],[41276,14],[41465,64],[41553,4],[41558,12],[41571,2],[41574,1],[41576,14],[41764,66],[41853,4],[41858,12],[41871,1],[41874,1],[41876,15],[42063,67],[42152,5],[42158,12],[42171,1],[42174,1],[42176,15],[42363,68],[42452,18],[42471,1],[42473,1],[42476,15],[42663,69],[42751,19],[42777,14],[42963,70],[43050,20],[43077,14],[43262,73],[43349,21],[43377,14],[43562,74],[43648,23],[43676,16],[43862,78],[43945,27],[43975,17],[44161,112],[44275,17],[44461,112],[44575,17],[44761,112],[44875,17],[45060,113],[45175,17],[45360,113],[45475,18],[45660,77],[45742,31],[45775,18],[45959,77],[46044,30],[46075,18],[46259,75],[46346,28],[46375,18],[46559,74],[46647,26],[46676,17],[46858,75],[46947,26],[46976,17],[47158,74],[47248,10],[47259,14],[47276,18],[47458,74],[47549,8],[47559,14],[47576,18],[47757,74],[47849,8],[47860,13],[47876,18],[48057,74],[48149,8],[48160,13],[48176,18],[48357,26],[48386,45],[48450,7],[48460,13],[48477,17],[48656,26],[48684,4],[48697,33],[48750,7],[48760,13],[48777,17],[48956,29],[48990,5],[49001,2],[49012,8],[49050,7],[49060,13],[49077,17],[49255,28],[49286,5],[49350,7],[49360,13],[49377,18],[49555,26],[49584,4],[49602,15],[49650,7],[49660,13],[49677,18],[49855,30],[49889,4],[49900,27],[49950,7],[49960,13],[49977,18],[50154,36],[50199,31],[50250,7],[50260,13],[50278,17],[50454,77],[50550,7],[50560,13],[50578,14]],"point":[124,149]}},"high_idx":3},{"api_action":{"action":"PickupObject","objectId":"Knife|-00.28|+00.79|-01.98"},"discrete_action":{"action":"PickupObject","args":{"bbox":[157,130,159,169],"mask":[[38857,1],[39157,1],[39457,1],[39757,1],[40057,1],[40357,1],[40657,1],[40957,1],[41257,1],[41557,1],[41857,1],[42157,1],[47258,1],[47557,2],[47857,3],[48157,3],[48457,3],[48757,3],[49057,3],[49357,3],[49657,3],[49957,3],[50257,3],[50557,3]],"point":[157,140]}},"high_idx":4},{"api_action":{"action":"SliceObject","objectId":"Tomato|+00.52|+00.98|+00.31"},"discrete_action":{"action":"SliceObject","args":{"bbox":[163,138,190,169],"mask":[[41273,8],[41570,13],[41869,16],[42167,19],[42467,20],[42766,21],[43066,22],[43365,24],[43665,24],[43965,25],[44265,25],[44564,26],[44865,26],[45165,26],[45464,27],[45764,27],[46063,28],[46363,28],[46664,27],[46964,27],[47264,27],[47564,26],[47864,26],[48164,26],[48465,25],[48765,24],[49066,23],[49366,22],[49667,20],[49969,17],[50271,13],[50573,9]],"point":[176,152]}},"high_idx":5},{"api_action":{"action":"PutObject","forceAction":true,"objectId":"Knife|-00.28|+00.79|-01.98","placeStationary":true,"receptacleObjectId":"Sink|-00.11|+00.89|-02.01|SinkBasin"},"discrete_action":{"action":"PutObject","args":{"bbox":[54,131,194,169],"mask":[[39077,102],[39374,108],[39672,112],[39970,103],[40074,12],[40268,102],[40371,2],[40374,13],[40567,103],[40671,2],[40674,1],[40676,12],[40866,69],[40946,24],[40972,1],[40974,1],[40976,13],[41165,69],[41248,22],[41271,2],[41274,1],[41276,14],[41465,67],[41549,21],[41571,2],[41574,1],[41576,14],[41764,67],[41850,20],[41871,2],[41874,1],[41876,15],[42063,67],[42151,19],[42171,1],[42174,1],[42176,5],[42188,3],[42363,67],[42451,19],[42471,1],[42473,1],[42490,1],[42663,66],[42752,18],[42963,66],[43052,18],[43262,66],[43353,16],[43562,66],[43653,14],[43862,66],[43953,13],[44161,67],[44253,13],[44461,67],[44553,13],[44761,67],[44853,12],[45060,68],[45153,12],[45360,68],[45453,12],[45492,1],[45660,68],[45753,12],[45791,2],[45959,69],[46052,13],[46092,1],[46259,69],[46352,13],[46392,1],[46559,70],[46652,13],[46692,1],[46858,71],[46951,14],[46992,1],[47158,72],[47251,14],[47292,2],[47458,72],[47550,15],[47592,2],[47757,74],[47850,15],[47891,3],[48057,75],[48149,16],[48191,3],[48357,26],[48386,47],[48448,17],[48491,3],[48656,26],[48684,4],[48697,38],[48746,19],[48791,3],[48956,29],[48990,5],[49001,2],[49012,9],[49037,1],[49042,23],[49090,4],[49255,28],[49286,5],[49339,27],[49390,5],[49555,26],[49584,4],[49602,15],[49642,24],[49689,6],[49855,30],[49889,4],[49901,26],[49945,22],[49989,6],[50154,36],[50199,35],[50246,21],[50288,7],[50454,78],[50547,21],[50587,5]],"point":[124,149]}},"high_idx":6},{"api_action":{"action":"PickupObject","objectId":"Tomato|+00.52|+00.98|+00.31|TomatoSliced_1"},"discrete_action":{"action":"PickupObject","args":{"bbox":[165,146,189,154],"mask":[[43671,13],[43968,10],[43979,8],[44267,4],[44285,4],[44566,3],[44588,2],[44866,2],[45165,2],[45465,1],[45765,1],[46065,1]],"point":[177,146]}},"high_idx":7},{"api_action":{"action":"PutObject","forceAction":true,"objectId":"Tomato|+00.52|+00.98|+00.31|TomatoSliced_1","placeStationary":true,"receptacleObjectId":"Sink|-00.11|+00.89|-02.01|SinkBasin"},"discrete_action":{"action":"PutObject","args":{"bbox":[54,131,194,169],"mask":[[39077,75],[39164,15],[39374,78],[39464,18],[39672,80],[39764,20],[39970,83],[40063,10],[40074,12],[40268,85],[40363,7],[40371,2],[40374,13],[40567,71],[40643,10],[40663,7],[40672,1],[40674,1],[40676,12],[40866,69],[40946,7],[40963,7],[40972,1],[40974,1],[40976,13],[41165,68],[41248,5],[41263,7],[41271,2],[41274,1],[41276,14],[41465,67],[41549,4],[41563,7],[41571,2],[41574,1],[41576,14],[41764,67],[41850,3],[41863,7],[41871,2],[41874,1],[41876,15],[42063,67],[42151,2],[42163,7],[42171,1],[42174,1],[42176,15],[42363,67],[42451,2],[42463,7],[42471,1],[42473,1],[42476,4],[42489,2],[42663,66],[42752,1],[42763,7],[42777,1],[42963,66],[43052,2],[43063,7],[43262,66],[43353,1],[43363,7],[43562,66],[43653,1],[43663,8],[43862,66],[43953,1],[43963,9],[44161,67],[44253,1],[44263,10],[44461,67],[44553,1],[44562,10],[44761,67],[44853,1],[44862,8],[45060,68],[45153,1],[45162,5],[45360,68],[45453,2],[45462,4],[45660,68],[45753,2],[45762,4],[45959,69],[46052,3],[46062,4],[46259,69],[46352,3],[46362,3],[46559,70],[46652,3],[46662,3],[46858,71],[46951,5],[46962,3],[46992,1],[47158,72],[47251,5],[47261,4],[47291,3],[47458,73],[47550,6],[47561,3],[47591,3],[47757,75],[47849,7],[47861,3],[47891,3],[48057,75],[48148,9],[48160,4],[48191,3],[48357,26],[48386,48],[48447,10],[48460,4],[48491,3],[48656,26],[48684,4],[48697,39],[48746,12],[48759,5],[48791,3],[48956,29],[48990,5],[49001,2],[49012,9],[49037,21],[49059,6],[49091,3],[49255,28],[49286,5],[49339,26],[49390,5],[49555,26],[49584,4],[49602,15],[49642,23],[49690,5],[49855,30],[49889,4],[49901,26],[49945,20],[49990,5],[50154,36],[50199,35],[50246,20],[50289,6],[50454,78],[50547,20],[50588,4]],"point":[124,149]}},"high_idx":8},{"api_action":{"action":"ToggleObjectOn","cleanObjectId":"Tomato|+00.52|+00.98|+00.31","coordinateObjectId":["Tomato",[2.089287044,2.089287044,1.22134304,1.22134304,3.929794,3.929794]],"coordinateReceptacleObjectId":["SinkBasin",[-0.5932,-0.5932,-8.1056,-8.1056,3.0156,3.0156]],"forceVisible":true,"objectId":"Faucet|-00.14|+01.03|-02.22"},"discrete_action":{"action":"ToggleObjectOn","args":{"bbox":[111,55,129,96],"mask":[[16321,3],[16620,5],[16920,6],[17220,6],[17519,8],[17819,8],[18119,8],[18419,8],[18719,8],[19019,8],[19319,8],[19619,8],[19919,9],[20219,9],[20519,9],[20819,9],[21119,9],[21419,9],[21719,9],[22019,9],[22319,9],[22619,9],[22919,9],[23219,9],[23520,8],[23820,8],[24120,8],[24421,7],[24724,4],[25024,4],[25324,4],[25624,4],[25924,5],[26224,5],[26524,6],[26819,1],[26824,6],[27111,5],[27117,13],[27412,18],[27714,16],[28017,13],[28318,12],[28622,8]],"point":[120,74]}},"high_idx":8},{"api_action":{"action":"ToggleObjectOff","cleanObjectId":"Tomato|+00.52|+00.98|+00.31","coordinateObjectId":["Tomato",[2.089287044,2.089287044,1.22134304,1.22134304,3.929794,3.929794]],"coordinateReceptacleObjectId":["SinkBasin",[-0.5932,-0.5932,-8.1056,-8.1056,3.0156,3.0156]],"forceVisible":true,"objectId":"Faucet|-00.14|+01.03|-02.22"},"discrete_action":{"action":"ToggleObjectOff","args":{"bbox":[111,55,129,96],"mask":[[16321,3],[16620,5],[16920,6],[17220,6],[17519,8],[17819,8],[18119,8],[18419,8],[18719,8],[19019,8],[19319,8],[19619,8],[19919,9],[20219,9],[20519,9],[20819,9],[21119,9],[21419,9],[21719,9],[22019,9],[22319,9],[22619,9],[22919,9],[23219,9],[23520,8],[23820,8],[24120,8],[24421,7],[24724,4],[25024,4],[25324,4],[25624,4],[25924,5],[26224,5],[26524,6],[26819,1],[26824,6],[27111,5],[27117,13],[27412,18],[27714,16],[28017,13],[28318,12],[28622,8]],"point":[120,74]}},"high_idx":8},{"api_action":{"action":"PickupObject","objectId":"Tomato|+00.52|+00.98|+00.31|TomatoSliced_1"},"discrete_action":{"action":"PickupObject","args":{"bbox":[91,139,119,157],"mask":[[41498,14],[41795,20],[42093,24],[42393,25],[42692,26],[42992,27],[43292,27],[43591,29],[43891,29],[44191,29],[44491,29],[44792,28],[45092,27],[45393,26],[45693,26],[45994,24],[46295,23],[46597,20],[46899,16]],"point":[105,147]}},"high_idx":8},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":9},{"api_action":{"action":"LookUp","forceAction":true},"discrete_action":{"action":"LookUp_15","args":{}},"high_idx":9},{"api_action":{"action":"OpenObject","objectId":"Microwave|-01.23|+00.90|-01.68"},"discrete_action":{"action":"OpenObject","args":{"bbox":[0,85,133,186],"mask":[[25200,120],[25321,11],[25500,132],[25800,132],[26100,132],[26400,132],[26700,133],[27000,133],[27300,133],[27600,133],[27900,133],[28200,133],[28500,133],[28800,133],[29100,133],[29400,133],[29700,133],[30000,133],[30300,133],[30600,133],[30900,133],[31200,133],[31500,133],[31800,133],[32100,133],[32400,133],[32700,133],[33000,133],[33300,133],[33600,133],[33900,133],[34200,133],[34500,133],[34800,133],[35100,133],[35400,134],[35700,134],[36000,134],[36300,134],[36600,134],[36900,134],[37200,134],[37500,134],[37800,134],[38100,134],[38400,134],[38700,134],[39000,134],[39300,134],[39600,134],[39900,134],[40200,134],[40500,134],[40800,134],[41100,134],[41400,134],[41700,134],[42000,134],[42300,134],[42600,134],[42900,134],[43200,134],[43500,134],[43800,134],[44100,134],[44400,134],[44700,134],[45000,134],[45300,134],[45600,134],[45900,134],[46200,134],[46500,133],[46800,133],[47100,133],[47400,133],[47700,133],[48000,133],[48300,133],[48600,133],[48900,133],[49200,133],[49500,132],[49800,132],[50100,132],[50400,132],[50700,132],[51000,132],[51300,132],[51600,132],[51900,132],[52200,131],[52500,131],[52800,131],[53100,131],[53400,120],[53700,119],[54000,118],[54300,118],[54600,117],[54900,117],[55200,117],[55577,5]],"point":[66,134]}},"high_idx":10},{"api_action":{"action":"PutObject","forceAction":true,"objectId":"Tomato|+00.52|+00.98|+00.31|TomatoSliced_1","placeStationary":true,"receptacleObjectId":"Microwave|-01.23|+00.90|-01.68"},"discrete_action":{"action":"PutObject","args":{"bbox":[0,85,133,185],"mask":[[25200,120],[25321,11],[25500,132],[25800,132],[26100,132],[26400,132],[26700,133],[27000,133],[27300,133],[27600,133],[27900,133],[28200,133],[28500,133],[28800,133],[29100,133],[29400,133],[29700,133],[30000,133],[30300,133],[30600,133],[30900,133],[31200,133],[31500,133],[31800,133],[32100,133],[32400,133],[32700,133],[33000,133],[33300,133],[33600,133],[33900,133],[34200,133],[34500,133],[34800,133],[35100,133],[35400,134],[35700,134],[36000,134],[36300,134],[36600,134],[36900,134],[37200,134],[37500,134],[37800,134],[38100,134],[38400,134],[38700,134],[39000,134],[39300,134],[39600,134],[39900,134],[40200,134],[40500,134],[40800,134],[41100,134],[41400,134],[41700,134],[42000,134],[42300,134],[42600,134],[42900,134],[43200,134],[43500,134],[43800,134],[44100,134],[44400,134],[44700,134],[45000,134],[45300,134],[45600,134],[45900,134],[46200,134],[46500,133],[46800,133],[47100,133],[47400,133],[47700,133],[48000,133],[48300,133],[48600,133],[48900,133],[49200,133],[49500,132],[49800,132],[50100,132],[50400,132],[50700,132],[51000,132],[51300,132],[51600,132],[51900,132],[52200,131],[52500,131],[52800,131],[53100,131],[53400,120],[53700,119],[54087,31],[54388,30],[54688,29],[54988,29],[55288,29]],"point":[66,134]}},"high_idx":10},{"api_action":{"action":"CloseObject","objectId":"Microwave|-01.23|+00.90|-01.68"},"discrete_action":{"action":"CloseObject","args":{"bbox":[0,85,133,185],"mask":[[25200,120],[25321,11],[25500,132],[25800,132],[26100,132],[26400,132],[26700,133],[27000,133],[27300,133],[27600,133],[27900,133],[28200,133],[28500,133],[28800,133],[29100,133],[29400,133],[29700,133],[30000,133],[30300,133],[30600,133],[30900,133],[31200,133],[31500,133],[31800,133],[32100,133],[32400,133],[32700,133],[33000,133],[33300,133],[33600,133],[33900,133],[34200,133],[34500,133],[34800,133],[35100,133],[35400,134],[35700,134],[36000,134],[36300,134],[36600,134],[36900,134],[37200,134],[37500,134],[37800,134],[38100,134],[38400,134],[38700,134],[39000,134],[39300,134],[39600,134],[39900,134],[40200,134],[40500,45],[40557,77],[40800,43],[40859,75],[41100,41],[41161,73],[41400,40],[41462,72],[41700,40],[41763,71],[42000,39],[42064,70],[42300,39],[42364,70],[42600,39],[42665,69],[42900,39],[42965,69],[43200,39],[43265,69],[43500,39],[43566,68],[43800,39],[43866,68],[44100,39],[44166,68],[44400,40],[44466,68],[44700,40],[44766,68],[45000,40],[45067,67],[45300,40],[45367,67],[45600,41],[45667,67],[45900,41],[45967,67],[46200,41],[46267,67],[46500,42],[46567,66],[46800,43],[46866,67],[47100,44],[47166,67],[47400,45],[47465,68],[47700,47],[47764,69],[48000,50],[48062,71],[48300,133],[48600,133],[48900,133],[49200,133],[49500,132],[49800,132],[50100,132],[50400,132],[50700,132],[51000,132],[51300,132],[51600,132],[51900,132],[52200,131],[52500,131],[52800,131],[53100,131],[53400,120],[53700,119],[54087,31],[54388,30],[54688,29],[54988,29],[55288,29]],"point":[66,134]}},"high_idx":10}]},"repeat_idx":0,"root":"alfred/data/json_2.1.0/pick_clean_then_place_in_recep-TomatoSliced-None-Microwave-20/trial_T20190918_161337_246067","scene":{"dirty_and_empty":true,"floor_plan":"FloorPlan20","init_action":{"action":"TeleportFull","horizon":30,"rotateOnTeleport":true,"rotation":270,"x":-1.0,"y":0.9009992,"z":1.25},"object_poses":[{"objectName":"Ladle_bd8f96dd","position":{"x":0.457472026,"y":0.957862437,"z":-2.16910982},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"DishSponge_c9c37476","position":{"x":1.18108356,"y":0.118819416,"z":-1.96876419},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"DishSponge_c9c37476","position":{"x":-1.25438952,"y":2.14714885,"z":-1.12969577},"rotation":{"x":-1.40334208e-14,"y":90.0,"z":0.0}},{"objectName":"ButterKnife_8db17fc4","position":{"x":0.408444166,"y":0.9306866,"z":1.220139},"rotation":{"x":0.0,"y":270.0,"z":0.0}},{"objectName":"Pot_d7116d9f","position":{"x":0.408444166,"y":0.9251676,"z":0.99143815},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Fork_a1e5049a","position":{"x":0.408444166,"y":0.927481055,"z":0.30533576},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Fork_a1e5049a","position":{"x":-0.356837839,"y":0.7650047,"z":-2.07131481},"rotation":{"x":0.0,"y":90.0,"z":1.40334191e-14}},{"objectName":"Egg_8bcb7893","position":{"x":-0.210802972,"y":0.8180097,"z":-1.93657041},"rotation":{"x":1.40334191e-14,"y":0.0,"z":0.0}},{"objectName":"Cup_5f9ea4fe","position":{"x":1.466886,"y":0.913718462,"z":-1.329551},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Plate_d1e14b30","position":{"x":1.35913289,"y":0.5564699,"z":2.4829},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Knife_416e93ae","position":{"x":-0.283820421,"y":0.78753674,"z":-1.98148525},"rotation":{"x":0.0,"y":270.0,"z":-1.40334191e-14}},{"objectName":"Tomato_de47916c","position":{"x":0.408444166,"y":0.9787365,"z":0.534036636},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Bowl_980e4fc9","position":{"x":-0.0470661819,"y":0.9272505,"z":0.30533576},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"SaltShaker_725f4a28","position":{"x":0.294566572,"y":0.9269507,"z":1.44883978},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"PepperShaker_6ea32579","position":{"x":1.25967884,"y":0.8771371,"z":2.51076818},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"PepperShaker_6ea32579","position":{"x":-0.160943776,"y":0.9232387,"z":0.99143815},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Bread_b4d69cc9","position":{"x":0.06681141,"y":0.972077966,"z":1.220139},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Mug_0e2bb95a","position":{"x":-0.24263224,"y":2.14667583,"z":-2.12097645},"rotation":{"x":0.0,"y":270.0,"z":0.0}},{"objectName":"Apple_792121da","position":{"x":-0.210802972,"y":0.8353815,"z":-2.11622977},"rotation":{"x":1.40334191e-14,"y":0.0,"z":0.0}},{"objectName":"Potato_4e602a34","position":{"x":0.294566572,"y":0.9599505,"z":1.220139},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Bowl_980e4fc9","position":{"x":-1.38066268,"y":1.18029046,"z":-0.4959922},"rotation":{"x":0.0,"y":89.99983,"z":0.0}},{"objectName":"SoapBottle_11e2985b","position":{"x":0.522321761,"y":0.929298162,"z":0.076635},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Fork_a1e5049a","position":{"x":-0.06476809,"y":0.7650047,"z":-1.98148525},"rotation":{"x":1.40334191e-14,"y":0.0,"z":0.0}},{"objectName":"Ladle_bd8f96dd","position":{"x":1.90938616,"y":1.70200014,"z":-1.67331362},"rotation":{"x":-7.062251e-30,"y":270.0,"z":0.0}},{"objectName":"Bread_b4d69cc9","position":{"x":0.180688992,"y":0.972077966,"z":0.534036636},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Lettuce_aebda124","position":{"x":1.73830819,"y":0.9946568,"z":-1.56350493},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"WineBottle_620f4eaa","position":{"x":1.29438376,"y":0.120183885,"z":-1.8069737},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Spatula_33e0bb4d","position":{"x":-0.0470661819,"y":0.9456444,"z":0.7627374},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Plate_d1e14b30","position":{"x":1.64783418,"y":0.9169113,"z":-1.329551},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"SaltShaker_725f4a28","position":{"x":-1.03640509,"y":0.909806132,"z":-2.26071715},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Pot_d7116d9f","position":{"x":-0.117,"y":0.921,"z":1.5},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Cup_5f9ea4fe","position":{"x":1.466886,"y":0.913718462,"z":-1.09559679},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"PepperShaker_6ea32579","position":{"x":0.180688992,"y":0.9269507,"z":0.30533576},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Pan_bc4f8581","position":{"x":1.82486081,"y":0.9453135,"z":-0.3461054},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"ButterKnife_8db17fc4","position":{"x":-0.0470661819,"y":0.9269746,"z":0.534036636},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Tomato_de47916c","position":{"x":0.522321761,"y":0.9824485,"z":0.30533576},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"DishSponge_c9c37476","position":{"x":1.850235,"y":0.913064241,"z":-2.002},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Egg_8bcb7893","position":{"x":0.06681141,"y":0.984198034,"z":0.7627374},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Spoon_a85d92ad","position":{"x":-0.0470661819,"y":0.9317739,"z":0.076635},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Knife_416e93ae","position":{"x":1.15385354,"y":0.9365806,"z":-2.002},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Mug_0e2bb95a","position":{"x":-1.53399134,"y":1.49968445,"z":-0.806503832},"rotation":{"x":0.0,"y":89.99983,"z":0.0}}],"object_toggles":[],"random_seed":1737125501,"scene_num":20},"split":"valid_seen","task_id":"trial_T20190918_161337_246067","task_type":"pick_clean_then_place_in_recep","turk_annotations":{"anns":[{"assignment_id":"A2M7VEYAS1405L_3QILPRALQ8CAMOPMKFL0NIZK4LQ8NG","high_descs":["turn right, head to the door, turn right, heads to the shelf, turn right, head to the stove, turn right to face the table","take the tomato in front of the fork","turn left, advance next to the stove and not next to the table, turn right, head to the refrigerator, turn left, head to sink","put tomato in sink on right side","take knife from sink","use knife from sink to make a tomato slice","put knife in sink","take tomato slice from sink","put tomato slice on left side of sink, use water from faucet to cover items in sink with water, take the tomato slice from the left side of the sink","turn right to face microwave","put tomato slice in microwave"],"task_desc":"Place a rinsed slice of tomato in the microwave","votes":[1,1]},{"assignment_id":"AFU00NU09CFXE_3WZ36BJEV6XRJZSDKNRMNJVD1GTTBB","high_descs":["Turn right, move to the corner with the brown shelving unit, turn right again and stop between the window and counter, facing the tomatoes.","Pick up the tomato closest to you from the counter.","Carry the tomato to the kitchen sink. ","Place the tomato in the kitchen sink. ","Pick up the knife from the kitchen sink. ","Slice the top off the tomato in the sink. ","Place the knife in the sink. ","Pick up the slice you just cut from the tomato in the sink. ","Place the slice of tomato in the sink, turn the water on, and wash it. ","Remove the freshly washed tomato slice from the sink. ","Place the tomato slice in the microwave and shut the door. "],"task_desc":"Place a washed tomato slice in the microwave. ","votes":[1,1]},{"assignment_id":"A21KF567E8ZCLO_3YMU66OBIQPX579T0F2BABJM6UYGH3","high_descs":["turn right, walk towards the door, turn right at the door, then turn right at the shelf, stop at the kitchen island","Pick up the the tomato from the island","walk towards the sink next to the refrigerator","put the tomato in the sink","retrieve a knife  from the sink","cut the tomato in the sink","put the knife back in the sink","wash the tomato in the sink","take the tomato out of the sink","turn right and walk towards the microwave","put the tomato in the microwave"],"task_desc":"Cook a sliced tomato in the microwave","votes":[1,1]}]}}},"observations":[],"question":{"options":[],"original":"Please place a rinsed slice of tomato in the microwave. It's quick and easy this way, whenever you're ready to use it.","text":"Please place a rinsed slice of tomato in the microwave. It's quick and easy this way, whenever you're ready to use it."},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"AI2-THOR / ALFRED","eval_set":"complex_instruction","instruction_override":"Please place a rinsed slice of tomato in the microwave. It's quick and easy this way, whenever you're ready to use it.","mode":"interactive","native_episode_locator":{"file":"pick_clean_then_place_in_recep-TomatoSliced-None-Microwave-20/trial_T20190918_161337_246067/pp/ann_0.json","format":"hf_file"},"observation_policy":"current RGB and upstream feedback; demonstration plans and hidden task metadata excluded from model input","repo":"EmbodiedBench/EmbodiedBench","revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","selected_index":26},"sampling":{"component_id":"7262ccfe62cdbcf4a26b","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":21,"stratum_pool":50},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"embodiedbench/envs/eb_alfred/data/splits/splits.json","annotation_sha256":"fe607575ef56ccd7f58bd26047b66f949d98e700ae68e59a384a74634e8267b7","host":"huggingface","license":"apache-2.0","media_policy":"upstream-reference; source media terms apply","native_episode_sha256":"ce02593ceb5285e740a0dbfabe77c7cc199d22ee49bd9f9918a34fa8bf2078c3","repo":"EmbodiedBench/EB-ALFRED","revision":"af55cc721725ed058830fd7a8aee66c1f69efbaa","row_sha256":"76b47a1c1bcd0f91905413294337b96900e3ef2641020426efaab76d0fc48874","runtime_revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","sample_id":"complex_instruction/26","split":"complex_instruction","upstream_dataset":"EB-ALFRED","url":"https://huggingface.co/datasets/EmbodiedBench/EB-ALFRED"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_environment_success","original_answer":null},"task":{"category":"complex_instruction","role":"spatial_core","skill_tags":["complex_instruction","complex_instruction"],"stratum":"EB-ALFRED/complex_instruction/complex_instruction","subcategory":"complex_instruction"},"transforms":[]}
{"dataset":"EB-ALFRED","group":{"id":"AI2THOR/FloorPlan23","kind":"scene","scene":"FloorPlan23"},"id":"8e2b2ca6c6dd139dd695","native_annotation":{"instruction":"As you set up the dining area, place a glass cup with a butter knife in it on the table. It keeps table settings efficient and ready.","repeat_idx":1,"task":"pick_and_place_with_movable_recep-ButterKnife-Cup-DiningTable-23/trial_T20190908_233553_192059","upstream_episode":{"ann":{"goal":[" place "," a "," glass "," cup "," with "," knife "," it "," on "," the "," table ",". ","<<goal>>"],"instr":[[" turn "," left "," and "," walk "," to "," the "," table "," to "," your "," left ",". "],[" grab "," the "," knife "," sitting "," on "," the "," table ",". "],[" turn "," right "," and "," walk "," to "," the "," stove "," to "," your "," right ",". "],[" place "," the "," knife "," in "," the "," glass "," cup "," on "," the "," counter "," to "," the "," left "," of "," the "," stove ",". "],[" pick "," up "," the "," glass "," cup "," on "," the "," counter "," with "," the "," knife "," in "," it ",". "],[" turn "," around "," and "," take "," the "," glass "," cup "," with "," the "," knife "," in "," it "," to "," the "," table "," to "," your "," left ",". "],[" place "," the "," glass "," cup "," with "," the "," knife "," in "," it "," on "," the "," counter "," between "," the "," black "," cup "," and "," knife ",". "],["<<stop>>"]],"repeat_idx":1},"images":[{"high_idx":0,"image_name":"000000000.png","low_idx":0},{"high_idx":0,"image_name":"000000001.png","low_idx":0},{"high_idx":0,"image_name":"000000002.png","low_idx":0},{"high_idx":0,"image_name":"000000003.png","low_idx":0},{"high_idx":0,"image_name":"000000004.png","low_idx":0},{"high_idx":0,"image_name":"000000005.png","low_idx":0},{"high_idx":0,"image_name":"000000006.png","low_idx":0},{"high_idx":0,"image_name":"000000007.png","low_idx":0},{"high_idx":0,"image_name":"000000008.png","low_idx":0},{"high_idx":0,"image_name":"000000009.png","low_idx":0},{"high_idx":0,"image_name":"000000010.png","low_idx":0},{"high_idx":0,"image_name":"000000011.png","low_idx":1},{"high_idx":0,"image_name":"000000012.png","low_idx":1},{"high_idx":0,"image_name":"000000013.png","low_idx":2},{"high_idx":0,"image_name":"000000014.png","low_idx":2},{"high_idx":0,"image_name":"000000015.png","low_idx":3},{"high_idx":0,"image_name":"000000016.png","low_idx":3},{"high_idx":0,"image_name":"000000017.png","low_idx":3},{"high_idx":0,"image_name":"000000018.png","low_idx":3},{"high_idx":0,"image_name":"000000019.png","low_idx":3},{"high_idx":0,"image_name":"000000020.png","low_idx":3},{"high_idx":0,"image_name":"000000021.png","low_idx":3},{"high_idx":0,"image_name":"000000022.png","low_idx":3},{"high_idx":0,"image_name":"000000023.png","low_idx":3},{"high_idx":0,"image_name":"000000024.png","low_idx":3},{"high_idx":0,"image_name":"000000025.png","low_idx":3},{"high_idx":0,"image_name":"000000026.png","low_idx":4},{"high_idx":0,"image_name":"000000027.png","low_idx":4},{"high_idx":0,"image_name":"000000028.png","low_idx":5},{"high_idx":0,"image_name":"000000029.png","low_idx":5},{"high_idx":0,"image_name":"000000030.png","low_idx":6},{"high_idx":0,"image_name":"000000031.png","low_idx":6},{"high_idx":0,"image_name":"000000032.png","low_idx":7},{"high_idx":0,"image_name":"000000033.png","low_idx":7},{"high_idx":0,"image_name":"000000034.png","low_idx":8},{"high_idx":0,"image_name":"000000035.png","low_idx":8},{"high_idx":0,"image_name":"000000036.png","low_idx":9},{"high_idx":0,"image_name":"000000037.png","low_idx":9},{"high_idx":0,"image_name":"000000038.png","low_idx":9},{"high_idx":0,"image_name":"000000039.png","low_idx":9},{"high_idx":0,"image_name":"000000040.png","low_idx":9},{"high_idx":0,"image_name":"000000041.png","low_idx":9},{"high_idx":0,"image_name":"000000042.png","low_idx":9},{"high_idx":0,"image_name":"000000043.png","low_idx":9},{"high_idx":0,"image_name":"000000044.png","low_idx":9},{"high_idx":0,"image_name":"000000045.png","low_idx":9},{"high_idx":0,"image_name":"000000046.png","low_idx":9},{"high_idx":1,"image_name":"000000047.png","low_idx":10},{"high_idx":1,"image_name":"000000048.png","low_idx":10},{"high_idx":1,"image_name":"000000049.png","low_idx":10},{"high_idx":1,"image_name":"000000050.png","low_idx":10},{"high_idx":1,"image_name":"000000051.png","low_idx":10},{"high_idx":1,"image_name":"000000052.png","low_idx":10},{"high_idx":1,"image_name":"000000053.png","low_idx":10},{"high_idx":1,"image_name":"000000054.png","low_idx":10},{"high_idx":1,"image_name":"000000055.png","low_idx":10},{"high_idx":1,"image_name":"000000056.png","low_idx":10},{"high_idx":1,"image_name":"000000057.png","low_idx":10},{"high_idx":1,"image_name":"000000058.png","low_idx":10},{"high_idx":1,"image_name":"000000059.png","low_idx":10},{"high_idx":1,"image_name":"000000060.png","low_idx":10},{"high_idx":1,"image_name":"000000061.png","low_idx":10},{"high_idx":2,"image_name":"000000062.png","low_idx":11},{"high_idx":2,"image_name":"000000063.png","low_idx":11},{"high_idx":2,"image_name":"000000064.png","low_idx":11},{"high_idx":2,"image_name":"000000065.png","low_idx":11},{"high_idx":2,"image_name":"000000066.png","low_idx":11},{"high_idx":2,"image_name":"000000067.png","low_idx":11},{"high_idx":2,"image_name":"000000068.png","low_idx":11},{"high_idx":2,"image_name":"000000069.png","low_idx":11},{"high_idx":2,"image_name":"000000070.png","low_idx":11},{"high_idx":2,"image_name":"000000071.png","low_idx":11},{"high_idx":2,"image_name":"000000072.png","low_idx":11},{"high_idx":2,"image_name":"000000073.png","low_idx":12},{"high_idx":2,"image_name":"000000074.png","low_idx":12},{"high_idx":2,"image_name":"000000075.png","low_idx":13},{"high_idx":2,"image_name":"000000076.png","low_idx":13},{"high_idx":2,"image_name":"000000077.png","low_idx":14},{"high_idx":2,"image_name":"000000078.png","low_idx":14},{"high_idx":2,"image_name":"000000079.png","low_idx":15},{"high_idx":2,"image_name":"000000080.png","low_idx":15},{"high_idx":2,"image_name":"000000081.png","low_idx":16},{"high_idx":2,"image_name":"000000082.png","low_idx":16},{"high_idx":2,"image_name":"000000083.png","low_idx":17},{"high_idx":2,"image_name":"000000084.png","low_idx":17},{"high_idx":2,"image_name":"000000085.png","low_idx":18},{"high_idx":2,"image_name":"000000086.png","low_idx":18},{"high_idx":2,"image_name":"000000087.png","low_idx":19},{"high_idx":2,"image_name":"000000088.png","low_idx":19},{"high_idx":2,"image_name":"000000089.png","low_idx":19},{"high_idx":2,"image_name":"000000090.png","low_idx":19},{"high_idx":2,"image_name":"000000091.png","low_idx":19},{"high_idx":2,"image_name":"000000092.png","low_idx":19},{"high_idx":2,"image_name":"000000093.png","low_idx":19},{"high_idx":2,"image_name":"000000094.png","low_idx":19},{"high_idx":2,"image_name":"000000095.png","low_idx":19},{"high_idx":2,"image_name":"000000096.png","low_idx":19},{"high_idx":2,"image_name":"000000097.png","low_idx":19},{"high_idx":3,"image_name":"000000098.png","low_idx":20},{"high_idx":3,"image_name":"000000099.png","low_idx":20},{"high_idx":3,"image_name":"000000100.png","low_idx":20},{"high_idx":3,"image_name":"000000101.png","low_idx":20},{"high_idx":3,"image_name":"000000102.png","low_idx":20},{"high_idx":3,"image_name":"000000103.png","low_idx":20},{"high_idx":3,"image_name":"000000104.png","low_idx":20},{"high_idx":3,"image_name":"000000105.png","low_idx":20},{"high_idx":3,"image_name":"000000106.png","low_idx":20},{"high_idx":3,"image_name":"000000107.png","low_idx":20},{"high_idx":3,"image_name":"000000108.png","low_idx":20},{"high_idx":3,"image_name":"000000109.png","low_idx":20},{"high_idx":3,"image_name":"000000110.png","low_idx":20},{"high_idx":3,"image_name":"000000111.png","low_idx":20},{"high_idx":3,"image_name":"000000112.png","low_idx":20},{"high_idx":4,"image_name":"000000113.png","low_idx":21},{"high_idx":4,"image_name":"000000114.png","low_idx":21},{"high_idx":4,"image_name":"000000115.png","low_idx":21},{"high_idx":4,"image_name":"000000116.png","low_idx":21},{"high_idx":4,"image_name":"000000117.png","low_idx":21},{"high_idx":4,"image_name":"000000118.png","low_idx":21},{"high_idx":4,"image_name":"000000119.png","low_idx":21},{"high_idx":4,"image_name":"000000120.png","low_idx":21},{"high_idx":4,"image_name":"000000121.png","low_idx":21},{"high_idx":4,"image_name":"000000122.png","low_idx":21},{"high_idx":4,"image_name":"000000123.png","low_idx":21},{"high_idx":4,"image_name":"000000124.png","low_idx":21},{"high_idx":4,"image_name":"000000125.png","low_idx":21},{"high_idx":4,"image_name":"000000126.png","low_idx":21},{"high_idx":4,"image_name":"000000127.png","low_idx":21},{"high_idx":5,"image_name":"000000128.png","low_idx":22},{"high_idx":5,"image_name":"000000129.png","low_idx":22},{"high_idx":5,"image_name":"000000130.png","low_idx":22},{"high_idx":5,"image_name":"000000131.png","low_idx":22},{"high_idx":5,"image_name":"000000132.png","low_idx":22},{"high_idx":5,"image_name":"000000133.png","low_idx":22},{"high_idx":5,"image_name":"000000134.png","low_idx":22},{"high_idx":5,"image_name":"000000135.png","low_idx":22},{"high_idx":5,"image_name":"000000136.png","low_idx":22},{"high_idx":5,"image_name":"000000137.png","low_idx":22},{"high_idx":5,"image_name":"000000138.png","low_idx":22},{"high_idx":5,"image_name":"000000139.png","low_idx":23},{"high_idx":5,"image_name":"000000140.png","low_idx":23},{"high_idx":5,"image_name":"000000141.png","low_idx":23},{"high_idx":5,"image_name":"000000142.png","low_idx":23},{"high_idx":5,"image_name":"000000143.png","low_idx":23},{"high_idx":5,"image_name":"000000144.png","low_idx":23},{"high_idx":5,"image_name":"000000145.png","low_idx":23},{"high_idx":5,"image_name":"000000146.png","low_idx":23},{"high_idx":5,"image_name":"000000147.png","low_idx":23},{"high_idx":5,"image_name":"000000148.png","low_idx":23},{"high_idx":5,"image_name":"000000149.png","low_idx":23},{"high_idx":5,"image_name":"000000150.png","low_idx":24},{"high_idx":5,"image_name":"000000151.png","low_idx":24},{"high_idx":5,"image_name":"000000152.png","low_idx":25},{"high_idx":5,"image_name":"000000153.png","low_idx":25},{"high_idx":5,"image_name":"000000154.png","low_idx":26},{"high_idx":5,"image_name":"000000155.png","low_idx":26},{"high_idx":5,"image_name":"000000156.png","low_idx":27},{"high_idx":5,"image_name":"000000157.png","low_idx":27},{"high_idx":5,"image_name":"000000158.png","low_idx":28},{"high_idx":5,"image_name":"000000159.png","low_idx":28},{"high_idx":5,"image_name":"000000160.png","low_idx":29},{"high_idx":5,"image_name":"000000161.png","low_idx":29},{"high_idx":5,"image_name":"000000162.png","low_idx":29},{"high_idx":5,"image_name":"000000163.png","low_idx":29},{"high_idx":5,"image_name":"000000164.png","low_idx":29},{"high_idx":5,"image_name":"000000165.png","low_idx":29},{"high_idx":5,"image_name":"000000166.png","low_idx":29},{"high_idx":5,"image_name":"000000167.png","low_idx":29},{"high_idx":5,"image_name":"000000168.png","low_idx":29},{"high_idx":5,"image_name":"000000169.png","low_idx":29},{"high_idx":5,"image_name":"000000170.png","low_idx":29},{"high_idx":5,"image_name":"000000171.png","low_idx":30},{"high_idx":5,"image_name":"000000172.png","low_idx":30},{"high_idx":5,"image_name":"000000173.png","low_idx":31},{"high_idx":5,"image_name":"000000174.png","low_idx":31},{"high_idx":5,"image_name":"000000175.png","low_idx":31},{"high_idx":5,"image_name":"000000176.png","low_idx":31},{"high_idx":5,"image_name":"000000177.png","low_idx":31},{"high_idx":5,"image_name":"000000178.png","low_idx":31},{"high_idx":5,"image_name":"000000179.png","low_idx":31},{"high_idx":5,"image_name":"000000180.png","low_idx":31},{"high_idx":5,"image_name":"000000181.png","low_idx":31},{"high_idx":5,"image_name":"000000182.png","low_idx":31},{"high_idx":5,"image_name":"000000183.png","low_idx":31},{"high_idx":6,"image_name":"000000184.png","low_idx":32},{"high_idx":6,"image_name":"000000185.png","low_idx":32},{"high_idx":6,"image_name":"000000186.png","low_idx":32},{"high_idx":6,"image_name":"000000187.png","low_idx":32},{"high_idx":6,"image_name":"000000188.png","low_idx":32},{"high_idx":6,"image_name":"000000189.png","low_idx":32},{"high_idx":6,"image_name":"000000190.png","low_idx":32},{"high_idx":6,"image_name":"000000191.png","low_idx":32},{"high_idx":6,"image_name":"000000192.png","low_idx":32},{"high_idx":6,"image_name":"000000193.png","low_idx":32},{"high_idx":6,"image_name":"000000194.png","low_idx":32},{"high_idx":6,"image_name":"000000195.png","low_idx":32},{"high_idx":6,"image_name":"000000196.png","low_idx":32},{"high_idx":6,"image_name":"000000197.png","low_idx":32},{"high_idx":6,"image_name":"000000198.png","low_idx":32}],"num":{"action_high":[{"action":3,"action_high_args":[4],"high_idx":0},{"action":5,"action_high_args":[38],"high_idx":1},{"action":3,"action_high_args":[39],"high_idx":2},{"action":10,"action_high_args":[38,39],"high_idx":3},{"action":5,"action_high_args":[39],"high_idx":4},{"action":3,"action_high_args":[4],"high_idx":5},{"action":10,"action_high_args":[39,4],"high_idx":6},{"action":12,"action_high_args":[],"high_idx":7}],"action_low":[[{"action":3,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":5,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":5,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0}],[{"action":6,"action_high_args":{"bbox":[138,110,201,113],"mask":[[32838,28],[33138,64],[33439,19],[33466,36],[33778,18]],"point":[169,110]},"centroid":[0.565,0.37166666666666665],"high_idx":1,"mask":[[32838,28],[33138,64],[33439,19],[33466,36],[33778,18]],"valid_interact":1}],[{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0}],[{"action":11,"action_high_args":{"bbox":[28,86,61,125],"mask":[[25540,13],[25837,19],[26135,22],[26433,25],[26731,27],[27030,28],[27329,29],[27628,30],[27928,30],[28228,29],[28528,28],[28828,27],[29128,27],[29429,25],[29730,23],[30032,20],[30335,16],[30638,12],[30941,8],[31244,5],[31547,2],[31847,2],[32147,2],[32448,2],[32748,2],[33048,2],[33349,2],[33649,2],[33949,9],[34248,12],[34546,15],[34845,17],[35144,18],[35443,19],[35743,18],[36042,18],[36342,18],[36643,15],[36944,12],[37246,8]],"point":[44,104]},"centroid":[0.14833333333333334,0.3516666666666667],"high_idx":3,"mask":[[25540,13],[25837,19],[26135,22],[26433,25],[26731,27],[27030,28],[27329,29],[27628,30],[27928,30],[28228,29],[28528,28],[28828,27],[29128,27],[29429,25],[29730,23],[30032,20],[30335,16],[30638,12],[30941,8],[31244,5],[31547,2],[31847,2],[32147,2],[32448,2],[32748,2],[33048,2],[33349,2],[33649,2],[33949,9],[34248,12],[34546,15],[34845,17],[35144,18],[35443,19],[35743,18],[36042,18],[36342,18],[36643,15],[36944,12],[37246,8]],"valid_interact":1}],[{"action":6,"action_high_args":{"bbox":[28,86,61,125],"mask":[[25540,13],[25837,19],[26135,22],[26435,23],[26731,1],[26735,23],[27030,2],[27035,23],[27329,3],[27336,22],[27628,5],[27636,22],[27928,5],[27936,22],[28228,5],[28236,21],[28528,6],[28537,19],[28828,6],[28836,19],[29128,7],[29136,19],[29429,25],[29730,23],[30032,20],[30335,16],[30638,12],[30941,8],[31244,5],[31547,2],[31847,2],[32147,2],[32448,2],[32748,2],[33048,2],[33349,2],[33649,2],[33949,9],[34248,12],[34546,15],[34845,17],[35144,18],[35443,19],[35743,18],[36042,18],[36342,18],[36643,15],[36944,12],[37246,8]],"point":[44,104]},"centroid":[0.14833333333333334,0.3516666666666667],"high_idx":4,"mask":[[25540,13],[25837,19],[26135,22],[26435,23],[26731,1],[26735,23],[27030,2],[27035,23],[27329,3],[27336,22],[27628,5],[27636,22],[27928,5],[27936,22],[28228,5],[28236,21],[28528,6],[28537,19],[28828,6],[28836,19],[29128,7],[29136,19],[29429,25],[29730,23],[30032,20],[30335,16],[30638,12],[30941,8],[31244,5],[31547,2],[31847,2],[32147,2],[32448,2],[32748,2],[33048,2],[33349,2],[33649,2],[33949,9],[34248,12],[34546,15],[34845,17],[35144,18],[35443,19],[35743,18],[36042,18],[36342,18],[36643,15],[36944,12],[37246,8]],"valid_interact":1}],[{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":5,"mask":null,"valid_interact":0},{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":5,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":5,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":5,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":5,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":5,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":5,"mask":null,"valid_interact":0},{"action":5,"action_high_args":{},"centroid":[-1,-1],"high_idx":5,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":5,"mask":null,"valid_interact":0},{"action":8,"action_high_args":{},"centroid":[-1,-1],"high_idx":5,"mask":null,"valid_interact":0}],[{"action":11,"action_high_args":{"bbox":[0,114,299,300],"mask":[[33929,5],[33968,75],[34077,1],[34082,16],[34106,65],[34179,21],[34228,8],[34267,77],[34382,16],[34406,65],[34479,21],[34527,10],[34567,77],[34682,16],[34706,64],[34779,21],[34826,13],[34866,78],[34982,15],[35006,64],[35079,21],[35124,17],[35166,78],[35282,15],[35306,64],[35378,22],[35423,19],[35465,79],[35582,15],[35606,63],[35678,22],[35722,21],[35764,80],[35882,16],[35905,66],[35978,22],[36021,24],[36063,82],[36182,19],[36203,71],[36276,24],[36320,26],[36362,83],[36482,60],[36564,36],[36619,127],[36781,54],[36872,28],[36918,128],[37081,54],[37174,26],[37217,129],[37381,54],[37475,24],[37516,130],[37681,54],[37777,20],[37815,29],[37855,92],[37981,54],[38078,18],[38114,30],[38154,63],[38229,18],[38281,55],[38379,16],[38413,30],[38454,59],[38533,15],[38581,55],[38681,13],[38712,31],[38753,58],[38834,15],[38882,55],[38982,12],[39011,31],[39053,47],[39145,5],[39182,55],[39283,10],[39310,31],[39352,44],[39448,4],[39482,56],[39584,9],[39608,33],[39652,42],[39750,3],[39782,57],[39884,9],[39907,35],[39950,43],[40051,3],[40081,58],[40185,8],[40206,38],[40246,46],[40351,5],[40380,60],[40486,7],[40505,38],[40545,46],[40652,6],[40673,2],[40680,61],[40787,6],[40804,38],[40844,46],[40952,10],[40973,2],[40980,62],[41087,6],[41103,38],[41143,47],[41252,10],[41291,51],[41388,6],[41402,38],[41442,47],[41552,10],[41605,38],[41688,6],[41701,38],[41741,48],[41852,10],[41918,25],[41988,6],[42000,38],[42040,49],[42152,14],[42170,4],[42232,12],[42286,9],[42300,37],[42339,49],[42452,15],[42469,5],[42480,3],[42536,8],[42584,11],[42600,36],[42639,49],[42752,16],[42769,5],[42780,7],[42837,8],[42881,15],[42900,35],[42938,49],[43052,16],[43069,5],[43079,13],[43110,8],[43136,9],[43179,18],[43200,34],[43237,50],[43352,16],[43370,4],[43379,19],[43409,21],[43435,11],[43477,57],[43537,49],[43652,16],[43670,4],[43679,25],[43709,22],[43734,13],[43775,58],[43836,50],[43952,16],[43970,3],[43979,69],[44073,55],[44129,3],[44135,51],[44252,16],[44270,3],[44279,70],[44372,54],[44429,3],[44435,50],[44552,17],[44570,3],[44579,71],[44670,55],[44729,2],[44734,51],[44852,16],[44871,2],[44879,76],[44966,58],[45029,1],[45033,51],[45152,16],[45171,2],[45179,144],[45328,1],[45332,52],[45452,16],[45471,2],[45479,143],[45628,1],[45632,51],[45752,16],[45771,2],[45778,143],[45927,47],[45977,6],[46052,16],[46071,2],[46078,84],[46165,55],[46227,46],[46277,6],[46352,17],[46372,1],[46378,84],[46466,53],[46526,46],[46577,6],[46652,17],[46678,64],[46758,4],[46767,52],[46826,45],[46876,7],[46952,17],[46978,59],[47092,26],[47125,46],[47176,7],[47251,18],[47278,59],[47362,2],[47392,25],[47425,46],[47475,8],[47550,19],[47578,87],[47669,47],[47724,46],[47775,9],[47849,20],[47878,51],[47931,35],[47969,46],[48023,47],[48074,12],[48148,21],[48178,47],[48236,31],[48270,44],[48323,47],[48373,15],[48447,22],[48478,46],[48539,29],[48571,43],[48622,47],[48673,16],[48747,22],[48778,45],[48841,28],[48871,42],[48922,47],[48972,17],[49047,23],[49077,45],[49143,27],[49172,40],[49221,47],[49271,19],[49346,24],[49377,45],[49444,27],[49473,38],[49520,48],[49571,19],[49646,24],[49677,45],[49745,27],[49774,36],[49820,47],[49870,21],[49945,25],[49977,45],[50045,28],[50074,35],[50117,50],[50170,22],[50245,25],[50277,45],[50346,27],[50375,34],[50413,53],[50469,24],[50544,26],[50577,45],[50645,29],[50676,32],[50713,52],[50769,25],[50843,27],[50877,45],[50945,30],[50976,31],[51012,53],[51068,27],[51143,27],[51177,45],[51245,30],[51277,29],[51311,53],[51368,28],[51441,29],[51477,44],[51544,31],[51578,27],[51611,52],[51667,30],[51740,30],[51777,44],[51844,31],[51878,26],[51910,52],[51967,32],[52039,31],[52076,45],[52144,31],[52180,24],[52209,52],[52266,35],[52337,33],[52376,45],[52443,31],[52481,22],[52508,53],[52566,37],[52635,10],[52655,15],[52676,45],[52743,32],[52782,20],[52808,52],[52865,73],[52962,8],[52976,45],[53043,32],[53083,18],[53107,52],[53165,68],[53267,3],[53276,45],[53343,33],[53384,16],[53406,53],[53465,66],[53569,1],[53576,44],[53642,36],[53681,1],[53683,1],[53685,15],[53705,53],[53764,65],[53876,44],[53942,37],[53980,1],[53982,1],[53984,1],[53986,14],[54004,54],[54064,63],[54175,45],[54242,38],[54283,1],[54285,1],[54287,13],[54304,54],[54363,62],[54475,45],[54542,43],[54586,1],[54588,12],[54604,54],[54662,61],[54777,43],[54841,59],[54904,53],[54962,59],[55079,41],[55141,59],[55202,55],[55262,57],[55381,39],[55441,59],[55501,56],[55561,56],[55683,37],[55741,116],[55861,55],[55984,36],[56040,117],[56160,55],[56285,36],[56340,175],[56585,36],[56640,174],[56886,36],[56940,173],[57187,37],[57239,173],[57488,38],[57537,174],[57789,40],[57835,175],[58090,219],[58391,217],[58692,215],[58993,213],[59294,212],[59594,211],[59895,210],[60195,210],[60495,209],[60796,208],[61096,207],[61397,206],[61697,206],[61997,205],[62298,204],[62598,204],[62898,203],[63199,202],[63499,201],[63800,200],[64100,200],[64400,200],[64700,200],[65000,200],[65300,100],[65423,78],[65599,55],[65669,8],[65693,7],[65723,78],[65899,55],[65969,8],[65994,6],[66022,79],[66199,55],[66269,8],[66295,5],[66321,80],[66499,55],[66571,6],[66592,2],[66596,4],[66621,80],[66799,55],[66868,1],[66872,5],[66891,4],[66896,4],[66920,81],[67099,55],[67168,2],[67172,5],[67191,4],[67196,4],[67220,81],[67399,55],[67467,4],[67472,4],[67496,4],[67519,82],[67699,54],[67767,2],[67772,4],[67789,1],[67794,6],[67819,82],[67999,54],[68071,5],[68089,11],[68118,83],[68299,54],[68365,11],[68388,12],[68417,84],[68599,54],[68665,12],[68688,12],[68717,84],[68899,55],[68964,14],[68987,14],[69016,85],[69199,56],[69264,16],[69287,14],[69316,86],[69498,58],[69564,19],[69584,18],[69615,87],[69798,60],[69862,40],[69914,89],[70097,105],[70214,89],[70397,106],[70513,91],[70696,107],[70813,91],[70996,108],[71112,93],[71295,109],[71412,94],[71594,110],[71711,95],[71894,111],[72010,97],[72193,112],[72310,97],[72493,113],[72609,99],[72792,114],[72909,100],[73091,115],[73208,101],[73391,116],[73508,102],[73690,220],[73990,221],[74289,222],[74589,224],[74887,227],[75186,230],[75484,233],[75783,236],[76081,239],[76380,241],[76679,244],[76977,247],[77276,248],[77576,248],[77876,137],[78054,70],[78193,70],[78264,49],[78328,1],[78355,69],[78494,120],[78628,1],[78655,69],[78794,120],[78927,2],[78955,69],[79095,119],[79227,2],[79255,69],[79395,29],[79427,88],[79527,3],[79555,69],[79695,27],[79730,85],[79826,4],[79855,70],[79996,26],[80031,85],[80126,4],[80155,70],[80296,25],[80332,84],[80425,5],[80456,69],[80596,25],[80633,83],[80725,5],[80756,69],[80896,25],[80933,84],[81024,6],[81043,1],[81050,76],[81196,22],[81233,84],[81324,6],[81342,84],[81496,21],[81533,85],[81623,8],[81641,86],[81796,21],[81819,2],[81833,85],[81923,8],[81939,88],[82096,22],[82119,2],[82133,85],[82222,9],[82237,91],[82396,23],[82433,86],[82522,9],[82536,92],[82695,25],[82732,87],[82821,10],[82834,95],[82995,26],[83032,88],[83121,10],[83133,97],[83294,26],[83331,199],[83594,27],[83631,200],[83893,28],[83930,203],[84192,30],[84230,204],[84492,31],[84529,206],[84791,34],[84828,209],[85063,2],[85089,249],[85362,5],[85388,252],[85660,9],[85686,259],[85955,18],[85983,2817],[88801,299],[89101,299],[89402,298],[89702,298]],"point":[144,175]},"centroid":[0.49833333333333335,0.69],"high_idx":6,"mask":[[33929,5],[33968,75],[34077,1],[34082,16],[34106,65],[34179,21],[34228,8],[34267,77],[34382,16],[34406,65],[34479,21],[34527,10],[34567,77],[34682,16],[34706,64],[34779,21],[34826,13],[34866,78],[34982,15],[35006,64],[35079,21],[35124,17],[35166,78],[35282,15],[35306,64],[35378,22],[35423,19],[35465,79],[35582,15],[35606,63],[35678,22],[35722,21],[35764,80],[35882,16],[35905,66],[35978,22],[36021,24],[36063,82],[36182,19],[36203,71],[36276,24],[36320,26],[36362,83],[36482,60],[36564,36],[36619,127],[36781,54],[36872,28],[36918,128],[37081,54],[37174,26],[37217,129],[37381,54],[37475,24],[37516,130],[37681,54],[37777,20],[37815,29],[37855,92],[37981,54],[38078,18],[38114,30],[38154,63],[38229,18],[38281,55],[38379,16],[38413,30],[38454,59],[38533,15],[38581,55],[38681,13],[38712,31],[38753,58],[38834,15],[38882,55],[38982,12],[39011,31],[39053,47],[39145,5],[39182,55],[39283,10],[39310,31],[39352,44],[39448,4],[39482,56],[39584,9],[39608,33],[39652,42],[39750,3],[39782,57],[39884,9],[39907,35],[39950,43],[40051,3],[40081,58],[40185,8],[40206,38],[40246,46],[40351,5],[40380,60],[40486,7],[40505,38],[40545,46],[40652,6],[40673,2],[40680,61],[40787,6],[40804,38],[40844,46],[40952,10],[40973,2],[40980,62],[41087,6],[41103,38],[41143,47],[41252,10],[41291,51],[41388,6],[41402,38],[41442,47],[41552,10],[41605,38],[41688,6],[41701,38],[41741,48],[41852,10],[41918,25],[41988,6],[42000,38],[42040,49],[42152,14],[42170,4],[42232,12],[42286,9],[42300,37],[42339,49],[42452,15],[42469,5],[42480,3],[42536,8],[42584,11],[42600,36],[42639,49],[42752,16],[42769,5],[42780,7],[42837,8],[42881,15],[42900,35],[42938,49],[43052,16],[43069,5],[43079,13],[43110,8],[43136,9],[43179,18],[43200,34],[43237,50],[43352,16],[43370,4],[43379,19],[43409,21],[43435,11],[43477,57],[43537,49],[43652,16],[43670,4],[43679,25],[43709,22],[43734,13],[43775,58],[43836,50],[43952,16],[43970,3],[43979,69],[44073,55],[44129,3],[44135,51],[44252,16],[44270,3],[44279,70],[44372,54],[44429,3],[44435,50],[44552,17],[44570,3],[44579,71],[44670,55],[44729,2],[44734,51],[44852,16],[44871,2],[44879,76],[44966,58],[45029,1],[45033,51],[45152,16],[45171,2],[45179,144],[45328,1],[45332,52],[45452,16],[45471,2],[45479,143],[45628,1],[45632,51],[45752,16],[45771,2],[45778,143],[45927,47],[45977,6],[46052,16],[46071,2],[46078,84],[46165,55],[46227,46],[46277,6],[46352,17],[46372,1],[46378,84],[46466,53],[46526,46],[46577,6],[46652,17],[46678,64],[46758,4],[46767,52],[46826,45],[46876,7],[46952,17],[46978,59],[47092,26],[47125,46],[47176,7],[47251,18],[47278,59],[47362,2],[47392,25],[47425,46],[47475,8],[47550,19],[47578,87],[47669,47],[47724,46],[47775,9],[47849,20],[47878,51],[47931,35],[47969,46],[48023,47],[48074,12],[48148,21],[48178,47],[48236,31],[48270,44],[48323,47],[48373,15],[48447,22],[48478,46],[48539,29],[48571,43],[48622,47],[48673,16],[48747,22],[48778,45],[48841,28],[48871,42],[48922,47],[48972,17],[49047,23],[49077,45],[49143,27],[49172,40],[49221,47],[49271,19],[49346,24],[49377,45],[49444,27],[49473,38],[49520,48],[49571,19],[49646,24],[49677,45],[49745,27],[49774,36],[49820,47],[49870,21],[49945,25],[49977,45],[50045,28],[50074,35],[50117,50],[50170,22],[50245,25],[50277,45],[50346,27],[50375,34],[50413,53],[50469,24],[50544,26],[50577,45],[50645,29],[50676,32],[50713,52],[50769,25],[50843,27],[50877,45],[50945,30],[50976,31],[51012,53],[51068,27],[51143,27],[51177,45],[51245,30],[51277,29],[51311,53],[51368,28],[51441,29],[51477,44],[51544,31],[51578,27],[51611,52],[51667,30],[51740,30],[51777,44],[51844,31],[51878,26],[51910,52],[51967,32],[52039,31],[52076,45],[52144,31],[52180,24],[52209,52],[52266,35],[52337,33],[52376,45],[52443,31],[52481,22],[52508,53],[52566,37],[52635,10],[52655,15],[52676,45],[52743,32],[52782,20],[52808,52],[52865,73],[52962,8],[52976,45],[53043,32],[53083,18],[53107,52],[53165,68],[53267,3],[53276,45],[53343,33],[53384,16],[53406,53],[53465,66],[53569,1],[53576,44],[53642,36],[53681,1],[53683,1],[53685,15],[53705,53],[53764,65],[53876,44],[53942,37],[53980,1],[53982,1],[53984,1],[53986,14],[54004,54],[54064,63],[54175,45],[54242,38],[54283,1],[54285,1],[54287,13],[54304,54],[54363,62],[54475,45],[54542,43],[54586,1],[54588,12],[54604,54],[54662,61],[54777,43],[54841,59],[54904,53],[54962,59],[55079,41],[55141,59],[55202,55],[55262,57],[55381,39],[55441,59],[55501,56],[55561,56],[55683,37],[55741,116],[55861,55],[55984,36],[56040,117],[56160,55],[56285,36],[56340,175],[56585,36],[56640,174],[56886,36],[56940,173],[57187,37],[57239,173],[57488,38],[57537,174],[57789,40],[57835,175],[58090,219],[58391,217],[58692,215],[58993,213],[59294,212],[59594,211],[59895,210],[60195,210],[60495,209],[60796,208],[61096,207],[61397,206],[61697,206],[61997,205],[62298,204],[62598,204],[62898,203],[63199,202],[63499,201],[63800,200],[64100,200],[64400,200],[64700,200],[65000,200],[65300,100],[65423,78],[65599,55],[65669,8],[65693,7],[65723,78],[65899,55],[65969,8],[65994,6],[66022,79],[66199,55],[66269,8],[66295,5],[66321,80],[66499,55],[66571,6],[66592,2],[66596,4],[66621,80],[66799,55],[66868,1],[66872,5],[66891,4],[66896,4],[66920,81],[67099,55],[67168,2],[67172,5],[67191,4],[67196,4],[67220,81],[67399,55],[67467,4],[67472,4],[67496,4],[67519,82],[67699,54],[67767,2],[67772,4],[67789,1],[67794,6],[67819,82],[67999,54],[68071,5],[68089,11],[68118,83],[68299,54],[68365,11],[68388,12],[68417,84],[68599,54],[68665,12],[68688,12],[68717,84],[68899,55],[68964,14],[68987,14],[69016,85],[69199,56],[69264,16],[69287,14],[69316,86],[69498,58],[69564,19],[69584,18],[69615,87],[69798,60],[69862,40],[69914,89],[70097,105],[70214,89],[70397,106],[70513,91],[70696,107],[70813,91],[70996,108],[71112,93],[71295,109],[71412,94],[71594,110],[71711,95],[71894,111],[72010,97],[72193,112],[72310,97],[72493,113],[72609,99],[72792,114],[72909,100],[73091,115],[73208,101],[73391,116],[73508,102],[73690,220],[73990,221],[74289,222],[74589,224],[74887,227],[75186,230],[75484,233],[75783,236],[76081,239],[76380,241],[76679,244],[76977,247],[77276,248],[77576,248],[77876,137],[78054,70],[78193,70],[78264,49],[78328,1],[78355,69],[78494,120],[78628,1],[78655,69],[78794,120],[78927,2],[78955,69],[79095,119],[79227,2],[79255,69],[79395,29],[79427,88],[79527,3],[79555,69],[79695,27],[79730,85],[79826,4],[79855,70],[79996,26],[80031,85],[80126,4],[80155,70],[80296,25],[80332,84],[80425,5],[80456,69],[80596,25],[80633,83],[80725,5],[80756,69],[80896,25],[80933,84],[81024,6],[81043,1],[81050,76],[81196,22],[81233,84],[81324,6],[81342,84],[81496,21],[81533,85],[81623,8],[81641,86],[81796,21],[81819,2],[81833,85],[81923,8],[81939,88],[82096,22],[82119,2],[82133,85],[82222,9],[82237,91],[82396,23],[82433,86],[82522,9],[82536,92],[82695,25],[82732,87],[82821,10],[82834,95],[82995,26],[83032,88],[83121,10],[83133,97],[83294,26],[83331,199],[83594,27],[83631,200],[83893,28],[83930,203],[84192,30],[84230,204],[84492,31],[84529,206],[84791,34],[84828,209],[85063,2],[85089,249],[85362,5],[85388,252],[85660,9],[85686,259],[85955,18],[85983,2817],[88801,299],[89101,299],[89402,298],[89702,298]],"valid_interact":1}],[{"action":2,"action_high_args":{},"centroid":[-1,-1],"high_idx":7,"mask":null,"valid_interact":0}]],"lang_goal":[10,35,343,118,51,63,52,15,4,60,16,2],"lang_instr":[[24,19,26,47,18,4,60,18,145,19,16],[114,4,63,369,15,4,60,16],[24,38,26,47,18,4,27,18,145,38,16],[10,4,63,11,4,343,118,15,4,36,18,4,19,21,4,27,16],[22,23,4,343,118,15,4,36,51,4,63,11,52,16],[24,25,26,69,4,343,118,51,4,63,11,52,18,4,60,18,145,19,16],[10,4,343,118,51,4,63,11,52,15,4,36,198,4,123,118,26,63,16],[34]],"low_to_high_idx":[0,0,0,0,0,0,0,0,0,0,1,2,2,2,2,2,2,2,2,2,3,4,5,5,5,5,5,5,5,5,5,5,6,7]},"pddl_params":{"mrecep_target":"Cup","object_sliced":false,"object_target":"ButterKnife","parent_target":"DiningTable","toggle_target":""},"plan":{"high_pddl":[{"discrete_action":{"action":"GotoLocation","args":["diningtable"]},"high_idx":0,"planner_action":{"action":"GotoLocation","location":"loc|-11|-12|0|45"}},{"discrete_action":{"action":"PickupObject","args":["butterknife"]},"high_idx":1,"planner_action":{"action":"PickupObject","coordinateObjectId":["ButterKnife",[-10.6672926,-10.6672926,-8.46156312,-8.46156312,3.694068672,3.694068672]],"coordinateReceptacleObjectId":["DiningTable",[-9.73199272,-9.73199272,-6.78581428,-6.78581428,3.5828,3.5828]],"forceVisible":true,"objectId":"ButterKnife|-02.67|+00.92|-02.12"}},{"discrete_action":{"action":"GotoLocation","args":["cup"]},"high_idx":2,"planner_action":{"action":"GotoLocation","location":"loc|-4|-12|2|45"}},{"discrete_action":{"action":"PutObject","args":["butterknife","cup"]},"high_idx":3,"planner_action":{"action":"PutObject","coordinateObjectId":["ButterKnife",[-10.6672926,-10.6672926,-8.46156312,-8.46156312,3.694068672,3.694068672]],"coordinateReceptacleObjectId":["Cup",[-2.401837824,-2.401837824,-15.3563938,-15.3563938,3.659145356,3.659145356]],"forceVisible":true,"objectId":"ButterKnife|-02.67|+00.92|-02.12","receptacleObjectId":"Cup|-00.60|+00.91|-03.84"}},{"discrete_action":{"action":"PickupObject","args":["cup"]},"high_idx":4,"planner_action":{"action":"PickupObject","coordinateObjectId":["Cup",[-2.401837824,-2.401837824,-15.3563938,-15.3563938,3.659145356,3.659145356]],"coordinateReceptacleObjectId":["CounterTop",[-1.216,-1.216,-11.176,-11.176,3.8052,3.8052]],"forceVisible":true,"objectId":"Cup|-00.60|+00.91|-03.84"}},{"discrete_action":{"action":"GotoLocation","args":["diningtable"]},"high_idx":5,"planner_action":{"action":"GotoLocation","location":"loc|-5|-7|3|30"}},{"discrete_action":{"action":"PutObject","args":["cup","diningtable"]},"high_idx":6,"planner_action":{"action":"PutObject","coordinateObjectId":["Cup",[-2.401837824,-2.401837824,-15.3563938,-15.3563938,3.659145356,3.659145356]],"coordinateReceptacleObjectId":["DiningTable",[-9.73199272,-9.73199272,-6.78581428,-6.78581428,3.5828,3.5828]],"forceVisible":true,"objectId":"Cup|-00.60|+00.91|-03.84","receptacleObjectId":"DiningTable|-02.43|+00.90|-01.70"}},{"discrete_action":{"action":"NoOp","args":[]},"high_idx":7,"planner_action":{"action":"End","value":1}}],"low_actions":[{"api_action":{"action":"LookDown","forceAction":true},"discrete_action":{"action":"LookDown_15","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"RotateLeft","forceAction":true},"discrete_action":{"action":"RotateLeft_90","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"RotateLeft","forceAction":true},"discrete_action":{"action":"RotateLeft_90","args":{}},"high_idx":0},{"api_action":{"action":"PickupObject","objectId":"ButterKnife|-02.67|+00.92|-02.12"},"discrete_action":{"action":"PickupObject","args":{"bbox":[138,110,201,113],"mask":[[32838,28],[33138,64],[33439,19],[33466,36],[33778,18]],"point":[169,110]}},"high_idx":1},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":2},{"api_action":{"action":"PutObject","forceAction":true,"objectId":"ButterKnife|-02.67|+00.92|-02.12","placeStationary":true,"receptacleObjectId":"Cup|-00.60|+00.91|-03.84"},"discrete_action":{"action":"PutObject","args":{"bbox":[28,86,61,125],"mask":[[25540,13],[25837,19],[26135,22],[26433,25],[26731,27],[27030,28],[27329,29],[27628,30],[27928,30],[28228,29],[28528,28],[28828,27],[29128,27],[29429,25],[29730,23],[30032,20],[30335,16],[30638,12],[30941,8],[31244,5],[31547,2],[31847,2],[32147,2],[32448,2],[32748,2],[33048,2],[33349,2],[33649,2],[33949,9],[34248,12],[34546,15],[34845,17],[35144,18],[35443,19],[35743,18],[36042,18],[36342,18],[36643,15],[36944,12],[37246,8]],"point":[44,104]}},"high_idx":3},{"api_action":{"action":"PickupObject","objectId":"Cup|-00.60|+00.91|-03.84"},"discrete_action":{"action":"PickupObject","args":{"bbox":[28,86,61,125],"mask":[[25540,13],[25837,19],[26135,22],[26435,23],[26731,1],[26735,23],[27030,2],[27035,23],[27329,3],[27336,22],[27628,5],[27636,22],[27928,5],[27936,22],[28228,5],[28236,21],[28528,6],[28537,19],[28828,6],[28836,19],[29128,7],[29136,19],[29429,25],[29730,23],[30032,20],[30335,16],[30638,12],[30941,8],[31244,5],[31547,2],[31847,2],[32147,2],[32448,2],[32748,2],[33048,2],[33349,2],[33649,2],[33949,9],[34248,12],[34546,15],[34845,17],[35144,18],[35443,19],[35743,18],[36042,18],[36342,18],[36643,15],[36944,12],[37246,8]],"point":[44,104]}},"high_idx":4},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":5},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":5},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":5},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":5},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":5},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":5},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":5},{"api_action":{"action":"RotateLeft","forceAction":true},"discrete_action":{"action":"RotateLeft_90","args":{}},"high_idx":5},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":5},{"api_action":{"action":"LookUp","forceAction":true},"discrete_action":{"action":"LookUp_15","args":{}},"high_idx":5},{"api_action":{"action":"PutObject","forceAction":true,"objectId":"Cup|-00.60|+00.91|-03.84","placeStationary":true,"receptacleObjectId":"DiningTable|-02.43|+00.90|-01.70"},"discrete_action":{"action":"PutObject","args":{"bbox":[0,114,299,300],"mask":[[33929,5],[33968,75],[34077,1],[34082,16],[34106,65],[34179,21],[34228,8],[34267,77],[34382,16],[34406,65],[34479,21],[34527,10],[34567,77],[34682,16],[34706,64],[34779,21],[34826,13],[34866,78],[34982,15],[35006,64],[35079,21],[35124,17],[35166,78],[35282,15],[35306,64],[35378,22],[35423,19],[35465,79],[35582,15],[35606,63],[35678,22],[35722,21],[35764,80],[35882,16],[35905,66],[35978,22],[36021,24],[36063,82],[36182,19],[36203,71],[36276,24],[36320,26],[36362,83],[36482,60],[36564,36],[36619,127],[36781,54],[36872,28],[36918,128],[37081,54],[37174,26],[37217,129],[37381,54],[37475,24],[37516,130],[37681,54],[37777,20],[37815,29],[37855,92],[37981,54],[38078,18],[38114,30],[38154,63],[38229,18],[38281,55],[38379,16],[38413,30],[38454,59],[38533,15],[38581,55],[38681,13],[38712,31],[38753,58],[38834,15],[38882,55],[38982,12],[39011,31],[39053,47],[39145,5],[39182,55],[39283,10],[39310,31],[39352,44],[39448,4],[39482,56],[39584,9],[39608,33],[39652,42],[39750,3],[39782,57],[39884,9],[39907,35],[39950,43],[40051,3],[40081,58],[40185,8],[40206,38],[40246,46],[40351,5],[40380,60],[40486,7],[40505,38],[40545,46],[40652,6],[40673,2],[40680,61],[40787,6],[40804,38],[40844,46],[40952,10],[40973,2],[40980,62],[41087,6],[41103,38],[41143,47],[41252,10],[41291,51],[41388,6],[41402,38],[41442,47],[41552,10],[41605,38],[41688,6],[41701,38],[41741,48],[41852,10],[41918,25],[41988,6],[42000,38],[42040,49],[42152,14],[42170,4],[42232,12],[42286,9],[42300,37],[42339,49],[42452,15],[42469,5],[42480,3],[42536,8],[42584,11],[42600,36],[42639,49],[42752,16],[42769,5],[42780,7],[42837,8],[42881,15],[42900,35],[42938,49],[43052,16],[43069,5],[43079,13],[43110,8],[43136,9],[43179,18],[43200,34],[43237,50],[43352,16],[43370,4],[43379,19],[43409,21],[43435,11],[43477,57],[43537,49],[43652,16],[43670,4],[43679,25],[43709,22],[43734,13],[43775,58],[43836,50],[43952,16],[43970,3],[43979,69],[44073,55],[44129,3],[44135,51],[44252,16],[44270,3],[44279,70],[44372,54],[44429,3],[44435,50],[44552,17],[44570,3],[44579,71],[44670,55],[44729,2],[44734,51],[44852,16],[44871,2],[44879,76],[44966,58],[45029,1],[45033,51],[45152,16],[45171,2],[45179,144],[45328,1],[45332,52],[45452,16],[45471,2],[45479,143],[45628,1],[45632,51],[45752,16],[45771,2],[45778,143],[45927,47],[45977,6],[46052,16],[46071,2],[46078,84],[46165,55],[46227,46],[46277,6],[46352,17],[46372,1],[46378,84],[46466,53],[46526,46],[46577,6],[46652,17],[46678,64],[46758,4],[46767,52],[46826,45],[46876,7],[46952,17],[46978,59],[47092,26],[47125,46],[47176,7],[47251,18],[47278,59],[47362,2],[47392,25],[47425,46],[47475,8],[47550,19],[47578,87],[47669,47],[47724,46],[47775,9],[47849,20],[47878,51],[47931,35],[47969,46],[48023,47],[48074,12],[48148,21],[48178,47],[48236,31],[48270,44],[48323,47],[48373,15],[48447,22],[48478,46],[48539,29],[48571,43],[48622,47],[48673,16],[48747,22],[48778,45],[48841,28],[48871,42],[48922,47],[48972,17],[49047,23],[49077,45],[49143,27],[49172,40],[49221,47],[49271,19],[49346,24],[49377,45],[49444,27],[49473,38],[49520,48],[49571,19],[49646,24],[49677,45],[49745,27],[49774,36],[49820,47],[49870,21],[49945,25],[49977,45],[50045,28],[50074,35],[50117,50],[50170,22],[50245,25],[50277,45],[50346,27],[50375,34],[50413,53],[50469,24],[50544,26],[50577,45],[50645,29],[50676,32],[50713,52],[50769,25],[50843,27],[50877,45],[50945,30],[50976,31],[51012,53],[51068,27],[51143,27],[51177,45],[51245,30],[51277,29],[51311,53],[51368,28],[51441,29],[51477,44],[51544,31],[51578,27],[51611,52],[51667,30],[51740,30],[51777,44],[51844,31],[51878,26],[51910,52],[51967,32],[52039,31],[52076,45],[52144,31],[52180,24],[52209,52],[52266,35],[52337,33],[52376,45],[52443,31],[52481,22],[52508,53],[52566,37],[52635,10],[52655,15],[52676,45],[52743,32],[52782,20],[52808,52],[52865,73],[52962,8],[52976,45],[53043,32],[53083,18],[53107,52],[53165,68],[53267,3],[53276,45],[53343,33],[53384,16],[53406,53],[53465,66],[53569,1],[53576,44],[53642,36],[53681,1],[53683,1],[53685,15],[53705,53],[53764,65],[53876,44],[53942,37],[53980,1],[53982,1],[53984,1],[53986,14],[54004,54],[54064,63],[54175,45],[54242,38],[54283,1],[54285,1],[54287,13],[54304,54],[54363,62],[54475,45],[54542,43],[54586,1],[54588,12],[54604,54],[54662,61],[54777,43],[54841,59],[54904,53],[54962,59],[55079,41],[55141,59],[55202,55],[55262,57],[55381,39],[55441,59],[55501,56],[55561,56],[55683,37],[55741,116],[55861,55],[55984,36],[56040,117],[56160,55],[56285,36],[56340,175],[56585,36],[56640,174],[56886,36],[56940,173],[57187,37],[57239,173],[57488,38],[57537,174],[57789,40],[57835,175],[58090,219],[58391,217],[58692,215],[58993,213],[59294,212],[59594,211],[59895,210],[60195,210],[60495,209],[60796,208],[61096,207],[61397,206],[61697,206],[61997,205],[62298,204],[62598,204],[62898,203],[63199,202],[63499,201],[63800,200],[64100,200],[64400,200],[64700,200],[65000,200],[65300,100],[65423,78],[65599,55],[65669,8],[65693,7],[65723,78],[65899,55],[65969,8],[65994,6],[66022,79],[66199,55],[66269,8],[66295,5],[66321,80],[66499,55],[66571,6],[66592,2],[66596,4],[66621,80],[66799,55],[66868,1],[66872,5],[66891,4],[66896,4],[66920,81],[67099,55],[67168,2],[67172,5],[67191,4],[67196,4],[67220,81],[67399,55],[67467,4],[67472,4],[67496,4],[67519,82],[67699,54],[67767,2],[67772,4],[67789,1],[67794,6],[67819,82],[67999,54],[68071,5],[68089,11],[68118,83],[68299,54],[68365,11],[68388,12],[68417,84],[68599,54],[68665,12],[68688,12],[68717,84],[68899,55],[68964,14],[68987,14],[69016,85],[69199,56],[69264,16],[69287,14],[69316,86],[69498,58],[69564,19],[69584,18],[69615,87],[69798,60],[69862,40],[69914,89],[70097,105],[70214,89],[70397,106],[70513,91],[70696,107],[70813,91],[70996,108],[71112,93],[71295,109],[71412,94],[71594,110],[71711,95],[71894,111],[72010,97],[72193,112],[72310,97],[72493,113],[72609,99],[72792,114],[72909,100],[73091,115],[73208,101],[73391,116],[73508,102],[73690,220],[73990,221],[74289,222],[74589,224],[74887,227],[75186,230],[75484,233],[75783,236],[76081,239],[76380,241],[76679,244],[76977,247],[77276,248],[77576,248],[77876,137],[78054,70],[78193,70],[78264,49],[78328,1],[78355,69],[78494,120],[78628,1],[78655,69],[78794,120],[78927,2],[78955,69],[79095,119],[79227,2],[79255,69],[79395,29],[79427,88],[79527,3],[79555,69],[79695,27],[79730,85],[79826,4],[79855,70],[79996,26],[80031,85],[80126,4],[80155,70],[80296,25],[80332,84],[80425,5],[80456,69],[80596,25],[80633,83],[80725,5],[80756,69],[80896,25],[80933,84],[81024,6],[81043,1],[81050,76],[81196,22],[81233,84],[81324,6],[81342,84],[81496,21],[81533,85],[81623,8],[81641,86],[81796,21],[81819,2],[81833,85],[81923,8],[81939,88],[82096,22],[82119,2],[82133,85],[82222,9],[82237,91],[82396,23],[82433,86],[82522,9],[82536,92],[82695,25],[82732,87],[82821,10],[82834,95],[82995,26],[83032,88],[83121,10],[83133,97],[83294,26],[83331,199],[83594,27],[83631,200],[83893,28],[83930,203],[84192,30],[84230,204],[84492,31],[84529,206],[84791,34],[84828,209],[85063,2],[85089,249],[85362,5],[85388,252],[85660,9],[85686,259],[85955,18],[85983,2817],[88801,299],[89101,299],[89402,298],[89702,298]],"point":[144,175]}},"high_idx":6}]},"repeat_idx":1,"root":"alfred/data/json_2.1.0/pick_and_place_with_movable_recep-ButterKnife-Cup-DiningTable-23/trial_T20190908_233553_192059","scene":{"dirty_and_empty":false,"floor_plan":"FloorPlan23","init_action":{"action":"TeleportFull","horizon":30,"rotateOnTeleport":true,"rotation":180,"x":-4.0,"y":0.9009995,"z":-2.5},"object_poses":[{"objectName":"Pen_638e2261","position":{"x":-2.2105732,"y":0.9261279,"z":-1.65445352},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Potato_7baac0ce","position":{"x":-1.257191,"y":1.66156638,"z":-3.80404925},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Potato_7baac0ce","position":{"x":-0.3506,"y":0.828534245,"z":-2.00827861},"rotation":{"x":6.06642669e-21,"y":270.0,"z":-1.40334191e-14}},{"objectName":"DishSponge_b4789065","position":{"x":-0.5083166,"y":0.915364265,"z":-2.76492786},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"ButterKnife_f1c487d3","position":{"x":-2.32463574,"y":0.923517168,"z":-1.19351614},"rotation":{"x":0.0,"y":90.0,"z":0.0}},{"objectName":"ButterKnife_f1c487d3","position":{"x":-2.66682315,"y":0.923517168,"z":-2.11539078},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Spatula_cdf5a5fc","position":{"x":-0.6719776,"y":0.9115382,"z":-3.76819},"rotation":{"x":359.534454,"y":180.000259,"z":0.07700328}},{"objectName":"Spatula_cdf5a5fc","position":{"x":-2.438698,"y":0.938474953,"z":-2.34585953},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Knife_d25a57c3","position":{"x":-2.2105732,"y":0.9465557,"z":-2.34585953},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"SoapBottle_53032dff","position":{"x":-0.671999454,"y":0.914355755,"z":-3.48521519},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"SoapBottle_53032dff","position":{"x":-0.3432437,"y":1.52931356,"z":-3.5209825},"rotation":{"x":0.0,"y":44.9999962,"z":0.0}},{"objectName":"Bowl_91c0655d","position":{"x":-2.78088546,"y":0.922512949,"z":-2.34585953},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Bread_fbb38b83","position":{"x":-0.3928185,"y":1.44358575,"z":-0.7699998},"rotation":{"x":0.0,"y":270.000183,"z":0.0}},{"objectName":"SaltShaker_895229e9","position":{"x":-0.690776765,"y":0.7430744,"z":-3.55684233},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"PepperShaker_b8151885","position":{"x":-0.449686229,"y":0.743420362,"z":-3.32724977},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"PepperShaker_b8151885","position":{"x":-2.78088546,"y":0.919781268,"z":-0.963047445},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Mug_80763932","position":{"x":-2.09651065,"y":0.9184751,"z":-1.42398477},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Apple_c99eb5e1","position":{"x":-2.438698,"y":0.9969592,"z":-0.963047445},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Apple_c99eb5e1","position":{"x":-0.2540328,"y":0.870681465,"z":-2.00827861},"rotation":{"x":6.06642669e-21,"y":270.0,"z":-1.40334191e-14}},{"objectName":"Apple_c99eb5e1","position":{"x":-2.006342,"y":0.100445457,"z":-3.76336551},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Lettuce_7d6a9ffb","position":{"x":-2.562599,"y":1.0021,"z":-1.6777},"rotation":{"x":36.3855,"y":0.0,"z":0.0}},{"objectName":"Glassbottle_76ad74d1","position":{"x":-2.2105732,"y":0.9241918,"z":-0.963047445},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Egg_6d28f5dd","position":{"x":-1.94380212,"y":0.0598923,"z":-3.83573365},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Pen_638e2261","position":{"x":-0.436777174,"y":0.918452859,"z":-2.56359529},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Fork_3622ecde","position":{"x":-2.2105732,"y":0.9240236,"z":-1.19351614},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"SoapBottle_53032dff","position":{"x":-0.4463532,"y":1.52931356,"z":-3.624092},"rotation":{"x":0.0,"y":44.9999962,"z":0.0}},{"objectName":"Pencil_9e9e972c","position":{"x":-2.78088546,"y":0.923815966,"z":-1.65445352},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"WineBottle_cbf780b9","position":{"x":-0.162427574,"y":1.52881777,"z":-2.91465187},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Spatula_cdf5a5fc","position":{"x":-2.32463574,"y":0.938474953,"z":-1.65445352},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Bread_fbb38b83","position":{"x":-0.414396584,"y":0.95298624,"z":-3.612139},"rotation":{"x":1.2351526,"y":0.171807662,"z":359.855164}},{"objectName":"Tomato_3d47a8d4","position":{"x":-0.441682875,"y":1.45466161,"z":-0.9793745},"rotation":{"x":0.0,"y":270.000183,"z":0.0}},{"objectName":"Pan_8d50963e","position":{"x":-1.5155,"y":0.9357,"z":-3.4974},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Cup_3611fe48","position":{"x":-0.600459456,"y":0.914786339,"z":-3.83909845},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Pot_45f18f99","position":{"x":-2.2385025,"y":0.913393736,"z":-1.882062},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"SaltShaker_895229e9","position":{"x":-0.05399087,"y":0.912106156,"z":-2.30186462},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Potato_7baac0ce","position":{"x":-1.15165472,"y":1.66156638,"z":-3.837153},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"PepperShaker_b8151885","position":{"x":-2.78088546,"y":0.919781268,"z":-1.42398477},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"ButterKnife_f1c487d3","position":{"x":-2.2105732,"y":0.923517168,"z":-2.11539078},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"DishSponge_b4789065","position":{"x":-0.3835091,"y":0.0808897,"z":-2.20135021},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Spoon_a6c5bfa2","position":{"x":-0.328,"y":0.7866412,"z":-2.125},"rotation":{"x":0.0,"y":33.89591,"z":0.0}},{"objectName":"Plate_dc085d43","position":{"x":-0.3835091,"y":0.08366948,"z":-1.80410409},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Knife_d25a57c3","position":{"x":-2.438698,"y":0.9465557,"z":-1.42398477},"rotation":{"x":0.0,"y":270.0,"z":0.0}},{"objectName":"Mug_80763932","position":{"x":-0.1973643,"y":1.09384954,"z":-0.8746878},"rotation":{"x":0.0,"y":0.000160509444,"z":0.0}},{"objectName":"Bowl_91c0655d","position":{"x":-2.438698,"y":0.922512949,"z":-1.19351614},"rotation":{"x":0.0,"y":0.0,"z":0.0}}],"object_toggles":[],"random_seed":1624922995,"scene_num":23},"split":"valid_seen","task_id":"trial_T20190908_233553_192059","task_type":"pick_and_place_with_movable_recep","turk_annotations":{"anns":[{"assignment_id":"A3F7G1FSFWQPLE_358UUM7WR2UZMXYTZPZSJOS1PY9R7Y","high_descs":["Walk towards the wall, then hang a left and walk over to the end of the kitchen island.","Pick up the leftmost closest butter knife off of the kitchen island.","Turn right and walk over to the oven.","Put the knife in the glass that is on the counter to the left of the oven.","Pick up the glass with the butter knife in it off of the counter.","Walk back over to the kitchen island.","Put the glass with the butter knife in it on the island."],"task_desc":"Put a glass with a butter knife in it on the kitchen island.","votes":[1,1]},{"assignment_id":"A13OOAT2ORKH6V_3EWIJTFFVRYWVIT4SKUJ52JV2WQ0E9","high_descs":["Turn left and walk to the table to your left.","Grab the knife sitting on the table.","Turn right and walk to the stove to your right.","Place the knife in the glass cup on the counter to the left of the stove.","Pick up the glass cup on the counter with the knife in it.","Turn around and take the glass cup with the knife in it to the table to your left.","Place the glass cup with the knife in it on the counter between the black cup and knife."],"task_desc":"Place a glass cup with knife it on the table.","votes":[1,1]},{"assignment_id":"A1O3TWBUDONVLO_3NVC2EB65TQQIF9SB8OWE39INKE3YL","high_descs":["Turn around and step to the right to face the end of the center table.","Pick up the knife on the center table.","Turn right and walk across the room and turn right to face the counter.","Put the knife in the cup on the counter.","Pick up the cup with a knife in it on the counter.","Turn right and walk forward to face the center table.","Place the glass with a knife in it on the center table in the kitchen."],"task_desc":"To put a knife in a glass and place them on the center table.","votes":[1,1]}]}}},"observations":[],"question":{"options":[],"original":"As you set up the dining area, place a glass cup with a butter knife in it on the table. It keeps table settings efficient and ready.","text":"As you set up the dining area, place a glass cup with a butter knife in it on the table. It keeps table settings efficient and ready."},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"AI2-THOR / ALFRED","eval_set":"complex_instruction","instruction_override":"As you set up the dining area, place a glass cup with a butter knife in it on the table. It keeps table settings efficient and ready.","mode":"interactive","native_episode_locator":{"file":"pick_and_place_with_movable_recep-ButterKnife-Cup-DiningTable-23/trial_T20190908_233553_192059/pp/ann_1.json","format":"hf_file"},"observation_policy":"current RGB and upstream feedback; demonstration plans and hidden task metadata excluded from model input","repo":"EmbodiedBench/EmbodiedBench","revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","selected_index":27},"sampling":{"component_id":"0a5c14a8519388c700ce","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":21,"stratum_pool":50},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"embodiedbench/envs/eb_alfred/data/splits/splits.json","annotation_sha256":"fe607575ef56ccd7f58bd26047b66f949d98e700ae68e59a384a74634e8267b7","host":"huggingface","license":"apache-2.0","media_policy":"upstream-reference; source media terms apply","native_episode_sha256":"47c4d8cfa5ec5deb70ccc04f2392167dea2c31f836e09236c5c609f4524108aa","repo":"EmbodiedBench/EB-ALFRED","revision":"af55cc721725ed058830fd7a8aee66c1f69efbaa","row_sha256":"b1f4bf8aa27ca5472109587996b7b10d6cedf976cb2c7e563d6d298198f9d5b9","runtime_revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","sample_id":"complex_instruction/27","split":"complex_instruction","upstream_dataset":"EB-ALFRED","url":"https://huggingface.co/datasets/EmbodiedBench/EB-ALFRED"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_environment_success","original_answer":null},"task":{"category":"complex_instruction","role":"spatial_core","skill_tags":["complex_instruction","complex_instruction"],"stratum":"EB-ALFRED/complex_instruction/complex_instruction","subcategory":"complex_instruction"},"transforms":[]}
{"dataset":"EB-ALFRED","group":{"id":"AI2THOR/FloorPlan26","kind":"scene","scene":"FloorPlan26"},"id":"9a19b5cfb0c0c83f1cc9","native_annotation":{"instruction":"To heat a piece of apple and place it in the fridge.","repeat_idx":1,"task":"pick_heat_then_place_in_recep-AppleSliced-None-Fridge-26/trial_T20190907_234650_780308","upstream_episode":{"ann":{"goal":[" to "," heat "," a "," piece "," of "," apple "," and "," place "," it "," in "," the "," fridge ",". ","<<goal>>"],"instr":[[" turn "," to "," the "," left "," and "," walk "," forward "," to "," face "," the "," black "," cabinet ",". "],[" pick "," up "," the "," knife "," on "," the "," top "," of "," the "," black "," cabinet ",". "],[" turn "," to "," the "," left "," and "," walk "," across "," the "," room "," the "," face "," the "," sink ",". "],[" cut "," the "," apple "," on "," the "," table "," into "," three "," pieces ",". "],[" turn "," around "," and "," walk "," across "," the "," room "," and "," turn "," left "," to "," face "," the "," fridge ",". "],[" place "," the "," knife "," on "," the "," top "," rack "," in "," the "," fridge ",". "],[" turn "," left "," and "," walk "," across "," the "," room "," to "," face "," the "," sink ",". "],[" pick "," up "," a "," piece "," of "," apple "," in "," the "," sink ",". "],[" step "," to "," the "," left "," and "," face "," the "," microwave ",". "],[" warm "," the "," piece "," of "," apple "," in "," the "," microwave "," and "," then "," remove "," it ",". "],[" turn "," around "," and "," walk "," across "," the "," room "," and "," turn "," left "," to "," face "," the "," fridge ",". "],[" place "," the "," piece "," of "," apple "," in "," the "," fridge ",". "],["<<stop>>"]],"repeat_idx":1},"images":[{"high_idx":0,"image_name":"000000000.png","low_idx":0},{"high_idx":0,"image_name":"000000001.png","low_idx":0},{"high_idx":0,"image_name":"000000002.png","low_idx":0},{"high_idx":0,"image_name":"000000003.png","low_idx":0},{"high_idx":0,"image_name":"000000004.png","low_idx":0},{"high_idx":0,"image_name":"000000005.png","low_idx":0},{"high_idx":0,"image_name":"000000006.png","low_idx":0},{"high_idx":0,"image_name":"000000007.png","low_idx":0},{"high_idx":0,"image_name":"000000008.png","low_idx":0},{"high_idx":0,"image_name":"000000009.png","low_idx":0},{"high_idx":0,"image_name":"000000010.png","low_idx":0},{"high_idx":0,"image_name":"000000011.png","low_idx":1},{"high_idx":0,"image_name":"000000012.png","low_idx":1},{"high_idx":0,"image_name":"000000013.png","low_idx":2},{"high_idx":0,"image_name":"000000014.png","low_idx":2},{"high_idx":0,"image_name":"000000015.png","low_idx":3},{"high_idx":0,"image_name":"000000016.png","low_idx":3},{"high_idx":0,"image_name":"000000017.png","low_idx":4},{"high_idx":0,"image_name":"000000018.png","low_idx":4},{"high_idx":0,"image_name":"000000019.png","low_idx":5},{"high_idx":0,"image_name":"000000020.png","low_idx":5},{"high_idx":0,"image_name":"000000021.png","low_idx":6},{"high_idx":0,"image_name":"000000022.png","low_idx":6},{"high_idx":0,"image_name":"000000023.png","low_idx":7},{"high_idx":0,"image_name":"000000024.png","low_idx":7},{"high_idx":0,"image_name":"000000025.png","low_idx":8},{"high_idx":0,"image_name":"000000026.png","low_idx":8},{"high_idx":0,"image_name":"000000027.png","low_idx":8},{"high_idx":0,"image_name":"000000028.png","low_idx":8},{"high_idx":0,"image_name":"000000029.png","low_idx":8},{"high_idx":0,"image_name":"000000030.png","low_idx":8},{"high_idx":0,"image_name":"000000031.png","low_idx":8},{"high_idx":0,"image_name":"000000032.png","low_idx":8},{"high_idx":0,"image_name":"000000033.png","low_idx":8},{"high_idx":0,"image_name":"000000034.png","low_idx":8},{"high_idx":0,"image_name":"000000035.png","low_idx":8},{"high_idx":0,"image_name":"000000036.png","low_idx":9},{"high_idx":0,"image_name":"000000037.png","low_idx":9},{"high_idx":0,"image_name":"000000038.png","low_idx":10},{"high_idx":0,"image_name":"000000039.png","low_idx":10},{"high_idx":0,"image_name":"000000040.png","low_idx":11},{"high_idx":0,"image_name":"000000041.png","low_idx":11},{"high_idx":0,"image_name":"000000042.png","low_idx":12},{"high_idx":0,"image_name":"000000043.png","low_idx":12},{"high_idx":1,"image_name":"000000044.png","low_idx":13},{"high_idx":1,"image_name":"000000045.png","low_idx":13},{"high_idx":1,"image_name":"000000046.png","low_idx":13},{"high_idx":1,"image_name":"000000047.png","low_idx":13},{"high_idx":1,"image_name":"000000048.png","low_idx":13},{"high_idx":1,"image_name":"000000049.png","low_idx":13},{"high_idx":1,"image_name":"000000050.png","low_idx":13},{"high_idx":1,"image_name":"000000051.png","low_idx":13},{"high_idx":1,"image_name":"000000052.png","low_idx":13},{"high_idx":1,"image_name":"000000053.png","low_idx":13},{"high_idx":1,"image_name":"000000054.png","low_idx":13},{"high_idx":1,"image_name":"000000055.png","low_idx":13},{"high_idx":1,"image_name":"000000056.png","low_idx":13},{"high_idx":1,"image_name":"000000057.png","low_idx":13},{"high_idx":1,"image_name":"000000058.png","low_idx":13},{"high_idx":2,"image_name":"000000059.png","low_idx":14},{"high_idx":2,"image_name":"000000060.png","low_idx":14},{"high_idx":2,"image_name":"000000061.png","low_idx":14},{"high_idx":2,"image_name":"000000062.png","low_idx":14},{"high_idx":2,"image_name":"000000063.png","low_idx":14},{"high_idx":2,"image_name":"000000064.png","low_idx":14},{"high_idx":2,"image_name":"000000065.png","low_idx":14},{"high_idx":2,"image_name":"000000066.png","low_idx":14},{"high_idx":2,"image_name":"000000067.png","low_idx":14},{"high_idx":2,"image_name":"000000068.png","low_idx":14},{"high_idx":2,"image_name":"000000069.png","low_idx":14},{"high_idx":2,"image_name":"000000070.png","low_idx":15},{"high_idx":2,"image_name":"000000071.png","low_idx":15},{"high_idx":2,"image_name":"000000072.png","low_idx":15},{"high_idx":2,"image_name":"000000073.png","low_idx":15},{"high_idx":2,"image_name":"000000074.png","low_idx":15},{"high_idx":2,"image_name":"000000075.png","low_idx":15},{"high_idx":2,"image_name":"000000076.png","low_idx":15},{"high_idx":2,"image_name":"000000077.png","low_idx":15},{"high_idx":2,"image_name":"000000078.png","low_idx":15},{"high_idx":2,"image_name":"000000079.png","low_idx":15},{"high_idx":2,"image_name":"000000080.png","low_idx":15},{"high_idx":2,"image_name":"000000081.png","low_idx":16},{"high_idx":2,"image_name":"000000082.png","low_idx":16},{"high_idx":2,"image_name":"000000083.png","low_idx":17},{"high_idx":2,"image_name":"000000084.png","low_idx":17},{"high_idx":2,"image_name":"000000085.png","low_idx":18},{"high_idx":2,"image_name":"000000086.png","low_idx":18},{"high_idx":2,"image_name":"000000087.png","low_idx":19},{"high_idx":2,"image_name":"000000088.png","low_idx":19},{"high_idx":2,"image_name":"000000089.png","low_idx":19},{"high_idx":2,"image_name":"000000090.png","low_idx":19},{"high_idx":2,"image_name":"000000091.png","low_idx":19},{"high_idx":2,"image_name":"000000092.png","low_idx":19},{"high_idx":2,"image_name":"000000093.png","low_idx":19},{"high_idx":2,"image_name":"000000094.png","low_idx":19},{"high_idx":2,"image_name":"000000095.png","low_idx":19},{"high_idx":2,"image_name":"000000096.png","low_idx":19},{"high_idx":2,"image_name":"000000097.png","low_idx":19},{"high_idx":2,"image_name":"000000098.png","low_idx":20},{"high_idx":2,"image_name":"000000099.png","low_idx":20},{"high_idx":2,"image_name":"000000100.png","low_idx":21},{"high_idx":2,"image_name":"000000101.png","low_idx":21},{"high_idx":2,"image_name":"000000102.png","low_idx":22},{"high_idx":2,"image_name":"000000103.png","low_idx":22},{"high_idx":2,"image_name":"000000104.png","low_idx":23},{"high_idx":2,"image_name":"000000105.png","low_idx":23},{"high_idx":2,"image_name":"000000106.png","low_idx":24},{"high_idx":2,"image_name":"000000107.png","low_idx":24},{"high_idx":2,"image_name":"000000108.png","low_idx":25},{"high_idx":2,"image_name":"000000109.png","low_idx":25},{"high_idx":2,"image_name":"000000110.png","low_idx":26},{"high_idx":2,"image_name":"000000111.png","low_idx":26},{"high_idx":2,"image_name":"000000112.png","low_idx":27},{"high_idx":2,"image_name":"000000113.png","low_idx":27},{"high_idx":2,"image_name":"000000114.png","low_idx":28},{"high_idx":2,"image_name":"000000115.png","low_idx":28},{"high_idx":3,"image_name":"000000116.png","low_idx":29},{"high_idx":3,"image_name":"000000117.png","low_idx":29},{"high_idx":3,"image_name":"000000118.png","low_idx":29},{"high_idx":3,"image_name":"000000119.png","low_idx":29},{"high_idx":3,"image_name":"000000120.png","low_idx":29},{"high_idx":3,"image_name":"000000121.png","low_idx":29},{"high_idx":3,"image_name":"000000122.png","low_idx":29},{"high_idx":3,"image_name":"000000123.png","low_idx":29},{"high_idx":3,"image_name":"000000124.png","low_idx":29},{"high_idx":3,"image_name":"000000125.png","low_idx":29},{"high_idx":4,"image_name":"000000126.png","low_idx":30},{"high_idx":4,"image_name":"000000127.png","low_idx":30},{"high_idx":4,"image_name":"000000128.png","low_idx":30},{"high_idx":4,"image_name":"000000129.png","low_idx":30},{"high_idx":4,"image_name":"000000130.png","low_idx":30},{"high_idx":4,"image_name":"000000131.png","low_idx":30},{"high_idx":4,"image_name":"000000132.png","low_idx":30},{"high_idx":4,"image_name":"000000133.png","low_idx":30},{"high_idx":4,"image_name":"000000134.png","low_idx":30},{"high_idx":4,"image_name":"000000135.png","low_idx":30},{"high_idx":4,"image_name":"000000136.png","low_idx":30},{"high_idx":4,"image_name":"000000137.png","low_idx":31},{"high_idx":4,"image_name":"000000138.png","low_idx":31},{"high_idx":4,"image_name":"000000139.png","low_idx":31},{"high_idx":4,"image_name":"000000140.png","low_idx":31},{"high_idx":4,"image_name":"000000141.png","low_idx":31},{"high_idx":4,"image_name":"000000142.png","low_idx":31},{"high_idx":4,"image_name":"000000143.png","low_idx":31},{"high_idx":4,"image_name":"000000144.png","low_idx":31},{"high_idx":4,"image_name":"000000145.png","low_idx":31},{"high_idx":4,"image_name":"000000146.png","low_idx":31},{"high_idx":4,"image_name":"000000147.png","low_idx":31},{"high_idx":4,"image_name":"000000148.png","low_idx":32},{"high_idx":4,"image_name":"000000149.png","low_idx":32},{"high_idx":4,"image_name":"000000150.png","low_idx":33},{"high_idx":4,"image_name":"000000151.png","low_idx":33},{"high_idx":4,"image_name":"000000152.png","low_idx":34},{"high_idx":4,"image_name":"000000153.png","low_idx":34},{"high_idx":4,"image_name":"000000154.png","low_idx":35},{"high_idx":4,"image_name":"000000155.png","low_idx":35},{"high_idx":4,"image_name":"000000156.png","low_idx":36},{"high_idx":4,"image_name":"000000157.png","low_idx":36},{"high_idx":4,"image_name":"000000158.png","low_idx":37},{"high_idx":4,"image_name":"000000159.png","low_idx":37},{"high_idx":4,"image_name":"000000160.png","low_idx":38},{"high_idx":4,"image_name":"000000161.png","low_idx":38},{"high_idx":4,"image_name":"000000162.png","low_idx":39},{"high_idx":4,"image_name":"000000163.png","low_idx":39},{"high_idx":4,"image_name":"000000164.png","low_idx":40},{"high_idx":4,"image_name":"000000165.png","low_idx":40},{"high_idx":4,"image_name":"000000166.png","low_idx":41},{"high_idx":4,"image_name":"000000167.png","low_idx":41},{"high_idx":4,"image_name":"000000168.png","low_idx":42},{"high_idx":4,"image_name":"000000169.png","low_idx":42},{"high_idx":4,"image_name":"000000170.png","low_idx":43},{"high_idx":4,"image_name":"000000171.png","low_idx":43},{"high_idx":4,"image_name":"000000172.png","low_idx":44},{"high_idx":4,"image_name":"000000173.png","low_idx":44},{"high_idx":4,"image_name":"000000174.png","low_idx":45},{"high_idx":4,"image_name":"000000175.png","low_idx":45},{"high_idx":4,"image_name":"000000176.png","low_idx":46},{"high_idx":4,"image_name":"000000177.png","low_idx":46},{"high_idx":4,"image_name":"000000178.png","low_idx":46},{"high_idx":4,"image_name":"000000179.png","low_idx":46},{"high_idx":4,"image_name":"000000180.png","low_idx":46},{"high_idx":4,"image_name":"000000181.png","low_idx":46},{"high_idx":4,"image_name":"000000182.png","low_idx":46},{"high_idx":4,"image_name":"000000183.png","low_idx":46},{"high_idx":4,"image_name":"000000184.png","low_idx":46},{"high_idx":4,"image_name":"000000185.png","low_idx":46},{"high_idx":4,"image_name":"000000186.png","low_idx":46},{"high_idx":4,"image_name":"000000187.png","low_idx":47},{"high_idx":4,"image_name":"000000188.png","low_idx":47},{"high_idx":4,"image_name":"000000189.png","low_idx":48},{"high_idx":4,"image_name":"000000190.png","low_idx":48},{"high_idx":4,"image_name":"000000191.png","low_idx":49},{"high_idx":4,"image_name":"000000192.png","low_idx":49},{"high_idx":4,"image_name":"000000193.png","low_idx":50},{"high_idx":4,"image_name":"000000194.png","low_idx":50},{"high_idx":4,"image_name":"000000195.png","low_idx":50},{"high_idx":4,"image_name":"000000196.png","low_idx":50},{"high_idx":4,"image_name":"000000197.png","low_idx":50},{"high_idx":4,"image_name":"000000198.png","low_idx":50},{"high_idx":4,"image_name":"000000199.png","low_idx":50},{"high_idx":4,"image_name":"000000200.png","low_idx":50},{"high_idx":4,"image_name":"000000201.png","low_idx":50},{"high_idx":4,"image_name":"000000202.png","low_idx":50},{"high_idx":4,"image_name":"000000203.png","low_idx":50},{"high_idx":5,"image_name":"000000204.png","low_idx":51},{"high_idx":5,"image_name":"000000205.png","low_idx":51},{"high_idx":5,"image_name":"000000206.png","low_idx":51},{"high_idx":5,"image_name":"000000207.png","low_idx":51},{"high_idx":5,"image_name":"000000208.png","low_idx":52},{"high_idx":5,"image_name":"000000209.png","low_idx":52},{"high_idx":5,"image_name":"000000210.png","low_idx":52},{"high_idx":5,"image_name":"000000211.png","low_idx":52},{"high_idx":5,"image_name":"000000212.png","low_idx":52},{"high_idx":5,"image_name":"000000213.png","low_idx":52},{"high_idx":5,"image_name":"000000214.png","low_idx":52},{"high_idx":5,"image_name":"000000215.png","low_idx":52},{"high_idx":5,"image_name":"000000216.png","low_idx":52},{"high_idx":5,"image_name":"000000217.png","low_idx":52},{"high_idx":5,"image_name":"000000218.png","low_idx":52},{"high_idx":5,"image_name":"000000219.png","low_idx":52},{"high_idx":5,"image_name":"000000220.png","low_idx":52},{"high_idx":5,"image_name":"000000221.png","low_idx":52},{"high_idx":5,"image_name":"000000222.png","low_idx":52},{"high_idx":5,"image_name":"000000223.png","low_idx":53},{"high_idx":5,"image_name":"000000224.png","low_idx":53},{"high_idx":5,"image_name":"000000225.png","low_idx":53},{"high_idx":5,"image_name":"000000226.png","low_idx":53},{"high_idx":6,"image_name":"000000227.png","low_idx":54},{"high_idx":6,"image_name":"000000228.png","low_idx":54},{"high_idx":6,"image_name":"000000229.png","low_idx":54},{"high_idx":6,"image_name":"000000230.png","low_idx":54},{"high_idx":6,"image_name":"000000231.png","low_idx":54},{"high_idx":6,"image_name":"000000232.png","low_idx":54},{"high_idx":6,"image_name":"000000233.png","low_idx":54},{"high_idx":6,"image_name":"000000234.png","low_idx":54},{"high_idx":6,"image_name":"000000235.png","low_idx":54},{"high_idx":6,"image_name":"000000236.png","low_idx":54},{"high_idx":6,"image_name":"000000237.png","low_idx":54},{"high_idx":6,"image_name":"000000238.png","low_idx":55},{"high_idx":6,"image_name":"000000239.png","low_idx":55},{"high_idx":6,"image_name":"000000240.png","low_idx":55},{"high_idx":6,"image_name":"000000241.png","low_idx":55},{"high_idx":6,"image_name":"000000242.png","low_idx":55},{"high_idx":6,"image_name":"000000243.png","low_idx":55},{"high_idx":6,"image_name":"000000244.png","low_idx":55},{"high_idx":6,"image_name":"000000245.png","low_idx":55},{"high_idx":6,"image_name":"000000246.png","low_idx":55},{"high_idx":6,"image_name":"000000247.png","low_idx":55},{"high_idx":6,"image_name":"000000248.png","low_idx":55},{"high_idx":6,"image_name":"000000249.png","low_idx":56},{"high_idx":6,"image_name":"000000250.png","low_idx":56},{"high_idx":6,"image_name":"000000251.png","low_idx":56},{"high_idx":6,"image_name":"000000252.png","low_idx":56},{"high_idx":6,"image_name":"000000253.png","low_idx":56},{"high_idx":6,"image_name":"000000254.png","low_idx":56},{"high_idx":6,"image_name":"000000255.png","low_idx":56},{"high_idx":6,"image_name":"000000256.png","low_idx":56},{"high_idx":6,"image_name":"000000257.png","low_idx":56},{"high_idx":6,"image_name":"000000258.png","low_idx":56},{"high_idx":6,"image_name":"000000259.png","low_idx":56},{"high_idx":6,"image_name":"000000260.png","low_idx":57},{"high_idx":6,"image_name":"000000261.png","low_idx":57},{"high_idx":6,"image_name":"000000262.png","low_idx":58},{"high_idx":6,"image_name":"000000263.png","low_idx":58},{"high_idx":6,"image_name":"000000264.png","low_idx":59},{"high_idx":6,"image_name":"000000265.png","low_idx":59},{"high_idx":6,"image_name":"000000266.png","low_idx":60},{"high_idx":6,"image_name":"000000267.png","low_idx":60},{"high_idx":6,"image_name":"000000268.png","low_idx":60},{"high_idx":6,"image_name":"000000269.png","low_idx":60},{"high_idx":6,"image_name":"000000270.png","low_idx":60},{"high_idx":6,"image_name":"000000271.png","low_idx":60},{"high_idx":6,"image_name":"000000272.png","low_idx":60},{"high_idx":6,"image_name":"000000273.png","low_idx":60},{"high_idx":6,"image_name":"000000274.png","low_idx":60},{"high_idx":6,"image_name":"000000275.png","low_idx":60},{"high_idx":6,"image_name":"000000276.png","low_idx":60},{"high_idx":6,"image_name":"000000277.png","low_idx":61},{"high_idx":6,"image_name":"000000278.png","low_idx":61},{"high_idx":6,"image_name":"000000279.png","low_idx":62},{"high_idx":6,"image_name":"000000280.png","low_idx":62},{"high_idx":6,"image_name":"000000281.png","low_idx":63},{"high_idx":6,"image_name":"000000282.png","low_idx":63},{"high_idx":6,"image_name":"000000283.png","low_idx":64},{"high_idx":6,"image_name":"000000284.png","low_idx":64},{"high_idx":6,"image_name":"000000285.png","low_idx":65},{"high_idx":6,"image_name":"000000286.png","low_idx":65},{"high_idx":6,"image_name":"000000287.png","low_idx":66},{"high_idx":6,"image_name":"000000288.png","low_idx":66},{"high_idx":6,"image_name":"000000289.png","low_idx":67},{"high_idx":6,"image_name":"000000290.png","low_idx":67},{"high_idx":6,"image_name":"000000291.png","low_idx":68},{"high_idx":6,"image_name":"000000292.png","low_idx":68},{"high_idx":6,"image_name":"000000293.png","low_idx":69},{"high_idx":6,"image_name":"000000294.png","low_idx":69},{"high_idx":6,"image_name":"000000295.png","low_idx":70},{"high_idx":6,"image_name":"000000296.png","low_idx":70},{"high_idx":6,"image_name":"000000297.png","low_idx":71},{"high_idx":6,"image_name":"000000298.png","low_idx":71},{"high_idx":6,"image_name":"000000299.png","low_idx":72},{"high_idx":6,"image_name":"000000300.png","low_idx":72},{"high_idx":6,"image_name":"000000301.png","low_idx":73},{"high_idx":6,"image_name":"000000302.png","low_idx":73},{"high_idx":6,"image_name":"000000303.png","low_idx":74},{"high_idx":6,"image_name":"000000304.png","low_idx":74},{"high_idx":7,"image_name":"000000305.png","low_idx":75},{"high_idx":7,"image_name":"000000306.png","low_idx":75},{"high_idx":7,"image_name":"000000307.png","low_idx":75},{"high_idx":7,"image_name":"000000308.png","low_idx":75},{"high_idx":7,"image_name":"000000309.png","low_idx":75},{"high_idx":7,"image_name":"000000310.png","low_idx":75},{"high_idx":7,"image_name":"000000311.png","low_idx":75},{"high_idx":7,"image_name":"000000312.png","low_idx":75},{"high_idx":7,"image_name":"000000313.png","low_idx":75},{"high_idx":7,"image_name":"000000314.png","low_idx":75},{"high_idx":7,"image_name":"000000315.png","low_idx":75},{"high_idx":7,"image_name":"000000316.png","low_idx":75},{"high_idx":7,"image_name":"000000317.png","low_idx":75},{"high_idx":7,"image_name":"000000318.png","low_idx":75},{"high_idx":7,"image_name":"000000319.png","low_idx":75},{"high_idx":8,"image_name":"000000320.png","low_idx":76},{"high_idx":8,"image_name":"000000321.png","low_idx":76},{"high_idx":8,"image_name":"000000322.png","low_idx":76},{"high_idx":8,"image_name":"000000323.png","low_idx":76},{"high_idx":8,"image_name":"000000324.png","low_idx":76},{"high_idx":8,"image_name":"000000325.png","low_idx":76},{"high_idx":8,"image_name":"000000326.png","low_idx":76},{"high_idx":8,"image_name":"000000327.png","low_idx":76},{"high_idx":8,"image_name":"000000328.png","low_idx":76},{"high_idx":8,"image_name":"000000329.png","low_idx":76},{"high_idx":8,"image_name":"000000330.png","low_idx":76},{"high_idx":8,"image_name":"000000331.png","low_idx":77},{"high_idx":8,"image_name":"000000332.png","low_idx":77},{"high_idx":8,"image_name":"000000333.png","low_idx":77},{"high_idx":8,"image_name":"000000334.png","low_idx":77},{"high_idx":8,"image_name":"000000335.png","low_idx":77},{"high_idx":8,"image_name":"000000336.png","low_idx":77},{"high_idx":8,"image_name":"000000337.png","low_idx":77},{"high_idx":8,"image_name":"000000338.png","low_idx":77},{"high_idx":8,"image_name":"000000339.png","low_idx":77},{"high_idx":8,"image_name":"000000340.png","low_idx":77},{"high_idx":8,"image_name":"000000341.png","low_idx":77},{"high_idx":8,"image_name":"000000342.png","low_idx":78},{"high_idx":8,"image_name":"000000343.png","low_idx":78},{"high_idx":8,"image_name":"000000344.png","low_idx":79},{"high_idx":8,"image_name":"000000345.png","low_idx":79},{"high_idx":8,"image_name":"000000346.png","low_idx":79},{"high_idx":8,"image_name":"000000347.png","low_idx":79},{"high_idx":8,"image_name":"000000348.png","low_idx":79},{"high_idx":8,"image_name":"000000349.png","low_idx":79},{"high_idx":8,"image_name":"000000350.png","low_idx":79},{"high_idx":8,"image_name":"000000351.png","low_idx":79},{"high_idx":8,"image_name":"000000352.png","low_idx":79},{"high_idx":8,"image_name":"000000353.png","low_idx":79},{"high_idx":8,"image_name":"000000354.png","low_idx":79},{"high_idx":8,"image_name":"000000355.png","low_idx":80},{"high_idx":8,"image_name":"000000356.png","low_idx":80},{"high_idx":8,"image_name":"000000357.png","low_idx":81},{"high_idx":8,"image_name":"000000358.png","low_idx":81},{"high_idx":8,"image_name":"000000359.png","low_idx":82},{"high_idx":8,"image_name":"000000360.png","low_idx":82},{"high_idx":8,"image_name":"000000361.png","low_idx":82},{"high_idx":8,"image_name":"000000362.png","low_idx":82},{"high_idx":8,"image_name":"000000363.png","low_idx":82},{"high_idx":8,"image_name":"000000364.png","low_idx":82},{"high_idx":8,"image_name":"000000365.png","low_idx":82},{"high_idx":8,"image_name":"000000366.png","low_idx":82},{"high_idx":8,"image_name":"000000367.png","low_idx":82},{"high_idx":8,"image_name":"000000368.png","low_idx":82},{"high_idx":8,"image_name":"000000369.png","low_idx":82},{"high_idx":8,"image_name":"000000370.png","low_idx":83},{"high_idx":8,"image_name":"000000371.png","low_idx":83},{"high_idx":8,"image_name":"000000372.png","low_idx":83},{"high_idx":8,"image_name":"000000373.png","low_idx":83},{"high_idx":8,"image_name":"000000374.png","low_idx":83},{"high_idx":8,"image_name":"000000375.png","low_idx":83},{"high_idx":8,"image_name":"000000376.png","low_idx":83},{"high_idx":8,"image_name":"000000377.png","low_idx":83},{"high_idx":8,"image_name":"000000378.png","low_idx":83},{"high_idx":8,"image_name":"000000379.png","low_idx":83},{"high_idx":8,"image_name":"000000380.png","low_idx":83},{"high_idx":9,"image_name":"000000381.png","low_idx":84},{"high_idx":9,"image_name":"000000382.png","low_idx":84},{"high_idx":9,"image_name":"000000383.png","low_idx":84},{"high_idx":9,"image_name":"000000384.png","low_idx":84},{"high_idx":9,"image_name":"000000385.png","low_idx":85},{"high_idx":9,"image_name":"000000386.png","low_idx":85},{"high_idx":9,"image_name":"000000387.png","low_idx":85},{"high_idx":9,"image_name":"000000388.png","low_idx":85},{"high_idx":9,"image_name":"000000389.png","low_idx":85},{"high_idx":9,"image_name":"000000390.png","low_idx":85},{"high_idx":9,"image_name":"000000391.png","low_idx":85},{"high_idx":9,"image_name":"000000392.png","low_idx":85},{"high_idx":9,"image_name":"000000393.png","low_idx":85},{"high_idx":9,"image_name":"000000394.png","low_idx":85},{"high_idx":9,"image_name":"000000395.png","low_idx":85},{"high_idx":9,"image_name":"000000396.png","low_idx":85},{"high_idx":9,"image_name":"000000397.png","low_idx":85},{"high_idx":9,"image_name":"000000398.png","low_idx":85},{"high_idx":9,"image_name":"000000399.png","low_idx":85},{"high_idx":9,"image_name":"000000400.png","low_idx":86},{"high_idx":9,"image_name":"000000401.png","low_idx":86},{"high_idx":9,"image_name":"000000402.png","low_idx":86},{"high_idx":9,"image_name":"000000403.png","low_idx":86},{"high_idx":9,"image_name":"000000404.png","low_idx":87},{"high_idx":9,"image_name":"000000405.png","low_idx":87},{"high_idx":9,"image_name":"000000406.png","low_idx":87},{"high_idx":9,"image_name":"000000407.png","low_idx":87},{"high_idx":9,"image_name":"000000408.png","low_idx":87},{"high_idx":9,"image_name":"000000409.png","low_idx":87},{"high_idx":9,"image_name":"000000410.png","low_idx":87},{"high_idx":9,"image_name":"000000411.png","low_idx":87},{"high_idx":9,"image_name":"000000412.png","low_idx":87},{"high_idx":9,"image_name":"000000413.png","low_idx":87},{"high_idx":9,"image_name":"000000414.png","low_idx":87},{"high_idx":9,"image_name":"000000415.png","low_idx":87},{"high_idx":9,"image_name":"000000416.png","low_idx":87},{"high_idx":9,"image_name":"000000417.png","low_idx":87},{"high_idx":9,"image_name":"000000418.png","low_idx":87},{"high_idx":9,"image_name":"000000419.png","low_idx":87},{"high_idx":9,"image_name":"000000420.png","low_idx":87},{"high_idx":9,"image_name":"000000421.png","low_idx":87},{"high_idx":9,"image_name":"000000422.png","low_idx":88},{"high_idx":9,"image_name":"000000423.png","low_idx":88},{"high_idx":9,"image_name":"000000424.png","low_idx":88},{"high_idx":9,"image_name":"000000425.png","low_idx":88},{"high_idx":9,"image_name":"000000426.png","low_idx":88},{"high_idx":9,"image_name":"000000427.png","low_idx":88},{"high_idx":9,"image_name":"000000428.png","low_idx":89},{"high_idx":9,"image_name":"000000429.png","low_idx":89},{"high_idx":9,"image_name":"000000430.png","low_idx":89},{"high_idx":9,"image_name":"000000431.png","low_idx":89},{"high_idx":9,"image_name":"000000432.png","low_idx":90},{"high_idx":9,"image_name":"000000433.png","low_idx":90},{"high_idx":9,"image_name":"000000434.png","low_idx":90},{"high_idx":9,"image_name":"000000435.png","low_idx":90},{"high_idx":9,"image_name":"000000436.png","low_idx":90},{"high_idx":9,"image_name":"000000437.png","low_idx":90},{"high_idx":9,"image_name":"000000438.png","low_idx":90},{"high_idx":9,"image_name":"000000439.png","low_idx":90},{"high_idx":9,"image_name":"000000440.png","low_idx":90},{"high_idx":9,"image_name":"000000441.png","low_idx":90},{"high_idx":9,"image_name":"000000442.png","low_idx":90},{"high_idx":9,"image_name":"000000443.png","low_idx":90},{"high_idx":9,"image_name":"000000444.png","low_idx":90},{"high_idx":9,"image_name":"000000445.png","low_idx":90},{"high_idx":9,"image_name":"000000446.png","low_idx":90},{"high_idx":9,"image_name":"000000447.png","low_idx":91},{"high_idx":9,"image_name":"000000448.png","low_idx":91},{"high_idx":9,"image_name":"000000449.png","low_idx":91},{"high_idx":9,"image_name":"000000450.png","low_idx":91},{"high_idx":10,"image_name":"000000451.png","low_idx":92},{"high_idx":10,"image_name":"000000452.png","low_idx":92},{"high_idx":10,"image_name":"000000453.png","low_idx":92},{"high_idx":10,"image_name":"000000454.png","low_idx":92},{"high_idx":10,"image_name":"000000455.png","low_idx":92},{"high_idx":10,"image_name":"000000456.png","low_idx":92},{"high_idx":10,"image_name":"000000457.png","low_idx":92},{"high_idx":10,"image_name":"000000458.png","low_idx":92},{"high_idx":10,"image_name":"000000459.png","low_idx":92},{"high_idx":10,"image_name":"000000460.png","low_idx":92},{"high_idx":10,"image_name":"000000461.png","low_idx":92},{"high_idx":10,"image_name":"000000462.png","low_idx":93},{"high_idx":10,"image_name":"000000463.png","low_idx":93},{"high_idx":10,"image_name":"000000464.png","low_idx":93},{"high_idx":10,"image_name":"000000465.png","low_idx":93},{"high_idx":10,"image_name":"000000466.png","low_idx":93},{"high_idx":10,"image_name":"000000467.png","low_idx":93},{"high_idx":10,"image_name":"000000468.png","low_idx":93},{"high_idx":10,"image_name":"000000469.png","low_idx":93},{"high_idx":10,"image_name":"000000470.png","low_idx":93},{"high_idx":10,"image_name":"000000471.png","low_idx":93},{"high_idx":10,"image_name":"000000472.png","low_idx":93},{"high_idx":10,"image_name":"000000473.png","low_idx":94},{"high_idx":10,"image_name":"000000474.png","low_idx":94},{"high_idx":10,"image_name":"000000475.png","low_idx":95},{"high_idx":10,"image_name":"000000476.png","low_idx":95},{"high_idx":10,"image_name":"000000477.png","low_idx":95},{"high_idx":10,"image_name":"000000478.png","low_idx":95},{"high_idx":10,"image_name":"000000479.png","low_idx":95},{"high_idx":10,"image_name":"000000480.png","low_idx":95},{"high_idx":10,"image_name":"000000481.png","low_idx":95},{"high_idx":10,"image_name":"000000482.png","low_idx":95},{"high_idx":10,"image_name":"000000483.png","low_idx":95},{"high_idx":10,"image_name":"000000484.png","low_idx":95},{"high_idx":10,"image_name":"000000485.png","low_idx":95},{"high_idx":10,"image_name":"000000486.png","low_idx":96},{"high_idx":10,"image_name":"000000487.png","low_idx":96},{"high_idx":10,"image_name":"000000488.png","low_idx":97},{"high_idx":10,"image_name":"000000489.png","low_idx":97},{"high_idx":10,"image_name":"000000490.png","low_idx":98},{"high_idx":10,"image_name":"000000491.png","low_idx":98},{"high_idx":10,"image_name":"000000492.png","low_idx":99},{"high_idx":10,"image_name":"000000493.png","low_idx":99},{"high_idx":10,"image_name":"000000494.png","low_idx":100},{"high_idx":10,"image_name":"000000495.png","low_idx":100},{"high_idx":10,"image_name":"000000496.png","low_idx":101},{"high_idx":10,"image_name":"000000497.png","low_idx":101},{"high_idx":10,"image_name":"000000498.png","low_idx":102},{"high_idx":10,"image_name":"000000499.png","low_idx":102},{"high_idx":10,"image_name":"000000500.png","low_idx":103},{"high_idx":10,"image_name":"000000501.png","low_idx":103},{"high_idx":10,"image_name":"000000502.png","low_idx":104},{"high_idx":10,"image_name":"000000503.png","low_idx":104},{"high_idx":10,"image_name":"000000504.png","low_idx":105},{"high_idx":10,"image_name":"000000505.png","low_idx":105},{"high_idx":10,"image_name":"000000506.png","low_idx":106},{"high_idx":10,"image_name":"000000507.png","low_idx":106},{"high_idx":10,"image_name":"000000508.png","low_idx":107},{"high_idx":10,"image_name":"000000509.png","low_idx":107},{"high_idx":10,"image_name":"000000510.png","low_idx":108},{"high_idx":10,"image_name":"000000511.png","low_idx":108},{"high_idx":10,"image_name":"000000512.png","low_idx":109},{"high_idx":10,"image_name":"000000513.png","low_idx":109},{"high_idx":10,"image_name":"000000514.png","low_idx":109},{"high_idx":10,"image_name":"000000515.png","low_idx":109},{"high_idx":10,"image_name":"000000516.png","low_idx":109},{"high_idx":10,"image_name":"000000517.png","low_idx":109},{"high_idx":10,"image_name":"000000518.png","low_idx":109},{"high_idx":10,"image_name":"000000519.png","low_idx":109},{"high_idx":10,"image_name":"000000520.png","low_idx":109},{"high_idx":10,"image_name":"000000521.png","low_idx":109},{"high_idx":10,"image_name":"000000522.png","low_idx":109},{"high_idx":10,"image_name":"000000523.png","low_idx":110},{"high_idx":10,"image_name":"000000524.png","low_idx":110},{"high_idx":10,"image_name":"000000525.png","low_idx":111},{"high_idx":10,"image_name":"000000526.png","low_idx":111},{"high_idx":10,"image_name":"000000527.png","low_idx":112},{"high_idx":10,"image_name":"000000528.png","low_idx":112},{"high_idx":10,"image_name":"000000529.png","low_idx":113},{"high_idx":10,"image_name":"000000530.png","low_idx":113},{"high_idx":10,"image_name":"000000531.png","low_idx":114},{"high_idx":10,"image_name":"000000532.png","low_idx":114},{"high_idx":10,"image_name":"000000533.png","low_idx":114},{"high_idx":10,"image_name":"000000534.png","low_idx":114},{"high_idx":10,"image_name":"000000535.png","low_idx":114},{"high_idx":10,"image_name":"000000536.png","low_idx":114},{"high_idx":10,"image_name":"000000537.png","low_idx":114},{"high_idx":10,"image_name":"000000538.png","low_idx":114},{"high_idx":10,"image_name":"000000539.png","low_idx":114},{"high_idx":10,"image_name":"000000540.png","low_idx":114},{"high_idx":10,"image_name":"000000541.png","low_idx":114},{"high_idx":11,"image_name":"000000542.png","low_idx":115},{"high_idx":11,"image_name":"000000543.png","low_idx":115},{"high_idx":11,"image_name":"000000544.png","low_idx":115},{"high_idx":11,"image_name":"000000545.png","low_idx":115},{"high_idx":11,"image_name":"000000546.png","low_idx":116},{"high_idx":11,"image_name":"000000547.png","low_idx":116},{"high_idx":11,"image_name":"000000548.png","low_idx":116},{"high_idx":11,"image_name":"000000549.png","low_idx":116},{"high_idx":11,"image_name":"000000550.png","low_idx":116},{"high_idx":11,"image_name":"000000551.png","low_idx":116},{"high_idx":11,"image_name":"000000552.png","low_idx":116},{"high_idx":11,"image_name":"000000553.png","low_idx":116},{"high_idx":11,"image_name":"000000554.png","low_idx":116},{"high_idx":11,"image_name":"000000555.png","low_idx":116},{"high_idx":11,"image_name":"000000556.png","low_idx":116},{"high_idx":11,"image_name":"000000557.png","low_idx":116},{"high_idx":11,"image_name":"000000558.png","low_idx":116},{"high_idx":11,"image_name":"000000559.png","low_idx":116},{"high_idx":11,"image_name":"000000560.png","low_idx":116},{"high_idx":11,"image_name":"000000561.png","low_idx":117},{"high_idx":11,"image_name":"000000562.png","low_idx":117},{"high_idx":11,"image_name":"000000563.png","low_idx":117},{"high_idx":11,"image_name":"000000564.png","low_idx":117}],"num":{"action_high":[{"action":3,"action_high_args":[13],"high_idx":0},{"action":5,"action_high_args":[6],"high_idx":1},{"action":3,"action_high_args":[54],"high_idx":2},{"action":7,"action_high_args":[54],"high_idx":3},{"action":3,"action_high_args":[9],"high_idx":4},{"action":10,"action_high_args":[6,9],"high_idx":5},{"action":3,"action_high_args":[20],"high_idx":6},{"action":5,"action_high_args":[54],"high_idx":7},{"action":3,"action_high_args":[18],"high_idx":8},{"action":19,"action_high_args":[54],"high_idx":9},{"action":3,"action_high_args":[9],"high_idx":10},{"action":10,"action_high_args":[54,9],"high_idx":11},{"action":12,"action_high_args":[],"high_idx":12}],"action_low":[[{"action":3,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":5,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0}],[{"action":6,"action_high_args":{"bbox":[123,118,136,182],"mask":[[35226,2],[35526,3],[35826,4],[36125,5],[36425,6],[36725,7],[37025,7],[37325,7],[37625,8],[37925,8],[38224,9],[38524,10],[38824,10],[39124,10],[39424,10],[39724,10],[40024,11],[40324,11],[40624,11],[40924,11],[41224,11],[41524,11],[41824,12],[42124,12],[42424,12],[42724,12],[43024,12],[43324,12],[43624,12],[43924,12],[44224,12],[44524,13],[44824,13],[45124,13],[45424,13],[45724,10],[46024,6],[46324,6],[46624,6],[46924,6],[47224,6],[47524,6],[47824,7],[48124,7],[48424,7],[48724,7],[49024,7],[49324,7],[49624,7],[49924,7],[50224,7],[50524,7],[50824,7],[51124,6],[51423,7],[51723,8],[52023,8],[52323,9],[52623,10],[52923,11],[53223,10],[53523,10],[53823,9],[54124,7],[54425,4]],"point":[129,149]},"centroid":[0.43166666666666664,0.5],"high_idx":1,"mask":[[35226,2],[35526,3],[35826,4],[36125,5],[36425,6],[36725,7],[37025,7],[37325,7],[37625,8],[37925,8],[38224,9],[38524,10],[38824,10],[39124,10],[39424,10],[39724,10],[40024,11],[40324,11],[40624,11],[40924,11],[41224,11],[41524,11],[41824,12],[42124,12],[42424,12],[42724,12],[43024,12],[43324,12],[43624,12],[43924,12],[44224,12],[44524,13],[44824,13],[45124,13],[45424,13],[45724,10],[46024,6],[46324,6],[46624,6],[46924,6],[47224,6],[47524,6],[47824,7],[48124,7],[48424,7],[48724,7],[49024,7],[49324,7],[49624,7],[49924,7],[50224,7],[50524,7],[50824,7],[51124,6],[51423,7],[51723,8],[52023,8],[52323,9],[52623,10],[52923,11],[53223,10],[53523,10],[53823,9],[54124,7],[54425,4]],"valid_interact":1}],[{"action":5,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":5,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0}],[{"action":7,"action_high_args":{"bbox":[143,132,164,154],"mask":[[39452,5],[39749,10],[40047,14],[40346,16],[40646,17],[40945,18],[41245,19],[41544,20],[41844,20],[42144,20],[42444,21],[42744,20],[43043,21],[43343,21],[43644,20],[43944,19],[44245,18],[44545,17],[44846,16],[45147,14],[45448,12],[45750,9],[46051,6]],"point":[153,142]},"centroid":[0.5116666666666667,0.4766666666666667],"high_idx":3,"mask":[[39452,5],[39749,10],[40047,14],[40346,16],[40646,17],[40945,18],[41245,19],[41544,20],[41844,20],[42144,20],[42444,21],[42744,20],[43043,21],[43343,21],[43644,20],[43944,19],[44245,18],[44545,17],[44846,16],[45147,14],[45448,12],[45750,9],[46051,6]],"valid_interact":1}],[{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0},{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0},{"action":5,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0},{"action":3,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0}],[{"action":10,"action_high_args":{"bbox":[0,1,299,220],"mask":[[0,26399],[26400,299],[26700,298],[27000,298],[27300,297],[27600,297],[27900,296],[28200,295],[28500,295],[28800,293],[29100,293],[29400,292],[29700,292],[30000,291],[30300,290],[30600,290],[30900,286],[31200,284],[31500,283],[31800,282],[32100,282],[32400,281],[32700,280],[33000,280],[33300,279],[33600,278],[33900,278],[34200,277],[34500,276],[34800,276],[35100,275],[35400,274],[35700,273],[36000,273],[36300,272],[36600,271],[36900,271],[37200,270],[37500,269],[37800,269],[38100,268],[38400,267],[38700,267],[39000,266],[39300,265],[39600,265],[39900,264],[40200,263],[40500,263],[40800,262],[41100,261],[41400,260],[41700,260],[42001,258],[42302,256],[42603,255],[42904,253],[43204,252],[43505,251],[43806,249],[44107,247],[44408,246],[44709,244],[45010,242],[45311,241],[45612,239],[45913,237],[46214,236],[46515,234],[46816,232],[47117,230],[47418,229],[47719,227],[48019,226],[48320,225],[48621,223],[48922,221],[49223,220],[49524,218],[49825,216],[50126,215],[50427,213],[50728,211],[51029,210],[51330,208],[51631,206],[51932,205],[52233,203],[52534,201],[52834,200],[53135,199],[53436,197],[53737,195],[54038,194],[54339,192],[54640,190],[54941,189],[55242,187],[55543,185],[55844,184],[56145,182],[56446,180],[56747,179],[57048,177],[57349,175],[57649,175],[57950,173],[58251,171],[58552,169],[58853,168],[59154,166],[59455,164],[59756,163],[60057,161],[60358,159],[60659,158],[60960,156],[61261,154],[61562,153],[61862,153],[62163,152],[62463,151],[62763,151],[63063,150],[63364,149],[63666,145],[63970,136],[64274,128],[64579,118],[64885,106],[65192,92],[65501,73],[65812,52]],"point":[149,109]},"centroid":[0.49833333333333335,0.36833333333333335],"high_idx":5,"mask":[[0,26399],[26400,299],[26700,298],[27000,298],[27300,297],[27600,297],[27900,296],[28200,295],[28500,295],[28800,293],[29100,293],[29400,292],[29700,292],[30000,291],[30300,290],[30600,290],[30900,286],[31200,284],[31500,283],[31800,282],[32100,282],[32400,281],[32700,280],[33000,280],[33300,279],[33600,278],[33900,278],[34200,277],[34500,276],[34800,276],[35100,275],[35400,274],[35700,273],[36000,273],[36300,272],[36600,271],[36900,271],[37200,270],[37500,269],[37800,269],[38100,268],[38400,267],[38700,267],[39000,266],[39300,265],[39600,265],[39900,264],[40200,263],[40500,263],[40800,262],[41100,261],[41400,260],[41700,260],[42001,258],[42302,256],[42603,255],[42904,253],[43204,252],[43505,251],[43806,249],[44107,247],[44408,246],[44709,244],[45010,242],[45311,241],[45612,239],[45913,237],[46214,236],[46515,234],[46816,232],[47117,230],[47418,229],[47719,227],[48019,226],[48320,225],[48621,223],[48922,221],[49223,220],[49524,218],[49825,216],[50126,215],[50427,213],[50728,211],[51029,210],[51330,208],[51631,206],[51932,205],[52233,203],[52534,201],[52834,200],[53135,199],[53436,197],[53737,195],[54038,194],[54339,192],[54640,190],[54941,189],[55242,187],[55543,185],[55844,184],[56145,182],[56446,180],[56747,179],[57048,177],[57349,175],[57649,175],[57950,173],[58251,171],[58552,169],[58853,168],[59154,166],[59455,164],[59756,163],[60057,161],[60358,159],[60659,158],[60960,156],[61261,154],[61562,153],[61862,153],[62163,152],[62463,151],[62763,151],[63063,150],[63364,149],[63666,145],[63970,136],[64274,128],[64579,118],[64885,106],[65192,92],[65501,73],[65812,52]],"valid_interact":1},{"action":11,"action_high_args":{"bbox":[0,1,299,300],"mask":[[0,71],[113,261],[410,266],[706,274],[1003,284],[1300,13399],[14700,298],[15000,298],[15300,297],[15600,297],[15900,296],[16200,295],[16500,295],[16800,294],[17100,294],[17400,293],[17700,292],[18000,292],[18300,291],[18600,291],[18900,290],[19200,289],[19500,289],[19800,288],[20100,288],[20400,287],[20700,286],[21000,286],[21300,285],[21600,285],[21900,284],[22200,284],[22500,283],[22800,282],[23100,282],[23400,281],[23700,281],[24000,280],[24300,279],[24600,279],[24900,278],[25200,278],[25500,277],[25800,276],[26100,276],[26400,275],[26700,275],[27000,274],[27300,273],[27600,273],[27900,272],[28200,99],[28309,163],[28500,102],[28605,166],[28800,271],[29100,270],[29400,269],[29700,269],[30000,268],[30300,268],[30600,267],[30900,266],[31200,266],[31500,265],[31800,265],[32100,264],[32400,263],[32700,263],[33000,262],[33300,262],[33600,261],[33900,260],[34200,260],[34500,259],[34800,259],[35100,258],[35400,157],[35560,3],[35565,92],[35701,156],[35860,3],[35866,91],[36002,151],[36155,2],[36160,3],[36166,2],[36169,87],[36300,1],[36303,149],[36455,3],[36460,3],[36466,2],[36471,85],[36600,2],[36604,148],[36755,3],[36760,3],[36766,2],[36771,84],[36900,3],[36905,147],[37055,3],[37060,3],[37066,2],[37071,84],[37200,3],[37205,147],[37355,3],[37360,3],[37366,2],[37371,83],[37500,4],[37506,143],[37650,2],[37655,3],[37660,3],[37666,2],[37672,81],[37800,5],[37807,142],[37950,2],[37955,3],[37961,2],[37966,2],[37972,81],[38100,6],[38108,141],[38250,2],[38255,3],[38261,2],[38266,2],[38272,2],[38275,77],[38400,7],[38409,140],[38550,2],[38555,3],[38561,2],[38566,2],[38572,2],[38575,77],[38700,8],[38709,140],[38850,2],[38855,3],[38861,2],[38866,2],[38872,2],[38875,76],[39000,8],[39010,240],[39300,9],[39311,239],[39600,10],[39612,237],[39900,11],[39913,236],[40200,12],[40214,234],[40500,13],[40514,136],[40676,71],[40800,13],[40815,136],[40975,72],[41100,14],[41116,135],[41275,71],[41400,15],[41417,134],[41575,71],[41700,16],[41718,133],[41874,71],[42000,17],[42019,133],[42174,70],[42300,18],[42319,133],[42473,71],[42600,18],[42620,133],[42773,70],[42900,19],[42921,133],[43073,70],[43200,20],[43222,133],[43372,70],[43500,21],[43523,133],[43672,69],[43800,22],[43823,134],[43971,70],[44100,23],[44124,134],[44271,69],[44400,23],[44425,134],[44570,70],[44700,24],[44726,133],[44870,69],[45000,25],[45027,133],[45169,70],[45300,26],[45328,133],[45469,69],[45600,27],[45628,133],[45768,69],[45900,28],[45929,133],[46068,69],[46200,28],[46230,133],[46367,69],[46500,29],[46531,133],[46667,69],[46800,30],[46832,203],[47100,31],[47133,201],[47400,32],[47433,201],[47700,33],[47734,199],[48000,33],[48035,198],[48300,34],[48336,196],[48600,35],[48637,194],[48900,36],[48937,194],[49200,37],[49238,192],[49500,38],[49539,191],[49800,38],[49840,189],[50100,39],[50141,187],[50400,40],[50442,186],[50700,41],[50742,185],[51000,42],[51043,184],[51300,43],[51344,182],[51600,43],[51645,181],[51900,44],[51946,179],[52200,45],[52247,177],[52500,46],[52547,177],[52800,47],[52848,175],[53100,48],[53149,174],[53400,48],[53450,172],[53700,49],[53751,170],[54000,50],[54051,170],[54300,51],[54352,168],[54600,52],[54653,167],[54900,53],[54954,165],[55200,53],[55255,163],[55500,54],[55556,162],[55800,55],[55856,161],[56100,56],[56157,160],[56400,57],[56458,158],[56700,58],[56759,156],[57000,58],[57060,155],[57300,59],[57361,153],[57600,60],[57661,153],[57900,61],[57962,151],[58200,62],[58263,149],[58500,212],[58800,211],[59100,211],[59400,211],[59700,211],[60000,212],[60300,212],[60600,212],[60900,212],[61200,212],[61500,212],[61800,212],[62100,212],[62400,213],[62700,213],[63000,212],[63300,63],[63364,148],[63600,62],[63666,145],[63900,62],[63970,136],[64200,62],[64274,128],[64500,62],[64579,118],[64800,62],[64885,106],[65100,61],[65192,92],[65400,61],[65501,73],[65700,61],[65812,52],[66000,61],[66300,61],[66600,61],[66900,60],[67200,60],[67500,60],[67800,60],[68100,60],[68400,60],[68700,59],[69000,59],[69300,59],[69600,59],[69900,59],[70200,58],[70500,58],[70800,58],[71100,58],[71400,58],[71700,58],[72000,57],[72300,57],[72600,57],[72900,57],[73200,57],[73500,57],[73800,56],[74100,56],[74400,56],[74700,56],[75000,56],[75300,55],[75600,55],[75900,55],[76200,48],[76500,25],[76800,12],[77100,6],[77400,10],[77700,15],[78000,20],[78300,27],[78600,34],[78900,44],[79200,53],[79500,53],[79800,53],[80100,53],[80400,52],[80700,52],[81000,52],[81300,52],[81600,52],[81900,52],[82200,51],[82500,51],[82800,51],[83100,51],[83400,51],[83700,50],[84000,50],[84300,50],[84600,50],[84900,50],[85200,50],[85500,49],[85800,49],[86100,49],[86400,49],[86700,49],[87000,49],[87300,48],[87600,48],[87900,48],[88200,48],[88500,48],[88800,47],[89100,47],[89400,47],[89700,47]],"point":[149,149]},"centroid":[0.49833333333333335,0.5016666666666667],"high_idx":5,"mask":[[0,71],[113,261],[410,266],[706,274],[1003,284],[1300,13399],[14700,298],[15000,298],[15300,297],[15600,297],[15900,296],[16200,295],[16500,295],[16800,294],[17100,294],[17400,293],[17700,292],[18000,292],[18300,291],[18600,291],[18900,290],[19200,289],[19500,289],[19800,288],[20100,288],[20400,287],[20700,286],[21000,286],[21300,285],[21600,285],[21900,284],[22200,284],[22500,283],[22800,282],[23100,282],[23400,281],[23700,281],[24000,280],[24300,279],[24600,279],[24900,278],[25200,278],[25500,277],[25800,276],[26100,276],[26400,275],[26700,275],[27000,274],[27300,273],[27600,273],[27900,272],[28200,99],[28309,163],[28500,102],[28605,166],[28800,271],[29100,270],[29400,269],[29700,269],[30000,268],[30300,268],[30600,267],[30900,266],[31200,266],[31500,265],[31800,265],[32100,264],[32400,263],[32700,263],[33000,262],[33300,262],[33600,261],[33900,260],[34200,260],[34500,259],[34800,259],[35100,258],[35400,157],[35560,3],[35565,92],[35701,156],[35860,3],[35866,91],[36002,151],[36155,2],[36160,3],[36166,2],[36169,87],[36300,1],[36303,149],[36455,3],[36460,3],[36466,2],[36471,85],[36600,2],[36604,148],[36755,3],[36760,3],[36766,2],[36771,84],[36900,3],[36905,147],[37055,3],[37060,3],[37066,2],[37071,84],[37200,3],[37205,147],[37355,3],[37360,3],[37366,2],[37371,83],[37500,4],[37506,143],[37650,2],[37655,3],[37660,3],[37666,2],[37672,81],[37800,5],[37807,142],[37950,2],[37955,3],[37961,2],[37966,2],[37972,81],[38100,6],[38108,141],[38250,2],[38255,3],[38261,2],[38266,2],[38272,2],[38275,77],[38400,7],[38409,140],[38550,2],[38555,3],[38561,2],[38566,2],[38572,2],[38575,77],[38700,8],[38709,140],[38850,2],[38855,3],[38861,2],[38866,2],[38872,2],[38875,76],[39000,8],[39010,240],[39300,9],[39311,239],[39600,10],[39612,237],[39900,11],[39913,236],[40200,12],[40214,234],[40500,13],[40514,136],[40676,71],[40800,13],[40815,136],[40975,72],[41100,14],[41116,135],[41275,71],[41400,15],[41417,134],[41575,71],[41700,16],[41718,133],[41874,71],[42000,17],[42019,133],[42174,70],[42300,18],[42319,133],[42473,71],[42600,18],[42620,133],[42773,70],[42900,19],[42921,133],[43073,70],[43200,20],[43222,133],[43372,70],[43500,21],[43523,133],[43672,69],[43800,22],[43823,134],[43971,70],[44100,23],[44124,134],[44271,69],[44400,23],[44425,134],[44570,70],[44700,24],[44726,133],[44870,69],[45000,25],[45027,133],[45169,70],[45300,26],[45328,133],[45469,69],[45600,27],[45628,133],[45768,69],[45900,28],[45929,133],[46068,69],[46200,28],[46230,133],[46367,69],[46500,29],[46531,133],[46667,69],[46800,30],[46832,203],[47100,31],[47133,201],[47400,32],[47433,201],[47700,33],[47734,199],[48000,33],[48035,198],[48300,34],[48336,196],[48600,35],[48637,194],[48900,36],[48937,194],[49200,37],[49238,192],[49500,38],[49539,191],[49800,38],[49840,189],[50100,39],[50141,187],[50400,40],[50442,186],[50700,41],[50742,185],[51000,42],[51043,184],[51300,43],[51344,182],[51600,43],[51645,181],[51900,44],[51946,179],[52200,45],[52247,177],[52500,46],[52547,177],[52800,47],[52848,175],[53100,48],[53149,174],[53400,48],[53450,172],[53700,49],[53751,170],[54000,50],[54051,170],[54300,51],[54352,168],[54600,52],[54653,167],[54900,53],[54954,165],[55200,53],[55255,163],[55500,54],[55556,162],[55800,55],[55856,161],[56100,56],[56157,160],[56400,57],[56458,158],[56700,58],[56759,156],[57000,58],[57060,155],[57300,59],[57361,153],[57600,60],[57661,153],[57900,61],[57962,151],[58200,62],[58263,149],[58500,212],[58800,211],[59100,211],[59400,211],[59700,211],[60000,212],[60300,212],[60600,212],[60900,212],[61200,212],[61500,212],[61800,212],[62100,212],[62400,213],[62700,213],[63000,212],[63300,63],[63364,148],[63600,62],[63666,145],[63900,62],[63970,136],[64200,62],[64274,128],[64500,62],[64579,118],[64800,62],[64885,106],[65100,61],[65192,92],[65400,61],[65501,73],[65700,61],[65812,52],[66000,61],[66300,61],[66600,61],[66900,60],[67200,60],[67500,60],[67800,60],[68100,60],[68400,60],[68700,59],[69000,59],[69300,59],[69600,59],[69900,59],[70200,58],[70500,58],[70800,58],[71100,58],[71400,58],[71700,58],[72000,57],[72300,57],[72600,57],[72900,57],[73200,57],[73500,57],[73800,56],[74100,56],[74400,56],[74700,56],[75000,56],[75300,55],[75600,55],[75900,55],[76200,48],[76500,25],[76800,12],[77100,6],[77400,10],[77700,15],[78000,20],[78300,27],[78600,34],[78900,44],[79200,53],[79500,53],[79800,53],[80100,53],[80400,52],[80700,52],[81000,52],[81300,52],[81600,52],[81900,52],[82200,51],[82500,51],[82800,51],[83100,51],[83400,51],[83700,50],[84000,50],[84300,50],[84600,50],[84900,50],[85200,50],[85500,49],[85800,49],[86100,49],[86400,49],[86700,49],[87000,49],[87300,48],[87600,48],[87900,48],[88200,48],[88500,48],[88800,47],[89100,47],[89400,47],[89700,47]],"valid_interact":1},{"action":12,"action_high_args":{"bbox":[0,1,299,300],"mask":[[0,71],[113,261],[410,266],[706,274],[1003,284],[1300,13399],[14700,298],[15000,298],[15300,297],[15600,297],[15900,296],[16200,295],[16500,295],[16800,294],[17100,294],[17400,293],[17700,292],[18000,292],[18300,291],[18600,291],[18900,290],[19200,289],[19500,289],[19800,288],[20100,288],[20400,287],[20700,286],[21000,286],[21300,285],[21600,285],[21900,284],[22200,284],[22500,283],[22800,282],[23100,282],[23400,281],[23700,281],[24000,280],[24300,279],[24600,279],[24900,278],[25200,278],[25500,277],[25800,276],[26100,276],[26400,275],[26700,275],[27000,274],[27300,273],[27600,273],[27900,272],[28200,99],[28309,163],[28500,102],[28605,166],[28800,271],[29100,270],[29400,269],[29700,269],[30000,268],[30300,268],[30600,267],[30900,266],[31200,266],[31500,265],[31800,265],[32100,264],[32400,263],[32700,263],[33000,262],[33300,262],[33600,261],[33900,260],[34200,260],[34500,259],[34800,259],[35100,258],[35400,122],[35590,67],[35701,121],[35898,59],[36002,121],[36196,60],[36300,1],[36303,121],[36429,22],[36492,64],[36600,2],[36604,147],[36786,69],[36900,3],[36905,147],[37072,83],[37200,3],[37205,147],[37355,3],[37360,3],[37366,2],[37371,83],[37500,4],[37506,143],[37650,2],[37655,3],[37660,3],[37666,2],[37672,81],[37800,5],[37807,142],[37950,2],[37955,3],[37961,2],[37966,2],[37972,81],[38100,6],[38108,141],[38250,2],[38255,3],[38261,2],[38266,2],[38272,2],[38275,77],[38400,7],[38409,140],[38550,2],[38555,3],[38561,2],[38566,2],[38572,2],[38575,77],[38700,8],[38709,140],[38850,2],[38855,3],[38861,2],[38866,2],[38872,2],[38875,76],[39000,8],[39010,240],[39300,9],[39311,239],[39600,10],[39612,237],[39900,11],[39913,236],[40200,12],[40214,234],[40500,13],[40514,136],[40676,71],[40800,13],[40815,136],[40975,72],[41100,14],[41116,135],[41275,71],[41400,15],[41417,134],[41575,71],[41700,16],[41718,133],[41874,71],[42000,17],[42019,133],[42174,70],[42300,18],[42319,133],[42473,71],[42600,18],[42620,133],[42773,70],[42900,19],[42921,133],[43073,70],[43200,20],[43222,133],[43372,70],[43500,21],[43523,133],[43672,69],[43800,22],[43823,134],[43971,70],[44100,23],[44124,134],[44271,69],[44400,23],[44425,134],[44570,70],[44700,24],[44726,133],[44870,69],[45000,25],[45027,133],[45169,70],[45300,26],[45328,133],[45469,69],[45600,27],[45628,133],[45768,69],[45900,28],[45929,133],[46068,69],[46200,28],[46230,133],[46367,69],[46500,29],[46531,133],[46667,69],[46800,30],[46832,203],[47100,31],[47133,201],[47400,32],[47433,201],[47700,33],[47734,199],[48000,33],[48035,198],[48300,34],[48336,196],[48600,35],[48637,194],[48900,36],[48937,194],[49200,37],[49238,192],[49500,38],[49539,191],[49800,38],[49840,189],[50100,39],[50141,187],[50400,40],[50442,186],[50700,41],[50742,185],[51000,42],[51043,184],[51300,43],[51344,182],[51600,43],[51645,181],[51900,44],[51946,179],[52200,45],[52247,177],[52500,46],[52547,177],[52800,47],[52848,175],[53100,48],[53149,174],[53400,48],[53450,172],[53700,49],[53751,170],[54000,50],[54051,170],[54300,51],[54352,168],[54600,52],[54653,167],[54900,53],[54954,165],[55200,53],[55255,163],[55500,54],[55556,162],[55800,55],[55856,161],[56100,56],[56157,160],[56400,57],[56458,158],[56700,58],[56759,156],[57000,58],[57060,155],[57300,59],[57361,153],[57600,60],[57661,153],[57900,61],[57962,151],[58200,62],[58263,149],[58500,212],[58800,211],[59100,211],[59400,211],[59700,211],[60000,212],[60300,212],[60600,212],[60900,212],[61200,212],[61500,212],[61800,212],[62100,212],[62400,213],[62700,213],[63000,212],[63300,63],[63364,148],[63600,62],[63666,145],[63900,62],[63970,136],[64200,62],[64274,128],[64500,62],[64579,118],[64800,62],[64885,106],[65100,61],[65192,92],[65400,61],[65501,73],[65700,61],[65812,52],[66000,61],[66300,61],[66600,61],[66900,60],[67200,60],[67500,60],[67800,60],[68100,60],[68400,60],[68700,59],[69000,59],[69300,59],[69600,59],[69900,59],[70200,58],[70500,58],[70800,58],[71100,58],[71400,58],[71700,58],[72000,57],[72300,57],[72600,57],[72900,57],[73200,57],[73500,57],[73800,56],[74100,56],[74400,56],[74700,56],[75000,56],[75300,55],[75600,55],[75900,55],[76200,55],[76500,55],[76800,55],[77100,54],[77400,54],[77700,54],[78000,54],[78300,54],[78600,53],[78900,53],[79200,53],[79500,53],[79800,53],[80100,53],[80400,52],[80700,52],[81000,52],[81300,52],[81600,52],[81900,52],[82200,51],[82500,51],[82800,51],[83100,51],[83400,51],[83700,50],[84000,50],[84300,50],[84600,50],[84900,50],[85200,50],[85500,49],[85800,49],[86100,49],[86400,49],[86700,49],[87000,49],[87300,48],[87600,48],[87900,48],[88200,48],[88500,48],[88800,47],[89100,47],[89400,47],[89700,47]],"point":[149,149]},"centroid":[0.49833333333333335,0.5016666666666667],"high_idx":5,"mask":[[0,71],[113,261],[410,266],[706,274],[1003,284],[1300,13399],[14700,298],[15000,298],[15300,297],[15600,297],[15900,296],[16200,295],[16500,295],[16800,294],[17100,294],[17400,293],[17700,292],[18000,292],[18300,291],[18600,291],[18900,290],[19200,289],[19500,289],[19800,288],[20100,288],[20400,287],[20700,286],[21000,286],[21300,285],[21600,285],[21900,284],[22200,284],[22500,283],[22800,282],[23100,282],[23400,281],[23700,281],[24000,280],[24300,279],[24600,279],[24900,278],[25200,278],[25500,277],[25800,276],[26100,276],[26400,275],[26700,275],[27000,274],[27300,273],[27600,273],[27900,272],[28200,99],[28309,163],[28500,102],[28605,166],[28800,271],[29100,270],[29400,269],[29700,269],[30000,268],[30300,268],[30600,267],[30900,266],[31200,266],[31500,265],[31800,265],[32100,264],[32400,263],[32700,263],[33000,262],[33300,262],[33600,261],[33900,260],[34200,260],[34500,259],[34800,259],[35100,258],[35400,122],[35590,67],[35701,121],[35898,59],[36002,121],[36196,60],[36300,1],[36303,121],[36429,22],[36492,64],[36600,2],[36604,147],[36786,69],[36900,3],[36905,147],[37072,83],[37200,3],[37205,147],[37355,3],[37360,3],[37366,2],[37371,83],[37500,4],[37506,143],[37650,2],[37655,3],[37660,3],[37666,2],[37672,81],[37800,5],[37807,142],[37950,2],[37955,3],[37961,2],[37966,2],[37972,81],[38100,6],[38108,141],[38250,2],[38255,3],[38261,2],[38266,2],[38272,2],[38275,77],[38400,7],[38409,140],[38550,2],[38555,3],[38561,2],[38566,2],[38572,2],[38575,77],[38700,8],[38709,140],[38850,2],[38855,3],[38861,2],[38866,2],[38872,2],[38875,76],[39000,8],[39010,240],[39300,9],[39311,239],[39600,10],[39612,237],[39900,11],[39913,236],[40200,12],[40214,234],[40500,13],[40514,136],[40676,71],[40800,13],[40815,136],[40975,72],[41100,14],[41116,135],[41275,71],[41400,15],[41417,134],[41575,71],[41700,16],[41718,133],[41874,71],[42000,17],[42019,133],[42174,70],[42300,18],[42319,133],[42473,71],[42600,18],[42620,133],[42773,70],[42900,19],[42921,133],[43073,70],[43200,20],[43222,133],[43372,70],[43500,21],[43523,133],[43672,69],[43800,22],[43823,134],[43971,70],[44100,23],[44124,134],[44271,69],[44400,23],[44425,134],[44570,70],[44700,24],[44726,133],[44870,69],[45000,25],[45027,133],[45169,70],[45300,26],[45328,133],[45469,69],[45600,27],[45628,133],[45768,69],[45900,28],[45929,133],[46068,69],[46200,28],[46230,133],[46367,69],[46500,29],[46531,133],[46667,69],[46800,30],[46832,203],[47100,31],[47133,201],[47400,32],[47433,201],[47700,33],[47734,199],[48000,33],[48035,198],[48300,34],[48336,196],[48600,35],[48637,194],[48900,36],[48937,194],[49200,37],[49238,192],[49500,38],[49539,191],[49800,38],[49840,189],[50100,39],[50141,187],[50400,40],[50442,186],[50700,41],[50742,185],[51000,42],[51043,184],[51300,43],[51344,182],[51600,43],[51645,181],[51900,44],[51946,179],[52200,45],[52247,177],[52500,46],[52547,177],[52800,47],[52848,175],[53100,48],[53149,174],[53400,48],[53450,172],[53700,49],[53751,170],[54000,50],[54051,170],[54300,51],[54352,168],[54600,52],[54653,167],[54900,53],[54954,165],[55200,53],[55255,163],[55500,54],[55556,162],[55800,55],[55856,161],[56100,56],[56157,160],[56400,57],[56458,158],[56700,58],[56759,156],[57000,58],[57060,155],[57300,59],[57361,153],[57600,60],[57661,153],[57900,61],[57962,151],[58200,62],[58263,149],[58500,212],[58800,211],[59100,211],[59400,211],[59700,211],[60000,212],[60300,212],[60600,212],[60900,212],[61200,212],[61500,212],[61800,212],[62100,212],[62400,213],[62700,213],[63000,212],[63300,63],[63364,148],[63600,62],[63666,145],[63900,62],[63970,136],[64200,62],[64274,128],[64500,62],[64579,118],[64800,62],[64885,106],[65100,61],[65192,92],[65400,61],[65501,73],[65700,61],[65812,52],[66000,61],[66300,61],[66600,61],[66900,60],[67200,60],[67500,60],[67800,60],[68100,60],[68400,60],[68700,59],[69000,59],[69300,59],[69600,59],[69900,59],[70200,58],[70500,58],[70800,58],[71100,58],[71400,58],[71700,58],[72000,57],[72300,57],[72600,57],[72900,57],[73200,57],[73500,57],[73800,56],[74100,56],[74400,56],[74700,56],[75000,56],[75300,55],[75600,55],[75900,55],[76200,55],[76500,55],[76800,55],[77100,54],[77400,54],[77700,54],[78000,54],[78300,54],[78600,53],[78900,53],[79200,53],[79500,53],[79800,53],[80100,53],[80400,52],[80700,52],[81000,52],[81300,52],[81600,52],[81900,52],[82200,51],[82500,51],[82800,51],[83100,51],[83400,51],[83700,50],[84000,50],[84300,50],[84600,50],[84900,50],[85200,50],[85500,49],[85800,49],[86100,49],[86400,49],[86700,49],[87000,49],[87300,48],[87600,48],[87900,48],[88200,48],[88500,48],[88800,47],[89100,47],[89400,47],[89700,47]],"valid_interact":1}],[{"action":8,"action_high_args":{},"centroid":[-1,-1],"high_idx":6,"mask":null,"valid_interact":0},{"action":5,"action_high_args":{},"centroid":[-1,-1],"high_idx":6,"mask":null,"valid_interact":0},{"action":5,"action_high_args":{},"centroid":[-1,-1],"high_idx":6,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":6,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":6,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":6,"mask":null,"valid_interact":0},{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":6,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":6,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":6,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":6,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":6,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":6,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":6,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":6,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":6,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":6,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":6,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":6,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":6,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":6,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":6,"mask":null,"valid_interact":0}],[{"action":6,"action_high_args":{"bbox":[143,133,152,150],"mask":[[39749,4],[40047,6],[40346,7],[40645,8],[40944,9],[41244,6],[41252,1],[41544,5],[41843,5],[42143,4],[42443,3],[42743,3],[43043,3],[43343,2],[43644,1],[43944,1],[44244,1],[44545,1],[44845,1]],"point":[147,139]},"centroid":[0.49166666666666664,0.4716666666666667],"high_idx":7,"mask":[[39749,4],[40047,6],[40346,7],[40645,8],[40944,9],[41244,6],[41252,1],[41544,5],[41843,5],[42143,4],[42443,3],[42743,3],[43043,3],[43343,2],[43644,1],[43944,1],[44244,1],[44545,1],[44845,1]],"valid_interact":1}],[{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":8,"mask":null,"valid_interact":0},{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":8,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":8,"mask":null,"valid_interact":0},{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":8,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":8,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":8,"mask":null,"valid_interact":0},{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":8,"mask":null,"valid_interact":0},{"action":8,"action_high_args":{},"centroid":[-1,-1],"high_idx":8,"mask":null,"valid_interact":0}],[{"action":10,"action_high_args":{"bbox":[0,69,132,183],"mask":[[20400,130],[20700,130],[21000,130],[21300,130],[21600,130],[21900,130],[22200,130],[22500,130],[22800,130],[23100,130],[23400,130],[23700,130],[24000,131],[24300,131],[24600,131],[24900,131],[25200,131],[25500,131],[25800,131],[26100,131],[26400,131],[26700,131],[27000,131],[27300,131],[27600,131],[27900,131],[28200,131],[28500,131],[28800,131],[29100,131],[29400,131],[29700,131],[30000,131],[30300,131],[30600,131],[30900,132],[31200,132],[31500,132],[31800,132],[32100,132],[32400,132],[32700,132],[33000,132],[33300,132],[33600,132],[33900,132],[34200,132],[34500,132],[34800,132],[35100,132],[35400,132],[35700,132],[36000,132],[36300,132],[36600,132],[36900,132],[37200,132],[37500,132],[37800,132],[38100,132],[38400,132],[38700,132],[39000,133],[39300,133],[39600,133],[39900,133],[40200,133],[40500,133],[40800,133],[41100,133],[41400,133],[41700,133],[42000,133],[42300,133],[42600,133],[42900,133],[43200,133],[43500,133],[43800,133],[44100,133],[44400,133],[44700,133],[45000,132],[45300,132],[45600,132],[45900,132],[46200,132],[46500,132],[46800,132],[47100,132],[47400,132],[47700,131],[48000,131],[48300,131],[48600,131],[48900,131],[49200,131],[49500,131],[49800,131],[50100,131],[50400,130],[50700,130],[51000,130],[51300,130],[51600,130],[51900,130],[52200,130],[52500,130],[52800,129],[53100,129],[53400,129],[53700,129],[54000,129],[54300,129],[54600,129]],"point":[66,125]},"centroid":[0.22,0.42],"high_idx":9,"mask":[[20400,130],[20700,130],[21000,130],[21300,130],[21600,130],[21900,130],[22200,130],[22500,130],[22800,130],[23100,130],[23400,130],[23700,130],[24000,131],[24300,131],[24600,131],[24900,131],[25200,131],[25500,131],[25800,131],[26100,131],[26400,131],[26700,131],[27000,131],[27300,131],[27600,131],[27900,131],[28200,131],[28500,131],[28800,131],[29100,131],[29400,131],[29700,131],[30000,131],[30300,131],[30600,131],[30900,132],[31200,132],[31500,132],[31800,132],[32100,132],[32400,132],[32700,132],[33000,132],[33300,132],[33600,132],[33900,132],[34200,132],[34500,132],[34800,132],[35100,132],[35400,132],[35700,132],[36000,132],[36300,132],[36600,132],[36900,132],[37200,132],[37500,132],[37800,132],[38100,132],[38400,132],[38700,132],[39000,133],[39300,133],[39600,133],[39900,133],[40200,133],[40500,133],[40800,133],[41100,133],[41400,133],[41700,133],[42000,133],[42300,133],[42600,133],[42900,133],[43200,133],[43500,133],[43800,133],[44100,133],[44400,133],[44700,133],[45000,132],[45300,132],[45600,132],[45900,132],[46200,132],[46500,132],[46800,132],[47100,132],[47400,132],[47700,131],[48000,131],[48300,131],[48600,131],[48900,131],[49200,131],[49500,131],[49800,131],[50100,131],[50400,130],[50700,130],[51000,130],[51300,130],[51600,130],[51900,130],[52200,130],[52500,130],[52800,129],[53100,129],[53400,129],[53700,129],[54000,129],[54300,129],[54600,129]],"valid_interact":1},{"action":11,"action_high_args":{"bbox":[0,69,132,183],"mask":[[20400,130],[20700,130],[21000,130],[21300,130],[21600,130],[21900,130],[22200,130],[22500,130],[22800,130],[23100,130],[23400,130],[23700,130],[24000,131],[24300,131],[24600,131],[24900,131],[25200,131],[25500,131],[25800,131],[26100,131],[26400,131],[26700,131],[27000,131],[27300,131],[27600,131],[27900,131],[28200,131],[28500,131],[28800,131],[29100,131],[29400,131],[29700,131],[30000,131],[30300,131],[30600,131],[30900,132],[31200,132],[31500,132],[31800,132],[32100,132],[32400,132],[32700,132],[33000,132],[33300,132],[33600,132],[33900,132],[34200,132],[34500,69],[34580,52],[34800,66],[34882,50],[35100,43],[35144,20],[35183,49],[35400,41],[35446,17],[35483,49],[35700,41],[35747,15],[35785,47],[36000,40],[36048,14],[36087,45],[36300,40],[36349,14],[36383,2],[36387,45],[36600,40],[36649,14],[36683,3],[36688,44],[36900,39],[36950,13],[36983,3],[36988,44],[37200,39],[37250,14],[37283,2],[37287,45],[37500,40],[37550,14],[37583,2],[37587,45],[37800,40],[37850,14],[37883,2],[37887,45],[38100,40],[38150,14],[38183,2],[38187,45],[38400,41],[38450,15],[38486,46],[38700,35],[38749,16],[38786,46],[39000,33],[39049,16],[39086,47],[39300,31],[39348,17],[39386,47],[39600,30],[39645,20],[39685,48],[39900,30],[39946,20],[39984,49],[40200,29],[40246,20],[40284,49],[40500,7],[40510,19],[40546,20],[40584,49],[40800,3],[40813,16],[40846,20],[40884,49],[41100,1],[41115,14],[41146,20],[41185,48],[41416,13],[41446,21],[41484,49],[41716,13],[41745,22],[41784,49],[42017,13],[42045,22],[42083,50],[42317,13],[42344,24],[42381,52],[42617,14],[42642,28],[42678,55],[42917,16],[42939,94],[43217,116],[43516,117],[43816,117],[44115,118],[44414,119],[44712,121],[45000,1],[45009,123],[45300,132],[45600,132],[45900,132],[46200,132],[46500,132],[46800,132],[47100,132],[47400,132],[47700,131],[48000,131],[48300,131],[48600,131],[48900,131],[49200,131],[49500,131],[49800,131],[50100,131],[50400,130],[50700,130],[51000,130],[51300,130],[51600,130],[51900,130],[52200,130],[52500,130],[52800,129],[53100,129],[53400,129],[53700,129],[54000,129],[54300,129],[54600,129]],"point":[63,125]},"centroid":[0.22,0.42],"high_idx":9,"mask":[[20400,130],[20700,130],[21000,130],[21300,130],[21600,130],[21900,130],[22200,130],[22500,130],[22800,130],[23100,130],[23400,130],[23700,130],[24000,131],[24300,131],[24600,131],[24900,131],[25200,131],[25500,131],[25800,131],[26100,131],[26400,131],[26700,131],[27000,131],[27300,131],[27600,131],[27900,131],[28200,131],[28500,131],[28800,131],[29100,131],[29400,131],[29700,131],[30000,131],[30300,131],[30600,131],[30900,132],[31200,132],[31500,132],[31800,132],[32100,132],[32400,132],[32700,132],[33000,132],[33300,132],[33600,132],[33900,132],[34200,132],[34500,69],[34580,52],[34800,66],[34882,50],[35100,43],[35144,20],[35183,49],[35400,41],[35446,17],[35483,49],[35700,41],[35747,15],[35785,47],[36000,40],[36048,14],[36087,45],[36300,40],[36349,14],[36383,2],[36387,45],[36600,40],[36649,14],[36683,3],[36688,44],[36900,39],[36950,13],[36983,3],[36988,44],[37200,39],[37250,14],[37283,2],[37287,45],[37500,40],[37550,14],[37583,2],[37587,45],[37800,40],[37850,14],[37883,2],[37887,45],[38100,40],[38150,14],[38183,2],[38187,45],[38400,41],[38450,15],[38486,46],[38700,35],[38749,16],[38786,46],[39000,33],[39049,16],[39086,47],[39300,31],[39348,17],[39386,47],[39600,30],[39645,20],[39685,48],[39900,30],[39946,20],[39984,49],[40200,29],[40246,20],[40284,49],[40500,7],[40510,19],[40546,20],[40584,49],[40800,3],[40813,16],[40846,20],[40884,49],[41100,1],[41115,14],[41146,20],[41185,48],[41416,13],[41446,21],[41484,49],[41716,13],[41745,22],[41784,49],[42017,13],[42045,22],[42083,50],[42317,13],[42344,24],[42381,52],[42617,14],[42642,28],[42678,55],[42917,16],[42939,94],[43217,116],[43516,117],[43816,117],[44115,118],[44414,119],[44712,121],[45000,1],[45009,123],[45300,132],[45600,132],[45900,132],[46200,132],[46500,132],[46800,132],[47100,132],[47400,132],[47700,131],[48000,131],[48300,131],[48600,131],[48900,131],[49200,131],[49500,131],[49800,131],[50100,131],[50400,130],[50700,130],[51000,130],[51300,130],[51600,130],[51900,130],[52200,130],[52500,130],[52800,129],[53100,129],[53400,129],[53700,129],[54000,129],[54300,129],[54600,129]],"valid_interact":1},{"action":12,"action_high_args":{"bbox":[0,69,132,183],"mask":[[20400,130],[20700,130],[21000,130],[21300,130],[21600,130],[21900,130],[22200,130],[22500,130],[22800,130],[23100,130],[23400,130],[23700,130],[24000,131],[24300,131],[24600,131],[24900,131],[25200,131],[25500,131],[25800,131],[26100,131],[26400,131],[26700,131],[27000,131],[27300,131],[27600,131],[27900,131],[28200,131],[28500,131],[28800,131],[29100,131],[29400,131],[29700,131],[30000,131],[30300,131],[30600,131],[30900,132],[31200,132],[31500,132],[31800,132],[32100,132],[32400,132],[32700,132],[33000,132],[33300,132],[33600,132],[33900,132],[34200,132],[34500,69],[34580,52],[34800,66],[34882,50],[35100,43],[35144,20],[35183,49],[35400,41],[35446,17],[35483,49],[35700,41],[35747,15],[35785,47],[36000,40],[36048,14],[36087,45],[36300,40],[36349,14],[36383,2],[36387,45],[36600,40],[36649,14],[36683,3],[36688,44],[36900,39],[36950,13],[36983,3],[36988,44],[37200,39],[37250,14],[37283,2],[37287,45],[37500,40],[37550,14],[37583,2],[37587,45],[37800,40],[37850,14],[37883,2],[37887,45],[38100,40],[38150,14],[38183,2],[38187,45],[38400,41],[38450,15],[38486,46],[38700,35],[38749,11],[38786,46],[39000,33],[39049,10],[39086,47],[39300,31],[39348,11],[39386,47],[39600,30],[39645,13],[39685,48],[39900,30],[39946,11],[39984,49],[40200,29],[40246,11],[40284,49],[40500,7],[40510,19],[40546,11],[40584,49],[40800,3],[40813,16],[40846,11],[40884,49],[41100,1],[41115,14],[41146,11],[41185,48],[41416,13],[41446,11],[41484,49],[41716,13],[41745,13],[41784,49],[42017,13],[42045,13],[42083,50],[42317,13],[42344,15],[42381,52],[42617,14],[42642,17],[42678,55],[42917,16],[42939,21],[42975,58],[43217,44],[43274,59],[43516,46],[43574,59],[43816,47],[43874,59],[44115,49],[44173,60],[44414,51],[44473,60],[44712,55],[44772,61],[45000,1],[45009,123],[45300,132],[45600,132],[45900,132],[46200,132],[46500,132],[46800,132],[47100,132],[47400,132],[47700,131],[48000,131],[48300,131],[48600,131],[48900,131],[49200,131],[49500,131],[49800,131],[50100,131],[50400,130],[50700,130],[51000,130],[51300,130],[51600,130],[51900,130],[52200,130],[52500,130],[52800,129],[53100,129],[53400,129],[53700,129],[54000,129],[54300,129],[54600,129]],"point":[63,125]},"centroid":[0.22,0.42],"high_idx":9,"mask":[[20400,130],[20700,130],[21000,130],[21300,130],[21600,130],[21900,130],[22200,130],[22500,130],[22800,130],[23100,130],[23400,130],[23700,130],[24000,131],[24300,131],[24600,131],[24900,131],[25200,131],[25500,131],[25800,131],[26100,131],[26400,131],[26700,131],[27000,131],[27300,131],[27600,131],[27900,131],[28200,131],[28500,131],[28800,131],[29100,131],[29400,131],[29700,131],[30000,131],[30300,131],[30600,131],[30900,132],[31200,132],[31500,132],[31800,132],[32100,132],[32400,132],[32700,132],[33000,132],[33300,132],[33600,132],[33900,132],[34200,132],[34500,69],[34580,52],[34800,66],[34882,50],[35100,43],[35144,20],[35183,49],[35400,41],[35446,17],[35483,49],[35700,41],[35747,15],[35785,47],[36000,40],[36048,14],[36087,45],[36300,40],[36349,14],[36383,2],[36387,45],[36600,40],[36649,14],[36683,3],[36688,44],[36900,39],[36950,13],[36983,3],[36988,44],[37200,39],[37250,14],[37283,2],[37287,45],[37500,40],[37550,14],[37583,2],[37587,45],[37800,40],[37850,14],[37883,2],[37887,45],[38100,40],[38150,14],[38183,2],[38187,45],[38400,41],[38450,15],[38486,46],[38700,35],[38749,11],[38786,46],[39000,33],[39049,10],[39086,47],[39300,31],[39348,11],[39386,47],[39600,30],[39645,13],[39685,48],[39900,30],[39946,11],[39984,49],[40200,29],[40246,11],[40284,49],[40500,7],[40510,19],[40546,11],[40584,49],[40800,3],[40813,16],[40846,11],[40884,49],[41100,1],[41115,14],[41146,11],[41185,48],[41416,13],[41446,11],[41484,49],[41716,13],[41745,13],[41784,49],[42017,13],[42045,13],[42083,50],[42317,13],[42344,15],[42381,52],[42617,14],[42642,17],[42678,55],[42917,16],[42939,21],[42975,58],[43217,44],[43274,59],[43516,46],[43574,59],[43816,47],[43874,59],[44115,49],[44173,60],[44414,51],[44473,60],[44712,55],[44772,61],[45000,1],[45009,123],[45300,132],[45600,132],[45900,132],[46200,132],[46500,132],[46800,132],[47100,132],[47400,132],[47700,131],[48000,131],[48300,131],[48600,131],[48900,131],[49200,131],[49500,131],[49800,131],[50100,131],[50400,130],[50700,130],[51000,130],[51300,130],[51600,130],[51900,130],[52200,130],[52500,130],[52800,129],[53100,129],[53400,129],[53700,129],[54000,129],[54300,129],[54600,129]],"valid_interact":1},{"action":13,"action_high_args":{"bbox":[0,69,132,183],"mask":[[20400,130],[20700,130],[21000,130],[21300,130],[21600,130],[21900,130],[22200,130],[22500,130],[22800,130],[23100,130],[23400,130],[23700,130],[24000,131],[24300,131],[24600,131],[24900,131],[25200,131],[25500,131],[25800,131],[26100,131],[26400,131],[26700,131],[27000,131],[27300,131],[27600,131],[27900,131],[28200,131],[28500,131],[28800,131],[29100,131],[29400,131],[29700,131],[30000,131],[30300,131],[30600,131],[30900,132],[31200,132],[31500,132],[31800,132],[32100,132],[32400,132],[32700,132],[33000,132],[33300,132],[33600,132],[33900,132],[34200,132],[34500,132],[34800,132],[35100,132],[35400,132],[35700,132],[36000,132],[36300,132],[36600,132],[36900,132],[37200,132],[37500,132],[37800,132],[38100,132],[38400,132],[38700,132],[39000,133],[39300,133],[39600,133],[39900,133],[40200,133],[40500,133],[40800,133],[41100,133],[41400,133],[41700,133],[42000,133],[42300,133],[42600,133],[42900,133],[43200,133],[43500,133],[43800,133],[44100,133],[44400,133],[44700,133],[45000,132],[45300,132],[45600,132],[45900,132],[46200,132],[46500,132],[46800,132],[47100,132],[47400,132],[47700,131],[48000,131],[48300,131],[48600,131],[48900,131],[49200,131],[49500,131],[49800,131],[50100,131],[50400,130],[50700,130],[51000,130],[51300,130],[51600,130],[51900,130],[52200,130],[52500,130],[52800,129],[53100,129],[53400,129],[53700,129],[54000,129],[54300,129],[54600,129]],"point":[66,125]},"centroid":[0.22,0.42],"high_idx":9,"mask":[[20400,130],[20700,130],[21000,130],[21300,130],[21600,130],[21900,130],[22200,130],[22500,130],[22800,130],[23100,130],[23400,130],[23700,130],[24000,131],[24300,131],[24600,131],[24900,131],[25200,131],[25500,131],[25800,131],[26100,131],[26400,131],[26700,131],[27000,131],[27300,131],[27600,131],[27900,131],[28200,131],[28500,131],[28800,131],[29100,131],[29400,131],[29700,131],[30000,131],[30300,131],[30600,131],[30900,132],[31200,132],[31500,132],[31800,132],[32100,132],[32400,132],[32700,132],[33000,132],[33300,132],[33600,132],[33900,132],[34200,132],[34500,132],[34800,132],[35100,132],[35400,132],[35700,132],[36000,132],[36300,132],[36600,132],[36900,132],[37200,132],[37500,132],[37800,132],[38100,132],[38400,132],[38700,132],[39000,133],[39300,133],[39600,133],[39900,133],[40200,133],[40500,133],[40800,133],[41100,133],[41400,133],[41700,133],[42000,133],[42300,133],[42600,133],[42900,133],[43200,133],[43500,133],[43800,133],[44100,133],[44400,133],[44700,133],[45000,132],[45300,132],[45600,132],[45900,132],[46200,132],[46500,132],[46800,132],[47100,132],[47400,132],[47700,131],[48000,131],[48300,131],[48600,131],[48900,131],[49200,131],[49500,131],[49800,131],[50100,131],[50400,130],[50700,130],[51000,130],[51300,130],[51600,130],[51900,130],[52200,130],[52500,130],[52800,129],[53100,129],[53400,129],[53700,129],[54000,129],[54300,129],[54600,129]],"valid_interact":1},{"action":14,"action_high_args":{"bbox":[0,69,132,183],"mask":[[20400,130],[20700,130],[21000,130],[21300,130],[21600,130],[21900,130],[22200,130],[22500,130],[22800,130],[23100,130],[23400,130],[23700,130],[24000,131],[24300,131],[24600,131],[24900,131],[25200,131],[25500,131],[25800,131],[26100,131],[26400,131],[26700,131],[27000,131],[27300,131],[27600,131],[27900,131],[28200,131],[28500,131],[28800,131],[29100,131],[29400,131],[29700,131],[30000,131],[30300,131],[30600,131],[30900,132],[31200,132],[31500,132],[31800,132],[32100,132],[32400,132],[32700,132],[33000,132],[33300,132],[33600,132],[33900,132],[34200,132],[34500,132],[34800,132],[35100,132],[35400,132],[35700,132],[36000,132],[36300,132],[36600,132],[36900,132],[37200,132],[37500,132],[37800,132],[38100,132],[38400,132],[38700,132],[39000,133],[39300,133],[39600,133],[39900,133],[40200,133],[40500,133],[40800,133],[41100,133],[41400,133],[41700,133],[42000,133],[42300,133],[42600,133],[42900,133],[43200,133],[43500,133],[43800,133],[44100,133],[44400,133],[44700,133],[45000,132],[45300,132],[45600,132],[45900,132],[46200,132],[46500,132],[46800,132],[47100,132],[47400,132],[47700,131],[48000,131],[48300,131],[48600,131],[48900,131],[49200,131],[49500,131],[49800,131],[50100,131],[50400,130],[50700,130],[51000,130],[51300,130],[51600,130],[51900,130],[52200,130],[52500,130],[52800,129],[53100,129],[53400,129],[53700,129],[54000,129],[54300,129],[54600,129]],"point":[66,125]},"centroid":[0.22,0.42],"high_idx":9,"mask":[[20400,130],[20700,130],[21000,130],[21300,130],[21600,130],[21900,130],[22200,130],[22500,130],[22800,130],[23100,130],[23400,130],[23700,130],[24000,131],[24300,131],[24600,131],[24900,131],[25200,131],[25500,131],[25800,131],[26100,131],[26400,131],[26700,131],[27000,131],[27300,131],[27600,131],[27900,131],[28200,131],[28500,131],[28800,131],[29100,131],[29400,131],[29700,131],[30000,131],[30300,131],[30600,131],[30900,132],[31200,132],[31500,132],[31800,132],[32100,132],[32400,132],[32700,132],[33000,132],[33300,132],[33600,132],[33900,132],[34200,132],[34500,132],[34800,132],[35100,132],[35400,132],[35700,132],[36000,132],[36300,132],[36600,132],[36900,132],[37200,132],[37500,132],[37800,132],[38100,132],[38400,132],[38700,132],[39000,133],[39300,133],[39600,133],[39900,133],[40200,133],[40500,133],[40800,133],[41100,133],[41400,133],[41700,133],[42000,133],[42300,133],[42600,133],[42900,133],[43200,133],[43500,133],[43800,133],[44100,133],[44400,133],[44700,133],[45000,132],[45300,132],[45600,132],[45900,132],[46200,132],[46500,132],[46800,132],[47100,132],[47400,132],[47700,131],[48000,131],[48300,131],[48600,131],[48900,131],[49200,131],[49500,131],[49800,131],[50100,131],[50400,130],[50700,130],[51000,130],[51300,130],[51600,130],[51900,130],[52200,130],[52500,130],[52800,129],[53100,129],[53400,129],[53700,129],[54000,129],[54300,129],[54600,129]],"valid_interact":1},{"action":10,"action_high_args":{"bbox":[0,69,132,183],"mask":[[20400,130],[20700,130],[21000,130],[21300,130],[21600,130],[21900,130],[22200,130],[22500,130],[22800,130],[23100,130],[23400,130],[23700,130],[24000,131],[24300,131],[24600,131],[24900,131],[25200,131],[25500,131],[25800,131],[26100,131],[26400,131],[26700,131],[27000,131],[27300,131],[27600,131],[27900,131],[28200,131],[28500,131],[28800,131],[29100,131],[29400,131],[29700,131],[30000,131],[30300,131],[30600,131],[30900,132],[31200,132],[31500,132],[31800,132],[32100,132],[32400,132],[32700,132],[33000,132],[33300,132],[33600,132],[33900,132],[34200,132],[34500,132],[34800,132],[35100,132],[35400,132],[35700,132],[36000,132],[36300,132],[36600,132],[36900,132],[37200,132],[37500,132],[37800,132],[38100,132],[38400,132],[38700,132],[39000,133],[39300,133],[39600,133],[39900,133],[40200,133],[40500,133],[40800,133],[41100,133],[41400,133],[41700,133],[42000,133],[42300,133],[42600,133],[42900,133],[43200,133],[43500,133],[43800,133],[44100,133],[44400,133],[44700,133],[45000,132],[45300,132],[45600,132],[45900,132],[46200,132],[46500,132],[46800,132],[47100,132],[47400,132],[47700,131],[48000,131],[48300,131],[48600,131],[48900,131],[49200,131],[49500,131],[49800,131],[50100,131],[50400,130],[50700,130],[51000,130],[51300,130],[51600,130],[51900,130],[52200,130],[52500,130],[52800,129],[53100,129],[53400,129],[53700,129],[54000,129],[54300,129],[54600,129]],"point":[66,125]},"centroid":[0.22,0.42],"high_idx":9,"mask":[[20400,130],[20700,130],[21000,130],[21300,130],[21600,130],[21900,130],[22200,130],[22500,130],[22800,130],[23100,130],[23400,130],[23700,130],[24000,131],[24300,131],[24600,131],[24900,131],[25200,131],[25500,131],[25800,131],[26100,131],[26400,131],[26700,131],[27000,131],[27300,131],[27600,131],[27900,131],[28200,131],[28500,131],[28800,131],[29100,131],[29400,131],[29700,131],[30000,131],[30300,131],[30600,131],[30900,132],[31200,132],[31500,132],[31800,132],[32100,132],[32400,132],[32700,132],[33000,132],[33300,132],[33600,132],[33900,132],[34200,132],[34500,132],[34800,132],[35100,132],[35400,132],[35700,132],[36000,132],[36300,132],[36600,132],[36900,132],[37200,132],[37500,132],[37800,132],[38100,132],[38400,132],[38700,132],[39000,133],[39300,133],[39600,133],[39900,133],[40200,133],[40500,133],[40800,133],[41100,133],[41400,133],[41700,133],[42000,133],[42300,133],[42600,133],[42900,133],[43200,133],[43500,133],[43800,133],[44100,133],[44400,133],[44700,133],[45000,132],[45300,132],[45600,132],[45900,132],[46200,132],[46500,132],[46800,132],[47100,132],[47400,132],[47700,131],[48000,131],[48300,131],[48600,131],[48900,131],[49200,131],[49500,131],[49800,131],[50100,131],[50400,130],[50700,130],[51000,130],[51300,130],[51600,130],[51900,130],[52200,130],[52500,130],[52800,129],[53100,129],[53400,129],[53700,129],[54000,129],[54300,129],[54600,129]],"valid_interact":1},{"action":6,"action_high_args":{"bbox":[57,130,74,150],"mask":[[38760,10],[39059,12],[39359,13],[39658,15],[39957,16],[40257,17],[40557,17],[40857,18],[41157,18],[41457,18],[41758,17],[42058,17],[42359,16],[42659,16],[42960,15],[43261,13],[43562,12],[43863,11],[44164,9],[44465,8],[44767,5]],"point":[65,139]},"centroid":[0.21833333333333332,0.4666666666666667],"high_idx":9,"mask":[[38760,10],[39059,12],[39359,13],[39658,15],[39957,16],[40257,17],[40557,17],[40857,18],[41157,18],[41457,18],[41758,17],[42058,17],[42359,16],[42659,16],[42960,15],[43261,13],[43562,12],[43863,11],[44164,9],[44465,8],[44767,5]],"valid_interact":1},{"action":12,"action_high_args":{"bbox":[0,69,132,183],"mask":[[20400,130],[20700,130],[21000,130],[21300,130],[21600,130],[21900,130],[22200,130],[22500,130],[22800,130],[23100,130],[23400,130],[23700,130],[24000,131],[24300,131],[24600,131],[24900,131],[25200,131],[25500,131],[25800,131],[26100,131],[26400,131],[26700,131],[27000,131],[27300,131],[27600,131],[27900,131],[28200,131],[28500,131],[28800,131],[29100,131],[29400,131],[29700,131],[30000,131],[30300,131],[30600,131],[30900,132],[31200,132],[31500,132],[31800,132],[32100,132],[32400,132],[32700,132],[33000,132],[33300,132],[33600,132],[33900,132],[34200,132],[34500,69],[34580,52],[34800,66],[34882,50],[35100,43],[35144,20],[35183,49],[35400,41],[35446,17],[35483,49],[35700,41],[35747,15],[35785,47],[36000,40],[36048,14],[36087,45],[36300,40],[36349,14],[36383,2],[36387,45],[36600,40],[36649,14],[36683,3],[36688,44],[36900,39],[36950,13],[36983,3],[36988,44],[37200,39],[37250,14],[37283,2],[37287,45],[37500,40],[37550,14],[37583,2],[37587,45],[37800,40],[37850,14],[37883,2],[37887,45],[38100,40],[38150,14],[38183,2],[38187,45],[38400,41],[38450,15],[38486,46],[38700,35],[38749,16],[38786,46],[39000,33],[39049,16],[39086,47],[39300,31],[39348,17],[39386,47],[39600,30],[39645,20],[39685,48],[39900,30],[39946,20],[39984,49],[40200,29],[40246,20],[40284,49],[40500,7],[40510,19],[40546,20],[40584,49],[40800,3],[40813,16],[40846,20],[40884,49],[41100,1],[41115,14],[41146,20],[41185,48],[41416,13],[41446,21],[41484,49],[41716,13],[41745,22],[41784,49],[42017,13],[42045,22],[42083,50],[42317,13],[42344,24],[42381,52],[42617,14],[42642,28],[42678,55],[42917,16],[42939,94],[43217,116],[43516,117],[43816,117],[44115,118],[44414,119],[44712,121],[45000,1],[45009,123],[45300,132],[45600,132],[45900,132],[46200,132],[46500,132],[46800,132],[47100,132],[47400,132],[47700,131],[48000,131],[48300,131],[48600,131],[48900,131],[49200,131],[49500,131],[49800,131],[50100,131],[50400,130],[50700,130],[51000,130],[51300,130],[51600,130],[51900,130],[52200,130],[52500,130],[52800,129],[53100,129],[53400,129],[53700,129],[54000,129],[54300,129],[54600,129]],"point":[63,125]},"centroid":[0.22,0.42],"high_idx":9,"mask":[[20400,130],[20700,130],[21000,130],[21300,130],[21600,130],[21900,130],[22200,130],[22500,130],[22800,130],[23100,130],[23400,130],[23700,130],[24000,131],[24300,131],[24600,131],[24900,131],[25200,131],[25500,131],[25800,131],[26100,131],[26400,131],[26700,131],[27000,131],[27300,131],[27600,131],[27900,131],[28200,131],[28500,131],[28800,131],[29100,131],[29400,131],[29700,131],[30000,131],[30300,131],[30600,131],[30900,132],[31200,132],[31500,132],[31800,132],[32100,132],[32400,132],[32700,132],[33000,132],[33300,132],[33600,132],[33900,132],[34200,132],[34500,69],[34580,52],[34800,66],[34882,50],[35100,43],[35144,20],[35183,49],[35400,41],[35446,17],[35483,49],[35700,41],[35747,15],[35785,47],[36000,40],[36048,14],[36087,45],[36300,40],[36349,14],[36383,2],[36387,45],[36600,40],[36649,14],[36683,3],[36688,44],[36900,39],[36950,13],[36983,3],[36988,44],[37200,39],[37250,14],[37283,2],[37287,45],[37500,40],[37550,14],[37583,2],[37587,45],[37800,40],[37850,14],[37883,2],[37887,45],[38100,40],[38150,14],[38183,2],[38187,45],[38400,41],[38450,15],[38486,46],[38700,35],[38749,16],[38786,46],[39000,33],[39049,16],[39086,47],[39300,31],[39348,17],[39386,47],[39600,30],[39645,20],[39685,48],[39900,30],[39946,20],[39984,49],[40200,29],[40246,20],[40284,49],[40500,7],[40510,19],[40546,20],[40584,49],[40800,3],[40813,16],[40846,20],[40884,49],[41100,1],[41115,14],[41146,20],[41185,48],[41416,13],[41446,21],[41484,49],[41716,13],[41745,22],[41784,49],[42017,13],[42045,22],[42083,50],[42317,13],[42344,24],[42381,52],[42617,14],[42642,28],[42678,55],[42917,16],[42939,94],[43217,116],[43516,117],[43816,117],[44115,118],[44414,119],[44712,121],[45000,1],[45009,123],[45300,132],[45600,132],[45900,132],[46200,132],[46500,132],[46800,132],[47100,132],[47400,132],[47700,131],[48000,131],[48300,131],[48600,131],[48900,131],[49200,131],[49500,131],[49800,131],[50100,131],[50400,130],[50700,130],[51000,130],[51300,130],[51600,130],[51900,130],[52200,130],[52500,130],[52800,129],[53100,129],[53400,129],[53700,129],[54000,129],[54300,129],[54600,129]],"valid_interact":1}],[{"action":3,"action_high_args":{},"centroid":[-1,-1],"high_idx":10,"mask":null,"valid_interact":0},{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":10,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":10,"mask":null,"valid_interact":0},{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":10,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":10,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":10,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":10,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":10,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":10,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":10,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":10,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":10,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":10,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":10,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":10,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":10,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":10,"mask":null,"valid_interact":0},{"action":5,"action_high_args":{},"centroid":[-1,-1],"high_idx":10,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":10,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":10,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":10,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":10,"mask":null,"valid_interact":0},{"action":3,"action_high_args":{},"centroid":[-1,-1],"high_idx":10,"mask":null,"valid_interact":0}],[{"action":10,"action_high_args":{"bbox":[0,1,299,220],"mask":[[0,26399],[26400,299],[26700,298],[27000,298],[27300,297],[27600,297],[27900,296],[28200,295],[28500,295],[28800,293],[29100,293],[29400,292],[29700,292],[30000,291],[30300,290],[30600,290],[30900,286],[31200,284],[31500,283],[31800,282],[32100,282],[32400,281],[32700,280],[33000,280],[33300,279],[33600,278],[33900,278],[34200,277],[34500,276],[34800,276],[35100,275],[35400,274],[35700,273],[36000,273],[36300,272],[36600,271],[36900,271],[37200,270],[37500,269],[37800,269],[38100,268],[38400,267],[38700,267],[39000,266],[39300,265],[39600,265],[39900,264],[40200,263],[40500,263],[40800,262],[41100,261],[41400,260],[41700,260],[42001,258],[42302,256],[42603,255],[42904,253],[43204,252],[43505,251],[43806,249],[44107,247],[44408,246],[44709,244],[45010,242],[45311,241],[45612,239],[45913,237],[46214,236],[46515,234],[46816,232],[47117,230],[47418,229],[47719,227],[48019,226],[48320,225],[48621,223],[48922,221],[49223,220],[49524,218],[49825,216],[50126,215],[50427,213],[50728,211],[51029,210],[51330,208],[51631,206],[51932,205],[52233,203],[52534,201],[52834,200],[53135,199],[53436,197],[53737,195],[54038,194],[54339,192],[54640,190],[54941,189],[55242,187],[55543,185],[55844,184],[56145,182],[56446,180],[56747,179],[57048,177],[57349,175],[57649,175],[57950,173],[58251,171],[58552,169],[58853,168],[59154,166],[59455,164],[59756,163],[60057,161],[60358,159],[60659,158],[60960,156],[61261,154],[61562,153],[61862,153],[62163,152],[62463,151],[62763,151],[63063,150],[63364,149],[63666,145],[63970,136],[64274,128],[64579,118],[64885,106],[65192,92],[65501,73],[65812,52]],"point":[149,109]},"centroid":[0.49833333333333335,0.36833333333333335],"high_idx":11,"mask":[[0,26399],[26400,299],[26700,298],[27000,298],[27300,297],[27600,297],[27900,296],[28200,295],[28500,295],[28800,293],[29100,293],[29400,292],[29700,292],[30000,291],[30300,290],[30600,290],[30900,286],[31200,284],[31500,283],[31800,282],[32100,282],[32400,281],[32700,280],[33000,280],[33300,279],[33600,278],[33900,278],[34200,277],[34500,276],[34800,276],[35100,275],[35400,274],[35700,273],[36000,273],[36300,272],[36600,271],[36900,271],[37200,270],[37500,269],[37800,269],[38100,268],[38400,267],[38700,267],[39000,266],[39300,265],[39600,265],[39900,264],[40200,263],[40500,263],[40800,262],[41100,261],[41400,260],[41700,260],[42001,258],[42302,256],[42603,255],[42904,253],[43204,252],[43505,251],[43806,249],[44107,247],[44408,246],[44709,244],[45010,242],[45311,241],[45612,239],[45913,237],[46214,236],[46515,234],[46816,232],[47117,230],[47418,229],[47719,227],[48019,226],[48320,225],[48621,223],[48922,221],[49223,220],[49524,218],[49825,216],[50126,215],[50427,213],[50728,211],[51029,210],[51330,208],[51631,206],[51932,205],[52233,203],[52534,201],[52834,200],[53135,199],[53436,197],[53737,195],[54038,194],[54339,192],[54640,190],[54941,189],[55242,187],[55543,185],[55844,184],[56145,182],[56446,180],[56747,179],[57048,177],[57349,175],[57649,175],[57950,173],[58251,171],[58552,169],[58853,168],[59154,166],[59455,164],[59756,163],[60057,161],[60358,159],[60659,158],[60960,156],[61261,154],[61562,153],[61862,153],[62163,152],[62463,151],[62763,151],[63063,150],[63364,149],[63666,145],[63970,136],[64274,128],[64579,118],[64885,106],[65192,92],[65501,73],[65812,52]],"valid_interact":1},{"action":11,"action_high_args":{"bbox":[0,1,299,300],"mask":[[0,71],[113,261],[410,266],[706,274],[1003,284],[1300,13399],[14700,298],[15000,298],[15300,297],[15600,297],[15900,296],[16200,295],[16500,295],[16800,294],[17100,294],[17400,293],[17700,292],[18000,292],[18300,291],[18600,291],[18900,290],[19200,289],[19500,289],[19800,288],[20100,288],[20400,287],[20700,286],[21000,286],[21300,285],[21600,285],[21900,284],[22200,284],[22500,283],[22800,282],[23100,282],[23400,281],[23700,281],[24000,280],[24300,279],[24600,279],[24900,278],[25200,278],[25500,277],[25800,276],[26100,276],[26400,275],[26700,275],[27000,274],[27300,273],[27600,273],[27900,272],[28200,99],[28309,163],[28500,102],[28605,166],[28800,271],[29100,270],[29400,269],[29700,269],[30000,268],[30300,268],[30600,267],[30900,266],[31200,266],[31500,265],[31800,265],[32100,264],[32400,263],[32700,263],[33000,262],[33300,262],[33600,261],[33900,260],[34200,260],[34500,259],[34800,259],[35100,258],[35400,122],[35590,67],[35701,121],[35898,59],[36002,121],[36196,60],[36300,1],[36303,121],[36429,22],[36492,64],[36600,2],[36604,147],[36786,69],[36900,3],[36905,147],[37072,83],[37200,3],[37205,147],[37355,3],[37360,3],[37366,2],[37371,83],[37500,4],[37506,143],[37650,2],[37655,3],[37660,3],[37666,2],[37672,81],[37800,5],[37807,142],[37950,2],[37955,3],[37961,2],[37966,2],[37972,81],[38100,6],[38108,141],[38250,2],[38255,3],[38261,2],[38266,2],[38272,2],[38275,77],[38400,7],[38409,140],[38550,2],[38555,3],[38561,2],[38566,2],[38572,2],[38575,77],[38700,8],[38709,140],[38850,2],[38855,3],[38861,2],[38866,2],[38872,2],[38875,76],[39000,8],[39010,240],[39300,9],[39311,239],[39600,10],[39612,237],[39900,11],[39913,236],[40200,12],[40214,234],[40500,13],[40514,136],[40676,71],[40800,13],[40815,136],[40975,72],[41100,14],[41116,135],[41275,71],[41400,15],[41417,134],[41575,71],[41700,16],[41718,133],[41874,71],[42000,17],[42019,133],[42174,70],[42300,18],[42319,133],[42473,71],[42600,18],[42620,133],[42773,70],[42900,19],[42921,133],[43073,70],[43200,20],[43222,133],[43372,70],[43500,21],[43523,133],[43672,69],[43800,22],[43823,134],[43971,70],[44100,23],[44124,134],[44271,69],[44400,23],[44425,134],[44570,70],[44700,24],[44726,133],[44870,69],[45000,25],[45027,133],[45169,70],[45300,26],[45328,133],[45469,69],[45600,27],[45628,133],[45768,69],[45900,28],[45929,133],[46068,69],[46200,28],[46230,133],[46367,69],[46500,29],[46531,133],[46667,69],[46800,30],[46832,203],[47100,31],[47133,201],[47400,32],[47433,201],[47700,33],[47734,199],[48000,33],[48035,198],[48300,34],[48336,196],[48600,35],[48637,194],[48900,36],[48937,194],[49200,37],[49238,192],[49500,38],[49539,191],[49800,38],[49840,189],[50100,39],[50141,187],[50400,40],[50442,186],[50700,41],[50742,185],[51000,42],[51043,184],[51300,43],[51344,182],[51600,43],[51645,181],[51900,44],[51946,179],[52200,45],[52247,177],[52500,46],[52547,177],[52800,47],[52848,175],[53100,48],[53149,174],[53400,48],[53450,172],[53700,49],[53751,170],[54000,50],[54051,170],[54300,51],[54352,168],[54600,52],[54653,167],[54900,53],[54954,165],[55200,53],[55255,163],[55500,54],[55556,162],[55800,55],[55856,161],[56100,56],[56157,160],[56400,57],[56458,158],[56700,58],[56759,156],[57000,58],[57060,155],[57300,59],[57361,153],[57600,60],[57661,153],[57900,61],[57962,151],[58200,62],[58263,149],[58500,212],[58800,211],[59100,211],[59400,211],[59700,211],[60000,212],[60300,212],[60600,212],[60900,212],[61200,212],[61500,212],[61800,212],[62100,212],[62400,213],[62700,213],[63000,212],[63300,63],[63364,148],[63600,62],[63666,145],[63900,62],[63970,136],[64200,62],[64274,128],[64500,62],[64579,118],[64800,62],[64885,106],[65100,61],[65192,92],[65400,61],[65501,73],[65700,61],[65812,52],[66000,61],[66300,61],[66600,61],[66900,60],[67200,60],[67500,60],[67800,60],[68100,60],[68400,60],[68700,59],[69000,59],[69300,59],[69600,59],[69900,59],[70200,58],[70500,58],[70800,58],[71100,58],[71400,58],[71700,58],[72000,57],[72300,57],[72600,57],[72900,57],[73200,57],[73500,57],[73800,56],[74100,56],[74400,56],[74700,56],[75000,56],[75300,55],[75600,55],[75900,55],[76200,55],[76500,55],[76800,55],[77100,54],[77400,54],[77700,54],[78000,54],[78300,54],[78600,53],[78900,53],[79200,53],[79500,53],[79800,53],[80100,53],[80400,52],[80700,52],[81000,52],[81300,52],[81600,52],[81900,52],[82200,51],[82500,51],[82800,51],[83100,51],[83400,51],[83700,50],[84000,50],[84300,50],[84600,50],[84900,50],[85200,50],[85500,49],[85800,49],[86100,49],[86400,49],[86700,49],[87000,49],[87300,48],[87600,48],[87900,48],[88200,48],[88500,48],[88800,47],[89100,47],[89400,47],[89700,47]],"point":[149,149]},"centroid":[0.49833333333333335,0.5016666666666667],"high_idx":11,"mask":[[0,71],[113,261],[410,266],[706,274],[1003,284],[1300,13399],[14700,298],[15000,298],[15300,297],[15600,297],[15900,296],[16200,295],[16500,295],[16800,294],[17100,294],[17400,293],[17700,292],[18000,292],[18300,291],[18600,291],[18900,290],[19200,289],[19500,289],[19800,288],[20100,288],[20400,287],[20700,286],[21000,286],[21300,285],[21600,285],[21900,284],[22200,284],[22500,283],[22800,282],[23100,282],[23400,281],[23700,281],[24000,280],[24300,279],[24600,279],[24900,278],[25200,278],[25500,277],[25800,276],[26100,276],[26400,275],[26700,275],[27000,274],[27300,273],[27600,273],[27900,272],[28200,99],[28309,163],[28500,102],[28605,166],[28800,271],[29100,270],[29400,269],[29700,269],[30000,268],[30300,268],[30600,267],[30900,266],[31200,266],[31500,265],[31800,265],[32100,264],[32400,263],[32700,263],[33000,262],[33300,262],[33600,261],[33900,260],[34200,260],[34500,259],[34800,259],[35100,258],[35400,122],[35590,67],[35701,121],[35898,59],[36002,121],[36196,60],[36300,1],[36303,121],[36429,22],[36492,64],[36600,2],[36604,147],[36786,69],[36900,3],[36905,147],[37072,83],[37200,3],[37205,147],[37355,3],[37360,3],[37366,2],[37371,83],[37500,4],[37506,143],[37650,2],[37655,3],[37660,3],[37666,2],[37672,81],[37800,5],[37807,142],[37950,2],[37955,3],[37961,2],[37966,2],[37972,81],[38100,6],[38108,141],[38250,2],[38255,3],[38261,2],[38266,2],[38272,2],[38275,77],[38400,7],[38409,140],[38550,2],[38555,3],[38561,2],[38566,2],[38572,2],[38575,77],[38700,8],[38709,140],[38850,2],[38855,3],[38861,2],[38866,2],[38872,2],[38875,76],[39000,8],[39010,240],[39300,9],[39311,239],[39600,10],[39612,237],[39900,11],[39913,236],[40200,12],[40214,234],[40500,13],[40514,136],[40676,71],[40800,13],[40815,136],[40975,72],[41100,14],[41116,135],[41275,71],[41400,15],[41417,134],[41575,71],[41700,16],[41718,133],[41874,71],[42000,17],[42019,133],[42174,70],[42300,18],[42319,133],[42473,71],[42600,18],[42620,133],[42773,70],[42900,19],[42921,133],[43073,70],[43200,20],[43222,133],[43372,70],[43500,21],[43523,133],[43672,69],[43800,22],[43823,134],[43971,70],[44100,23],[44124,134],[44271,69],[44400,23],[44425,134],[44570,70],[44700,24],[44726,133],[44870,69],[45000,25],[45027,133],[45169,70],[45300,26],[45328,133],[45469,69],[45600,27],[45628,133],[45768,69],[45900,28],[45929,133],[46068,69],[46200,28],[46230,133],[46367,69],[46500,29],[46531,133],[46667,69],[46800,30],[46832,203],[47100,31],[47133,201],[47400,32],[47433,201],[47700,33],[47734,199],[48000,33],[48035,198],[48300,34],[48336,196],[48600,35],[48637,194],[48900,36],[48937,194],[49200,37],[49238,192],[49500,38],[49539,191],[49800,38],[49840,189],[50100,39],[50141,187],[50400,40],[50442,186],[50700,41],[50742,185],[51000,42],[51043,184],[51300,43],[51344,182],[51600,43],[51645,181],[51900,44],[51946,179],[52200,45],[52247,177],[52500,46],[52547,177],[52800,47],[52848,175],[53100,48],[53149,174],[53400,48],[53450,172],[53700,49],[53751,170],[54000,50],[54051,170],[54300,51],[54352,168],[54600,52],[54653,167],[54900,53],[54954,165],[55200,53],[55255,163],[55500,54],[55556,162],[55800,55],[55856,161],[56100,56],[56157,160],[56400,57],[56458,158],[56700,58],[56759,156],[57000,58],[57060,155],[57300,59],[57361,153],[57600,60],[57661,153],[57900,61],[57962,151],[58200,62],[58263,149],[58500,212],[58800,211],[59100,211],[59400,211],[59700,211],[60000,212],[60300,212],[60600,212],[60900,212],[61200,212],[61500,212],[61800,212],[62100,212],[62400,213],[62700,213],[63000,212],[63300,63],[63364,148],[63600,62],[63666,145],[63900,62],[63970,136],[64200,62],[64274,128],[64500,62],[64579,118],[64800,62],[64885,106],[65100,61],[65192,92],[65400,61],[65501,73],[65700,61],[65812,52],[66000,61],[66300,61],[66600,61],[66900,60],[67200,60],[67500,60],[67800,60],[68100,60],[68400,60],[68700,59],[69000,59],[69300,59],[69600,59],[69900,59],[70200,58],[70500,58],[70800,58],[71100,58],[71400,58],[71700,58],[72000,57],[72300,57],[72600,57],[72900,57],[73200,57],[73500,57],[73800,56],[74100,56],[74400,56],[74700,56],[75000,56],[75300,55],[75600,55],[75900,55],[76200,55],[76500,55],[76800,55],[77100,54],[77400,54],[77700,54],[78000,54],[78300,54],[78600,53],[78900,53],[79200,53],[79500,53],[79800,53],[80100,53],[80400,52],[80700,52],[81000,52],[81300,52],[81600,52],[81900,52],[82200,51],[82500,51],[82800,51],[83100,51],[83400,51],[83700,50],[84000,50],[84300,50],[84600,50],[84900,50],[85200,50],[85500,49],[85800,49],[86100,49],[86400,49],[86700,49],[87000,49],[87300,48],[87600,48],[87900,48],[88200,48],[88500,48],[88800,47],[89100,47],[89400,47],[89700,47]],"valid_interact":1},{"action":12,"action_high_args":{"bbox":[0,1,299,300],"mask":[[0,71],[113,261],[410,266],[707,273],[1004,283],[1301,292],[1594,13105],[14700,298],[15000,298],[15300,297],[15600,297],[15900,296],[16200,295],[16500,295],[16800,294],[17100,294],[17400,293],[17700,292],[18000,292],[18300,291],[18600,291],[18900,290],[19200,289],[19500,289],[19800,288],[20100,288],[20400,287],[20700,286],[21000,286],[21300,285],[21600,285],[21900,284],[22200,284],[22500,283],[22800,282],[23100,282],[23400,281],[23700,281],[24000,280],[24300,279],[24600,279],[24900,278],[25200,278],[25500,277],[25800,276],[26100,276],[26400,275],[26700,275],[27000,274],[27300,273],[27600,273],[27900,272],[28200,99],[28309,163],[28500,102],[28605,166],[28800,271],[29100,270],[29400,269],[29700,269],[30000,268],[30300,268],[30600,267],[30900,266],[31200,266],[31500,265],[31800,265],[32100,264],[32400,263],[32700,263],[33000,262],[33300,262],[33600,261],[33900,260],[34200,260],[34500,259],[34800,259],[35100,258],[35400,122],[35590,67],[35701,121],[35898,59],[36002,121],[36196,60],[36300,1],[36303,121],[36429,22],[36492,64],[36600,2],[36604,147],[36786,69],[36900,3],[36905,147],[37072,83],[37200,3],[37205,147],[37355,3],[37360,3],[37366,2],[37371,83],[37500,4],[37506,143],[37650,2],[37655,3],[37660,3],[37666,2],[37672,81],[37800,5],[37807,142],[37950,2],[37955,3],[37961,2],[37966,2],[37972,81],[38100,6],[38108,141],[38250,2],[38255,3],[38261,2],[38266,2],[38272,2],[38275,77],[38400,7],[38409,140],[38550,2],[38555,3],[38561,2],[38566,2],[38572,2],[38575,77],[38700,8],[38709,140],[38850,2],[38855,3],[38861,2],[38866,2],[38872,2],[38875,76],[39000,8],[39010,240],[39300,9],[39311,239],[39600,10],[39612,237],[39900,11],[39913,236],[40200,12],[40214,234],[40500,13],[40514,136],[40676,71],[40800,13],[40815,136],[40975,72],[41100,14],[41116,135],[41275,71],[41400,15],[41417,134],[41575,71],[41700,16],[41718,133],[41874,71],[42000,17],[42019,133],[42174,70],[42300,18],[42319,133],[42473,71],[42600,18],[42620,133],[42773,70],[42900,19],[42921,133],[43073,70],[43200,20],[43222,133],[43372,70],[43500,21],[43523,133],[43672,69],[43800,22],[43823,134],[43971,70],[44100,23],[44124,134],[44271,69],[44400,23],[44425,134],[44570,70],[44700,24],[44726,133],[44870,69],[45000,25],[45027,133],[45169,70],[45300,26],[45328,133],[45469,69],[45600,27],[45628,133],[45768,69],[45900,28],[45929,133],[46068,69],[46200,28],[46230,133],[46367,69],[46500,29],[46531,133],[46667,69],[46800,30],[46832,203],[47100,31],[47133,201],[47400,32],[47433,201],[47700,33],[47734,199],[48000,33],[48035,198],[48300,34],[48336,196],[48600,35],[48637,194],[48900,36],[48937,194],[49200,37],[49238,192],[49500,38],[49539,191],[49800,38],[49840,189],[50100,39],[50141,187],[50400,40],[50442,186],[50700,41],[50742,185],[51000,42],[51043,184],[51300,43],[51344,182],[51600,43],[51645,181],[51900,44],[51946,179],[52200,45],[52247,177],[52500,46],[52547,177],[52800,47],[52848,175],[53100,48],[53149,174],[53400,48],[53450,172],[53700,49],[53751,170],[54000,50],[54051,170],[54300,51],[54352,168],[54600,52],[54653,167],[54900,53],[54954,165],[55200,53],[55255,163],[55500,54],[55556,162],[55800,55],[55856,161],[56100,56],[56157,160],[56400,57],[56458,158],[56700,58],[56759,156],[57000,58],[57060,155],[57300,59],[57361,153],[57600,60],[57661,153],[57900,61],[57962,151],[58200,62],[58263,149],[58500,212],[58800,211],[59100,211],[59400,211],[59700,211],[60000,212],[60300,212],[60600,212],[60900,212],[61200,212],[61500,212],[61800,212],[62100,212],[62400,213],[62700,213],[63000,212],[63300,63],[63364,148],[63600,62],[63666,145],[63900,62],[63970,136],[64200,62],[64274,128],[64500,62],[64579,118],[64800,62],[64885,106],[65100,61],[65192,92],[65400,61],[65501,73],[65700,61],[65812,52],[66000,61],[66300,61],[66600,61],[66900,60],[67200,60],[67500,60],[67800,60],[68100,60],[68400,60],[68700,59],[69000,59],[69300,59],[69600,59],[69900,59],[70200,58],[70500,58],[70800,58],[71100,58],[71400,58],[71700,58],[72000,57],[72300,57],[72600,57],[72900,57],[73200,57],[73500,57],[73800,56],[74100,56],[74400,56],[74700,56],[75000,56],[75300,55],[75600,55],[75900,55],[76200,55],[76500,55],[76800,55],[77100,54],[77400,54],[77700,54],[78000,54],[78300,54],[78600,53],[78900,53],[79200,53],[79500,53],[79800,53],[80100,53],[80400,52],[80700,52],[81000,52],[81300,52],[81600,52],[81900,52],[82200,51],[82500,51],[82800,51],[83100,51],[83400,51],[83700,50],[84000,50],[84300,50],[84600,50],[84900,50],[85200,50],[85500,49],[85800,49],[86100,49],[86400,49],[86700,49],[87000,49],[87300,48],[87600,48],[87900,48],[88200,48],[88500,48],[88800,47],[89100,47],[89400,47],[89700,47]],"point":[149,149]},"centroid":[0.49833333333333335,0.5016666666666667],"high_idx":11,"mask":[[0,71],[113,261],[410,266],[707,273],[1004,283],[1301,292],[1594,13105],[14700,298],[15000,298],[15300,297],[15600,297],[15900,296],[16200,295],[16500,295],[16800,294],[17100,294],[17400,293],[17700,292],[18000,292],[18300,291],[18600,291],[18900,290],[19200,289],[19500,289],[19800,288],[20100,288],[20400,287],[20700,286],[21000,286],[21300,285],[21600,285],[21900,284],[22200,284],[22500,283],[22800,282],[23100,282],[23400,281],[23700,281],[24000,280],[24300,279],[24600,279],[24900,278],[25200,278],[25500,277],[25800,276],[26100,276],[26400,275],[26700,275],[27000,274],[27300,273],[27600,273],[27900,272],[28200,99],[28309,163],[28500,102],[28605,166],[28800,271],[29100,270],[29400,269],[29700,269],[30000,268],[30300,268],[30600,267],[30900,266],[31200,266],[31500,265],[31800,265],[32100,264],[32400,263],[32700,263],[33000,262],[33300,262],[33600,261],[33900,260],[34200,260],[34500,259],[34800,259],[35100,258],[35400,122],[35590,67],[35701,121],[35898,59],[36002,121],[36196,60],[36300,1],[36303,121],[36429,22],[36492,64],[36600,2],[36604,147],[36786,69],[36900,3],[36905,147],[37072,83],[37200,3],[37205,147],[37355,3],[37360,3],[37366,2],[37371,83],[37500,4],[37506,143],[37650,2],[37655,3],[37660,3],[37666,2],[37672,81],[37800,5],[37807,142],[37950,2],[37955,3],[37961,2],[37966,2],[37972,81],[38100,6],[38108,141],[38250,2],[38255,3],[38261,2],[38266,2],[38272,2],[38275,77],[38400,7],[38409,140],[38550,2],[38555,3],[38561,2],[38566,2],[38572,2],[38575,77],[38700,8],[38709,140],[38850,2],[38855,3],[38861,2],[38866,2],[38872,2],[38875,76],[39000,8],[39010,240],[39300,9],[39311,239],[39600,10],[39612,237],[39900,11],[39913,236],[40200,12],[40214,234],[40500,13],[40514,136],[40676,71],[40800,13],[40815,136],[40975,72],[41100,14],[41116,135],[41275,71],[41400,15],[41417,134],[41575,71],[41700,16],[41718,133],[41874,71],[42000,17],[42019,133],[42174,70],[42300,18],[42319,133],[42473,71],[42600,18],[42620,133],[42773,70],[42900,19],[42921,133],[43073,70],[43200,20],[43222,133],[43372,70],[43500,21],[43523,133],[43672,69],[43800,22],[43823,134],[43971,70],[44100,23],[44124,134],[44271,69],[44400,23],[44425,134],[44570,70],[44700,24],[44726,133],[44870,69],[45000,25],[45027,133],[45169,70],[45300,26],[45328,133],[45469,69],[45600,27],[45628,133],[45768,69],[45900,28],[45929,133],[46068,69],[46200,28],[46230,133],[46367,69],[46500,29],[46531,133],[46667,69],[46800,30],[46832,203],[47100,31],[47133,201],[47400,32],[47433,201],[47700,33],[47734,199],[48000,33],[48035,198],[48300,34],[48336,196],[48600,35],[48637,194],[48900,36],[48937,194],[49200,37],[49238,192],[49500,38],[49539,191],[49800,38],[49840,189],[50100,39],[50141,187],[50400,40],[50442,186],[50700,41],[50742,185],[51000,42],[51043,184],[51300,43],[51344,182],[51600,43],[51645,181],[51900,44],[51946,179],[52200,45],[52247,177],[52500,46],[52547,177],[52800,47],[52848,175],[53100,48],[53149,174],[53400,48],[53450,172],[53700,49],[53751,170],[54000,50],[54051,170],[54300,51],[54352,168],[54600,52],[54653,167],[54900,53],[54954,165],[55200,53],[55255,163],[55500,54],[55556,162],[55800,55],[55856,161],[56100,56],[56157,160],[56400,57],[56458,158],[56700,58],[56759,156],[57000,58],[57060,155],[57300,59],[57361,153],[57600,60],[57661,153],[57900,61],[57962,151],[58200,62],[58263,149],[58500,212],[58800,211],[59100,211],[59400,211],[59700,211],[60000,212],[60300,212],[60600,212],[60900,212],[61200,212],[61500,212],[61800,212],[62100,212],[62400,213],[62700,213],[63000,212],[63300,63],[63364,148],[63600,62],[63666,145],[63900,62],[63970,136],[64200,62],[64274,128],[64500,62],[64579,118],[64800,62],[64885,106],[65100,61],[65192,92],[65400,61],[65501,73],[65700,61],[65812,52],[66000,61],[66300,61],[66600,61],[66900,60],[67200,60],[67500,60],[67800,60],[68100,60],[68400,60],[68700,59],[69000,59],[69300,59],[69600,59],[69900,59],[70200,58],[70500,58],[70800,58],[71100,58],[71400,58],[71700,58],[72000,57],[72300,57],[72600,57],[72900,57],[73200,57],[73500,57],[73800,56],[74100,56],[74400,56],[74700,56],[75000,56],[75300,55],[75600,55],[75900,55],[76200,55],[76500,55],[76800,55],[77100,54],[77400,54],[77700,54],[78000,54],[78300,54],[78600,53],[78900,53],[79200,53],[79500,53],[79800,53],[80100,53],[80400,52],[80700,52],[81000,52],[81300,52],[81600,52],[81900,52],[82200,51],[82500,51],[82800,51],[83100,51],[83400,51],[83700,50],[84000,50],[84300,50],[84600,50],[84900,50],[85200,50],[85500,49],[85800,49],[86100,49],[86400,49],[86700,49],[87000,49],[87300,48],[87600,48],[87900,48],[88200,48],[88500,48],[88800,47],[89100,47],[89400,47],[89700,47]],"valid_interact":1}],[{"action":2,"action_high_args":{},"centroid":[-1,-1],"high_idx":12,"mask":null,"valid_interact":0}]],"lang_goal":[18,183,35,76,21,33,26,10,52,11,4,85,16,2],"lang_instr":[[24,18,4,19,26,47,144,18,39,4,123,136,16],[22,23,4,63,15,4,66,21,4,123,136,16],[24,18,4,19,26,47,164,4,165,4,39,4,149,16],[67,4,33,15,4,60,152,227,305,16],[24,25,26,47,164,4,165,26,24,19,18,39,4,85,16],[10,4,63,15,4,66,330,11,4,85,16],[24,19,26,47,164,4,165,18,39,4,149,16],[22,23,35,76,21,33,11,4,149,16],[201,18,4,19,26,39,4,57,16],[187,4,76,21,33,11,4,57,26,37,91,52,16],[24,25,26,47,164,4,165,26,24,19,18,39,4,85,16],[10,4,76,21,33,11,4,85,16],[34]],"low_to_high_idx":[0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,3,4,4,4,4,4,4,4,4,4,4,4,4,4,4,4,4,4,4,4,4,4,5,5,5,6,6,6,6,6,6,6,6,6,6,6,6,6,6,6,6,6,6,6,6,6,7,8,8,8,8,8,8,8,8,9,9,9,9,9,9,9,9,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,11,11,11,12]},"pddl_params":{"mrecep_target":"","object_sliced":true,"object_target":"Apple","parent_target":"Fridge","toggle_target":""},"plan":{"high_pddl":[{"discrete_action":{"action":"GotoLocation","args":["countertop"]},"high_idx":0,"planner_action":{"action":"GotoLocation","location":"loc|-8|13|3|45"}},{"discrete_action":{"action":"PickupObject","args":["knife"]},"high_idx":1,"planner_action":{"action":"PickupObject","coordinateObjectId":["Knife",[-10.512184,-10.512184,12.83856584,12.83856584,3.8444736,3.8444736]],"coordinateReceptacleObjectId":["CounterTop",[-11.124,-11.124,13.952,13.952,3.884,3.884]],"forceVisible":true,"objectId":"Knife|-02.63|+00.96|+03.21"}},{"discrete_action":{"action":"GotoLocation","args":["apple"]},"high_idx":2,"planner_action":{"action":"GotoLocation","location":"loc|-5|4|2|45"}},{"discrete_action":{"action":"SliceObject","args":["apple"]},"high_idx":3,"planner_action":{"action":"SliceObject","coordinateObjectId":["Apple",[-5.06784248,-5.06784248,0.906161068,0.906161068,3.4089484,3.4089484]],"forceVisible":true,"objectId":"Apple|-01.27|+00.85|+00.23"}},{"discrete_action":{"action":"GotoLocation","args":["fridge"]},"high_idx":4,"planner_action":{"action":"GotoLocation","location":"loc|-8|18|3|60"}},{"discrete_action":{"action":"PutObject","args":["knife","fridge"]},"high_idx":5,"planner_action":{"action":"PutObject","coordinateObjectId":["Knife",[-10.512184,-10.512184,12.83856584,12.83856584,3.8444736,3.8444736]],"coordinateReceptacleObjectId":["Fridge",[-11.208,-11.208,17.708,17.708,0.0,0.0]],"forceVisible":true,"objectId":"Knife|-02.63|+00.96|+03.21","receptacleObjectId":"Fridge|-02.80|+00.00|+04.43"}},{"discrete_action":{"action":"GotoLocation","args":["sinkbasin"]},"high_idx":6,"planner_action":{"action":"GotoLocation","location":"loc|-5|4|2|45"}},{"discrete_action":{"action":"PickupObject","args":["apple"]},"high_idx":7,"planner_action":{"action":"PickupObject","coordinateObjectId":["Apple",[-5.06784248,-5.06784248,0.906161068,0.906161068,3.4089484,3.4089484]],"coordinateReceptacleObjectId":["SinkBasin",[-4.4268,-4.4268,1.3484,1.3484,3.141353368,3.141353368]],"forceVisible":true,"objectId":"Apple|-01.27|+00.85|+00.23|AppleSliced_1"}},{"discrete_action":{"action":"GotoLocation","args":["microwave"]},"high_idx":8,"planner_action":{"action":"GotoLocation","location":"loc|-3|5|2|30"}},{"discrete_action":{"action":"HeatObject","args":["apple"]},"high_idx":9,"planner_action":{"action":"HeatObject","coordinateReceptacleObjectId":["Microwave",[-1.436,-1.436,0.896,0.896,3.6564356,3.6564356]],"forceVisible":true,"objectId":"Microwave|-00.36|+00.91|+00.22"}},{"discrete_action":{"action":"GotoLocation","args":["fridge"]},"high_idx":10,"planner_action":{"action":"GotoLocation","location":"loc|-8|18|3|60"}},{"discrete_action":{"action":"PutObject","args":["apple","fridge"]},"high_idx":11,"planner_action":{"action":"PutObject","coordinateObjectId":["Apple",[-5.06784248,-5.06784248,0.906161068,0.906161068,3.4089484,3.4089484]],"coordinateReceptacleObjectId":["Fridge",[-11.208,-11.208,17.708,17.708,0.0,0.0]],"forceVisible":true,"objectId":"Apple|-01.27|+00.85|+00.23|AppleSliced_1","receptacleObjectId":"Fridge|-02.80|+00.00|+04.43"}},{"discrete_action":{"action":"NoOp","args":[]},"high_idx":12,"planner_action":{"action":"End","value":1}}],"low_actions":[{"api_action":{"action":"LookDown","forceAction":true},"discrete_action":{"action":"LookDown_15","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"RotateLeft","forceAction":true},"discrete_action":{"action":"RotateLeft_90","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"PickupObject","objectId":"Knife|-02.63|+00.96|+03.21"},"discrete_action":{"action":"PickupObject","args":{"bbox":[123,118,136,182],"mask":[[35226,2],[35526,3],[35826,4],[36125,5],[36425,6],[36725,7],[37025,7],[37325,7],[37625,8],[37925,8],[38224,9],[38524,10],[38824,10],[39124,10],[39424,10],[39724,10],[40024,11],[40324,11],[40624,11],[40924,11],[41224,11],[41524,11],[41824,12],[42124,12],[42424,12],[42724,12],[43024,12],[43324,12],[43624,12],[43924,12],[44224,12],[44524,13],[44824,13],[45124,13],[45424,13],[45724,10],[46024,6],[46324,6],[46624,6],[46924,6],[47224,6],[47524,6],[47824,7],[48124,7],[48424,7],[48724,7],[49024,7],[49324,7],[49624,7],[49924,7],[50224,7],[50524,7],[50824,7],[51124,6],[51423,7],[51723,8],[52023,8],[52323,9],[52623,10],[52923,11],[53223,10],[53523,10],[53823,9],[54124,7],[54425,4]],"point":[129,149]}},"high_idx":1},{"api_action":{"action":"RotateLeft","forceAction":true},"discrete_action":{"action":"RotateLeft_90","args":{}},"high_idx":2},{"api_action":{"action":"RotateLeft","forceAction":true},"discrete_action":{"action":"RotateLeft_90","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"SliceObject","objectId":"Apple|-01.27|+00.85|+00.23"},"discrete_action":{"action":"SliceObject","args":{"bbox":[143,132,164,154],"mask":[[39452,5],[39749,10],[40047,14],[40346,16],[40646,17],[40945,18],[41245,19],[41544,20],[41844,20],[42144,20],[42444,21],[42744,20],[43043,21],[43343,21],[43644,20],[43944,19],[44245,18],[44545,17],[44846,16],[45147,14],[45448,12],[45750,9],[46051,6]],"point":[153,142]}},"high_idx":3},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":4},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":4},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":4},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":4},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":4},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":4},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":4},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":4},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":4},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":4},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":4},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":4},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":4},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":4},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":4},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":4},{"api_action":{"action":"RotateLeft","forceAction":true},"discrete_action":{"action":"RotateLeft_90","args":{}},"high_idx":4},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":4},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":4},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":4},{"api_action":{"action":"LookDown","forceAction":true},"discrete_action":{"action":"LookDown_15","args":{}},"high_idx":4},{"api_action":{"action":"OpenObject","objectId":"Fridge|-02.80|+00.00|+04.43"},"discrete_action":{"action":"OpenObject","args":{"bbox":[0,1,299,220],"mask":[[0,26399],[26400,299],[26700,298],[27000,298],[27300,297],[27600,297],[27900,296],[28200,295],[28500,295],[28800,293],[29100,293],[29400,292],[29700,292],[30000,291],[30300,290],[30600,290],[30900,286],[31200,284],[31500,283],[31800,282],[32100,282],[32400,281],[32700,280],[33000,280],[33300,279],[33600,278],[33900,278],[34200,277],[34500,276],[34800,276],[35100,275],[35400,274],[35700,273],[36000,273],[36300,272],[36600,271],[36900,271],[37200,270],[37500,269],[37800,269],[38100,268],[38400,267],[38700,267],[39000,266],[39300,265],[39600,265],[39900,264],[40200,263],[40500,263],[40800,262],[41100,261],[41400,260],[41700,260],[42001,258],[42302,256],[42603,255],[42904,253],[43204,252],[43505,251],[43806,249],[44107,247],[44408,246],[44709,244],[45010,242],[45311,241],[45612,239],[45913,237],[46214,236],[46515,234],[46816,232],[47117,230],[47418,229],[47719,227],[48019,226],[48320,225],[48621,223],[48922,221],[49223,220],[49524,218],[49825,216],[50126,215],[50427,213],[50728,211],[51029,210],[51330,208],[51631,206],[51932,205],[52233,203],[52534,201],[52834,200],[53135,199],[53436,197],[53737,195],[54038,194],[54339,192],[54640,190],[54941,189],[55242,187],[55543,185],[55844,184],[56145,182],[56446,180],[56747,179],[57048,177],[57349,175],[57649,175],[57950,173],[58251,171],[58552,169],[58853,168],[59154,166],[59455,164],[59756,163],[60057,161],[60358,159],[60659,158],[60960,156],[61261,154],[61562,153],[61862,153],[62163,152],[62463,151],[62763,151],[63063,150],[63364,149],[63666,145],[63970,136],[64274,128],[64579,118],[64885,106],[65192,92],[65501,73],[65812,52]],"point":[149,109]}},"high_idx":5},{"api_action":{"action":"PutObject","forceAction":true,"objectId":"Knife|-02.63|+00.96|+03.21","placeStationary":true,"receptacleObjectId":"Fridge|-02.80|+00.00|+04.43"},"discrete_action":{"action":"PutObject","args":{"bbox":[0,1,299,300],"mask":[[0,71],[113,261],[410,266],[706,274],[1003,284],[1300,13399],[14700,298],[15000,298],[15300,297],[15600,297],[15900,296],[16200,295],[16500,295],[16800,294],[17100,294],[17400,293],[17700,292],[18000,292],[18300,291],[18600,291],[18900,290],[19200,289],[19500,289],[19800,288],[20100,288],[20400,287],[20700,286],[21000,286],[21300,285],[21600,285],[21900,284],[22200,284],[22500,283],[22800,282],[23100,282],[23400,281],[23700,281],[24000,280],[24300,279],[24600,279],[24900,278],[25200,278],[25500,277],[25800,276],[26100,276],[26400,275],[26700,275],[27000,274],[27300,273],[27600,273],[27900,272],[28200,99],[28309,163],[28500,102],[28605,166],[28800,271],[29100,270],[29400,269],[29700,269],[30000,268],[30300,268],[30600,267],[30900,266],[31200,266],[31500,265],[31800,265],[32100,264],[32400,263],[32700,263],[33000,262],[33300,262],[33600,261],[33900,260],[34200,260],[34500,259],[34800,259],[35100,258],[35400,157],[35560,3],[35565,92],[35701,156],[35860,3],[35866,91],[36002,151],[36155,2],[36160,3],[36166,2],[36169,87],[36300,1],[36303,149],[36455,3],[36460,3],[36466,2],[36471,85],[36600,2],[36604,148],[36755,3],[36760,3],[36766,2],[36771,84],[36900,3],[36905,147],[37055,3],[37060,3],[37066,2],[37071,84],[37200,3],[37205,147],[37355,3],[37360,3],[37366,2],[37371,83],[37500,4],[37506,143],[37650,2],[37655,3],[37660,3],[37666,2],[37672,81],[37800,5],[37807,142],[37950,2],[37955,3],[37961,2],[37966,2],[37972,81],[38100,6],[38108,141],[38250,2],[38255,3],[38261,2],[38266,2],[38272,2],[38275,77],[38400,7],[38409,140],[38550,2],[38555,3],[38561,2],[38566,2],[38572,2],[38575,77],[38700,8],[38709,140],[38850,2],[38855,3],[38861,2],[38866,2],[38872,2],[38875,76],[39000,8],[39010,240],[39300,9],[39311,239],[39600,10],[39612,237],[39900,11],[39913,236],[40200,12],[40214,234],[40500,13],[40514,136],[40676,71],[40800,13],[40815,136],[40975,72],[41100,14],[41116,135],[41275,71],[41400,15],[41417,134],[41575,71],[41700,16],[41718,133],[41874,71],[42000,17],[42019,133],[42174,70],[42300,18],[42319,133],[42473,71],[42600,18],[42620,133],[42773,70],[42900,19],[42921,133],[43073,70],[43200,20],[43222,133],[43372,70],[43500,21],[43523,133],[43672,69],[43800,22],[43823,134],[43971,70],[44100,23],[44124,134],[44271,69],[44400,23],[44425,134],[44570,70],[44700,24],[44726,133],[44870,69],[45000,25],[45027,133],[45169,70],[45300,26],[45328,133],[45469,69],[45600,27],[45628,133],[45768,69],[45900,28],[45929,133],[46068,69],[46200,28],[46230,133],[46367,69],[46500,29],[46531,133],[46667,69],[46800,30],[46832,203],[47100,31],[47133,201],[47400,32],[47433,201],[47700,33],[47734,199],[48000,33],[48035,198],[48300,34],[48336,196],[48600,35],[48637,194],[48900,36],[48937,194],[49200,37],[49238,192],[49500,38],[49539,191],[49800,38],[49840,189],[50100,39],[50141,187],[50400,40],[50442,186],[50700,41],[50742,185],[51000,42],[51043,184],[51300,43],[51344,182],[51600,43],[51645,181],[51900,44],[51946,179],[52200,45],[52247,177],[52500,46],[52547,177],[52800,47],[52848,175],[53100,48],[53149,174],[53400,48],[53450,172],[53700,49],[53751,170],[54000,50],[54051,170],[54300,51],[54352,168],[54600,52],[54653,167],[54900,53],[54954,165],[55200,53],[55255,163],[55500,54],[55556,162],[55800,55],[55856,161],[56100,56],[56157,160],[56400,57],[56458,158],[56700,58],[56759,156],[57000,58],[57060,155],[57300,59],[57361,153],[57600,60],[57661,153],[57900,61],[57962,151],[58200,62],[58263,149],[58500,212],[58800,211],[59100,211],[59400,211],[59700,211],[60000,212],[60300,212],[60600,212],[60900,212],[61200,212],[61500,212],[61800,212],[62100,212],[62400,213],[62700,213],[63000,212],[63300,63],[63364,148],[63600,62],[63666,145],[63900,62],[63970,136],[64200,62],[64274,128],[64500,62],[64579,118],[64800,62],[64885,106],[65100,61],[65192,92],[65400,61],[65501,73],[65700,61],[65812,52],[66000,61],[66300,61],[66600,61],[66900,60],[67200,60],[67500,60],[67800,60],[68100,60],[68400,60],[68700,59],[69000,59],[69300,59],[69600,59],[69900,59],[70200,58],[70500,58],[70800,58],[71100,58],[71400,58],[71700,58],[72000,57],[72300,57],[72600,57],[72900,57],[73200,57],[73500,57],[73800,56],[74100,56],[74400,56],[74700,56],[75000,56],[75300,55],[75600,55],[75900,55],[76200,48],[76500,25],[76800,12],[77100,6],[77400,10],[77700,15],[78000,20],[78300,27],[78600,34],[78900,44],[79200,53],[79500,53],[79800,53],[80100,53],[80400,52],[80700,52],[81000,52],[81300,52],[81600,52],[81900,52],[82200,51],[82500,51],[82800,51],[83100,51],[83400,51],[83700,50],[84000,50],[84300,50],[84600,50],[84900,50],[85200,50],[85500,49],[85800,49],[86100,49],[86400,49],[86700,49],[87000,49],[87300,48],[87600,48],[87900,48],[88200,48],[88500,48],[88800,47],[89100,47],[89400,47],[89700,47]],"point":[149,149]}},"high_idx":5},{"api_action":{"action":"CloseObject","objectId":"Fridge|-02.80|+00.00|+04.43"},"discrete_action":{"action":"CloseObject","args":{"bbox":[0,1,299,300],"mask":[[0,71],[113,261],[410,266],[706,274],[1003,284],[1300,13399],[14700,298],[15000,298],[15300,297],[15600,297],[15900,296],[16200,295],[16500,295],[16800,294],[17100,294],[17400,293],[17700,292],[18000,292],[18300,291],[18600,291],[18900,290],[19200,289],[19500,289],[19800,288],[20100,288],[20400,287],[20700,286],[21000,286],[21300,285],[21600,285],[21900,284],[22200,284],[22500,283],[22800,282],[23100,282],[23400,281],[23700,281],[24000,280],[24300,279],[24600,279],[24900,278],[25200,278],[25500,277],[25800,276],[26100,276],[26400,275],[26700,275],[27000,274],[27300,273],[27600,273],[27900,272],[28200,99],[28309,163],[28500,102],[28605,166],[28800,271],[29100,270],[29400,269],[29700,269],[30000,268],[30300,268],[30600,267],[30900,266],[31200,266],[31500,265],[31800,265],[32100,264],[32400,263],[32700,263],[33000,262],[33300,262],[33600,261],[33900,260],[34200,260],[34500,259],[34800,259],[35100,258],[35400,122],[35590,67],[35701,121],[35898,59],[36002,121],[36196,60],[36300,1],[36303,121],[36429,22],[36492,64],[36600,2],[36604,147],[36786,69],[36900,3],[36905,147],[37072,83],[37200,3],[37205,147],[37355,3],[37360,3],[37366,2],[37371,83],[37500,4],[37506,143],[37650,2],[37655,3],[37660,3],[37666,2],[37672,81],[37800,5],[37807,142],[37950,2],[37955,3],[37961,2],[37966,2],[37972,81],[38100,6],[38108,141],[38250,2],[38255,3],[38261,2],[38266,2],[38272,2],[38275,77],[38400,7],[38409,140],[38550,2],[38555,3],[38561,2],[38566,2],[38572,2],[38575,77],[38700,8],[38709,140],[38850,2],[38855,3],[38861,2],[38866,2],[38872,2],[38875,76],[39000,8],[39010,240],[39300,9],[39311,239],[39600,10],[39612,237],[39900,11],[39913,236],[40200,12],[40214,234],[40500,13],[40514,136],[40676,71],[40800,13],[40815,136],[40975,72],[41100,14],[41116,135],[41275,71],[41400,15],[41417,134],[41575,71],[41700,16],[41718,133],[41874,71],[42000,17],[42019,133],[42174,70],[42300,18],[42319,133],[42473,71],[42600,18],[42620,133],[42773,70],[42900,19],[42921,133],[43073,70],[43200,20],[43222,133],[43372,70],[43500,21],[43523,133],[43672,69],[43800,22],[43823,134],[43971,70],[44100,23],[44124,134],[44271,69],[44400,23],[44425,134],[44570,70],[44700,24],[44726,133],[44870,69],[45000,25],[45027,133],[45169,70],[45300,26],[45328,133],[45469,69],[45600,27],[45628,133],[45768,69],[45900,28],[45929,133],[46068,69],[46200,28],[46230,133],[46367,69],[46500,29],[46531,133],[46667,69],[46800,30],[46832,203],[47100,31],[47133,201],[47400,32],[47433,201],[47700,33],[47734,199],[48000,33],[48035,198],[48300,34],[48336,196],[48600,35],[48637,194],[48900,36],[48937,194],[49200,37],[49238,192],[49500,38],[49539,191],[49800,38],[49840,189],[50100,39],[50141,187],[50400,40],[50442,186],[50700,41],[50742,185],[51000,42],[51043,184],[51300,43],[51344,182],[51600,43],[51645,181],[51900,44],[51946,179],[52200,45],[52247,177],[52500,46],[52547,177],[52800,47],[52848,175],[53100,48],[53149,174],[53400,48],[53450,172],[53700,49],[53751,170],[54000,50],[54051,170],[54300,51],[54352,168],[54600,52],[54653,167],[54900,53],[54954,165],[55200,53],[55255,163],[55500,54],[55556,162],[55800,55],[55856,161],[56100,56],[56157,160],[56400,57],[56458,158],[56700,58],[56759,156],[57000,58],[57060,155],[57300,59],[57361,153],[57600,60],[57661,153],[57900,61],[57962,151],[58200,62],[58263,149],[58500,212],[58800,211],[59100,211],[59400,211],[59700,211],[60000,212],[60300,212],[60600,212],[60900,212],[61200,212],[61500,212],[61800,212],[62100,212],[62400,213],[62700,213],[63000,212],[63300,63],[63364,148],[63600,62],[63666,145],[63900,62],[63970,136],[64200,62],[64274,128],[64500,62],[64579,118],[64800,62],[64885,106],[65100,61],[65192,92],[65400,61],[65501,73],[65700,61],[65812,52],[66000,61],[66300,61],[66600,61],[66900,60],[67200,60],[67500,60],[67800,60],[68100,60],[68400,60],[68700,59],[69000,59],[69300,59],[69600,59],[69900,59],[70200,58],[70500,58],[70800,58],[71100,58],[71400,58],[71700,58],[72000,57],[72300,57],[72600,57],[72900,57],[73200,57],[73500,57],[73800,56],[74100,56],[74400,56],[74700,56],[75000,56],[75300,55],[75600,55],[75900,55],[76200,55],[76500,55],[76800,55],[77100,54],[77400,54],[77700,54],[78000,54],[78300,54],[78600,53],[78900,53],[79200,53],[79500,53],[79800,53],[80100,53],[80400,52],[80700,52],[81000,52],[81300,52],[81600,52],[81900,52],[82200,51],[82500,51],[82800,51],[83100,51],[83400,51],[83700,50],[84000,50],[84300,50],[84600,50],[84900,50],[85200,50],[85500,49],[85800,49],[86100,49],[86400,49],[86700,49],[87000,49],[87300,48],[87600,48],[87900,48],[88200,48],[88500,48],[88800,47],[89100,47],[89400,47],[89700,47]],"point":[149,149]}},"high_idx":5},{"api_action":{"action":"LookUp","forceAction":true},"discrete_action":{"action":"LookUp_15","args":{}},"high_idx":6},{"api_action":{"action":"RotateLeft","forceAction":true},"discrete_action":{"action":"RotateLeft_90","args":{}},"high_idx":6},{"api_action":{"action":"RotateLeft","forceAction":true},"discrete_action":{"action":"RotateLeft_90","args":{}},"high_idx":6},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":6},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":6},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":6},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":6},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":6},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":6},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":6},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":6},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":6},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":6},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":6},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":6},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":6},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":6},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":6},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":6},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":6},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":6},{"api_action":{"action":"PickupObject","objectId":"Apple|-01.27|+00.85|+00.23|AppleSliced_1"},"discrete_action":{"action":"PickupObject","args":{"bbox":[143,133,152,150],"mask":[[39749,4],[40047,6],[40346,7],[40645,8],[40944,9],[41244,6],[41252,1],[41544,5],[41843,5],[42143,4],[42443,3],[42743,3],[43043,3],[43343,2],[43644,1],[43944,1],[44244,1],[44545,1],[44845,1]],"point":[147,139]}},"high_idx":7},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":8},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":8},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":8},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":8},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":8},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":8},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":8},{"api_action":{"action":"LookUp","forceAction":true},"discrete_action":{"action":"LookUp_15","args":{}},"high_idx":8},{"api_action":{"action":"OpenObject","objectId":"Microwave|-00.36|+00.91|+00.22"},"discrete_action":{"action":"OpenObject","args":{"bbox":[0,69,132,183],"mask":[[20400,130],[20700,130],[21000,130],[21300,130],[21600,130],[21900,130],[22200,130],[22500,130],[22800,130],[23100,130],[23400,130],[23700,130],[24000,131],[24300,131],[24600,131],[24900,131],[25200,131],[25500,131],[25800,131],[26100,131],[26400,131],[26700,131],[27000,131],[27300,131],[27600,131],[27900,131],[28200,131],[28500,131],[28800,131],[29100,131],[29400,131],[29700,131],[30000,131],[30300,131],[30600,131],[30900,132],[31200,132],[31500,132],[31800,132],[32100,132],[32400,132],[32700,132],[33000,132],[33300,132],[33600,132],[33900,132],[34200,132],[34500,132],[34800,132],[35100,132],[35400,132],[35700,132],[36000,132],[36300,132],[36600,132],[36900,132],[37200,132],[37500,132],[37800,132],[38100,132],[38400,132],[38700,132],[39000,133],[39300,133],[39600,133],[39900,133],[40200,133],[40500,133],[40800,133],[41100,133],[41400,133],[41700,133],[42000,133],[42300,133],[42600,133],[42900,133],[43200,133],[43500,133],[43800,133],[44100,133],[44400,133],[44700,133],[45000,132],[45300,132],[45600,132],[45900,132],[46200,132],[46500,132],[46800,132],[47100,132],[47400,132],[47700,131],[48000,131],[48300,131],[48600,131],[48900,131],[49200,131],[49500,131],[49800,131],[50100,131],[50400,130],[50700,130],[51000,130],[51300,130],[51600,130],[51900,130],[52200,130],[52500,130],[52800,129],[53100,129],[53400,129],[53700,129],[54000,129],[54300,129],[54600,129]],"point":[66,125]}},"high_idx":9},{"api_action":{"action":"PutObject","forceAction":true,"objectId":"Apple|-01.27|+00.85|+00.23|AppleSliced_1","placeStationary":true,"receptacleObjectId":"Microwave|-00.36|+00.91|+00.22"},"discrete_action":{"action":"PutObject","args":{"bbox":[0,69,132,183],"mask":[[20400,130],[20700,130],[21000,130],[21300,130],[21600,130],[21900,130],[22200,130],[22500,130],[22800,130],[23100,130],[23400,130],[23700,130],[24000,131],[24300,131],[24600,131],[24900,131],[25200,131],[25500,131],[25800,131],[26100,131],[26400,131],[26700,131],[27000,131],[27300,131],[27600,131],[27900,131],[28200,131],[28500,131],[28800,131],[29100,131],[29400,131],[29700,131],[30000,131],[30300,131],[30600,131],[30900,132],[31200,132],[31500,132],[31800,132],[32100,132],[32400,132],[32700,132],[33000,132],[33300,132],[33600,132],[33900,132],[34200,132],[34500,69],[34580,52],[34800,66],[34882,50],[35100,43],[35144,20],[35183,49],[35400,41],[35446,17],[35483,49],[35700,41],[35747,15],[35785,47],[36000,40],[36048,14],[36087,45],[36300,40],[36349,14],[36383,2],[36387,45],[36600,40],[36649,14],[36683,3],[36688,44],[36900,39],[36950,13],[36983,3],[36988,44],[37200,39],[37250,14],[37283,2],[37287,45],[37500,40],[37550,14],[37583,2],[37587,45],[37800,40],[37850,14],[37883,2],[37887,45],[38100,40],[38150,14],[38183,2],[38187,45],[38400,41],[38450,15],[38486,46],[38700,35],[38749,16],[38786,46],[39000,33],[39049,16],[39086,47],[39300,31],[39348,17],[39386,47],[39600,30],[39645,20],[39685,48],[39900,30],[39946,20],[39984,49],[40200,29],[40246,20],[40284,49],[40500,7],[40510,19],[40546,20],[40584,49],[40800,3],[40813,16],[40846,20],[40884,49],[41100,1],[41115,14],[41146,20],[41185,48],[41416,13],[41446,21],[41484,49],[41716,13],[41745,22],[41784,49],[42017,13],[42045,22],[42083,50],[42317,13],[42344,24],[42381,52],[42617,14],[42642,28],[42678,55],[42917,16],[42939,94],[43217,116],[43516,117],[43816,117],[44115,118],[44414,119],[44712,121],[45000,1],[45009,123],[45300,132],[45600,132],[45900,132],[46200,132],[46500,132],[46800,132],[47100,132],[47400,132],[47700,131],[48000,131],[48300,131],[48600,131],[48900,131],[49200,131],[49500,131],[49800,131],[50100,131],[50400,130],[50700,130],[51000,130],[51300,130],[51600,130],[51900,130],[52200,130],[52500,130],[52800,129],[53100,129],[53400,129],[53700,129],[54000,129],[54300,129],[54600,129]],"point":[63,125]}},"high_idx":9},{"api_action":{"action":"CloseObject","objectId":"Microwave|-00.36|+00.91|+00.22"},"discrete_action":{"action":"CloseObject","args":{"bbox":[0,69,132,183],"mask":[[20400,130],[20700,130],[21000,130],[21300,130],[21600,130],[21900,130],[22200,130],[22500,130],[22800,130],[23100,130],[23400,130],[23700,130],[24000,131],[24300,131],[24600,131],[24900,131],[25200,131],[25500,131],[25800,131],[26100,131],[26400,131],[26700,131],[27000,131],[27300,131],[27600,131],[27900,131],[28200,131],[28500,131],[28800,131],[29100,131],[29400,131],[29700,131],[30000,131],[30300,131],[30600,131],[30900,132],[31200,132],[31500,132],[31800,132],[32100,132],[32400,132],[32700,132],[33000,132],[33300,132],[33600,132],[33900,132],[34200,132],[34500,69],[34580,52],[34800,66],[34882,50],[35100,43],[35144,20],[35183,49],[35400,41],[35446,17],[35483,49],[35700,41],[35747,15],[35785,47],[36000,40],[36048,14],[36087,45],[36300,40],[36349,14],[36383,2],[36387,45],[36600,40],[36649,14],[36683,3],[36688,44],[36900,39],[36950,13],[36983,3],[36988,44],[37200,39],[37250,14],[37283,2],[37287,45],[37500,40],[37550,14],[37583,2],[37587,45],[37800,40],[37850,14],[37883,2],[37887,45],[38100,40],[38150,14],[38183,2],[38187,45],[38400,41],[38450,15],[38486,46],[38700,35],[38749,11],[38786,46],[39000,33],[39049,10],[39086,47],[39300,31],[39348,11],[39386,47],[39600,30],[39645,13],[39685,48],[39900,30],[39946,11],[39984,49],[40200,29],[40246,11],[40284,49],[40500,7],[40510,19],[40546,11],[40584,49],[40800,3],[40813,16],[40846,11],[40884,49],[41100,1],[41115,14],[41146,11],[41185,48],[41416,13],[41446,11],[41484,49],[41716,13],[41745,13],[41784,49],[42017,13],[42045,13],[42083,50],[42317,13],[42344,15],[42381,52],[42617,14],[42642,17],[42678,55],[42917,16],[42939,21],[42975,58],[43217,44],[43274,59],[43516,46],[43574,59],[43816,47],[43874,59],[44115,49],[44173,60],[44414,51],[44473,60],[44712,55],[44772,61],[45000,1],[45009,123],[45300,132],[45600,132],[45900,132],[46200,132],[46500,132],[46800,132],[47100,132],[47400,132],[47700,131],[48000,131],[48300,131],[48600,131],[48900,131],[49200,131],[49500,131],[49800,131],[50100,131],[50400,130],[50700,130],[51000,130],[51300,130],[51600,130],[51900,130],[52200,130],[52500,130],[52800,129],[53100,129],[53400,129],[53700,129],[54000,129],[54300,129],[54600,129]],"point":[63,125]}},"high_idx":9},{"api_action":{"action":"ToggleObjectOn","coordinateReceptacleObjectId":["Microwave",[-1.436,-1.436,0.896,0.896,3.6564356,3.6564356]],"forceVisible":true,"objectId":"Microwave|-00.36|+00.91|+00.22"},"discrete_action":{"action":"ToggleObjectOn","args":{"bbox":[0,69,132,183],"mask":[[20400,130],[20700,130],[21000,130],[21300,130],[21600,130],[21900,130],[22200,130],[22500,130],[22800,130],[23100,130],[23400,130],[23700,130],[24000,131],[24300,131],[24600,131],[24900,131],[25200,131],[25500,131],[25800,131],[26100,131],[26400,131],[26700,131],[27000,131],[27300,131],[27600,131],[27900,131],[28200,131],[28500,131],[28800,131],[29100,131],[29400,131],[29700,131],[30000,131],[30300,131],[30600,131],[30900,132],[31200,132],[31500,132],[31800,132],[32100,132],[32400,132],[32700,132],[33000,132],[33300,132],[33600,132],[33900,132],[34200,132],[34500,132],[34800,132],[35100,132],[35400,132],[35700,132],[36000,132],[36300,132],[36600,132],[36900,132],[37200,132],[37500,132],[37800,132],[38100,132],[38400,132],[38700,132],[39000,133],[39300,133],[39600,133],[39900,133],[40200,133],[40500,133],[40800,133],[41100,133],[41400,133],[41700,133],[42000,133],[42300,133],[42600,133],[42900,133],[43200,133],[43500,133],[43800,133],[44100,133],[44400,133],[44700,133],[45000,132],[45300,132],[45600,132],[45900,132],[46200,132],[46500,132],[46800,132],[47100,132],[47400,132],[47700,131],[48000,131],[48300,131],[48600,131],[48900,131],[49200,131],[49500,131],[49800,131],[50100,131],[50400,130],[50700,130],[51000,130],[51300,130],[51600,130],[51900,130],[52200,130],[52500,130],[52800,129],[53100,129],[53400,129],[53700,129],[54000,129],[54300,129],[54600,129]],"point":[66,125]}},"high_idx":9},{"api_action":{"action":"ToggleObjectOff","coordinateReceptacleObjectId":["Microwave",[-1.436,-1.436,0.896,0.896,3.6564356,3.6564356]],"forceVisible":true,"objectId":"Microwave|-00.36|+00.91|+00.22"},"discrete_action":{"action":"ToggleObjectOff","args":{"bbox":[0,69,132,183],"mask":[[20400,130],[20700,130],[21000,130],[21300,130],[21600,130],[21900,130],[22200,130],[22500,130],[22800,130],[23100,130],[23400,130],[23700,130],[24000,131],[24300,131],[24600,131],[24900,131],[25200,131],[25500,131],[25800,131],[26100,131],[26400,131],[26700,131],[27000,131],[27300,131],[27600,131],[27900,131],[28200,131],[28500,131],[28800,131],[29100,131],[29400,131],[29700,131],[30000,131],[30300,131],[30600,131],[30900,132],[31200,132],[31500,132],[31800,132],[32100,132],[32400,132],[32700,132],[33000,132],[33300,132],[33600,132],[33900,132],[34200,132],[34500,132],[34800,132],[35100,132],[35400,132],[35700,132],[36000,132],[36300,132],[36600,132],[36900,132],[37200,132],[37500,132],[37800,132],[38100,132],[38400,132],[38700,132],[39000,133],[39300,133],[39600,133],[39900,133],[40200,133],[40500,133],[40800,133],[41100,133],[41400,133],[41700,133],[42000,133],[42300,133],[42600,133],[42900,133],[43200,133],[43500,133],[43800,133],[44100,133],[44400,133],[44700,133],[45000,132],[45300,132],[45600,132],[45900,132],[46200,132],[46500,132],[46800,132],[47100,132],[47400,132],[47700,131],[48000,131],[48300,131],[48600,131],[48900,131],[49200,131],[49500,131],[49800,131],[50100,131],[50400,130],[50700,130],[51000,130],[51300,130],[51600,130],[51900,130],[52200,130],[52500,130],[52800,129],[53100,129],[53400,129],[53700,129],[54000,129],[54300,129],[54600,129]],"point":[66,125]}},"high_idx":9},{"api_action":{"action":"OpenObject","objectId":"Microwave|-00.36|+00.91|+00.22"},"discrete_action":{"action":"OpenObject","args":{"bbox":[0,69,132,183],"mask":[[20400,130],[20700,130],[21000,130],[21300,130],[21600,130],[21900,130],[22200,130],[22500,130],[22800,130],[23100,130],[23400,130],[23700,130],[24000,131],[24300,131],[24600,131],[24900,131],[25200,131],[25500,131],[25800,131],[26100,131],[26400,131],[26700,131],[27000,131],[27300,131],[27600,131],[27900,131],[28200,131],[28500,131],[28800,131],[29100,131],[29400,131],[29700,131],[30000,131],[30300,131],[30600,131],[30900,132],[31200,132],[31500,132],[31800,132],[32100,132],[32400,132],[32700,132],[33000,132],[33300,132],[33600,132],[33900,132],[34200,132],[34500,132],[34800,132],[35100,132],[35400,132],[35700,132],[36000,132],[36300,132],[36600,132],[36900,132],[37200,132],[37500,132],[37800,132],[38100,132],[38400,132],[38700,132],[39000,133],[39300,133],[39600,133],[39900,133],[40200,133],[40500,133],[40800,133],[41100,133],[41400,133],[41700,133],[42000,133],[42300,133],[42600,133],[42900,133],[43200,133],[43500,133],[43800,133],[44100,133],[44400,133],[44700,133],[45000,132],[45300,132],[45600,132],[45900,132],[46200,132],[46500,132],[46800,132],[47100,132],[47400,132],[47700,131],[48000,131],[48300,131],[48600,131],[48900,131],[49200,131],[49500,131],[49800,131],[50100,131],[50400,130],[50700,130],[51000,130],[51300,130],[51600,130],[51900,130],[52200,130],[52500,130],[52800,129],[53100,129],[53400,129],[53700,129],[54000,129],[54300,129],[54600,129]],"point":[66,125]}},"high_idx":9},{"api_action":{"action":"PickupObject","objectId":"Apple|-01.27|+00.85|+00.23|AppleSliced_1"},"discrete_action":{"action":"PickupObject","args":{"bbox":[57,130,74,150],"mask":[[38760,10],[39059,12],[39359,13],[39658,15],[39957,16],[40257,17],[40557,17],[40857,18],[41157,18],[41457,18],[41758,17],[42058,17],[42359,16],[42659,16],[42960,15],[43261,13],[43562,12],[43863,11],[44164,9],[44465,8],[44767,5]],"point":[65,139]}},"high_idx":9},{"api_action":{"action":"CloseObject","objectId":"Microwave|-00.36|+00.91|+00.22"},"discrete_action":{"action":"CloseObject","args":{"bbox":[0,69,132,183],"mask":[[20400,130],[20700,130],[21000,130],[21300,130],[21600,130],[21900,130],[22200,130],[22500,130],[22800,130],[23100,130],[23400,130],[23700,130],[24000,131],[24300,131],[24600,131],[24900,131],[25200,131],[25500,131],[25800,131],[26100,131],[26400,131],[26700,131],[27000,131],[27300,131],[27600,131],[27900,131],[28200,131],[28500,131],[28800,131],[29100,131],[29400,131],[29700,131],[30000,131],[30300,131],[30600,131],[30900,132],[31200,132],[31500,132],[31800,132],[32100,132],[32400,132],[32700,132],[33000,132],[33300,132],[33600,132],[33900,132],[34200,132],[34500,69],[34580,52],[34800,66],[34882,50],[35100,43],[35144,20],[35183,49],[35400,41],[35446,17],[35483,49],[35700,41],[35747,15],[35785,47],[36000,40],[36048,14],[36087,45],[36300,40],[36349,14],[36383,2],[36387,45],[36600,40],[36649,14],[36683,3],[36688,44],[36900,39],[36950,13],[36983,3],[36988,44],[37200,39],[37250,14],[37283,2],[37287,45],[37500,40],[37550,14],[37583,2],[37587,45],[37800,40],[37850,14],[37883,2],[37887,45],[38100,40],[38150,14],[38183,2],[38187,45],[38400,41],[38450,15],[38486,46],[38700,35],[38749,16],[38786,46],[39000,33],[39049,16],[39086,47],[39300,31],[39348,17],[39386,47],[39600,30],[39645,20],[39685,48],[39900,30],[39946,20],[39984,49],[40200,29],[40246,20],[40284,49],[40500,7],[40510,19],[40546,20],[40584,49],[40800,3],[40813,16],[40846,20],[40884,49],[41100,1],[41115,14],[41146,20],[41185,48],[41416,13],[41446,21],[41484,49],[41716,13],[41745,22],[41784,49],[42017,13],[42045,22],[42083,50],[42317,13],[42344,24],[42381,52],[42617,14],[42642,28],[42678,55],[42917,16],[42939,94],[43217,116],[43516,117],[43816,117],[44115,118],[44414,119],[44712,121],[45000,1],[45009,123],[45300,132],[45600,132],[45900,132],[46200,132],[46500,132],[46800,132],[47100,132],[47400,132],[47700,131],[48000,131],[48300,131],[48600,131],[48900,131],[49200,131],[49500,131],[49800,131],[50100,131],[50400,130],[50700,130],[51000,130],[51300,130],[51600,130],[51900,130],[52200,130],[52500,130],[52800,129],[53100,129],[53400,129],[53700,129],[54000,129],[54300,129],[54600,129]],"point":[63,125]}},"high_idx":9},{"api_action":{"action":"LookDown","forceAction":true},"discrete_action":{"action":"LookDown_15","args":{}},"high_idx":10},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":10},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":10},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":10},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":10},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":10},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":10},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":10},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":10},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":10},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":10},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":10},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":10},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":10},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":10},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":10},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":10},{"api_action":{"action":"RotateLeft","forceAction":true},"discrete_action":{"action":"RotateLeft_90","args":{}},"high_idx":10},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":10},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":10},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":10},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":10},{"api_action":{"action":"LookDown","forceAction":true},"discrete_action":{"action":"LookDown_15","args":{}},"high_idx":10},{"api_action":{"action":"OpenObject","objectId":"Fridge|-02.80|+00.00|+04.43"},"discrete_action":{"action":"OpenObject","args":{"bbox":[0,1,299,220],"mask":[[0,26399],[26400,299],[26700,298],[27000,298],[27300,297],[27600,297],[27900,296],[28200,295],[28500,295],[28800,293],[29100,293],[29400,292],[29700,292],[30000,291],[30300,290],[30600,290],[30900,286],[31200,284],[31500,283],[31800,282],[32100,282],[32400,281],[32700,280],[33000,280],[33300,279],[33600,278],[33900,278],[34200,277],[34500,276],[34800,276],[35100,275],[35400,274],[35700,273],[36000,273],[36300,272],[36600,271],[36900,271],[37200,270],[37500,269],[37800,269],[38100,268],[38400,267],[38700,267],[39000,266],[39300,265],[39600,265],[39900,264],[40200,263],[40500,263],[40800,262],[41100,261],[41400,260],[41700,260],[42001,258],[42302,256],[42603,255],[42904,253],[43204,252],[43505,251],[43806,249],[44107,247],[44408,246],[44709,244],[45010,242],[45311,241],[45612,239],[45913,237],[46214,236],[46515,234],[46816,232],[47117,230],[47418,229],[47719,227],[48019,226],[48320,225],[48621,223],[48922,221],[49223,220],[49524,218],[49825,216],[50126,215],[50427,213],[50728,211],[51029,210],[51330,208],[51631,206],[51932,205],[52233,203],[52534,201],[52834,200],[53135,199],[53436,197],[53737,195],[54038,194],[54339,192],[54640,190],[54941,189],[55242,187],[55543,185],[55844,184],[56145,182],[56446,180],[56747,179],[57048,177],[57349,175],[57649,175],[57950,173],[58251,171],[58552,169],[58853,168],[59154,166],[59455,164],[59756,163],[60057,161],[60358,159],[60659,158],[60960,156],[61261,154],[61562,153],[61862,153],[62163,152],[62463,151],[62763,151],[63063,150],[63364,149],[63666,145],[63970,136],[64274,128],[64579,118],[64885,106],[65192,92],[65501,73],[65812,52]],"point":[149,109]}},"high_idx":11},{"api_action":{"action":"PutObject","forceAction":true,"objectId":"Apple|-01.27|+00.85|+00.23|AppleSliced_1","placeStationary":true,"receptacleObjectId":"Fridge|-02.80|+00.00|+04.43"},"discrete_action":{"action":"PutObject","args":{"bbox":[0,1,299,300],"mask":[[0,71],[113,261],[410,266],[706,274],[1003,284],[1300,13399],[14700,298],[15000,298],[15300,297],[15600,297],[15900,296],[16200,295],[16500,295],[16800,294],[17100,294],[17400,293],[17700,292],[18000,292],[18300,291],[18600,291],[18900,290],[19200,289],[19500,289],[19800,288],[20100,288],[20400,287],[20700,286],[21000,286],[21300,285],[21600,285],[21900,284],[22200,284],[22500,283],[22800,282],[23100,282],[23400,281],[23700,281],[24000,280],[24300,279],[24600,279],[24900,278],[25200,278],[25500,277],[25800,276],[26100,276],[26400,275],[26700,275],[27000,274],[27300,273],[27600,273],[27900,272],[28200,99],[28309,163],[28500,102],[28605,166],[28800,271],[29100,270],[29400,269],[29700,269],[30000,268],[30300,268],[30600,267],[30900,266],[31200,266],[31500,265],[31800,265],[32100,264],[32400,263],[32700,263],[33000,262],[33300,262],[33600,261],[33900,260],[34200,260],[34500,259],[34800,259],[35100,258],[35400,122],[35590,67],[35701,121],[35898,59],[36002,121],[36196,60],[36300,1],[36303,121],[36429,22],[36492,64],[36600,2],[36604,147],[36786,69],[36900,3],[36905,147],[37072,83],[37200,3],[37205,147],[37355,3],[37360,3],[37366,2],[37371,83],[37500,4],[37506,143],[37650,2],[37655,3],[37660,3],[37666,2],[37672,81],[37800,5],[37807,142],[37950,2],[37955,3],[37961,2],[37966,2],[37972,81],[38100,6],[38108,141],[38250,2],[38255,3],[38261,2],[38266,2],[38272,2],[38275,77],[38400,7],[38409,140],[38550,2],[38555,3],[38561,2],[38566,2],[38572,2],[38575,77],[38700,8],[38709,140],[38850,2],[38855,3],[38861,2],[38866,2],[38872,2],[38875,76],[39000,8],[39010,240],[39300,9],[39311,239],[39600,10],[39612,237],[39900,11],[39913,236],[40200,12],[40214,234],[40500,13],[40514,136],[40676,71],[40800,13],[40815,136],[40975,72],[41100,14],[41116,135],[41275,71],[41400,15],[41417,134],[41575,71],[41700,16],[41718,133],[41874,71],[42000,17],[42019,133],[42174,70],[42300,18],[42319,133],[42473,71],[42600,18],[42620,133],[42773,70],[42900,19],[42921,133],[43073,70],[43200,20],[43222,133],[43372,70],[43500,21],[43523,133],[43672,69],[43800,22],[43823,134],[43971,70],[44100,23],[44124,134],[44271,69],[44400,23],[44425,134],[44570,70],[44700,24],[44726,133],[44870,69],[45000,25],[45027,133],[45169,70],[45300,26],[45328,133],[45469,69],[45600,27],[45628,133],[45768,69],[45900,28],[45929,133],[46068,69],[46200,28],[46230,133],[46367,69],[46500,29],[46531,133],[46667,69],[46800,30],[46832,203],[47100,31],[47133,201],[47400,32],[47433,201],[47700,33],[47734,199],[48000,33],[48035,198],[48300,34],[48336,196],[48600,35],[48637,194],[48900,36],[48937,194],[49200,37],[49238,192],[49500,38],[49539,191],[49800,38],[49840,189],[50100,39],[50141,187],[50400,40],[50442,186],[50700,41],[50742,185],[51000,42],[51043,184],[51300,43],[51344,182],[51600,43],[51645,181],[51900,44],[51946,179],[52200,45],[52247,177],[52500,46],[52547,177],[52800,47],[52848,175],[53100,48],[53149,174],[53400,48],[53450,172],[53700,49],[53751,170],[54000,50],[54051,170],[54300,51],[54352,168],[54600,52],[54653,167],[54900,53],[54954,165],[55200,53],[55255,163],[55500,54],[55556,162],[55800,55],[55856,161],[56100,56],[56157,160],[56400,57],[56458,158],[56700,58],[56759,156],[57000,58],[57060,155],[57300,59],[57361,153],[57600,60],[57661,153],[57900,61],[57962,151],[58200,62],[58263,149],[58500,212],[58800,211],[59100,211],[59400,211],[59700,211],[60000,212],[60300,212],[60600,212],[60900,212],[61200,212],[61500,212],[61800,212],[62100,212],[62400,213],[62700,213],[63000,212],[63300,63],[63364,148],[63600,62],[63666,145],[63900,62],[63970,136],[64200,62],[64274,128],[64500,62],[64579,118],[64800,62],[64885,106],[65100,61],[65192,92],[65400,61],[65501,73],[65700,61],[65812,52],[66000,61],[66300,61],[66600,61],[66900,60],[67200,60],[67500,60],[67800,60],[68100,60],[68400,60],[68700,59],[69000,59],[69300,59],[69600,59],[69900,59],[70200,58],[70500,58],[70800,58],[71100,58],[71400,58],[71700,58],[72000,57],[72300,57],[72600,57],[72900,57],[73200,57],[73500,57],[73800,56],[74100,56],[74400,56],[74700,56],[75000,56],[75300,55],[75600,55],[75900,55],[76200,55],[76500,55],[76800,55],[77100,54],[77400,54],[77700,54],[78000,54],[78300,54],[78600,53],[78900,53],[79200,53],[79500,53],[79800,53],[80100,53],[80400,52],[80700,52],[81000,52],[81300,52],[81600,52],[81900,52],[82200,51],[82500,51],[82800,51],[83100,51],[83400,51],[83700,50],[84000,50],[84300,50],[84600,50],[84900,50],[85200,50],[85500,49],[85800,49],[86100,49],[86400,49],[86700,49],[87000,49],[87300,48],[87600,48],[87900,48],[88200,48],[88500,48],[88800,47],[89100,47],[89400,47],[89700,47]],"point":[149,149]}},"high_idx":11},{"api_action":{"action":"CloseObject","objectId":"Fridge|-02.80|+00.00|+04.43"},"discrete_action":{"action":"CloseObject","args":{"bbox":[0,1,299,300],"mask":[[0,71],[113,261],[410,266],[707,273],[1004,283],[1301,292],[1594,13105],[14700,298],[15000,298],[15300,297],[15600,297],[15900,296],[16200,295],[16500,295],[16800,294],[17100,294],[17400,293],[17700,292],[18000,292],[18300,291],[18600,291],[18900,290],[19200,289],[19500,289],[19800,288],[20100,288],[20400,287],[20700,286],[21000,286],[21300,285],[21600,285],[21900,284],[22200,284],[22500,283],[22800,282],[23100,282],[23400,281],[23700,281],[24000,280],[24300,279],[24600,279],[24900,278],[25200,278],[25500,277],[25800,276],[26100,276],[26400,275],[26700,275],[27000,274],[27300,273],[27600,273],[27900,272],[28200,99],[28309,163],[28500,102],[28605,166],[28800,271],[29100,270],[29400,269],[29700,269],[30000,268],[30300,268],[30600,267],[30900,266],[31200,266],[31500,265],[31800,265],[32100,264],[32400,263],[32700,263],[33000,262],[33300,262],[33600,261],[33900,260],[34200,260],[34500,259],[34800,259],[35100,258],[35400,122],[35590,67],[35701,121],[35898,59],[36002,121],[36196,60],[36300,1],[36303,121],[36429,22],[36492,64],[36600,2],[36604,147],[36786,69],[36900,3],[36905,147],[37072,83],[37200,3],[37205,147],[37355,3],[37360,3],[37366,2],[37371,83],[37500,4],[37506,143],[37650,2],[37655,3],[37660,3],[37666,2],[37672,81],[37800,5],[37807,142],[37950,2],[37955,3],[37961,2],[37966,2],[37972,81],[38100,6],[38108,141],[38250,2],[38255,3],[38261,2],[38266,2],[38272,2],[38275,77],[38400,7],[38409,140],[38550,2],[38555,3],[38561,2],[38566,2],[38572,2],[38575,77],[38700,8],[38709,140],[38850,2],[38855,3],[38861,2],[38866,2],[38872,2],[38875,76],[39000,8],[39010,240],[39300,9],[39311,239],[39600,10],[39612,237],[39900,11],[39913,236],[40200,12],[40214,234],[40500,13],[40514,136],[40676,71],[40800,13],[40815,136],[40975,72],[41100,14],[41116,135],[41275,71],[41400,15],[41417,134],[41575,71],[41700,16],[41718,133],[41874,71],[42000,17],[42019,133],[42174,70],[42300,18],[42319,133],[42473,71],[42600,18],[42620,133],[42773,70],[42900,19],[42921,133],[43073,70],[43200,20],[43222,133],[43372,70],[43500,21],[43523,133],[43672,69],[43800,22],[43823,134],[43971,70],[44100,23],[44124,134],[44271,69],[44400,23],[44425,134],[44570,70],[44700,24],[44726,133],[44870,69],[45000,25],[45027,133],[45169,70],[45300,26],[45328,133],[45469,69],[45600,27],[45628,133],[45768,69],[45900,28],[45929,133],[46068,69],[46200,28],[46230,133],[46367,69],[46500,29],[46531,133],[46667,69],[46800,30],[46832,203],[47100,31],[47133,201],[47400,32],[47433,201],[47700,33],[47734,199],[48000,33],[48035,198],[48300,34],[48336,196],[48600,35],[48637,194],[48900,36],[48937,194],[49200,37],[49238,192],[49500,38],[49539,191],[49800,38],[49840,189],[50100,39],[50141,187],[50400,40],[50442,186],[50700,41],[50742,185],[51000,42],[51043,184],[51300,43],[51344,182],[51600,43],[51645,181],[51900,44],[51946,179],[52200,45],[52247,177],[52500,46],[52547,177],[52800,47],[52848,175],[53100,48],[53149,174],[53400,48],[53450,172],[53700,49],[53751,170],[54000,50],[54051,170],[54300,51],[54352,168],[54600,52],[54653,167],[54900,53],[54954,165],[55200,53],[55255,163],[55500,54],[55556,162],[55800,55],[55856,161],[56100,56],[56157,160],[56400,57],[56458,158],[56700,58],[56759,156],[57000,58],[57060,155],[57300,59],[57361,153],[57600,60],[57661,153],[57900,61],[57962,151],[58200,62],[58263,149],[58500,212],[58800,211],[59100,211],[59400,211],[59700,211],[60000,212],[60300,212],[60600,212],[60900,212],[61200,212],[61500,212],[61800,212],[62100,212],[62400,213],[62700,213],[63000,212],[63300,63],[63364,148],[63600,62],[63666,145],[63900,62],[63970,136],[64200,62],[64274,128],[64500,62],[64579,118],[64800,62],[64885,106],[65100,61],[65192,92],[65400,61],[65501,73],[65700,61],[65812,52],[66000,61],[66300,61],[66600,61],[66900,60],[67200,60],[67500,60],[67800,60],[68100,60],[68400,60],[68700,59],[69000,59],[69300,59],[69600,59],[69900,59],[70200,58],[70500,58],[70800,58],[71100,58],[71400,58],[71700,58],[72000,57],[72300,57],[72600,57],[72900,57],[73200,57],[73500,57],[73800,56],[74100,56],[74400,56],[74700,56],[75000,56],[75300,55],[75600,55],[75900,55],[76200,55],[76500,55],[76800,55],[77100,54],[77400,54],[77700,54],[78000,54],[78300,54],[78600,53],[78900,53],[79200,53],[79500,53],[79800,53],[80100,53],[80400,52],[80700,52],[81000,52],[81300,52],[81600,52],[81900,52],[82200,51],[82500,51],[82800,51],[83100,51],[83400,51],[83700,50],[84000,50],[84300,50],[84600,50],[84900,50],[85200,50],[85500,49],[85800,49],[86100,49],[86400,49],[86700,49],[87000,49],[87300,48],[87600,48],[87900,48],[88200,48],[88500,48],[88800,47],[89100,47],[89400,47],[89700,47]],"point":[149,149]}},"high_idx":11}]},"repeat_idx":1,"root":"alfred/data/json_2.1.0/pick_heat_then_place_in_recep-AppleSliced-None-Fridge-26/trial_T20190907_234650_780308","scene":{"dirty_and_empty":false,"floor_plan":"FloorPlan26","init_action":{"action":"TeleportFull","horizon":30,"rotateOnTeleport":true,"rotation":0,"x":-1.0,"y":0.901591063,"z":1.5},"object_poses":[{"objectName":"Potato_bbca86d2","position":{"x":-0.138186783,"y":1.04482126,"z":0.267501146},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Potato_bbca86d2","position":{"x":-0.2441506,"y":1.04482126,"z":0.203774},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"DishSponge_50b7389e","position":{"x":-0.414876252,"y":1.77313149,"z":0.2058212},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"DishSponge_50b7389e","position":{"x":-2.37741637,"y":0.900185,"z":2.0454874},"rotation":{"x":0.0,"y":0.000163924531,"z":0.0}},{"objectName":"Spatula_5216d872","position":{"x":-2.4854188,"y":0.677404344,"z":0.5192609},"rotation":{"x":0.0,"y":270.0,"z":0.0}},{"objectName":"Spatula_5216d872","position":{"x":-1.35254991,"y":0.9432063,"z":0.650521755},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Spoon_11e3f5dc","position":{"x":-1.00791872,"y":0.7970239,"z":0.3371},"rotation":{"x":1.40334191e-14,"y":0.0,"z":0.0}},{"objectName":"Fork_80a3685e","position":{"x":-2.68653846,"y":0.9011693,"z":1.91336739},"rotation":{"x":0.0,"y":0.000163924531,"z":0.0}},{"objectName":"Fork_80a3685e","position":{"x":-2.26979375,"y":0.662953,"z":0.300511062},"rotation":{"x":0.0,"y":90.0,"z":0.0}},{"objectName":"Pot_c7fbe144","position":{"x":-0.5359,"y":0.928928852,"z":4.2742},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Cup_c473c604","position":{"x":-1.7709682,"y":0.92788893,"z":0.5181027},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Cup_c473c604","position":{"x":-0.6578296,"y":0.9003033,"z":2.53082561},"rotation":{"x":0.0,"y":0.000163924531,"z":0.0}},{"objectName":"Plate_d1c1b4b5","position":{"x":-0.486292452,"y":0.904939651,"z":2.329918},"rotation":{"x":0.0,"y":0.000163924531,"z":0.0}},{"objectName":"Knife_6c866e4b","position":{"x":-0.486289561,"y":0.926239133,"z":3.33445454},"rotation":{"x":0.0,"y":0.000163924531,"z":0.0}},{"objectName":"Knife_6c866e4b","position":{"x":-2.628046,"y":0.9611184,"z":3.20964146},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"SoapBottle_57182a42","position":{"x":-1.63625312,"y":1.77323043,"z":0.114571214},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"SoapBottle_57182a42","position":{"x":-0.1432147,"y":0.900284231,"z":3.13354588},"rotation":{"x":0.0,"y":0.000163924531,"z":0.0}},{"objectName":"SaltShaker_38b3b13a","position":{"x":-1.8243,"y":0.658710659,"z":0.245823622},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Bread_4b633365","position":{"x":-2.68653727,"y":0.9578467,"z":2.309729},"rotation":{"x":0.0,"y":0.000163924531,"z":0.0}},{"objectName":"Mug_a7306c85","position":{"x":-2.77860022,"y":1.00137031,"z":3.71400023},"rotation":{"x":0.0,"y":89.99991,"z":0.0}},{"objectName":"Mug_a7306c85","position":{"x":-0.403096318,"y":1.01833916,"z":0.171910435},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Apple_5deff24a","position":{"x":-2.37741446,"y":0.95696336,"z":2.70609021},"rotation":{"x":0.0,"y":0.000163924531,"z":0.0}},{"objectName":"Egg_05581a9a","position":{"x":-0.2441506,"y":1.05670249,"z":0.108183295},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Plate_d1c1b4b5","position":{"x":-0.747775435,"y":1.77788591,"z":0.2514462},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Fork_80a3685e","position":{"x":-2.21588755,"y":0.662953,"z":0.300511062},"rotation":{"x":0.0,"y":90.0,"z":0.0}},{"objectName":"Bread_4b633365","position":{"x":-2.805756,"y":1.24355865,"z":4.3527627},"rotation":{"x":0.0,"y":90.0,"z":0.0}},{"objectName":"Apple_5deff24a","position":{"x":-1.26696062,"y":0.8522371,"z":0.226540267},"rotation":{"x":1.40334191e-14,"y":0.0,"z":0.0}},{"objectName":"Lettuce_8490bc5f","position":{"x":-2.78504086,"y":0.378772378,"z":4.57547426},"rotation":{"x":0.0,"y":90.0,"z":0.0}},{"objectName":"Spatula_5216d872","position":{"x":-1.353308,"y":0.8125859,"z":0.39237994},"rotation":{"x":0.0,"y":270.0,"z":-1.40334191e-14}},{"objectName":"Knife_6c866e4b","position":{"x":-2.170633,"y":0.953824759,"z":0.433551341},"rotation":{"x":0.0,"y":180.0,"z":0.0}},{"objectName":"Potato_bbca86d2","position":{"x":-3.022616,"y":0.9617457,"z":3.20964146},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Tomato_d8a5b3b1","position":{"x":-2.68653822,"y":0.9644336,"z":2.04548788},"rotation":{"x":0.0,"y":0.000163924531,"z":0.0}},{"objectName":"Cup_c473c604","position":{"x":-2.88892174,"y":0.632254243,"z":4.27852535},"rotation":{"x":0.0,"y":90.0,"z":0.0}},{"objectName":"SaltShaker_38b3b13a","position":{"x":-1.66258121,"y":0.658710659,"z":0.300511062},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"PepperShaker_c5422882","position":{"x":-2.8926177,"y":0.896926939,"z":2.70609164},"rotation":{"x":0.0,"y":0.000163924531,"z":0.0}},{"objectName":"ButterKnife_19505874","position":{"x":-0.2722255,"y":0.662446558,"z":0.355198532},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"SoapBottle_57182a42","position":{"x":-2.628046,"y":0.9351635,"z":3.580786},"rotation":{"x":0.0,"y":90.0,"z":0.0}},{"objectName":"Pan_b3245c00","position":{"x":-0.250185,"y":0.926930964,"z":4.65182543},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"DishSponge_50b7389e","position":{"x":-0.4862919,"y":0.900185,"z":2.53082514},"rotation":{"x":0.0,"y":0.000163924531,"z":0.0}},{"objectName":"Pot_c7fbe144","position":{"x":-0.314753,"y":0.9002281,"z":2.93263912},"rotation":{"x":0.0,"y":0.000163924531,"z":0.0}},{"objectName":"Spoon_11e3f5dc","position":{"x":-2.89261961,"y":0.901750147,"z":2.04548883},"rotation":{"x":0.0,"y":0.000163924531,"z":0.0}},{"objectName":"Mug_a7306c85","position":{"x":-2.54913187,"y":0.930500031,"z":3.76635838},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Bowl_9504375a","position":{"x":-2.99565887,"y":0.8972413,"z":2.44185066},"rotation":{"x":0.0,"y":0.000163924531,"z":0.0}}],"object_toggles":[],"random_seed":3989602803,"scene_num":26},"split":"valid_seen","task_id":"trial_T20190907_234650_780308","task_type":"pick_heat_then_place_in_recep","turk_annotations":{"anns":[{"assignment_id":"A18X8ZAS0QDLKJ_3JBT3HLQFBJP952M9KY54R1J4P5ZPC","high_descs":["Head towards the wall then turn left, walk towards the coffee maker.","Pick up the knife off the brown cabinet against the wall.","Turn around, then walk towards the white table, turn right, then walk towards the sink.","Cut the apple in the sink.","Turn around then walk towards the wall, turn left then walk towards the refrigerator.","Open the door, place the knife on the top shelf, then close the door.","Turn around, walk towards the stove, turn right then walk towards the sink.","Pick up a slice of apple out of the sink.","Turn all the way around, then walk towards the door, then turn right to the microwave.","Place the apple slice in the microwave on the blue plate in front of the black cup, then turn it on.","Take the apple out of the microwave, turn around, then walk towards the wall, turn left towards the refrigerator. ","Place the apple next to the cabbage on the bottom shelf of the refrigerator."],"task_desc":"Place an apple slice into the refrigerator on the bottom shelf. ","votes":[1,1,1]},{"assignment_id":"A1O3TWBUDONVLO_3HQUKB7LNIVB5344KLKTVBVNM91HHO","high_descs":["Turn to the left and walk forward to face the black cabinet.","Pick up the knife on the top of the black cabinet.","Turn to the left and walk across the room the face the sink.","Cut the apple on the table into three pieces.","Turn around and walk across the room and turn left to face the fridge.","Place the knife on the top rack in the fridge.","Turn left and walk across the room to face the sink.","Pick up a piece of apple in the sink.","Step to the left and face the microwave.","Warm the piece of apple in the microwave and then remove it.","Turn around and walk across the room and turn left to face the fridge.","Place the piece of apple in the fridge."],"task_desc":"To heat a piece of apple and place it in the fridge.","votes":[1,1,0]},{"assignment_id":"AKW57KYG90X61_3RRCEFRB7PT72EDN5MQEFBJLMRDB4J","high_descs":["turn left towards the table","pick up the knife","turn left to the sink","slice the apple in the sink","turn around to the fridge","drop the apple in the fridge","turn left to the sink","pick up the apple slice","turn left to the oven","place the slice to cook and take it out","turn around and head to the fridge","drop the apple slice on the fridge"],"task_desc":"drop a cooked apple slice in the fridge","votes":[1,0,1]}]}}},"observations":[],"question":{"options":[],"original":"To heat a piece of apple and place it in the fridge.","text":"To heat a piece of apple and place it in the fridge."},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"AI2-THOR / ALFRED","eval_set":"long_horizon","instruction_override":"To heat a piece of apple and place it in the fridge.","mode":"interactive","native_episode_locator":{"file":"pick_heat_then_place_in_recep-AppleSliced-None-Fridge-26/trial_T20190907_234650_780308/pp/ann_1.json","format":"hf_file"},"observation_policy":"current RGB and upstream feedback; demonstration plans and hidden task metadata excluded from model input","repo":"EmbodiedBench/EmbodiedBench","revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","selected_index":11},"sampling":{"component_id":"136ef40ac499649caff1","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":14,"stratum_pool":50},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"embodiedbench/envs/eb_alfred/data/splits/splits.json","annotation_sha256":"fe607575ef56ccd7f58bd26047b66f949d98e700ae68e59a384a74634e8267b7","host":"huggingface","license":"apache-2.0","media_policy":"upstream-reference; source media terms apply","native_episode_sha256":"dc83cd1de8de77c2c9cf348c762323169ec7d5dd81ed44008da556e8cc5f3788","repo":"EmbodiedBench/EB-ALFRED","revision":"af55cc721725ed058830fd7a8aee66c1f69efbaa","row_sha256":"68288209b4e402753391452701a0238c20550dddeccce950388169f0559aa5f6","runtime_revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","sample_id":"long_horizon/11","split":"long_horizon","upstream_dataset":"EB-ALFRED","url":"https://huggingface.co/datasets/EmbodiedBench/EB-ALFRED"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_environment_success","original_answer":null},"task":{"category":"long_horizon","role":"spatial_core","skill_tags":["long_horizon","long_horizon"],"stratum":"EB-ALFRED/long_horizon/long_horizon","subcategory":"long_horizon"},"transforms":[]}
{"dataset":"EB-ALFRED","group":{"id":"AI2THOR/FloorPlan4","kind":"scene","scene":"FloorPlan4"},"id":"b1c08fac0b72e988539e","native_annotation":{"instruction":"Put a cold slice of tomato on top of a sponge in the sink.","repeat_idx":1,"task":"pick_cool_then_place_in_recep-TomatoSliced-None-SinkBasin-4/trial_T20190907_071506_149865","upstream_episode":{"ann":{"goal":[" put "," a "," cold "," slice "," of "," tomato "," on "," top "," of "," a "," sponge "," on "," a "," counter ",". ","<<goal>>"],"instr":[[" move "," forward "," and "," face "," the "," table "," to "," your "," right ",". "],[" take "," the "," knife "," from "," the "," table "," in "," front "," of "," you ",". "],[" turn "," right "," then "," face "," the "," bread "," on "," the "," table "," to "," your "," left ",". "],[" slice "," the "," tomato "," on "," the "," table ",". "],[" turn "," left "," then "," face "," the "," bread "," on "," the "," table "," to "," your "," right ",". "],[" place "," the "," knife "," on "," the "," table "," in "," front "," of "," you ",". "],[" turn "," right "," then "," face "," the "," sliced "," tomato "," on "," the "," table "," to "," your "," left ",". "],[" take "," a "," tomato "," slice "," from "," the "," table ",". "],[" turn "," around "," and "," face "," the "," fridge "," in "," front "," of "," you ",". "],[" place "," the "," tomato "," slice "," inside "," of "," the "," fridge "," inside "," of "," you ",", "," take "," out "," the "," tomato ",", "," then "," close "," the "," fridge ",". "],[" turn "," around "," then "," face "," the "," counter "," with "," the "," sponge "," on "," your "," right ",". "],[" place "," the "," tomato "," slice "," on "," the "," sponge "," on "," the "," counter "," in "," front "," of "," you ",". "],["<<stop>>"]],"repeat_idx":1},"images":[{"high_idx":0,"image_name":"000000000.png","low_idx":0},{"high_idx":0,"image_name":"000000001.png","low_idx":0},{"high_idx":0,"image_name":"000000002.png","low_idx":0},{"high_idx":0,"image_name":"000000003.png","low_idx":0},{"high_idx":0,"image_name":"000000004.png","low_idx":0},{"high_idx":0,"image_name":"000000005.png","low_idx":0},{"high_idx":0,"image_name":"000000006.png","low_idx":0},{"high_idx":0,"image_name":"000000007.png","low_idx":0},{"high_idx":0,"image_name":"000000008.png","low_idx":0},{"high_idx":0,"image_name":"000000009.png","low_idx":0},{"high_idx":0,"image_name":"000000010.png","low_idx":0},{"high_idx":0,"image_name":"000000011.png","low_idx":1},{"high_idx":0,"image_name":"000000012.png","low_idx":1},{"high_idx":0,"image_name":"000000013.png","low_idx":2},{"high_idx":0,"image_name":"000000014.png","low_idx":2},{"high_idx":0,"image_name":"000000015.png","low_idx":3},{"high_idx":0,"image_name":"000000016.png","low_idx":3},{"high_idx":0,"image_name":"000000017.png","low_idx":4},{"high_idx":0,"image_name":"000000018.png","low_idx":4},{"high_idx":0,"image_name":"000000019.png","low_idx":5},{"high_idx":0,"image_name":"000000020.png","low_idx":5},{"high_idx":0,"image_name":"000000021.png","low_idx":6},{"high_idx":0,"image_name":"000000022.png","low_idx":6},{"high_idx":0,"image_name":"000000023.png","low_idx":7},{"high_idx":0,"image_name":"000000024.png","low_idx":7},{"high_idx":0,"image_name":"000000025.png","low_idx":8},{"high_idx":0,"image_name":"000000026.png","low_idx":8},{"high_idx":0,"image_name":"000000027.png","low_idx":8},{"high_idx":0,"image_name":"000000028.png","low_idx":8},{"high_idx":0,"image_name":"000000029.png","low_idx":8},{"high_idx":0,"image_name":"000000030.png","low_idx":8},{"high_idx":0,"image_name":"000000031.png","low_idx":8},{"high_idx":0,"image_name":"000000032.png","low_idx":8},{"high_idx":0,"image_name":"000000033.png","low_idx":8},{"high_idx":0,"image_name":"000000034.png","low_idx":8},{"high_idx":0,"image_name":"000000035.png","low_idx":8},{"high_idx":0,"image_name":"000000036.png","low_idx":9},{"high_idx":0,"image_name":"000000037.png","low_idx":9},{"high_idx":0,"image_name":"000000038.png","low_idx":10},{"high_idx":0,"image_name":"000000039.png","low_idx":10},{"high_idx":1,"image_name":"000000040.png","low_idx":11},{"high_idx":1,"image_name":"000000041.png","low_idx":11},{"high_idx":1,"image_name":"000000042.png","low_idx":11},{"high_idx":1,"image_name":"000000043.png","low_idx":11},{"high_idx":1,"image_name":"000000044.png","low_idx":11},{"high_idx":1,"image_name":"000000045.png","low_idx":11},{"high_idx":1,"image_name":"000000046.png","low_idx":11},{"high_idx":1,"image_name":"000000047.png","low_idx":11},{"high_idx":1,"image_name":"000000048.png","low_idx":11},{"high_idx":1,"image_name":"000000049.png","low_idx":11},{"high_idx":1,"image_name":"000000050.png","low_idx":11},{"high_idx":1,"image_name":"000000051.png","low_idx":11},{"high_idx":1,"image_name":"000000052.png","low_idx":11},{"high_idx":1,"image_name":"000000053.png","low_idx":11},{"high_idx":1,"image_name":"000000054.png","low_idx":11},{"high_idx":2,"image_name":"000000055.png","low_idx":12},{"high_idx":2,"image_name":"000000056.png","low_idx":12},{"high_idx":2,"image_name":"000000057.png","low_idx":12},{"high_idx":2,"image_name":"000000058.png","low_idx":12},{"high_idx":2,"image_name":"000000059.png","low_idx":12},{"high_idx":2,"image_name":"000000060.png","low_idx":12},{"high_idx":2,"image_name":"000000061.png","low_idx":12},{"high_idx":2,"image_name":"000000062.png","low_idx":12},{"high_idx":2,"image_name":"000000063.png","low_idx":12},{"high_idx":2,"image_name":"000000064.png","low_idx":12},{"high_idx":2,"image_name":"000000065.png","low_idx":12},{"high_idx":2,"image_name":"000000066.png","low_idx":13},{"high_idx":2,"image_name":"000000067.png","low_idx":13},{"high_idx":2,"image_name":"000000068.png","low_idx":14},{"high_idx":2,"image_name":"000000069.png","low_idx":14},{"high_idx":2,"image_name":"000000070.png","low_idx":15},{"high_idx":2,"image_name":"000000071.png","low_idx":15},{"high_idx":2,"image_name":"000000072.png","low_idx":16},{"high_idx":2,"image_name":"000000073.png","low_idx":16},{"high_idx":2,"image_name":"000000074.png","low_idx":16},{"high_idx":2,"image_name":"000000075.png","low_idx":16},{"high_idx":2,"image_name":"000000076.png","low_idx":16},{"high_idx":2,"image_name":"000000077.png","low_idx":16},{"high_idx":2,"image_name":"000000078.png","low_idx":16},{"high_idx":2,"image_name":"000000079.png","low_idx":16},{"high_idx":2,"image_name":"000000080.png","low_idx":16},{"high_idx":2,"image_name":"000000081.png","low_idx":16},{"high_idx":2,"image_name":"000000082.png","low_idx":16},{"high_idx":3,"image_name":"000000083.png","low_idx":17},{"high_idx":3,"image_name":"000000084.png","low_idx":17},{"high_idx":3,"image_name":"000000085.png","low_idx":17},{"high_idx":3,"image_name":"000000086.png","low_idx":17},{"high_idx":3,"image_name":"000000087.png","low_idx":17},{"high_idx":3,"image_name":"000000088.png","low_idx":17},{"high_idx":3,"image_name":"000000089.png","low_idx":17},{"high_idx":3,"image_name":"000000090.png","low_idx":17},{"high_idx":3,"image_name":"000000091.png","low_idx":17},{"high_idx":3,"image_name":"000000092.png","low_idx":17},{"high_idx":4,"image_name":"000000093.png","low_idx":18},{"high_idx":4,"image_name":"000000094.png","low_idx":18},{"high_idx":4,"image_name":"000000095.png","low_idx":18},{"high_idx":4,"image_name":"000000096.png","low_idx":18},{"high_idx":4,"image_name":"000000097.png","low_idx":18},{"high_idx":4,"image_name":"000000098.png","low_idx":18},{"high_idx":4,"image_name":"000000099.png","low_idx":18},{"high_idx":4,"image_name":"000000100.png","low_idx":18},{"high_idx":4,"image_name":"000000101.png","low_idx":18},{"high_idx":4,"image_name":"000000102.png","low_idx":18},{"high_idx":4,"image_name":"000000103.png","low_idx":18},{"high_idx":4,"image_name":"000000104.png","low_idx":19},{"high_idx":4,"image_name":"000000105.png","low_idx":19},{"high_idx":4,"image_name":"000000106.png","low_idx":20},{"high_idx":4,"image_name":"000000107.png","low_idx":20},{"high_idx":4,"image_name":"000000108.png","low_idx":21},{"high_idx":4,"image_name":"000000109.png","low_idx":21},{"high_idx":4,"image_name":"000000110.png","low_idx":22},{"high_idx":4,"image_name":"000000111.png","low_idx":22},{"high_idx":4,"image_name":"000000112.png","low_idx":22},{"high_idx":4,"image_name":"000000113.png","low_idx":22},{"high_idx":4,"image_name":"000000114.png","low_idx":22},{"high_idx":4,"image_name":"000000115.png","low_idx":22},{"high_idx":4,"image_name":"000000116.png","low_idx":22},{"high_idx":4,"image_name":"000000117.png","low_idx":22},{"high_idx":4,"image_name":"000000118.png","low_idx":22},{"high_idx":4,"image_name":"000000119.png","low_idx":22},{"high_idx":4,"image_name":"000000120.png","low_idx":22},{"high_idx":4,"image_name":"000000121.png","low_idx":23},{"high_idx":4,"image_name":"000000122.png","low_idx":23},{"high_idx":4,"image_name":"000000123.png","low_idx":23},{"high_idx":4,"image_name":"000000124.png","low_idx":23},{"high_idx":4,"image_name":"000000125.png","low_idx":23},{"high_idx":4,"image_name":"000000126.png","low_idx":23},{"high_idx":4,"image_name":"000000127.png","low_idx":23},{"high_idx":4,"image_name":"000000128.png","low_idx":23},{"high_idx":4,"image_name":"000000129.png","low_idx":23},{"high_idx":4,"image_name":"000000130.png","low_idx":23},{"high_idx":4,"image_name":"000000131.png","low_idx":23},{"high_idx":5,"image_name":"000000132.png","low_idx":24},{"high_idx":5,"image_name":"000000133.png","low_idx":24},{"high_idx":5,"image_name":"000000134.png","low_idx":24},{"high_idx":5,"image_name":"000000135.png","low_idx":24},{"high_idx":5,"image_name":"000000136.png","low_idx":24},{"high_idx":5,"image_name":"000000137.png","low_idx":24},{"high_idx":5,"image_name":"000000138.png","low_idx":24},{"high_idx":5,"image_name":"000000139.png","low_idx":24},{"high_idx":5,"image_name":"000000140.png","low_idx":24},{"high_idx":5,"image_name":"000000141.png","low_idx":24},{"high_idx":5,"image_name":"000000142.png","low_idx":24},{"high_idx":5,"image_name":"000000143.png","low_idx":24},{"high_idx":5,"image_name":"000000144.png","low_idx":24},{"high_idx":5,"image_name":"000000145.png","low_idx":24},{"high_idx":5,"image_name":"000000146.png","low_idx":24},{"high_idx":6,"image_name":"000000147.png","low_idx":25},{"high_idx":6,"image_name":"000000148.png","low_idx":25},{"high_idx":6,"image_name":"000000149.png","low_idx":25},{"high_idx":6,"image_name":"000000150.png","low_idx":25},{"high_idx":6,"image_name":"000000151.png","low_idx":25},{"high_idx":6,"image_name":"000000152.png","low_idx":25},{"high_idx":6,"image_name":"000000153.png","low_idx":25},{"high_idx":6,"image_name":"000000154.png","low_idx":25},{"high_idx":6,"image_name":"000000155.png","low_idx":25},{"high_idx":6,"image_name":"000000156.png","low_idx":25},{"high_idx":6,"image_name":"000000157.png","low_idx":25},{"high_idx":6,"image_name":"000000158.png","low_idx":26},{"high_idx":6,"image_name":"000000159.png","low_idx":26},{"high_idx":6,"image_name":"000000160.png","low_idx":26},{"high_idx":6,"image_name":"000000161.png","low_idx":26},{"high_idx":6,"image_name":"000000162.png","low_idx":26},{"high_idx":6,"image_name":"000000163.png","low_idx":26},{"high_idx":6,"image_name":"000000164.png","low_idx":26},{"high_idx":6,"image_name":"000000165.png","low_idx":26},{"high_idx":6,"image_name":"000000166.png","low_idx":26},{"high_idx":6,"image_name":"000000167.png","low_idx":26},{"high_idx":6,"image_name":"000000168.png","low_idx":26},{"high_idx":6,"image_name":"000000169.png","low_idx":27},{"high_idx":6,"image_name":"000000170.png","low_idx":27},{"high_idx":6,"image_name":"000000171.png","low_idx":28},{"high_idx":6,"image_name":"000000172.png","low_idx":28},{"high_idx":6,"image_name":"000000173.png","low_idx":29},{"high_idx":6,"image_name":"000000174.png","low_idx":29},{"high_idx":6,"image_name":"000000175.png","low_idx":30},{"high_idx":6,"image_name":"000000176.png","low_idx":30},{"high_idx":6,"image_name":"000000177.png","low_idx":30},{"high_idx":6,"image_name":"000000178.png","low_idx":30},{"high_idx":6,"image_name":"000000179.png","low_idx":30},{"high_idx":6,"image_name":"000000180.png","low_idx":30},{"high_idx":6,"image_name":"000000181.png","low_idx":30},{"high_idx":6,"image_name":"000000182.png","low_idx":30},{"high_idx":6,"image_name":"000000183.png","low_idx":30},{"high_idx":6,"image_name":"000000184.png","low_idx":30},{"high_idx":6,"image_name":"000000185.png","low_idx":30},{"high_idx":7,"image_name":"000000186.png","low_idx":31},{"high_idx":7,"image_name":"000000187.png","low_idx":31},{"high_idx":7,"image_name":"000000188.png","low_idx":31},{"high_idx":7,"image_name":"000000189.png","low_idx":31},{"high_idx":7,"image_name":"000000190.png","low_idx":31},{"high_idx":7,"image_name":"000000191.png","low_idx":31},{"high_idx":7,"image_name":"000000192.png","low_idx":31},{"high_idx":7,"image_name":"000000193.png","low_idx":31},{"high_idx":7,"image_name":"000000194.png","low_idx":31},{"high_idx":7,"image_name":"000000195.png","low_idx":31},{"high_idx":7,"image_name":"000000196.png","low_idx":31},{"high_idx":7,"image_name":"000000197.png","low_idx":31},{"high_idx":7,"image_name":"000000198.png","low_idx":31},{"high_idx":7,"image_name":"000000199.png","low_idx":31},{"high_idx":7,"image_name":"000000200.png","low_idx":31},{"high_idx":8,"image_name":"000000201.png","low_idx":32},{"high_idx":8,"image_name":"000000202.png","low_idx":32},{"high_idx":8,"image_name":"000000203.png","low_idx":32},{"high_idx":8,"image_name":"000000204.png","low_idx":32},{"high_idx":8,"image_name":"000000205.png","low_idx":32},{"high_idx":8,"image_name":"000000206.png","low_idx":32},{"high_idx":8,"image_name":"000000207.png","low_idx":32},{"high_idx":8,"image_name":"000000208.png","low_idx":32},{"high_idx":8,"image_name":"000000209.png","low_idx":32},{"high_idx":8,"image_name":"000000210.png","low_idx":32},{"high_idx":8,"image_name":"000000211.png","low_idx":32},{"high_idx":8,"image_name":"000000212.png","low_idx":33},{"high_idx":8,"image_name":"000000213.png","low_idx":33},{"high_idx":8,"image_name":"000000214.png","low_idx":34},{"high_idx":8,"image_name":"000000215.png","low_idx":34},{"high_idx":8,"image_name":"000000216.png","low_idx":35},{"high_idx":8,"image_name":"000000217.png","low_idx":35},{"high_idx":8,"image_name":"000000218.png","low_idx":35},{"high_idx":8,"image_name":"000000219.png","low_idx":35},{"high_idx":8,"image_name":"000000220.png","low_idx":35},{"high_idx":8,"image_name":"000000221.png","low_idx":35},{"high_idx":8,"image_name":"000000222.png","low_idx":35},{"high_idx":8,"image_name":"000000223.png","low_idx":35},{"high_idx":8,"image_name":"000000224.png","low_idx":35},{"high_idx":8,"image_name":"000000225.png","low_idx":35},{"high_idx":8,"image_name":"000000226.png","low_idx":35},{"high_idx":8,"image_name":"000000227.png","low_idx":36},{"high_idx":8,"image_name":"000000228.png","low_idx":36},{"high_idx":8,"image_name":"000000229.png","low_idx":37},{"high_idx":8,"image_name":"000000230.png","low_idx":37},{"high_idx":8,"image_name":"000000231.png","low_idx":38},{"high_idx":8,"image_name":"000000232.png","low_idx":38},{"high_idx":8,"image_name":"000000233.png","low_idx":39},{"high_idx":8,"image_name":"000000234.png","low_idx":39},{"high_idx":8,"image_name":"000000235.png","low_idx":40},{"high_idx":8,"image_name":"000000236.png","low_idx":40},{"high_idx":8,"image_name":"000000237.png","low_idx":41},{"high_idx":8,"image_name":"000000238.png","low_idx":41},{"high_idx":8,"image_name":"000000239.png","low_idx":41},{"high_idx":8,"image_name":"000000240.png","low_idx":41},{"high_idx":8,"image_name":"000000241.png","low_idx":41},{"high_idx":8,"image_name":"000000242.png","low_idx":41},{"high_idx":8,"image_name":"000000243.png","low_idx":41},{"high_idx":8,"image_name":"000000244.png","low_idx":41},{"high_idx":8,"image_name":"000000245.png","low_idx":41},{"high_idx":8,"image_name":"000000246.png","low_idx":41},{"high_idx":8,"image_name":"000000247.png","low_idx":41},{"high_idx":9,"image_name":"000000248.png","low_idx":42},{"high_idx":9,"image_name":"000000249.png","low_idx":42},{"high_idx":9,"image_name":"000000250.png","low_idx":42},{"high_idx":9,"image_name":"000000251.png","low_idx":42},{"high_idx":9,"image_name":"000000252.png","low_idx":43},{"high_idx":9,"image_name":"000000253.png","low_idx":43},{"high_idx":9,"image_name":"000000254.png","low_idx":43},{"high_idx":9,"image_name":"000000255.png","low_idx":43},{"high_idx":9,"image_name":"000000256.png","low_idx":43},{"high_idx":9,"image_name":"000000257.png","low_idx":43},{"high_idx":9,"image_name":"000000258.png","low_idx":43},{"high_idx":9,"image_name":"000000259.png","low_idx":43},{"high_idx":9,"image_name":"000000260.png","low_idx":43},{"high_idx":9,"image_name":"000000261.png","low_idx":43},{"high_idx":9,"image_name":"000000262.png","low_idx":43},{"high_idx":9,"image_name":"000000263.png","low_idx":43},{"high_idx":9,"image_name":"000000264.png","low_idx":43},{"high_idx":9,"image_name":"000000265.png","low_idx":43},{"high_idx":9,"image_name":"000000266.png","low_idx":43},{"high_idx":9,"image_name":"000000267.png","low_idx":44},{"high_idx":9,"image_name":"000000268.png","low_idx":44},{"high_idx":9,"image_name":"000000269.png","low_idx":44},{"high_idx":9,"image_name":"000000270.png","low_idx":44},{"high_idx":9,"image_name":"000000271.png","low_idx":44},{"high_idx":9,"image_name":"000000272.png","low_idx":44},{"high_idx":9,"image_name":"000000273.png","low_idx":44},{"high_idx":9,"image_name":"000000274.png","low_idx":44},{"high_idx":9,"image_name":"000000275.png","low_idx":44},{"high_idx":9,"image_name":"000000276.png","low_idx":44},{"high_idx":9,"image_name":"000000277.png","low_idx":44},{"high_idx":9,"image_name":"000000278.png","low_idx":44},{"high_idx":9,"image_name":"000000279.png","low_idx":44},{"high_idx":9,"image_name":"000000280.png","low_idx":44},{"high_idx":9,"image_name":"000000281.png","low_idx":44},{"high_idx":9,"image_name":"000000282.png","low_idx":44},{"high_idx":9,"image_name":"000000283.png","low_idx":44},{"high_idx":9,"image_name":"000000284.png","low_idx":44},{"high_idx":9,"image_name":"000000285.png","low_idx":44},{"high_idx":9,"image_name":"000000286.png","low_idx":44},{"high_idx":9,"image_name":"000000287.png","low_idx":44},{"high_idx":9,"image_name":"000000288.png","low_idx":44},{"high_idx":9,"image_name":"000000289.png","low_idx":44},{"high_idx":9,"image_name":"000000290.png","low_idx":44},{"high_idx":9,"image_name":"000000291.png","low_idx":44},{"high_idx":9,"image_name":"000000292.png","low_idx":44},{"high_idx":9,"image_name":"000000293.png","low_idx":44},{"high_idx":9,"image_name":"000000294.png","low_idx":44},{"high_idx":9,"image_name":"000000295.png","low_idx":44},{"high_idx":9,"image_name":"000000296.png","low_idx":44},{"high_idx":9,"image_name":"000000297.png","low_idx":44},{"high_idx":9,"image_name":"000000298.png","low_idx":44},{"high_idx":9,"image_name":"000000299.png","low_idx":44},{"high_idx":9,"image_name":"000000300.png","low_idx":44},{"high_idx":9,"image_name":"000000301.png","low_idx":44},{"high_idx":9,"image_name":"000000302.png","low_idx":44},{"high_idx":9,"image_name":"000000303.png","low_idx":44},{"high_idx":9,"image_name":"000000304.png","low_idx":44},{"high_idx":9,"image_name":"000000305.png","low_idx":45},{"high_idx":9,"image_name":"000000306.png","low_idx":45},{"high_idx":9,"image_name":"000000307.png","low_idx":45},{"high_idx":9,"image_name":"000000308.png","low_idx":45},{"high_idx":9,"image_name":"000000309.png","low_idx":46},{"high_idx":9,"image_name":"000000310.png","low_idx":46},{"high_idx":9,"image_name":"000000311.png","low_idx":46},{"high_idx":9,"image_name":"000000312.png","low_idx":46},{"high_idx":9,"image_name":"000000313.png","low_idx":46},{"high_idx":9,"image_name":"000000314.png","low_idx":46},{"high_idx":9,"image_name":"000000315.png","low_idx":46},{"high_idx":9,"image_name":"000000316.png","low_idx":46},{"high_idx":9,"image_name":"000000317.png","low_idx":46},{"high_idx":9,"image_name":"000000318.png","low_idx":46},{"high_idx":9,"image_name":"000000319.png","low_idx":46},{"high_idx":9,"image_name":"000000320.png","low_idx":46},{"high_idx":9,"image_name":"000000321.png","low_idx":46},{"high_idx":9,"image_name":"000000322.png","low_idx":46},{"high_idx":9,"image_name":"000000323.png","low_idx":46},{"high_idx":9,"image_name":"000000324.png","low_idx":47},{"high_idx":9,"image_name":"000000325.png","low_idx":47},{"high_idx":9,"image_name":"000000326.png","low_idx":47},{"high_idx":9,"image_name":"000000327.png","low_idx":47},{"high_idx":10,"image_name":"000000328.png","low_idx":48},{"high_idx":10,"image_name":"000000329.png","low_idx":48},{"high_idx":10,"image_name":"000000330.png","low_idx":48},{"high_idx":10,"image_name":"000000331.png","low_idx":48},{"high_idx":10,"image_name":"000000332.png","low_idx":48},{"high_idx":10,"image_name":"000000333.png","low_idx":48},{"high_idx":10,"image_name":"000000334.png","low_idx":48},{"high_idx":10,"image_name":"000000335.png","low_idx":48},{"high_idx":10,"image_name":"000000336.png","low_idx":48},{"high_idx":10,"image_name":"000000337.png","low_idx":48},{"high_idx":10,"image_name":"000000338.png","low_idx":48},{"high_idx":10,"image_name":"000000339.png","low_idx":49},{"high_idx":10,"image_name":"000000340.png","low_idx":49},{"high_idx":10,"image_name":"000000341.png","low_idx":49},{"high_idx":10,"image_name":"000000342.png","low_idx":49},{"high_idx":10,"image_name":"000000343.png","low_idx":49},{"high_idx":10,"image_name":"000000344.png","low_idx":49},{"high_idx":10,"image_name":"000000345.png","low_idx":49},{"high_idx":10,"image_name":"000000346.png","low_idx":49},{"high_idx":10,"image_name":"000000347.png","low_idx":49},{"high_idx":10,"image_name":"000000348.png","low_idx":49},{"high_idx":10,"image_name":"000000349.png","low_idx":49},{"high_idx":10,"image_name":"000000350.png","low_idx":50},{"high_idx":10,"image_name":"000000351.png","low_idx":50},{"high_idx":10,"image_name":"000000352.png","low_idx":51},{"high_idx":10,"image_name":"000000353.png","low_idx":51},{"high_idx":10,"image_name":"000000354.png","low_idx":52},{"high_idx":10,"image_name":"000000355.png","low_idx":52},{"high_idx":10,"image_name":"000000356.png","low_idx":53},{"high_idx":10,"image_name":"000000357.png","low_idx":53},{"high_idx":10,"image_name":"000000358.png","low_idx":54},{"high_idx":10,"image_name":"000000359.png","low_idx":54},{"high_idx":10,"image_name":"000000360.png","low_idx":55},{"high_idx":10,"image_name":"000000361.png","low_idx":55},{"high_idx":10,"image_name":"000000362.png","low_idx":56},{"high_idx":10,"image_name":"000000363.png","low_idx":56},{"high_idx":10,"image_name":"000000364.png","low_idx":56},{"high_idx":10,"image_name":"000000365.png","low_idx":56},{"high_idx":10,"image_name":"000000366.png","low_idx":56},{"high_idx":10,"image_name":"000000367.png","low_idx":56},{"high_idx":10,"image_name":"000000368.png","low_idx":56},{"high_idx":10,"image_name":"000000369.png","low_idx":56},{"high_idx":10,"image_name":"000000370.png","low_idx":56},{"high_idx":10,"image_name":"000000371.png","low_idx":56},{"high_idx":10,"image_name":"000000372.png","low_idx":56},{"high_idx":10,"image_name":"000000373.png","low_idx":57},{"high_idx":10,"image_name":"000000374.png","low_idx":57},{"high_idx":10,"image_name":"000000375.png","low_idx":58},{"high_idx":10,"image_name":"000000376.png","low_idx":58},{"high_idx":10,"image_name":"000000377.png","low_idx":59},{"high_idx":10,"image_name":"000000378.png","low_idx":59},{"high_idx":10,"image_name":"000000379.png","low_idx":60},{"high_idx":10,"image_name":"000000380.png","low_idx":60},{"high_idx":10,"image_name":"000000381.png","low_idx":61},{"high_idx":10,"image_name":"000000382.png","low_idx":61},{"high_idx":10,"image_name":"000000383.png","low_idx":62},{"high_idx":10,"image_name":"000000384.png","low_idx":62},{"high_idx":10,"image_name":"000000385.png","low_idx":63},{"high_idx":10,"image_name":"000000386.png","low_idx":63},{"high_idx":10,"image_name":"000000387.png","low_idx":63},{"high_idx":10,"image_name":"000000388.png","low_idx":63},{"high_idx":10,"image_name":"000000389.png","low_idx":63},{"high_idx":10,"image_name":"000000390.png","low_idx":63},{"high_idx":10,"image_name":"000000391.png","low_idx":63},{"high_idx":10,"image_name":"000000392.png","low_idx":63},{"high_idx":10,"image_name":"000000393.png","low_idx":63},{"high_idx":10,"image_name":"000000394.png","low_idx":63},{"high_idx":10,"image_name":"000000395.png","low_idx":63},{"high_idx":11,"image_name":"000000396.png","low_idx":64},{"high_idx":11,"image_name":"000000397.png","low_idx":64},{"high_idx":11,"image_name":"000000398.png","low_idx":64},{"high_idx":11,"image_name":"000000399.png","low_idx":64},{"high_idx":11,"image_name":"000000400.png","low_idx":64},{"high_idx":11,"image_name":"000000401.png","low_idx":64},{"high_idx":11,"image_name":"000000402.png","low_idx":64},{"high_idx":11,"image_name":"000000403.png","low_idx":64},{"high_idx":11,"image_name":"000000404.png","low_idx":64},{"high_idx":11,"image_name":"000000405.png","low_idx":64},{"high_idx":11,"image_name":"000000406.png","low_idx":64},{"high_idx":11,"image_name":"000000407.png","low_idx":64},{"high_idx":11,"image_name":"000000408.png","low_idx":64},{"high_idx":11,"image_name":"000000409.png","low_idx":64},{"high_idx":11,"image_name":"000000410.png","low_idx":64}],"num":{"action_high":[{"action":3,"action_high_args":[4],"high_idx":0},{"action":5,"action_high_args":[38],"high_idx":1},{"action":3,"action_high_args":[28],"high_idx":2},{"action":7,"action_high_args":[28],"high_idx":3},{"action":3,"action_high_args":[4],"high_idx":4},{"action":10,"action_high_args":[38,4],"high_idx":5},{"action":3,"action_high_args":[4],"high_idx":6},{"action":5,"action_high_args":[28],"high_idx":7},{"action":3,"action_high_args":[9],"high_idx":8},{"action":11,"action_high_args":[28],"high_idx":9},{"action":3,"action_high_args":[20],"high_idx":10},{"action":10,"action_high_args":[28,20],"high_idx":11},{"action":12,"action_high_args":[],"high_idx":12}],"action_low":[[{"action":3,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0}],[{"action":6,"action_high_args":{"bbox":[134,91,141,138],"mask":[[27138,3],[27437,4],[27737,5],[41234,1]],"point":[137,92]},"centroid":[0.4583333333333333,0.38166666666666665],"high_idx":1,"mask":[[27138,3],[27437,4],[27737,5],[41234,1]],"valid_interact":1}],[{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":5,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0}],[{"action":7,"action_high_args":{"bbox":[163,87,200,120],"mask":[[25985,5],[26277,2],[26282,10],[26574,19],[26872,23],[27171,24],[27470,26],[27768,28],[28068,29],[28367,31],[28666,34],[28965,35],[29264,37],[29564,37],[29864,37],[30164,37],[30463,38],[30763,38],[31063,38],[31363,38],[31663,38],[31963,38],[32264,37],[32564,37],[32865,36],[33165,35],[33466,34],[33767,32],[34068,31],[34370,28],[34672,26],[34975,22],[35277,19],[35578,15],[35881,9]],"point":[181,102]},"centroid":[0.605,0.345],"high_idx":3,"mask":[[25985,5],[26277,2],[26282,10],[26574,19],[26872,23],[27171,24],[27470,26],[27768,28],[28068,29],[28367,31],[28666,34],[28965,35],[29264,37],[29564,37],[29864,37],[30164,37],[30463,38],[30763,38],[31063,38],[31363,38],[31663,38],[31963,38],[32264,37],[32564,37],[32865,36],[33165,35],[33466,34],[33767,32],[34068,31],[34370,28],[34672,26],[34975,22],[35277,19],[35578,15],[35881,9]],"valid_interact":1}],[{"action":5,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0},{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0},{"action":3,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0}],[{"action":11,"action_high_args":{"bbox":[0,1,299,217],"mask":[[14,33],[134,27],[229,71],[314,33],[434,27],[530,70],[614,34],[734,27],[779,19],[831,69],[913,35],[1034,27],[1078,19],[1132,68],[1213,35],[1334,27],[1378,18],[1433,67],[1512,37],[1634,27],[1678,18],[1733,67],[1812,37],[1934,27],[1977,18],[2033,67],[2111,38],[2234,27],[2277,18],[2334,66],[2411,39],[2533,28],[2577,17],[2634,66],[2711,40],[2832,29],[2876,18],[2934,66],[3010,43],[3132,61],[3234,66],[3310,44],[3432,61],[3534,66],[3609,46],[3732,61],[3834,66],[3909,46],[4032,19],[4064,29],[4134,66],[4209,47],[4331,14],[4366,27],[4434,66],[4508,49],[4629,10],[4668,25],[4734,66],[4808,50],[4928,7],[4971,22],[5034,66],[5107,52],[5227,5],[5273,20],[5334,66],[5407,53],[5525,4],[5574,19],[5634,66],[5707,54],[5824,3],[5875,18],[5933,67],[6006,56],[6122,2],[6175,18],[6233,67],[6306,58],[6420,2],[6476,17],[6532,68],[6605,61],[6718,1],[6777,16],[6832,68],[6905,63],[7016,1],[7077,16],[7132,68],[7204,66],[7313,2],[7378,15],[7431,69],[7504,68],[7611,1],[7679,14],[7731,69],[7804,71],[7907,3],[7979,14],[8030,70],[8103,77],[8201,8],[8279,15],[8330,70],[8403,86],[8492,15],[8580,14],[8629,71],[8702,103],[8880,14],[8929,71],[9002,101],[9180,14],[9228,72],[9302,99],[9480,15],[9527,73],[9601,98],[9781,14],[9827,73],[9901,96],[10081,14],[10126,169],[10381,14],[10425,168],[10681,15],[10724,167],[10981,15],[11023,166],[11281,16],[11323,166],[11581,16],[11622,166],[11881,18],[11921,167],[12181,19],[12220,168],[12481,21],[12518,170],[12781,23],[12816,172],[13081,25],[13113,175],[13381,167],[13558,30],[13680,166],[13861,27],[13980,163],[14164,24],[14280,160],[14466,23],[14580,158],[14771,18],[14880,157],[15073,16],[15180,156],[15376,15],[15479,156],[15679,14],[15779,155],[15981,14],[16079,155],[16283,14],[16378,155],[16584,16],[16678,152],[16885,17],[16978,150],[17186,18],[17277,148],[17486,20],[17576,147],[17787,21],[17875,145],[18088,23],[18174,144],[18388,25],[18474,142],[18689,26],[18773,141],[18989,31],[19072,140],[19290,35],[19370,140],[19590,39],[19668,140],[19891,42],[19965,141],[20191,47],[20263,141],[20492,68],[20561,141],[20792,208],[21092,208],[21392,208],[21692,208],[21993,207],[22293,207],[22593,207],[22893,207],[23193,207],[23493,207],[23793,207],[24093,81],[24178,122],[24393,75],[24483,90],[24582,18],[24693,23],[24764,2],[24785,87],[24896,4],[24993,2],[25088,84],[25389,84],[25483,4],[25691,82],[25783,6],[25992,81],[26083,6],[26293,80],[26384,6],[26594,80],[26894,80],[27195,80],[27293,8],[27496,109],[27796,111],[28108,102],[28428,84],[28747,67],[29066,51],[29296,6],[29372,47],[29596,24],[29673,48],[29896,44],[29973,52],[30195,65],[30273,59],[30494,143],[30794,148],[31093,153],[31391,180],[31691,179],[31991,179],[32291,180],[32591,180],[32891,180],[33191,179],[33491,179],[33792,177],[34092,177],[34392,177],[34692,177],[34992,177],[35292,176],[35592,176],[35892,176],[36192,176],[36493,175],[36793,175],[37093,175],[37392,176],[37692,176],[37992,176],[38292,176],[38592,176],[38892,176],[39192,177],[39492,178],[39792,178],[40092,178],[40392,178],[40692,178],[40992,178],[41292,178],[41592,179],[41892,179],[42192,180],[42492,180],[42792,181],[43091,182],[43391,182],[43691,183],[43991,183],[44290,185],[44590,185],[44890,186],[45190,186],[45489,187],[45789,188],[46089,188],[46389,189],[46688,190],[46987,192],[47287,193],[47585,196],[47883,199],[48173,214],[48409,8420],[56835,267],[57167,197],[57388,15],[57500,131],[57689,14],[57832,68],[57989,15],[58165,35],[58290,14],[58497,3],[58591,13],[58891,14],[59192,13],[59492,14],[59793,13],[60093,14],[60394,13],[60695,13],[60995,13],[61296,12],[61596,13],[61897,12],[62197,13],[62498,12],[62799,12],[63099,12],[63400,10],[63700,10],[64001,9],[64301,9],[64602,8],[64903,6]],"point":[149,81]},"centroid":[0.49833333333333335,0.36333333333333334],"high_idx":5,"mask":[[14,33],[134,27],[229,71],[314,33],[434,27],[530,70],[614,34],[734,27],[779,19],[831,69],[913,35],[1034,27],[1078,19],[1132,68],[1213,35],[1334,27],[1378,18],[1433,67],[1512,37],[1634,27],[1678,18],[1733,67],[1812,37],[1934,27],[1977,18],[2033,67],[2111,38],[2234,27],[2277,18],[2334,66],[2411,39],[2533,28],[2577,17],[2634,66],[2711,40],[2832,29],[2876,18],[2934,66],[3010,43],[3132,61],[3234,66],[3310,44],[3432,61],[3534,66],[3609,46],[3732,61],[3834,66],[3909,46],[4032,19],[4064,29],[4134,66],[4209,47],[4331,14],[4366,27],[4434,66],[4508,49],[4629,10],[4668,25],[4734,66],[4808,50],[4928,7],[4971,22],[5034,66],[5107,52],[5227,5],[5273,20],[5334,66],[5407,53],[5525,4],[5574,19],[5634,66],[5707,54],[5824,3],[5875,18],[5933,67],[6006,56],[6122,2],[6175,18],[6233,67],[6306,58],[6420,2],[6476,17],[6532,68],[6605,61],[6718,1],[6777,16],[6832,68],[6905,63],[7016,1],[7077,16],[7132,68],[7204,66],[7313,2],[7378,15],[7431,69],[7504,68],[7611,1],[7679,14],[7731,69],[7804,71],[7907,3],[7979,14],[8030,70],[8103,77],[8201,8],[8279,15],[8330,70],[8403,86],[8492,15],[8580,14],[8629,71],[8702,103],[8880,14],[8929,71],[9002,101],[9180,14],[9228,72],[9302,99],[9480,15],[9527,73],[9601,98],[9781,14],[9827,73],[9901,96],[10081,14],[10126,169],[10381,14],[10425,168],[10681,15],[10724,167],[10981,15],[11023,166],[11281,16],[11323,166],[11581,16],[11622,166],[11881,18],[11921,167],[12181,19],[12220,168],[12481,21],[12518,170],[12781,23],[12816,172],[13081,25],[13113,175],[13381,167],[13558,30],[13680,166],[13861,27],[13980,163],[14164,24],[14280,160],[14466,23],[14580,158],[14771,18],[14880,157],[15073,16],[15180,156],[15376,15],[15479,156],[15679,14],[15779,155],[15981,14],[16079,155],[16283,14],[16378,155],[16584,16],[16678,152],[16885,17],[16978,150],[17186,18],[17277,148],[17486,20],[17576,147],[17787,21],[17875,145],[18088,23],[18174,144],[18388,25],[18474,142],[18689,26],[18773,141],[18989,31],[19072,140],[19290,35],[19370,140],[19590,39],[19668,140],[19891,42],[19965,141],[20191,47],[20263,141],[20492,68],[20561,141],[20792,208],[21092,208],[21392,208],[21692,208],[21993,207],[22293,207],[22593,207],[22893,207],[23193,207],[23493,207],[23793,207],[24093,81],[24178,122],[24393,75],[24483,90],[24582,18],[24693,23],[24764,2],[24785,87],[24896,4],[24993,2],[25088,84],[25389,84],[25483,4],[25691,82],[25783,6],[25992,81],[26083,6],[26293,80],[26384,6],[26594,80],[26894,80],[27195,80],[27293,8],[27496,109],[27796,111],[28108,102],[28428,84],[28747,67],[29066,51],[29296,6],[29372,47],[29596,24],[29673,48],[29896,44],[29973,52],[30195,65],[30273,59],[30494,143],[30794,148],[31093,153],[31391,180],[31691,179],[31991,179],[32291,180],[32591,180],[32891,180],[33191,179],[33491,179],[33792,177],[34092,177],[34392,177],[34692,177],[34992,177],[35292,176],[35592,176],[35892,176],[36192,176],[36493,175],[36793,175],[37093,175],[37392,176],[37692,176],[37992,176],[38292,176],[38592,176],[38892,176],[39192,177],[39492,178],[39792,178],[40092,178],[40392,178],[40692,178],[40992,178],[41292,178],[41592,179],[41892,179],[42192,180],[42492,180],[42792,181],[43091,182],[43391,182],[43691,183],[43991,183],[44290,185],[44590,185],[44890,186],[45190,186],[45489,187],[45789,188],[46089,188],[46389,189],[46688,190],[46987,192],[47287,193],[47585,196],[47883,199],[48173,214],[48409,8420],[56835,267],[57167,197],[57388,15],[57500,131],[57689,14],[57832,68],[57989,15],[58165,35],[58290,14],[58497,3],[58591,13],[58891,14],[59192,13],[59492,14],[59793,13],[60093,14],[60394,13],[60695,13],[60995,13],[61296,12],[61596,13],[61897,12],[62197,13],[62498,12],[62799,12],[63099,12],[63400,10],[63700,10],[64001,9],[64301,9],[64602,8],[64903,6]],"valid_interact":1}],[{"action":8,"action_high_args":{},"centroid":[-1,-1],"high_idx":6,"mask":null,"valid_interact":0},{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":6,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":6,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":6,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":6,"mask":null,"valid_interact":0},{"action":5,"action_high_args":{},"centroid":[-1,-1],"high_idx":6,"mask":null,"valid_interact":0}],[{"action":6,"action_high_args":{"bbox":[181,88,187,121],"mask":[[26284,1],[26582,3],[26881,4],[27182,4],[27482,4],[27782,4],[28082,4],[28382,4],[28682,4],[28982,4],[29282,4],[29582,5],[29883,5],[30184,4],[30484,4],[30784,4],[31084,4],[31384,4],[31684,4],[31984,4],[32284,4],[32584,4],[32884,4],[33184,4],[33484,4],[33784,4],[34084,3],[34384,3],[34683,4],[34983,4],[35283,4],[35583,4],[35883,4],[36183,3]],"point":[184,103]},"centroid":[0.6133333333333333,0.34833333333333333],"high_idx":7,"mask":[[26284,1],[26582,3],[26881,4],[27182,4],[27482,4],[27782,4],[28082,4],[28382,4],[28682,4],[28982,4],[29282,4],[29582,5],[29883,5],[30184,4],[30484,4],[30784,4],[31084,4],[31384,4],[31684,4],[31984,4],[32284,4],[32584,4],[32884,4],[33184,4],[33484,4],[33784,4],[34084,3],[34384,3],[34683,4],[34983,4],[35283,4],[35583,4],[35883,4],[36183,3]],"valid_interact":1}],[{"action":5,"action_high_args":{},"centroid":[-1,-1],"high_idx":8,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":8,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":8,"mask":null,"valid_interact":0},{"action":5,"action_high_args":{},"centroid":[-1,-1],"high_idx":8,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":8,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":8,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":8,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":8,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":8,"mask":null,"valid_interact":0},{"action":3,"action_high_args":{},"centroid":[-1,-1],"high_idx":8,"mask":null,"valid_interact":0}],[{"action":10,"action_high_args":{"bbox":[0,1,299,200],"mask":[[0,39000],[39001,299],[39302,298],[39603,297],[39904,296],[40204,296],[40505,295],[40806,293],[41107,291],[41408,289],[41709,288],[42010,286],[42311,284],[42611,283],[42912,281],[43213,279],[43514,277],[43815,275],[44116,273],[44417,271],[44718,269],[45019,268],[45319,267],[45620,265],[45921,263],[46222,261],[46523,259],[46824,257],[47125,255],[47426,253],[47726,252],[48027,250],[48328,248],[48629,247],[48930,245],[49231,243],[49532,241],[49833,239],[50133,238],[50434,236],[50735,234],[51036,232],[51337,230],[51638,228],[51939,227],[52240,225],[52540,224],[52841,222],[53142,220],[53443,218],[53744,216],[54045,214],[54346,212],[54647,210],[54948,208],[55248,207],[55549,206],[55850,204],[56151,202],[56452,200],[56753,198],[57054,196],[57355,194],[57655,193],[57956,191],[58257,189],[58558,187],[58859,186],[59165,173],[59465,173],[59825,4],[59835,4]],"point":[149,99]},"centroid":[0.49833333333333335,0.335],"high_idx":9,"mask":[[0,39000],[39001,299],[39302,298],[39603,297],[39904,296],[40204,296],[40505,295],[40806,293],[41107,291],[41408,289],[41709,288],[42010,286],[42311,284],[42611,283],[42912,281],[43213,279],[43514,277],[43815,275],[44116,273],[44417,271],[44718,269],[45019,268],[45319,267],[45620,265],[45921,263],[46222,261],[46523,259],[46824,257],[47125,255],[47426,253],[47726,252],[48027,250],[48328,248],[48629,247],[48930,245],[49231,243],[49532,241],[49833,239],[50133,238],[50434,236],[50735,234],[51036,232],[51337,230],[51638,228],[51939,227],[52240,225],[52540,224],[52841,222],[53142,220],[53443,218],[53744,216],[54045,214],[54346,212],[54647,210],[54948,208],[55248,207],[55549,206],[55850,204],[56151,202],[56452,200],[56753,198],[57054,196],[57355,194],[57655,193],[57956,191],[58257,189],[58558,187],[58859,186],[59165,173],[59465,173],[59825,4],[59835,4]],"valid_interact":1},{"action":11,"action_high_args":{"bbox":[0,1,299,300],"mask":[[0,160],[191,269],[491,269],[791,269],[1091,269],[1391,270],[1691,270],[1990,271],[2290,271],[2590,271],[2889,272],[3189,272],[3489,273],[3788,274],[4088,274],[4387,276],[4686,277],[4986,277],[5285,279],[5585,279],[5884,281],[6184,283],[6483,285],[6781,47],[6838,232],[7079,44],[7144,229],[7376,44],[7447,271],[7750,266],[8052,263],[8354,260],[8655,258],[8957,255],[9258,254],[9559,252],[9860,251],[10161,249],[10462,248],[10763,247],[11063,247],[11364,246],[11664,246],[11965,245],[12265,245],[12565,245],[12865,245],[13165,245],[13465,245],[13765,245],[14065,245],[14364,247],[14664,247],[14963,249],[15263,249],[15562,251],[15861,253],[16161,254],[16460,256],[16759,258],[17058,260],[17357,262],[17656,265],[17954,268],[18253,271],[18551,276],[18849,281],[19144,35696],[54841,299],[55141,299],[55441,299],[55741,299],[56041,299],[56342,299],[56642,299],[56942,299],[57242,299],[57542,299],[57842,300],[58143,296],[58443,296],[58743,295],[59043,121],[59165,173],[59343,121],[59465,173],[59644,120],[59944,120],[60244,120],[60544,120],[60844,119],[61145,118],[61445,118],[61745,118],[62045,118],[62345,117],[62645,117],[62946,116],[63246,116],[63546,116],[63846,116],[64146,115],[64447,114],[64747,114],[65047,114],[65347,114],[65647,114],[65948,112],[66248,112],[66548,112],[66848,112],[67148,112],[67448,112],[67749,110],[68049,110],[68349,110],[68649,110],[68949,110],[69250,109],[69550,108],[69850,108],[70150,108],[70450,108],[70751,107],[71051,106],[71351,106],[71651,106],[71951,106],[72251,106],[72552,105],[72852,104],[73152,104],[73452,102],[73752,48],[73801,50],[74053,47],[74104,47],[74353,47],[74407,44],[74653,47],[74710,41],[74953,47],[75012,38],[75253,47],[75315,35],[75554,46],[75618,32],[75854,46],[75921,29],[76154,46],[76224,26],[76454,46],[76526,24],[76754,46],[76829,19],[77054,46],[77355,45],[77655,45],[77955,45],[78255,45],[78555,45],[78856,44],[79156,44],[79456,44],[79756,44],[80056,44],[80357,43],[80657,43],[80957,43],[81257,43],[81557,43],[81857,43],[82158,42],[82458,42],[82758,42],[83058,42],[83358,42],[83659,41],[83959,41],[84259,41],[84559,41],[84859,41],[85160,40],[85460,40],[85760,40],[86060,40],[86360,40],[86660,40],[86961,39],[87261,39],[87561,39],[87861,39],[88161,39],[88462,38],[88762,38],[89062,38],[89362,38],[89662,38],[89963,37]],"point":[149,149]},"centroid":[0.49833333333333335,0.5016666666666667],"high_idx":9,"mask":[[0,160],[191,269],[491,269],[791,269],[1091,269],[1391,270],[1691,270],[1990,271],[2290,271],[2590,271],[2889,272],[3189,272],[3489,273],[3788,274],[4088,274],[4387,276],[4686,277],[4986,277],[5285,279],[5585,279],[5884,281],[6184,283],[6483,285],[6781,47],[6838,232],[7079,44],[7144,229],[7376,44],[7447,271],[7750,266],[8052,263],[8354,260],[8655,258],[8957,255],[9258,254],[9559,252],[9860,251],[10161,249],[10462,248],[10763,247],[11063,247],[11364,246],[11664,246],[11965,245],[12265,245],[12565,245],[12865,245],[13165,245],[13465,245],[13765,245],[14065,245],[14364,247],[14664,247],[14963,249],[15263,249],[15562,251],[15861,253],[16161,254],[16460,256],[16759,258],[17058,260],[17357,262],[17656,265],[17954,268],[18253,271],[18551,276],[18849,281],[19144,35696],[54841,299],[55141,299],[55441,299],[55741,299],[56041,299],[56342,299],[56642,299],[56942,299],[57242,299],[57542,299],[57842,300],[58143,296],[58443,296],[58743,295],[59043,121],[59165,173],[59343,121],[59465,173],[59644,120],[59944,120],[60244,120],[60544,120],[60844,119],[61145,118],[61445,118],[61745,118],[62045,118],[62345,117],[62645,117],[62946,116],[63246,116],[63546,116],[63846,116],[64146,115],[64447,114],[64747,114],[65047,114],[65347,114],[65647,114],[65948,112],[66248,112],[66548,112],[66848,112],[67148,112],[67448,112],[67749,110],[68049,110],[68349,110],[68649,110],[68949,110],[69250,109],[69550,108],[69850,108],[70150,108],[70450,108],[70751,107],[71051,106],[71351,106],[71651,106],[71951,106],[72251,106],[72552,105],[72852,104],[73152,104],[73452,102],[73752,48],[73801,50],[74053,47],[74104,47],[74353,47],[74407,44],[74653,47],[74710,41],[74953,47],[75012,38],[75253,47],[75315,35],[75554,46],[75618,32],[75854,46],[75921,29],[76154,46],[76224,26],[76454,46],[76526,24],[76754,46],[76829,19],[77054,46],[77355,45],[77655,45],[77955,45],[78255,45],[78555,45],[78856,44],[79156,44],[79456,44],[79756,44],[80056,44],[80357,43],[80657,43],[80957,43],[81257,43],[81557,43],[81857,43],[82158,42],[82458,42],[82758,42],[83058,42],[83358,42],[83659,41],[83959,41],[84259,41],[84559,41],[84859,41],[85160,40],[85460,40],[85760,40],[86060,40],[86360,40],[86660,40],[86961,39],[87261,39],[87561,39],[87861,39],[88161,39],[88462,38],[88762,38],[89062,38],[89362,38],[89662,38],[89963,37]],"valid_interact":1},{"action":12,"action_high_args":{"bbox":[0,1,299,300],"mask":[[0,160],[191,269],[491,269],[791,269],[1091,269],[1391,270],[1691,270],[1990,271],[2290,271],[2590,271],[2889,272],[3189,272],[3489,273],[3788,274],[4088,274],[4387,276],[4686,277],[4986,277],[5285,279],[5585,279],[5884,281],[6184,283],[6483,285],[6781,47],[6838,232],[7079,44],[7144,229],[7376,44],[7447,271],[7750,266],[8052,263],[8354,260],[8655,258],[8957,255],[9258,254],[9559,252],[9860,251],[10161,249],[10462,248],[10763,247],[11063,247],[11364,246],[11664,246],[11965,245],[12265,245],[12565,245],[12865,245],[13165,245],[13465,245],[13765,245],[14065,245],[14364,247],[14664,247],[14963,249],[15263,249],[15562,251],[15861,253],[16161,254],[16460,256],[16759,258],[17058,260],[17357,262],[17656,265],[17954,268],[18253,271],[18551,276],[18849,281],[19144,8922],[28067,279],[28353,9],[28370,274],[28655,3],[28671,272],[28972,270],[29273,268],[29573,268],[29874,266],[30174,267],[30474,267],[30774,267],[31073,269],[31373,270],[31672,273],[31970,278],[32268,294],[32565,22275],[54841,299],[55141,299],[55441,299],[55741,299],[56041,299],[56342,299],[56642,299],[56942,299],[57242,299],[57542,299],[57842,300],[58143,296],[58443,296],[58743,295],[59043,121],[59165,173],[59343,121],[59465,173],[59644,120],[59944,120],[60244,120],[60544,120],[60844,119],[61145,118],[61445,118],[61745,118],[62045,118],[62345,117],[62645,117],[62946,116],[63246,116],[63546,116],[63846,116],[64146,115],[64447,114],[64747,114],[65047,114],[65347,114],[65647,114],[65948,112],[66248,112],[66548,112],[66848,112],[67148,112],[67448,112],[67749,110],[68049,110],[68349,110],[68649,110],[68949,110],[69250,109],[69550,108],[69850,108],[70150,108],[70450,108],[70751,107],[71051,106],[71351,106],[71651,106],[71951,106],[72251,106],[72552,105],[72852,104],[73152,104],[73452,102],[73752,48],[73801,50],[74053,47],[74104,47],[74353,47],[74407,44],[74653,47],[74710,41],[74953,47],[75012,38],[75253,47],[75315,35],[75554,46],[75618,32],[75854,46],[75921,29],[76154,46],[76224,26],[76454,46],[76526,24],[76754,46],[76829,19],[77054,46],[77355,45],[77655,45],[77955,45],[78255,45],[78555,45],[78856,44],[79156,44],[79456,44],[79756,44],[80056,44],[80357,43],[80657,43],[80957,43],[81257,43],[81557,43],[81857,43],[82158,42],[82458,42],[82758,42],[83058,42],[83358,42],[83659,41],[83959,41],[84259,41],[84559,41],[84859,41],[85160,40],[85460,40],[85760,40],[86060,40],[86360,40],[86660,40],[86961,39],[87261,39],[87561,39],[87861,39],[88161,39],[88462,38],[88762,38],[89062,38],[89362,38],[89662,38],[89963,37]],"point":[149,149]},"centroid":[0.49833333333333335,0.5016666666666667],"high_idx":9,"mask":[[0,160],[191,269],[491,269],[791,269],[1091,269],[1391,270],[1691,270],[1990,271],[2290,271],[2590,271],[2889,272],[3189,272],[3489,273],[3788,274],[4088,274],[4387,276],[4686,277],[4986,277],[5285,279],[5585,279],[5884,281],[6184,283],[6483,285],[6781,47],[6838,232],[7079,44],[7144,229],[7376,44],[7447,271],[7750,266],[8052,263],[8354,260],[8655,258],[8957,255],[9258,254],[9559,252],[9860,251],[10161,249],[10462,248],[10763,247],[11063,247],[11364,246],[11664,246],[11965,245],[12265,245],[12565,245],[12865,245],[13165,245],[13465,245],[13765,245],[14065,245],[14364,247],[14664,247],[14963,249],[15263,249],[15562,251],[15861,253],[16161,254],[16460,256],[16759,258],[17058,260],[17357,262],[17656,265],[17954,268],[18253,271],[18551,276],[18849,281],[19144,8922],[28067,279],[28353,9],[28370,274],[28655,3],[28671,272],[28972,270],[29273,268],[29573,268],[29874,266],[30174,267],[30474,267],[30774,267],[31073,269],[31373,270],[31672,273],[31970,278],[32268,294],[32565,22275],[54841,299],[55141,299],[55441,299],[55741,299],[56041,299],[56342,299],[56642,299],[56942,299],[57242,299],[57542,299],[57842,300],[58143,296],[58443,296],[58743,295],[59043,121],[59165,173],[59343,121],[59465,173],[59644,120],[59944,120],[60244,120],[60544,120],[60844,119],[61145,118],[61445,118],[61745,118],[62045,118],[62345,117],[62645,117],[62946,116],[63246,116],[63546,116],[63846,116],[64146,115],[64447,114],[64747,114],[65047,114],[65347,114],[65647,114],[65948,112],[66248,112],[66548,112],[66848,112],[67148,112],[67448,112],[67749,110],[68049,110],[68349,110],[68649,110],[68949,110],[69250,109],[69550,108],[69850,108],[70150,108],[70450,108],[70751,107],[71051,106],[71351,106],[71651,106],[71951,106],[72251,106],[72552,105],[72852,104],[73152,104],[73452,102],[73752,48],[73801,50],[74053,47],[74104,47],[74353,47],[74407,44],[74653,47],[74710,41],[74953,47],[75012,38],[75253,47],[75315,35],[75554,46],[75618,32],[75854,46],[75921,29],[76154,46],[76224,26],[76454,46],[76526,24],[76754,46],[76829,19],[77054,46],[77355,45],[77655,45],[77955,45],[78255,45],[78555,45],[78856,44],[79156,44],[79456,44],[79756,44],[80056,44],[80357,43],[80657,43],[80957,43],[81257,43],[81557,43],[81857,43],[82158,42],[82458,42],[82758,42],[83058,42],[83358,42],[83659,41],[83959,41],[84259,41],[84559,41],[84859,41],[85160,40],[85460,40],[85760,40],[86060,40],[86360,40],[86660,40],[86961,39],[87261,39],[87561,39],[87861,39],[88161,39],[88462,38],[88762,38],[89062,38],[89362,38],[89662,38],[89963,37]],"valid_interact":1},{"action":10,"action_high_args":{"bbox":[0,1,299,200],"mask":[[0,39000],[39001,299],[39302,298],[39603,297],[39904,296],[40204,296],[40505,295],[40806,293],[41107,291],[41408,289],[41709,288],[42010,286],[42311,284],[42611,283],[42912,281],[43213,279],[43514,277],[43815,275],[44116,273],[44417,271],[44718,269],[45019,268],[45319,267],[45620,265],[45921,263],[46222,261],[46523,259],[46824,257],[47125,255],[47426,253],[47726,252],[48027,250],[48328,248],[48629,247],[48930,245],[49231,243],[49532,241],[49833,239],[50133,238],[50434,236],[50735,234],[51036,232],[51337,230],[51638,228],[51939,227],[52240,225],[52540,224],[52841,222],[53142,220],[53443,218],[53744,216],[54045,214],[54346,212],[54647,210],[54948,208],[55248,207],[55549,206],[55850,204],[56151,202],[56452,200],[56753,198],[57054,196],[57355,194],[57655,193],[57956,191],[58257,189],[58558,187],[58859,186],[59165,173],[59465,173],[59825,4],[59835,4]],"point":[149,99]},"centroid":[0.49833333333333335,0.335],"high_idx":9,"mask":[[0,39000],[39001,299],[39302,298],[39603,297],[39904,296],[40204,296],[40505,295],[40806,293],[41107,291],[41408,289],[41709,288],[42010,286],[42311,284],[42611,283],[42912,281],[43213,279],[43514,277],[43815,275],[44116,273],[44417,271],[44718,269],[45019,268],[45319,267],[45620,265],[45921,263],[46222,261],[46523,259],[46824,257],[47125,255],[47426,253],[47726,252],[48027,250],[48328,248],[48629,247],[48930,245],[49231,243],[49532,241],[49833,239],[50133,238],[50434,236],[50735,234],[51036,232],[51337,230],[51638,228],[51939,227],[52240,225],[52540,224],[52841,222],[53142,220],[53443,218],[53744,216],[54045,214],[54346,212],[54647,210],[54948,208],[55248,207],[55549,206],[55850,204],[56151,202],[56452,200],[56753,198],[57054,196],[57355,194],[57655,193],[57956,191],[58257,189],[58558,187],[58859,186],[59165,173],[59465,173],[59825,4],[59835,4]],"valid_interact":1},{"action":6,"action_high_args":{"bbox":[140,94,173,109],"mask":[[28066,1],[28346,7],[28362,8],[28644,11],[28658,13],[28943,29],[29242,31],[29541,32],[29841,33],[30140,34],[30441,33],[30741,33],[31041,32],[31342,31],[31643,29],[31945,25],[32248,20],[32562,3]],"point":[156,100]},"centroid":[0.5216666666666666,0.3383333333333333],"high_idx":9,"mask":[[28066,1],[28346,7],[28362,8],[28644,11],[28658,13],[28943,29],[29242,31],[29541,32],[29841,33],[30140,34],[30441,33],[30741,33],[31041,32],[31342,31],[31643,29],[31945,25],[32248,20],[32562,3]],"valid_interact":1},{"action":12,"action_high_args":{"bbox":[0,1,299,300],"mask":[[0,160],[191,269],[491,269],[791,269],[1091,269],[1391,270],[1691,270],[1990,271],[2290,271],[2590,271],[2889,272],[3189,272],[3489,273],[3788,274],[4088,274],[4387,276],[4686,277],[4986,277],[5285,279],[5585,279],[5884,281],[6184,283],[6483,285],[6781,47],[6838,232],[7079,44],[7144,229],[7376,44],[7447,271],[7750,266],[8052,263],[8354,260],[8655,258],[8957,255],[9258,254],[9559,252],[9860,251],[10161,249],[10462,248],[10763,247],[11063,247],[11364,246],[11664,246],[11965,245],[12265,245],[12565,245],[12865,245],[13165,245],[13465,245],[13765,245],[14065,245],[14364,247],[14664,247],[14963,249],[15263,249],[15562,251],[15861,253],[16161,254],[16460,256],[16759,258],[17058,260],[17357,262],[17656,265],[17954,268],[18253,271],[18551,276],[18849,281],[19144,35696],[54841,299],[55141,299],[55441,299],[55741,299],[56041,299],[56342,299],[56642,299],[56942,299],[57242,299],[57542,299],[57842,300],[58143,296],[58443,296],[58743,295],[59043,121],[59165,173],[59343,121],[59465,173],[59644,120],[59944,120],[60244,120],[60544,120],[60844,119],[61145,118],[61445,118],[61745,118],[62045,118],[62345,117],[62645,117],[62946,116],[63246,116],[63546,116],[63846,116],[64146,115],[64447,114],[64747,114],[65047,114],[65347,114],[65647,114],[65948,112],[66248,112],[66548,112],[66848,112],[67148,112],[67448,112],[67749,110],[68049,110],[68349,110],[68649,110],[68949,110],[69250,109],[69550,108],[69850,108],[70150,108],[70450,108],[70751,107],[71051,106],[71351,106],[71651,106],[71951,106],[72251,106],[72552,105],[72852,104],[73152,104],[73452,102],[73752,48],[73801,50],[74053,47],[74104,47],[74353,47],[74407,44],[74653,47],[74710,41],[74953,47],[75012,38],[75253,47],[75315,35],[75554,46],[75618,32],[75854,46],[75921,29],[76154,46],[76224,26],[76454,46],[76526,24],[76754,46],[76829,19],[77054,46],[77355,45],[77655,45],[77955,45],[78255,45],[78555,45],[78856,44],[79156,44],[79456,44],[79756,44],[80056,44],[80357,43],[80657,43],[80957,43],[81257,43],[81557,43],[81857,43],[82158,42],[82458,42],[82758,42],[83058,42],[83358,42],[83659,41],[83959,41],[84259,41],[84559,41],[84859,41],[85160,40],[85460,40],[85760,40],[86060,40],[86360,40],[86660,40],[86961,39],[87261,39],[87561,39],[87861,39],[88161,39],[88462,38],[88762,38],[89062,38],[89362,38],[89662,38],[89963,37]],"point":[149,149]},"centroid":[0.49833333333333335,0.5016666666666667],"high_idx":9,"mask":[[0,160],[191,269],[491,269],[791,269],[1091,269],[1391,270],[1691,270],[1990,271],[2290,271],[2590,271],[2889,272],[3189,272],[3489,273],[3788,274],[4088,274],[4387,276],[4686,277],[4986,277],[5285,279],[5585,279],[5884,281],[6184,283],[6483,285],[6781,47],[6838,232],[7079,44],[7144,229],[7376,44],[7447,271],[7750,266],[8052,263],[8354,260],[8655,258],[8957,255],[9258,254],[9559,252],[9860,251],[10161,249],[10462,248],[10763,247],[11063,247],[11364,246],[11664,246],[11965,245],[12265,245],[12565,245],[12865,245],[13165,245],[13465,245],[13765,245],[14065,245],[14364,247],[14664,247],[14963,249],[15263,249],[15562,251],[15861,253],[16161,254],[16460,256],[16759,258],[17058,260],[17357,262],[17656,265],[17954,268],[18253,271],[18551,276],[18849,281],[19144,35696],[54841,299],[55141,299],[55441,299],[55741,299],[56041,299],[56342,299],[56642,299],[56942,299],[57242,299],[57542,299],[57842,300],[58143,296],[58443,296],[58743,295],[59043,121],[59165,173],[59343,121],[59465,173],[59644,120],[59944,120],[60244,120],[60544,120],[60844,119],[61145,118],[61445,118],[61745,118],[62045,118],[62345,117],[62645,117],[62946,116],[63246,116],[63546,116],[63846,116],[64146,115],[64447,114],[64747,114],[65047,114],[65347,114],[65647,114],[65948,112],[66248,112],[66548,112],[66848,112],[67148,112],[67448,112],[67749,110],[68049,110],[68349,110],[68649,110],[68949,110],[69250,109],[69550,108],[69850,108],[70150,108],[70450,108],[70751,107],[71051,106],[71351,106],[71651,106],[71951,106],[72251,106],[72552,105],[72852,104],[73152,104],[73452,102],[73752,48],[73801,50],[74053,47],[74104,47],[74353,47],[74407,44],[74653,47],[74710,41],[74953,47],[75012,38],[75253,47],[75315,35],[75554,46],[75618,32],[75854,46],[75921,29],[76154,46],[76224,26],[76454,46],[76526,24],[76754,46],[76829,19],[77054,46],[77355,45],[77655,45],[77955,45],[78255,45],[78555,45],[78856,44],[79156,44],[79456,44],[79756,44],[80056,44],[80357,43],[80657,43],[80957,43],[81257,43],[81557,43],[81857,43],[82158,42],[82458,42],[82758,42],[83058,42],[83358,42],[83659,41],[83959,41],[84259,41],[84559,41],[84859,41],[85160,40],[85460,40],[85760,40],[86060,40],[86360,40],[86660,40],[86961,39],[87261,39],[87561,39],[87861,39],[88161,39],[88462,38],[88762,38],[89062,38],[89362,38],[89662,38],[89963,37]],"valid_interact":1}],[{"action":8,"action_high_args":{},"centroid":[-1,-1],"high_idx":10,"mask":null,"valid_interact":0},{"action":5,"action_high_args":{},"centroid":[-1,-1],"high_idx":10,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":10,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":10,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":10,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":10,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":10,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":10,"mask":null,"valid_interact":0},{"action":5,"action_high_args":{},"centroid":[-1,-1],"high_idx":10,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":10,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":10,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":10,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":10,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":10,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":10,"mask":null,"valid_interact":0},{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":10,"mask":null,"valid_interact":0}],[{"action":11,"action_high_args":{"bbox":[158,85,299,121],"mask":[[25358,63],[25433,67],[25658,60],[25736,64],[25958,59],[26038,62],[26258,58],[26340,60],[26558,57],[26641,59],[26858,57],[26942,58],[27158,57],[27242,58],[27458,57],[27543,57],[27758,57],[27843,57],[28058,15],[28074,41],[28143,57],[28358,15],[28374,1],[28377,38],[28443,57],[28658,15],[28674,1],[28677,1],[28680,35],[28742,58],[28958,10],[28971,2],[28974,1],[28977,1],[28980,2],[28987,28],[29042,58],[29258,9],[29304,11],[29342,58],[29558,9],[29592,9],[29641,59],[29858,9],[29890,17],[29940,25],[29988,12],[30158,9],[30184,1],[30187,28],[30240,13],[30289,11],[30458,9],[30485,30],[30539,2],[30587,13],[30758,9],[30785,30],[30884,16],[31058,9],[31085,30],[31180,20],[31358,9],[31385,26],[31476,24],[31658,10],[31685,24],[31771,29],[31958,10],[31985,24],[32036,4],[32066,34],[32258,10],[32286,23],[32336,4],[32360,40],[32559,9],[32586,24],[32635,5],[32654,46],[32859,9],[32886,25],[32935,5],[32948,52],[33159,9],[33186,29],[33235,65],[33459,9],[33486,29],[33534,66],[33759,9],[33786,29],[33834,66],[34059,9],[34087,28],[34133,67],[34359,9],[34387,28],[34433,67],[34659,9],[34687,28],[34732,68],[34959,9],[34987,27],[35032,68],[35259,9],[35287,27],[35331,69],[35559,10],[35587,28],[35631,69],[35859,10],[35886,29],[35930,70],[36159,57],[36230,70]],"point":[236,106]},"centroid":[0.7616666666666667,0.3433333333333333],"high_idx":11,"mask":[[25358,63],[25433,67],[25658,60],[25736,64],[25958,59],[26038,62],[26258,58],[26340,60],[26558,57],[26641,59],[26858,57],[26942,58],[27158,57],[27242,58],[27458,57],[27543,57],[27758,57],[27843,57],[28058,15],[28074,41],[28143,57],[28358,15],[28374,1],[28377,38],[28443,57],[28658,15],[28674,1],[28677,1],[28680,35],[28742,58],[28958,10],[28971,2],[28974,1],[28977,1],[28980,2],[28987,28],[29042,58],[29258,9],[29304,11],[29342,58],[29558,9],[29592,9],[29641,59],[29858,9],[29890,17],[29940,25],[29988,12],[30158,9],[30184,1],[30187,28],[30240,13],[30289,11],[30458,9],[30485,30],[30539,2],[30587,13],[30758,9],[30785,30],[30884,16],[31058,9],[31085,30],[31180,20],[31358,9],[31385,26],[31476,24],[31658,10],[31685,24],[31771,29],[31958,10],[31985,24],[32036,4],[32066,34],[32258,10],[32286,23],[32336,4],[32360,40],[32559,9],[32586,24],[32635,5],[32654,46],[32859,9],[32886,25],[32935,5],[32948,52],[33159,9],[33186,29],[33235,65],[33459,9],[33486,29],[33534,66],[33759,9],[33786,29],[33834,66],[34059,9],[34087,28],[34133,67],[34359,9],[34387,28],[34433,67],[34659,9],[34687,28],[34732,68],[34959,9],[34987,27],[35032,68],[35259,9],[35287,27],[35331,69],[35559,10],[35587,28],[35631,69],[35859,10],[35886,29],[35930,70],[36159,57],[36230,70]],"valid_interact":1}],[{"action":2,"action_high_args":{},"centroid":[-1,-1],"high_idx":12,"mask":null,"valid_interact":0}]],"lang_goal":[14,35,222,55,21,281,15,66,21,35,5,15,35,36,16,2],"lang_instr":[[17,144,26,39,4,60,18,145,38,16],[69,4,63,6,4,60,11,40,21,203,16],[24,38,37,39,4,49,15,4,60,18,145,19,16],[55,4,281,15,4,60,16],[24,19,37,39,4,49,15,4,60,18,145,38,16],[10,4,63,15,4,60,11,40,21,203,16],[24,38,37,39,4,158,281,15,4,60,18,145,19,16],[69,35,281,55,6,4,60,16],[24,25,26,39,4,85,11,40,21,203,16],[10,4,281,55,68,21,4,85,68,21,203,9,69,75,4,281,9,37,84,4,85,16],[24,25,37,39,4,36,51,4,5,15,145,38,16],[10,4,281,55,15,4,5,15,4,36,11,40,21,203,16],[34]],"low_to_high_idx":[0,0,0,0,0,0,0,0,0,0,0,1,2,2,2,2,2,3,4,4,4,4,4,4,5,6,6,6,6,6,6,7,8,8,8,8,8,8,8,8,8,8,9,9,9,9,9,9,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,11,12]},"pddl_params":{"mrecep_target":"","object_sliced":true,"object_target":"Tomato","parent_target":"SinkBasin","toggle_target":""},"plan":{"high_pddl":[{"discrete_action":{"action":"GotoLocation","args":["diningtable"]},"high_idx":0,"planner_action":{"action":"GotoLocation","location":"loc|-5|12|1|45"}},{"discrete_action":{"action":"PickupObject","args":["butterknife"]},"high_idx":1,"planner_action":{"action":"PickupObject","coordinateObjectId":["ButterKnife",[-2.1552288,-2.1552288,12.16834164,12.16834164,4.18875836,4.18875836]],"coordinateReceptacleObjectId":["DiningTable",[-2.48,-2.48,9.944,9.944,0.0698738544,0.0698738544]],"forceVisible":true,"objectId":"ButterKnife|-00.54|+01.05|+03.04"}},{"discrete_action":{"action":"GotoLocation","args":["tomato"]},"high_idx":2,"planner_action":{"action":"GotoLocation","location":"loc|-5|9|1|45"}},{"discrete_action":{"action":"SliceObject","args":["tomato"]},"high_idx":3,"planner_action":{"action":"SliceObject","coordinateObjectId":["Tomato",[-2.1552288,-2.1552288,8.57996464,8.57996464,4.350932,4.350932]],"forceVisible":true,"objectId":"Tomato|-00.54|+01.09|+02.14"}},{"discrete_action":{"action":"GotoLocation","args":["diningtable"]},"high_idx":4,"planner_action":{"action":"GotoLocation","location":"loc|-5|12|1|60"}},{"discrete_action":{"action":"PutObject","args":["butterknife","diningtable"]},"high_idx":5,"planner_action":{"action":"PutObject","coordinateObjectId":["ButterKnife",[-2.1552288,-2.1552288,12.16834164,12.16834164,4.18875836,4.18875836]],"coordinateReceptacleObjectId":["DiningTable",[-2.48,-2.48,9.944,9.944,0.0698738544,0.0698738544]],"forceVisible":true,"objectId":"ButterKnife|-00.54|+01.05|+03.04","receptacleObjectId":"DiningTable|-00.62|+00.02|+02.49"}},{"discrete_action":{"action":"GotoLocation","args":["diningtable"]},"high_idx":6,"planner_action":{"action":"GotoLocation","location":"loc|-5|9|1|45"}},{"discrete_action":{"action":"PickupObject","args":["tomato"]},"high_idx":7,"planner_action":{"action":"PickupObject","coordinateObjectId":["Tomato",[-2.1552288,-2.1552288,8.57996464,8.57996464,4.350932,4.350932]],"coordinateReceptacleObjectId":["DiningTable",[-2.48,-2.48,9.944,9.944,0.0698738544,0.0698738544]],"forceVisible":true,"objectId":"Tomato|-00.54|+01.09|+02.14|TomatoSliced_1"}},{"discrete_action":{"action":"GotoLocation","args":["fridge"]},"high_idx":8,"planner_action":{"action":"GotoLocation","location":"loc|-10|11|3|60"}},{"discrete_action":{"action":"CoolObject","args":["tomato"]},"high_idx":9,"planner_action":{"action":"CoolObject","coordinateReceptacleObjectId":["Fridge",[-14.076,-14.076,10.868,10.868,0.0,0.0]],"forceVisible":true,"objectId":"Fridge|-03.52|+00.00|+02.72"}},{"discrete_action":{"action":"GotoLocation","args":["sinkbasin"]},"high_idx":10,"planner_action":{"action":"GotoLocation","location":"loc|-4|5|2|45"}},{"discrete_action":{"action":"PutObject","args":["tomato","sinkbasin"]},"high_idx":11,"planner_action":{"action":"PutObject","coordinateObjectId":["Tomato",[-2.1552288,-2.1552288,8.57996464,8.57996464,4.350932,4.350932]],"coordinateReceptacleObjectId":["SinkBasin",[-5.5576,-5.5576,1.7152,1.7152,3.684,3.684]],"forceVisible":true,"objectId":"Tomato|-00.54|+01.09|+02.14|TomatoSliced_1","receptacleObjectId":"Sink|-01.39|+00.98|+00.44|SinkBasin"}},{"discrete_action":{"action":"NoOp","args":[]},"high_idx":12,"planner_action":{"action":"End","value":1}}],"low_actions":[{"api_action":{"action":"LookDown","forceAction":true},"discrete_action":{"action":"LookDown_15","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"PickupObject","objectId":"ButterKnife|-00.54|+01.05|+03.04"},"discrete_action":{"action":"PickupObject","args":{"bbox":[134,91,141,138],"mask":[[27138,3],[27437,4],[27737,5],[41234,1]],"point":[137,92]}},"high_idx":1},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"RotateLeft","forceAction":true},"discrete_action":{"action":"RotateLeft_90","args":{}},"high_idx":2},{"api_action":{"action":"SliceObject","objectId":"Tomato|-00.54|+01.09|+02.14"},"discrete_action":{"action":"SliceObject","args":{"bbox":[163,87,200,120],"mask":[[25985,5],[26277,2],[26282,10],[26574,19],[26872,23],[27171,24],[27470,26],[27768,28],[28068,29],[28367,31],[28666,34],[28965,35],[29264,37],[29564,37],[29864,37],[30164,37],[30463,38],[30763,38],[31063,38],[31363,38],[31663,38],[31963,38],[32264,37],[32564,37],[32865,36],[33165,35],[33466,34],[33767,32],[34068,31],[34370,28],[34672,26],[34975,22],[35277,19],[35578,15],[35881,9]],"point":[181,102]}},"high_idx":3},{"api_action":{"action":"RotateLeft","forceAction":true},"discrete_action":{"action":"RotateLeft_90","args":{}},"high_idx":4},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":4},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":4},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":4},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":4},{"api_action":{"action":"LookDown","forceAction":true},"discrete_action":{"action":"LookDown_15","args":{}},"high_idx":4},{"api_action":{"action":"PutObject","forceAction":true,"objectId":"ButterKnife|-00.54|+01.05|+03.04","placeStationary":true,"receptacleObjectId":"DiningTable|-00.62|+00.02|+02.49"},"discrete_action":{"action":"PutObject","args":{"bbox":[0,1,299,217],"mask":[[14,33],[134,27],[229,71],[314,33],[434,27],[530,70],[614,34],[734,27],[779,19],[831,69],[913,35],[1034,27],[1078,19],[1132,68],[1213,35],[1334,27],[1378,18],[1433,67],[1512,37],[1634,27],[1678,18],[1733,67],[1812,37],[1934,27],[1977,18],[2033,67],[2111,38],[2234,27],[2277,18],[2334,66],[2411,39],[2533,28],[2577,17],[2634,66],[2711,40],[2832,29],[2876,18],[2934,66],[3010,43],[3132,61],[3234,66],[3310,44],[3432,61],[3534,66],[3609,46],[3732,61],[3834,66],[3909,46],[4032,19],[4064,29],[4134,66],[4209,47],[4331,14],[4366,27],[4434,66],[4508,49],[4629,10],[4668,25],[4734,66],[4808,50],[4928,7],[4971,22],[5034,66],[5107,52],[5227,5],[5273,20],[5334,66],[5407,53],[5525,4],[5574,19],[5634,66],[5707,54],[5824,3],[5875,18],[5933,67],[6006,56],[6122,2],[6175,18],[6233,67],[6306,58],[6420,2],[6476,17],[6532,68],[6605,61],[6718,1],[6777,16],[6832,68],[6905,63],[7016,1],[7077,16],[7132,68],[7204,66],[7313,2],[7378,15],[7431,69],[7504,68],[7611,1],[7679,14],[7731,69],[7804,71],[7907,3],[7979,14],[8030,70],[8103,77],[8201,8],[8279,15],[8330,70],[8403,86],[8492,15],[8580,14],[8629,71],[8702,103],[8880,14],[8929,71],[9002,101],[9180,14],[9228,72],[9302,99],[9480,15],[9527,73],[9601,98],[9781,14],[9827,73],[9901,96],[10081,14],[10126,169],[10381,14],[10425,168],[10681,15],[10724,167],[10981,15],[11023,166],[11281,16],[11323,166],[11581,16],[11622,166],[11881,18],[11921,167],[12181,19],[12220,168],[12481,21],[12518,170],[12781,23],[12816,172],[13081,25],[13113,175],[13381,167],[13558,30],[13680,166],[13861,27],[13980,163],[14164,24],[14280,160],[14466,23],[14580,158],[14771,18],[14880,157],[15073,16],[15180,156],[15376,15],[15479,156],[15679,14],[15779,155],[15981,14],[16079,155],[16283,14],[16378,155],[16584,16],[16678,152],[16885,17],[16978,150],[17186,18],[17277,148],[17486,20],[17576,147],[17787,21],[17875,145],[18088,23],[18174,144],[18388,25],[18474,142],[18689,26],[18773,141],[18989,31],[19072,140],[19290,35],[19370,140],[19590,39],[19668,140],[19891,42],[19965,141],[20191,47],[20263,141],[20492,68],[20561,141],[20792,208],[21092,208],[21392,208],[21692,208],[21993,207],[22293,207],[22593,207],[22893,207],[23193,207],[23493,207],[23793,207],[24093,81],[24178,122],[24393,75],[24483,90],[24582,18],[24693,23],[24764,2],[24785,87],[24896,4],[24993,2],[25088,84],[25389,84],[25483,4],[25691,82],[25783,6],[25992,81],[26083,6],[26293,80],[26384,6],[26594,80],[26894,80],[27195,80],[27293,8],[27496,109],[27796,111],[28108,102],[28428,84],[28747,67],[29066,51],[29296,6],[29372,47],[29596,24],[29673,48],[29896,44],[29973,52],[30195,65],[30273,59],[30494,143],[30794,148],[31093,153],[31391,180],[31691,179],[31991,179],[32291,180],[32591,180],[32891,180],[33191,179],[33491,179],[33792,177],[34092,177],[34392,177],[34692,177],[34992,177],[35292,176],[35592,176],[35892,176],[36192,176],[36493,175],[36793,175],[37093,175],[37392,176],[37692,176],[37992,176],[38292,176],[38592,176],[38892,176],[39192,177],[39492,178],[39792,178],[40092,178],[40392,178],[40692,178],[40992,178],[41292,178],[41592,179],[41892,179],[42192,180],[42492,180],[42792,181],[43091,182],[43391,182],[43691,183],[43991,183],[44290,185],[44590,185],[44890,186],[45190,186],[45489,187],[45789,188],[46089,188],[46389,189],[46688,190],[46987,192],[47287,193],[47585,196],[47883,199],[48173,214],[48409,8420],[56835,267],[57167,197],[57388,15],[57500,131],[57689,14],[57832,68],[57989,15],[58165,35],[58290,14],[58497,3],[58591,13],[58891,14],[59192,13],[59492,14],[59793,13],[60093,14],[60394,13],[60695,13],[60995,13],[61296,12],[61596,13],[61897,12],[62197,13],[62498,12],[62799,12],[63099,12],[63400,10],[63700,10],[64001,9],[64301,9],[64602,8],[64903,6]],"point":[149,81]}},"high_idx":5},{"api_action":{"action":"LookUp","forceAction":true},"discrete_action":{"action":"LookUp_15","args":{}},"high_idx":6},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":6},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":6},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":6},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":6},{"api_action":{"action":"RotateLeft","forceAction":true},"discrete_action":{"action":"RotateLeft_90","args":{}},"high_idx":6},{"api_action":{"action":"PickupObject","objectId":"Tomato|-00.54|+01.09|+02.14|TomatoSliced_1"},"discrete_action":{"action":"PickupObject","args":{"bbox":[181,88,187,121],"mask":[[26284,1],[26582,3],[26881,4],[27182,4],[27482,4],[27782,4],[28082,4],[28382,4],[28682,4],[28982,4],[29282,4],[29582,5],[29883,5],[30184,4],[30484,4],[30784,4],[31084,4],[31384,4],[31684,4],[31984,4],[32284,4],[32584,4],[32884,4],[33184,4],[33484,4],[33784,4],[34084,3],[34384,3],[34683,4],[34983,4],[35283,4],[35583,4],[35883,4],[36183,3]],"point":[184,103]}},"high_idx":7},{"api_action":{"action":"RotateLeft","forceAction":true},"discrete_action":{"action":"RotateLeft_90","args":{}},"high_idx":8},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":8},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":8},{"api_action":{"action":"RotateLeft","forceAction":true},"discrete_action":{"action":"RotateLeft_90","args":{}},"high_idx":8},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":8},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":8},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":8},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":8},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":8},{"api_action":{"action":"LookDown","forceAction":true},"discrete_action":{"action":"LookDown_15","args":{}},"high_idx":8},{"api_action":{"action":"OpenObject","objectId":"Fridge|-03.52|+00.00|+02.72"},"discrete_action":{"action":"OpenObject","args":{"bbox":[0,1,299,200],"mask":[[0,39000],[39001,299],[39302,298],[39603,297],[39904,296],[40204,296],[40505,295],[40806,293],[41107,291],[41408,289],[41709,288],[42010,286],[42311,284],[42611,283],[42912,281],[43213,279],[43514,277],[43815,275],[44116,273],[44417,271],[44718,269],[45019,268],[45319,267],[45620,265],[45921,263],[46222,261],[46523,259],[46824,257],[47125,255],[47426,253],[47726,252],[48027,250],[48328,248],[48629,247],[48930,245],[49231,243],[49532,241],[49833,239],[50133,238],[50434,236],[50735,234],[51036,232],[51337,230],[51638,228],[51939,227],[52240,225],[52540,224],[52841,222],[53142,220],[53443,218],[53744,216],[54045,214],[54346,212],[54647,210],[54948,208],[55248,207],[55549,206],[55850,204],[56151,202],[56452,200],[56753,198],[57054,196],[57355,194],[57655,193],[57956,191],[58257,189],[58558,187],[58859,186],[59165,173],[59465,173],[59825,4],[59835,4]],"point":[149,99]}},"high_idx":9},{"api_action":{"action":"PutObject","forceAction":true,"objectId":"Tomato|-00.54|+01.09|+02.14|TomatoSliced_1","placeStationary":true,"receptacleObjectId":"Fridge|-03.52|+00.00|+02.72"},"discrete_action":{"action":"PutObject","args":{"bbox":[0,1,299,300],"mask":[[0,160],[191,269],[491,269],[791,269],[1091,269],[1391,270],[1691,270],[1990,271],[2290,271],[2590,271],[2889,272],[3189,272],[3489,273],[3788,274],[4088,274],[4387,276],[4686,277],[4986,277],[5285,279],[5585,279],[5884,281],[6184,283],[6483,285],[6781,47],[6838,232],[7079,44],[7144,229],[7376,44],[7447,271],[7750,266],[8052,263],[8354,260],[8655,258],[8957,255],[9258,254],[9559,252],[9860,251],[10161,249],[10462,248],[10763,247],[11063,247],[11364,246],[11664,246],[11965,245],[12265,245],[12565,245],[12865,245],[13165,245],[13465,245],[13765,245],[14065,245],[14364,247],[14664,247],[14963,249],[15263,249],[15562,251],[15861,253],[16161,254],[16460,256],[16759,258],[17058,260],[17357,262],[17656,265],[17954,268],[18253,271],[18551,276],[18849,281],[19144,35696],[54841,299],[55141,299],[55441,299],[55741,299],[56041,299],[56342,299],[56642,299],[56942,299],[57242,299],[57542,299],[57842,300],[58143,296],[58443,296],[58743,295],[59043,121],[59165,173],[59343,121],[59465,173],[59644,120],[59944,120],[60244,120],[60544,120],[60844,119],[61145,118],[61445,118],[61745,118],[62045,118],[62345,117],[62645,117],[62946,116],[63246,116],[63546,116],[63846,116],[64146,115],[64447,114],[64747,114],[65047,114],[65347,114],[65647,114],[65948,112],[66248,112],[66548,112],[66848,112],[67148,112],[67448,112],[67749,110],[68049,110],[68349,110],[68649,110],[68949,110],[69250,109],[69550,108],[69850,108],[70150,108],[70450,108],[70751,107],[71051,106],[71351,106],[71651,106],[71951,106],[72251,106],[72552,105],[72852,104],[73152,104],[73452,102],[73752,48],[73801,50],[74053,47],[74104,47],[74353,47],[74407,44],[74653,47],[74710,41],[74953,47],[75012,38],[75253,47],[75315,35],[75554,46],[75618,32],[75854,46],[75921,29],[76154,46],[76224,26],[76454,46],[76526,24],[76754,46],[76829,19],[77054,46],[77355,45],[77655,45],[77955,45],[78255,45],[78555,45],[78856,44],[79156,44],[79456,44],[79756,44],[80056,44],[80357,43],[80657,43],[80957,43],[81257,43],[81557,43],[81857,43],[82158,42],[82458,42],[82758,42],[83058,42],[83358,42],[83659,41],[83959,41],[84259,41],[84559,41],[84859,41],[85160,40],[85460,40],[85760,40],[86060,40],[86360,40],[86660,40],[86961,39],[87261,39],[87561,39],[87861,39],[88161,39],[88462,38],[88762,38],[89062,38],[89362,38],[89662,38],[89963,37]],"point":[149,149]}},"high_idx":9},{"api_action":{"action":"CloseObject","objectId":"Fridge|-03.52|+00.00|+02.72"},"discrete_action":{"action":"CloseObject","args":{"bbox":[0,1,299,300],"mask":[[0,160],[191,269],[491,269],[791,269],[1091,269],[1391,270],[1691,270],[1990,271],[2290,271],[2590,271],[2889,272],[3189,272],[3489,273],[3788,274],[4088,274],[4387,276],[4686,277],[4986,277],[5285,279],[5585,279],[5884,281],[6184,283],[6483,285],[6781,47],[6838,232],[7079,44],[7144,229],[7376,44],[7447,271],[7750,266],[8052,263],[8354,260],[8655,258],[8957,255],[9258,254],[9559,252],[9860,251],[10161,249],[10462,248],[10763,247],[11063,247],[11364,246],[11664,246],[11965,245],[12265,245],[12565,245],[12865,245],[13165,245],[13465,245],[13765,245],[14065,245],[14364,247],[14664,247],[14963,249],[15263,249],[15562,251],[15861,253],[16161,254],[16460,256],[16759,258],[17058,260],[17357,262],[17656,265],[17954,268],[18253,271],[18551,276],[18849,281],[19144,8922],[28067,279],[28353,9],[28370,274],[28655,3],[28671,272],[28972,270],[29273,268],[29573,268],[29874,266],[30174,267],[30474,267],[30774,267],[31073,269],[31373,270],[31672,273],[31970,278],[32268,294],[32565,22275],[54841,299],[55141,299],[55441,299],[55741,299],[56041,299],[56342,299],[56642,299],[56942,299],[57242,299],[57542,299],[57842,300],[58143,296],[58443,296],[58743,295],[59043,121],[59165,173],[59343,121],[59465,173],[59644,120],[59944,120],[60244,120],[60544,120],[60844,119],[61145,118],[61445,118],[61745,118],[62045,118],[62345,117],[62645,117],[62946,116],[63246,116],[63546,116],[63846,116],[64146,115],[64447,114],[64747,114],[65047,114],[65347,114],[65647,114],[65948,112],[66248,112],[66548,112],[66848,112],[67148,112],[67448,112],[67749,110],[68049,110],[68349,110],[68649,110],[68949,110],[69250,109],[69550,108],[69850,108],[70150,108],[70450,108],[70751,107],[71051,106],[71351,106],[71651,106],[71951,106],[72251,106],[72552,105],[72852,104],[73152,104],[73452,102],[73752,48],[73801,50],[74053,47],[74104,47],[74353,47],[74407,44],[74653,47],[74710,41],[74953,47],[75012,38],[75253,47],[75315,35],[75554,46],[75618,32],[75854,46],[75921,29],[76154,46],[76224,26],[76454,46],[76526,24],[76754,46],[76829,19],[77054,46],[77355,45],[77655,45],[77955,45],[78255,45],[78555,45],[78856,44],[79156,44],[79456,44],[79756,44],[80056,44],[80357,43],[80657,43],[80957,43],[81257,43],[81557,43],[81857,43],[82158,42],[82458,42],[82758,42],[83058,42],[83358,42],[83659,41],[83959,41],[84259,41],[84559,41],[84859,41],[85160,40],[85460,40],[85760,40],[86060,40],[86360,40],[86660,40],[86961,39],[87261,39],[87561,39],[87861,39],[88161,39],[88462,38],[88762,38],[89062,38],[89362,38],[89662,38],[89963,37]],"point":[149,149]}},"high_idx":9},{"api_action":{"action":"OpenObject","objectId":"Fridge|-03.52|+00.00|+02.72"},"discrete_action":{"action":"OpenObject","args":{"bbox":[0,1,299,200],"mask":[[0,39000],[39001,299],[39302,298],[39603,297],[39904,296],[40204,296],[40505,295],[40806,293],[41107,291],[41408,289],[41709,288],[42010,286],[42311,284],[42611,283],[42912,281],[43213,279],[43514,277],[43815,275],[44116,273],[44417,271],[44718,269],[45019,268],[45319,267],[45620,265],[45921,263],[46222,261],[46523,259],[46824,257],[47125,255],[47426,253],[47726,252],[48027,250],[48328,248],[48629,247],[48930,245],[49231,243],[49532,241],[49833,239],[50133,238],[50434,236],[50735,234],[51036,232],[51337,230],[51638,228],[51939,227],[52240,225],[52540,224],[52841,222],[53142,220],[53443,218],[53744,216],[54045,214],[54346,212],[54647,210],[54948,208],[55248,207],[55549,206],[55850,204],[56151,202],[56452,200],[56753,198],[57054,196],[57355,194],[57655,193],[57956,191],[58257,189],[58558,187],[58859,186],[59165,173],[59465,173],[59825,4],[59835,4]],"point":[149,99]}},"high_idx":9},{"api_action":{"action":"PickupObject","objectId":"Tomato|-00.54|+01.09|+02.14|TomatoSliced_1"},"discrete_action":{"action":"PickupObject","args":{"bbox":[140,94,173,109],"mask":[[28066,1],[28346,7],[28362,8],[28644,11],[28658,13],[28943,29],[29242,31],[29541,32],[29841,33],[30140,34],[30441,33],[30741,33],[31041,32],[31342,31],[31643,29],[31945,25],[32248,20],[32562,3]],"point":[156,100]}},"high_idx":9},{"api_action":{"action":"CloseObject","objectId":"Fridge|-03.52|+00.00|+02.72"},"discrete_action":{"action":"CloseObject","args":{"bbox":[0,1,299,300],"mask":[[0,160],[191,269],[491,269],[791,269],[1091,269],[1391,270],[1691,270],[1990,271],[2290,271],[2590,271],[2889,272],[3189,272],[3489,273],[3788,274],[4088,274],[4387,276],[4686,277],[4986,277],[5285,279],[5585,279],[5884,281],[6184,283],[6483,285],[6781,47],[6838,232],[7079,44],[7144,229],[7376,44],[7447,271],[7750,266],[8052,263],[8354,260],[8655,258],[8957,255],[9258,254],[9559,252],[9860,251],[10161,249],[10462,248],[10763,247],[11063,247],[11364,246],[11664,246],[11965,245],[12265,245],[12565,245],[12865,245],[13165,245],[13465,245],[13765,245],[14065,245],[14364,247],[14664,247],[14963,249],[15263,249],[15562,251],[15861,253],[16161,254],[16460,256],[16759,258],[17058,260],[17357,262],[17656,265],[17954,268],[18253,271],[18551,276],[18849,281],[19144,35696],[54841,299],[55141,299],[55441,299],[55741,299],[56041,299],[56342,299],[56642,299],[56942,299],[57242,299],[57542,299],[57842,300],[58143,296],[58443,296],[58743,295],[59043,121],[59165,173],[59343,121],[59465,173],[59644,120],[59944,120],[60244,120],[60544,120],[60844,119],[61145,118],[61445,118],[61745,118],[62045,118],[62345,117],[62645,117],[62946,116],[63246,116],[63546,116],[63846,116],[64146,115],[64447,114],[64747,114],[65047,114],[65347,114],[65647,114],[65948,112],[66248,112],[66548,112],[66848,112],[67148,112],[67448,112],[67749,110],[68049,110],[68349,110],[68649,110],[68949,110],[69250,109],[69550,108],[69850,108],[70150,108],[70450,108],[70751,107],[71051,106],[71351,106],[71651,106],[71951,106],[72251,106],[72552,105],[72852,104],[73152,104],[73452,102],[73752,48],[73801,50],[74053,47],[74104,47],[74353,47],[74407,44],[74653,47],[74710,41],[74953,47],[75012,38],[75253,47],[75315,35],[75554,46],[75618,32],[75854,46],[75921,29],[76154,46],[76224,26],[76454,46],[76526,24],[76754,46],[76829,19],[77054,46],[77355,45],[77655,45],[77955,45],[78255,45],[78555,45],[78856,44],[79156,44],[79456,44],[79756,44],[80056,44],[80357,43],[80657,43],[80957,43],[81257,43],[81557,43],[81857,43],[82158,42],[82458,42],[82758,42],[83058,42],[83358,42],[83659,41],[83959,41],[84259,41],[84559,41],[84859,41],[85160,40],[85460,40],[85760,40],[86060,40],[86360,40],[86660,40],[86961,39],[87261,39],[87561,39],[87861,39],[88161,39],[88462,38],[88762,38],[89062,38],[89362,38],[89662,38],[89963,37]],"point":[149,149]}},"high_idx":9},{"api_action":{"action":"LookUp","forceAction":true},"discrete_action":{"action":"LookUp_15","args":{}},"high_idx":10},{"api_action":{"action":"RotateLeft","forceAction":true},"discrete_action":{"action":"RotateLeft_90","args":{}},"high_idx":10},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":10},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":10},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":10},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":10},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":10},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":10},{"api_action":{"action":"RotateLeft","forceAction":true},"discrete_action":{"action":"RotateLeft_90","args":{}},"high_idx":10},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":10},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":10},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":10},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":10},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":10},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":10},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":10},{"api_action":{"action":"PutObject","forceAction":true,"objectId":"Tomato|-00.54|+01.09|+02.14|TomatoSliced_1","placeStationary":true,"receptacleObjectId":"Sink|-01.39|+00.98|+00.44|SinkBasin"},"discrete_action":{"action":"PutObject","args":{"bbox":[158,85,299,121],"mask":[[25358,63],[25433,67],[25658,60],[25736,64],[25958,59],[26038,62],[26258,58],[26340,60],[26558,57],[26641,59],[26858,57],[26942,58],[27158,57],[27242,58],[27458,57],[27543,57],[27758,57],[27843,57],[28058,15],[28074,41],[28143,57],[28358,15],[28374,1],[28377,38],[28443,57],[28658,15],[28674,1],[28677,1],[28680,35],[28742,58],[28958,10],[28971,2],[28974,1],[28977,1],[28980,2],[28987,28],[29042,58],[29258,9],[29304,11],[29342,58],[29558,9],[29592,9],[29641,59],[29858,9],[29890,17],[29940,25],[29988,12],[30158,9],[30184,1],[30187,28],[30240,13],[30289,11],[30458,9],[30485,30],[30539,2],[30587,13],[30758,9],[30785,30],[30884,16],[31058,9],[31085,30],[31180,20],[31358,9],[31385,26],[31476,24],[31658,10],[31685,24],[31771,29],[31958,10],[31985,24],[32036,4],[32066,34],[32258,10],[32286,23],[32336,4],[32360,40],[32559,9],[32586,24],[32635,5],[32654,46],[32859,9],[32886,25],[32935,5],[32948,52],[33159,9],[33186,29],[33235,65],[33459,9],[33486,29],[33534,66],[33759,9],[33786,29],[33834,66],[34059,9],[34087,28],[34133,67],[34359,9],[34387,28],[34433,67],[34659,9],[34687,28],[34732,68],[34959,9],[34987,27],[35032,68],[35259,9],[35287,27],[35331,69],[35559,10],[35587,28],[35631,69],[35859,10],[35886,29],[35930,70],[36159,57],[36230,70]],"point":[236,106]}},"high_idx":11}]},"repeat_idx":1,"root":"alfred/data/json_2.1.0/pick_cool_then_place_in_recep-TomatoSliced-None-SinkBasin-4/trial_T20190907_071506_149865","scene":{"dirty_and_empty":false,"floor_plan":"FloorPlan4","init_action":{"action":"TeleportFull","horizon":30,"rotateOnTeleport":true,"rotation":0,"x":-1.75,"y":0.9009999,"z":1.25},"object_poses":[{"objectName":"DishSponge_130c30e2","position":{"x":-2.4979,"y":0.4867409,"z":0.579597354},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"DishSponge_130c30e2","position":{"x":-3.79859781,"y":0.112053685,"z":2.03875422},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Fork_1f60da4f","position":{"x":-2.51405215,"y":1.12544858,"z":0.6620079},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Egg_7b2f7cfb","position":{"x":-2.63972664,"y":1.15510356,"z":0.473335981},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Cup_7b1a480e","position":{"x":-1.522666,"y":0.0473405719,"z":0.551842153},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Plate_ca5fe19d","position":{"x":-3.44,"y":1.28527939,"z":2.991},"rotation":{"x":0.0,"y":90.0,"z":0.0}},{"objectName":"Knife_e6e9017d","position":{"x":-1.37665522,"y":0.9639934,"z":0.359536},"rotation":{"x":1.40334191e-14,"y":0.0,"z":0.0}},{"objectName":"SoapBottle_58fe0a5f","position":{"x":-2.45075154,"y":0.0954267457,"z":0.5123318},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Tomato_1473e57e","position":{"x":-0.5388072,"y":1.087733,"z":2.14499116},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Bowl_9496ee5e","position":{"x":-3.44000053,"y":1.56009841,"z":2.920098},"rotation":{"x":0.0,"y":90.0,"z":0.0}},{"objectName":"PepperShaker_4cc43937","position":{"x":-1.996362,"y":0.8998355,"z":0.645984054},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"PepperShaker_4cc43937","position":{"x":-0.29224965,"y":1.04454422,"z":1.9207176},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Bread_d5b8c410","position":{"x":-0.908643544,"y":1.13389707,"z":2.14499116},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Bread_d5b8c410","position":{"x":-0.908643544,"y":1.13498759,"z":1.9207176},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Lettuce_7c6826ef","position":{"x":-0.662086,"y":1.12561512,"z":3.04208541},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Lettuce_7c6826ef","position":{"x":-0.785364747,"y":1.12561512,"z":3.26635885},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Mug_ff353859","position":{"x":-0.3779,"y":1.095438,"z":3.19400072},"rotation":{"x":0.0,"y":270.000183,"z":0.0}},{"objectName":"Apple_f6bdaee7","position":{"x":-0.5388072,"y":1.11561787,"z":2.817812},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Apple_f6bdaee7","position":{"x":-3.50640655,"y":0.97924006,"z":2.84919739},"rotation":{"x":0.0,"y":90.0,"z":0.0}},{"objectName":"Fork_1f60da4f","position":{"x":-1.19964325,"y":0.932104647,"z":0.290272},"rotation":{"x":1.40334191e-14,"y":0.0,"z":0.0}},{"objectName":"SoapBottle_58fe0a5f","position":{"x":-2.04273033,"y":0.487716019,"z":0.5123318},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Pot_ab8a6692","position":{"x":-3.0005,"y":1.1332,"z":0.227099985},"rotation":{"x":0.0,"y":270.000732,"z":0.0}},{"objectName":"Ladle_f4537974","position":{"x":-0.785364747,"y":1.086315,"z":2.817812},"rotation":{"x":0.0,"y":90.0,"z":0.0}},{"objectName":"Potato_4679e4a5","position":{"x":-0.662086,"y":1.07872343,"z":3.26635885},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Plate_ca5fe19d","position":{"x":-1.19579625,"y":0.0479601622,"z":0.49469927},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Bread_d5b8c410","position":{"x":-0.908643544,"y":1.13498759,"z":3.04208541},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Lettuce_7c6826ef","position":{"x":-2.38837767,"y":1.20227718,"z":0.473335981},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Spatula_0271e4d1","position":{"x":-3.77883434,"y":1.1399,"z":0.09599209},"rotation":{"x":0.0,"y":90.0,"z":0.0}},{"objectName":"Pan_447fa38c","position":{"x":-0.785364747,"y":1.046757,"z":2.3692646},"rotation":{"x":0.0,"y":180.0,"z":0.0}},{"objectName":"Egg_7b2f7cfb","position":{"x":-3.6448257,"y":0.142692849,"z":1.97881007},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Cup_7b1a480e","position":{"x":-1.28814924,"y":0.9295632,"z":0.4288},"rotation":{"x":1.40334191e-14,"y":0.0,"z":0.0}},{"objectName":"SaltShaker_e61894bc","position":{"x":-0.9396575,"y":1.12120628,"z":0.296814859},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Knife_e6e9017d","position":{"x":-2.51405215,"y":1.15733731,"z":0.190328062},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Bowl_9496ee5e","position":{"x":-3.30718732,"y":0.9094583,"z":3.061901},"rotation":{"x":0.0,"y":90.0,"z":0.0}},{"objectName":"PepperShaker_4cc43937","position":{"x":-0.8837076,"y":1.12120628,"z":0.47828263},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"ButterKnife_8393cb4d","position":{"x":-0.5388072,"y":1.04718959,"z":3.04208541},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Apple_f6bdaee7","position":{"x":-2.13702822,"y":1.19227993,"z":0.473335981},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Tomato_1473e57e","position":{"x":-0.168970883,"y":1.087733,"z":2.14499116},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"DishSponge_130c30e2","position":{"x":-1.11113727,"y":0.931120455,"z":0.359536},"rotation":{"x":1.40334191e-14,"y":0.0,"z":0.0}},{"objectName":"Spoon_9dba57b8","position":{"x":-1.09282446,"y":1.15549219,"z":0.108262748},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Mug_ff353859","position":{"x":-1.48333192,"y":0.0443335176,"z":0.438600779},"rotation":{"x":0.0,"y":0.0,"z":0.0}}],"object_toggles":[],"random_seed":787265992,"scene_num":4},"split":"valid_seen","task_id":"trial_T20190907_071506_149865","task_type":"pick_cool_then_place_in_recep","turk_annotations":{"anns":[{"assignment_id":"A3PGS1Q1XAY79I_3JRJSWSMQK2KRL63FZNL6EX0B8CE3N","high_descs":["Walk towards the door of the wall you are facing with the sunshine on it, hang a right towards the table just before reaching the wall.","Walk to the loaf of bread and pick up the knife that is under the head of lettuce nearest the coffee maker and toaster and to the left of the apple.","Turn right and walk to the other end of the table and stop at the loaf of bread nearest the frying pan.","Slice the tomato nearest the center of the table and closest to the frying pan and the bread.","Turn to your left and walk to the end of the table closest to the door, stop and face the loaf of bread to your right.","Put the knife down on the table to the right of the loaf of bread and on top of the handle of the spoon behind and to the right of the bread.","Turn and walk towards your right, stop and face the table when you reach the frying pan and the loaf of bread directly in front of the tomato.","Pick up a center slice from the tomato.","Turn to your left and walk towards the end of the table nearest the door and hang a left to the refrigerator.","Walk to the refrigerator, open the refrigerator door, place the tomato slice on the left side of the second shelf from the top near the front edge of the shelf, close the refrigerator door; open the refrigerator door and pick up the tomato slice, close the refrigerator door.","Turn to your left and walk towards the microwave oven.","Place the tomato slice on the green sponge."],"task_desc":"Cut a tomato slice, refrigerate it, place it on a sponge","votes":[1,1,1]},{"assignment_id":"A3C81THYYSBGVD_3QAVNHZ3EPLYHCFG50PZ6H1QQHWLA8","high_descs":["Move forward and face the table to your right.","Take the knife from the table in front of you.","Turn right then face the bread on the table to your left.","Slice the tomato on the table.","Turn left then face the bread on the table to your right.","Place the knife on the table in front of you.","Turn right then face the sliced tomato on the table to your left.","Take a tomato slice from the table.","Turn around and face the fridge in front of you.","Place the tomato slice inside of the fridge inside of you, take out the tomato, then close the fridge.","Turn around then face the counter with the sponge on your right.","Place the tomato slice on the sponge on the counter in front of you."],"task_desc":"Put a cold slice of tomato on top of a sponge on a counter.","votes":[1,1,1]},{"assignment_id":"A1OWHPMKE7YAGL_31JLPPHS2XB63CJS9DQHBQREFI03OE","high_descs":["Go forward to the door, hang a right and go to the table where the bread is. ","Pick up the butter knife that is on the table under the head of lettuce behind the bread. ","Turn to the right and go down towards the end of the table where the pan is.","Use the knife to cut the closest tomato into slices. ","Turn to the left and go back to the other end of the table. ","Put the knife down to the right of the bread on the spoon.","Turn to the right and go back to the other end of the table where the tomato is. ","Pick up a slice of the tomato that was cut. ","Turn left, go to the wall, turn left, go to the fridge. ","Put the tomato inside the fridge to get cold, remove the tomato once it is cold and shut the fridge. ","Turn left, go to the counter, turn left, go forward to the sink that is on the right. ","Put the tomato in the sink to the left of the glass. "],"task_desc":"Put a cold slice of tomato in a sink.","votes":[1,1]},{"assignment_id":"A1DK3FVV13STX2_3WQ3B2KGEBXQAFG4I47CHDCIA0T1B8","high_descs":["Walk toward the door then turn to face the table on your right. ","Pick up the knife laying by the keruig on the table. ","Move to your right. ","Slice the tomato on the table behind the bread. ","Move to your left. ","Put the knife on the table next to the bread. ","Move to your right again. ","Pick up a slice of tomato. ","Turn around and walk to the refrigerator. ","Put the slice of tomato in the refrigerator, leave it there until it gets cold, then take it out. ","Turn to your left and walk toward the counter, then turn right and walk toward the wall and turn right to face the sink. ","Put the slice of tomato on top of the green sponge in the sink. "],"task_desc":"Put a tomato slice on top of a green sponge in the sink. ","votes":[1,1]},{"assignment_id":"A1O3TWBUDONVLO_3Z9WI9EOZ2527T5CQ6NQ83BFEIUHK1","high_descs":["Turn to the right and walk forward to face the kitchen table.","Pick up the knife on the table.","Step right to face the tomato on the right side of the kitchen table.","Cut the tomato on the kitchen table into slices.","Take a step to the left and face the left side of the kitchen table.","Place the knife on the kitchen table.","Step to the right and face the tomato slices on the kitchen table.","Pick up a slice of tomato on the kitchen table.","Turn around and walk across the room to face the fridge.","Cool the tomato slice in the fridge and then remove it.","Turn around and walk across the room then turn right and walk forward to face the stove.","Place the tomato slice on the edge of the stove."],"task_desc":"To cut plus cool a tomato slice as well as place the tomato slice on the stove.","votes":[1,1]},{"assignment_id":"A17TKHT8FEVH0R_3MTMREQS4YZES6RF9EW1FSI6ONDWAN","high_descs":["Head to the table on the right","Grab the knife off of the table","Move slightly to the right","Cut the tomato on the counter into slices","Move slightly to the left","Lay the knife down on the table","Move slightly to the right","Grab one of the tomato slices","Turn around and head to the fridge","Open the right fridge door and put the tomato on the second rack. Close the door. Open the door and take the tomato out.","Turn around and head to the sink","Place the tomato in the sink"],"task_desc":"Putting a sliced tomato in the sink","votes":[1,0,1]}]}}},"observations":[],"question":{"options":[],"original":"Put a cold slice of tomato on top of a sponge in the sink.","text":"Put a cold slice of tomato on top of a sponge in the sink."},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"AI2-THOR / ALFRED","eval_set":"long_horizon","instruction_override":"Put a cold slice of tomato on top of a sponge in the sink.","mode":"interactive","native_episode_locator":{"file":"pick_cool_then_place_in_recep-TomatoSliced-None-SinkBasin-4/trial_T20190907_071506_149865/pp/ann_1.json","format":"hf_file"},"observation_policy":"current RGB and upstream feedback; demonstration plans and hidden task metadata excluded from model input","repo":"EmbodiedBench/EmbodiedBench","revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","selected_index":30},"sampling":{"component_id":"1992a9f0b01c76f468fb","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":14,"stratum_pool":50},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"embodiedbench/envs/eb_alfred/data/splits/splits.json","annotation_sha256":"fe607575ef56ccd7f58bd26047b66f949d98e700ae68e59a384a74634e8267b7","host":"huggingface","license":"apache-2.0","media_policy":"upstream-reference; source media terms apply","native_episode_sha256":"7787512a11619d22694244101bd42e4f95b6d1a574facc5c72681cae1c8574db","repo":"EmbodiedBench/EB-ALFRED","revision":"af55cc721725ed058830fd7a8aee66c1f69efbaa","row_sha256":"4722b0f6378b8a6fa2b7a0a15c15fe502600d270be3d70adf33c8ff3f178e3be","runtime_revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","sample_id":"long_horizon/30","split":"long_horizon","upstream_dataset":"EB-ALFRED","url":"https://huggingface.co/datasets/EmbodiedBench/EB-ALFRED"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_environment_success","original_answer":null},"task":{"category":"long_horizon","role":"spatial_core","skill_tags":["long_horizon","long_horizon"],"stratum":"EB-ALFRED/long_horizon/long_horizon","subcategory":"long_horizon"},"transforms":[]}
{"dataset":"EB-ALFRED","group":{"id":"AI2THOR/FloorPlan17","kind":"scene","scene":"FloorPlan17"},"id":"44df0c5fc6b250b8dbe9","native_annotation":{"instruction":"Plan a pan with a spatula in it down on the counter to the right of the toaster.","repeat_idx":2,"task":"pick_and_place_with_movable_recep-Spatula-Pan-CounterTop-17/trial_T20190906_194903_710920","upstream_episode":{"ann":{"goal":[" plan "," a "," pan "," with "," a "," spatula "," in "," it "," down "," on "," the "," counter "," to "," the "," right "," of "," the "," toaster ",". ","<<goal>>"],"instr":[[" turn "," to "," the "," right "," and "," walk "," forward "," to "," the "," blue "," table ",". "],[" pick "," up "," the "," spatula "," next "," to "," the "," head "," of "," lettuce ",". "],[" walk "," one "," step "," left "," and "," turn "," to "," face "," the "," pan "," on "," the "," table ",". "],[" place "," the "," spatula "," inside "," the "," pan "," on "," the "," table ",". "],[" pick "," up "," the "," pan "," on "," the "," table ",". "],[" turn "," right "," and "," walk "," forward ",", "," and "," then "," turn "," to "," the "," left "," and "," face "," the "," counter "," right "," after "," passing "," the "," toaster ",". "],[" place "," the "," pan "," down "," on "," the "," counter "," to "," the "," right "," of "," the "," toaster ",". "],["<<stop>>"]],"repeat_idx":2},"images":[{"high_idx":0,"image_name":"000000000.png","low_idx":0},{"high_idx":0,"image_name":"000000001.png","low_idx":0},{"high_idx":0,"image_name":"000000002.png","low_idx":0},{"high_idx":0,"image_name":"000000003.png","low_idx":0},{"high_idx":0,"image_name":"000000004.png","low_idx":0},{"high_idx":0,"image_name":"000000005.png","low_idx":0},{"high_idx":0,"image_name":"000000006.png","low_idx":0},{"high_idx":0,"image_name":"000000007.png","low_idx":0},{"high_idx":0,"image_name":"000000008.png","low_idx":0},{"high_idx":0,"image_name":"000000009.png","low_idx":0},{"high_idx":0,"image_name":"000000010.png","low_idx":0},{"high_idx":0,"image_name":"000000011.png","low_idx":1},{"high_idx":0,"image_name":"000000012.png","low_idx":1},{"high_idx":0,"image_name":"000000013.png","low_idx":2},{"high_idx":0,"image_name":"000000014.png","low_idx":2},{"high_idx":0,"image_name":"000000015.png","low_idx":2},{"high_idx":0,"image_name":"000000016.png","low_idx":2},{"high_idx":0,"image_name":"000000017.png","low_idx":2},{"high_idx":0,"image_name":"000000018.png","low_idx":2},{"high_idx":0,"image_name":"000000019.png","low_idx":2},{"high_idx":0,"image_name":"000000020.png","low_idx":2},{"high_idx":0,"image_name":"000000021.png","low_idx":2},{"high_idx":0,"image_name":"000000022.png","low_idx":2},{"high_idx":0,"image_name":"000000023.png","low_idx":2},{"high_idx":0,"image_name":"000000024.png","low_idx":3},{"high_idx":0,"image_name":"000000025.png","low_idx":3},{"high_idx":1,"image_name":"000000026.png","low_idx":4},{"high_idx":1,"image_name":"000000027.png","low_idx":4},{"high_idx":1,"image_name":"000000028.png","low_idx":4},{"high_idx":1,"image_name":"000000029.png","low_idx":4},{"high_idx":1,"image_name":"000000030.png","low_idx":4},{"high_idx":1,"image_name":"000000031.png","low_idx":4},{"high_idx":1,"image_name":"000000032.png","low_idx":4},{"high_idx":1,"image_name":"000000033.png","low_idx":4},{"high_idx":1,"image_name":"000000034.png","low_idx":4},{"high_idx":1,"image_name":"000000035.png","low_idx":4},{"high_idx":1,"image_name":"000000036.png","low_idx":4},{"high_idx":1,"image_name":"000000037.png","low_idx":4},{"high_idx":1,"image_name":"000000038.png","low_idx":4},{"high_idx":1,"image_name":"000000039.png","low_idx":4},{"high_idx":1,"image_name":"000000040.png","low_idx":4},{"high_idx":2,"image_name":"000000041.png","low_idx":5},{"high_idx":2,"image_name":"000000042.png","low_idx":5},{"high_idx":2,"image_name":"000000043.png","low_idx":5},{"high_idx":2,"image_name":"000000044.png","low_idx":5},{"high_idx":2,"image_name":"000000045.png","low_idx":5},{"high_idx":2,"image_name":"000000046.png","low_idx":5},{"high_idx":2,"image_name":"000000047.png","low_idx":5},{"high_idx":2,"image_name":"000000048.png","low_idx":5},{"high_idx":2,"image_name":"000000049.png","low_idx":5},{"high_idx":2,"image_name":"000000050.png","low_idx":5},{"high_idx":2,"image_name":"000000051.png","low_idx":5},{"high_idx":2,"image_name":"000000052.png","low_idx":6},{"high_idx":2,"image_name":"000000053.png","low_idx":6},{"high_idx":2,"image_name":"000000054.png","low_idx":7},{"high_idx":2,"image_name":"000000055.png","low_idx":7},{"high_idx":2,"image_name":"000000056.png","low_idx":7},{"high_idx":2,"image_name":"000000057.png","low_idx":7},{"high_idx":2,"image_name":"000000058.png","low_idx":7},{"high_idx":2,"image_name":"000000059.png","low_idx":7},{"high_idx":2,"image_name":"000000060.png","low_idx":7},{"high_idx":2,"image_name":"000000061.png","low_idx":7},{"high_idx":2,"image_name":"000000062.png","low_idx":7},{"high_idx":2,"image_name":"000000063.png","low_idx":7},{"high_idx":2,"image_name":"000000064.png","low_idx":7},{"high_idx":2,"image_name":"000000065.png","low_idx":8},{"high_idx":2,"image_name":"000000066.png","low_idx":8},{"high_idx":2,"image_name":"000000067.png","low_idx":8},{"high_idx":2,"image_name":"000000068.png","low_idx":8},{"high_idx":2,"image_name":"000000069.png","low_idx":8},{"high_idx":2,"image_name":"000000070.png","low_idx":8},{"high_idx":2,"image_name":"000000071.png","low_idx":8},{"high_idx":2,"image_name":"000000072.png","low_idx":8},{"high_idx":2,"image_name":"000000073.png","low_idx":8},{"high_idx":2,"image_name":"000000074.png","low_idx":8},{"high_idx":2,"image_name":"000000075.png","low_idx":8},{"high_idx":3,"image_name":"000000076.png","low_idx":9},{"high_idx":3,"image_name":"000000077.png","low_idx":9},{"high_idx":3,"image_name":"000000078.png","low_idx":9},{"high_idx":3,"image_name":"000000079.png","low_idx":9},{"high_idx":3,"image_name":"000000080.png","low_idx":9},{"high_idx":3,"image_name":"000000081.png","low_idx":9},{"high_idx":3,"image_name":"000000082.png","low_idx":9},{"high_idx":3,"image_name":"000000083.png","low_idx":9},{"high_idx":3,"image_name":"000000084.png","low_idx":9},{"high_idx":3,"image_name":"000000085.png","low_idx":9},{"high_idx":3,"image_name":"000000086.png","low_idx":9},{"high_idx":3,"image_name":"000000087.png","low_idx":9},{"high_idx":3,"image_name":"000000088.png","low_idx":9},{"high_idx":3,"image_name":"000000089.png","low_idx":9},{"high_idx":3,"image_name":"000000090.png","low_idx":9},{"high_idx":4,"image_name":"000000091.png","low_idx":10},{"high_idx":4,"image_name":"000000092.png","low_idx":10},{"high_idx":4,"image_name":"000000093.png","low_idx":10},{"high_idx":4,"image_name":"000000094.png","low_idx":10},{"high_idx":4,"image_name":"000000095.png","low_idx":10},{"high_idx":4,"image_name":"000000096.png","low_idx":10},{"high_idx":4,"image_name":"000000097.png","low_idx":10},{"high_idx":4,"image_name":"000000098.png","low_idx":10},{"high_idx":4,"image_name":"000000099.png","low_idx":10},{"high_idx":4,"image_name":"000000100.png","low_idx":10},{"high_idx":4,"image_name":"000000101.png","low_idx":10},{"high_idx":4,"image_name":"000000102.png","low_idx":10},{"high_idx":4,"image_name":"000000103.png","low_idx":10},{"high_idx":4,"image_name":"000000104.png","low_idx":10},{"high_idx":4,"image_name":"000000105.png","low_idx":10},{"high_idx":5,"image_name":"000000106.png","low_idx":11},{"high_idx":5,"image_name":"000000107.png","low_idx":11},{"high_idx":5,"image_name":"000000108.png","low_idx":11},{"high_idx":5,"image_name":"000000109.png","low_idx":11},{"high_idx":5,"image_name":"000000110.png","low_idx":11},{"high_idx":5,"image_name":"000000111.png","low_idx":11},{"high_idx":5,"image_name":"000000112.png","low_idx":11},{"high_idx":5,"image_name":"000000113.png","low_idx":11},{"high_idx":5,"image_name":"000000114.png","low_idx":11},{"high_idx":5,"image_name":"000000115.png","low_idx":11},{"high_idx":5,"image_name":"000000116.png","low_idx":11},{"high_idx":5,"image_name":"000000117.png","low_idx":12},{"high_idx":5,"image_name":"000000118.png","low_idx":12},{"high_idx":5,"image_name":"000000119.png","low_idx":12},{"high_idx":5,"image_name":"000000120.png","low_idx":12},{"high_idx":5,"image_name":"000000121.png","low_idx":12},{"high_idx":5,"image_name":"000000122.png","low_idx":12},{"high_idx":5,"image_name":"000000123.png","low_idx":12},{"high_idx":5,"image_name":"000000124.png","low_idx":12},{"high_idx":5,"image_name":"000000125.png","low_idx":12},{"high_idx":5,"image_name":"000000126.png","low_idx":12},{"high_idx":5,"image_name":"000000127.png","low_idx":12},{"high_idx":5,"image_name":"000000128.png","low_idx":13},{"high_idx":5,"image_name":"000000129.png","low_idx":13},{"high_idx":5,"image_name":"000000130.png","low_idx":14},{"high_idx":5,"image_name":"000000131.png","low_idx":14},{"high_idx":5,"image_name":"000000132.png","low_idx":15},{"high_idx":5,"image_name":"000000133.png","low_idx":15},{"high_idx":5,"image_name":"000000134.png","low_idx":16},{"high_idx":5,"image_name":"000000135.png","low_idx":16},{"high_idx":5,"image_name":"000000136.png","low_idx":17},{"high_idx":5,"image_name":"000000137.png","low_idx":17},{"high_idx":5,"image_name":"000000138.png","low_idx":18},{"high_idx":5,"image_name":"000000139.png","low_idx":18},{"high_idx":5,"image_name":"000000140.png","low_idx":19},{"high_idx":5,"image_name":"000000141.png","low_idx":19},{"high_idx":5,"image_name":"000000142.png","low_idx":20},{"high_idx":5,"image_name":"000000143.png","low_idx":20},{"high_idx":5,"image_name":"000000144.png","low_idx":21},{"high_idx":5,"image_name":"000000145.png","low_idx":21},{"high_idx":5,"image_name":"000000146.png","low_idx":21},{"high_idx":5,"image_name":"000000147.png","low_idx":21},{"high_idx":5,"image_name":"000000148.png","low_idx":21},{"high_idx":5,"image_name":"000000149.png","low_idx":21},{"high_idx":5,"image_name":"000000150.png","low_idx":21},{"high_idx":5,"image_name":"000000151.png","low_idx":21},{"high_idx":5,"image_name":"000000152.png","low_idx":21},{"high_idx":5,"image_name":"000000153.png","low_idx":21},{"high_idx":5,"image_name":"000000154.png","low_idx":21},{"high_idx":5,"image_name":"000000155.png","low_idx":22},{"high_idx":5,"image_name":"000000156.png","low_idx":22},{"high_idx":5,"image_name":"000000157.png","low_idx":23},{"high_idx":5,"image_name":"000000158.png","low_idx":23},{"high_idx":5,"image_name":"000000159.png","low_idx":23},{"high_idx":5,"image_name":"000000160.png","low_idx":23},{"high_idx":5,"image_name":"000000161.png","low_idx":23},{"high_idx":5,"image_name":"000000162.png","low_idx":23},{"high_idx":5,"image_name":"000000163.png","low_idx":23},{"high_idx":5,"image_name":"000000164.png","low_idx":23},{"high_idx":5,"image_name":"000000165.png","low_idx":23},{"high_idx":5,"image_name":"000000166.png","low_idx":23},{"high_idx":5,"image_name":"000000167.png","low_idx":23},{"high_idx":6,"image_name":"000000168.png","low_idx":24},{"high_idx":6,"image_name":"000000169.png","low_idx":24},{"high_idx":6,"image_name":"000000170.png","low_idx":24},{"high_idx":6,"image_name":"000000171.png","low_idx":24},{"high_idx":6,"image_name":"000000172.png","low_idx":24},{"high_idx":6,"image_name":"000000173.png","low_idx":24},{"high_idx":6,"image_name":"000000174.png","low_idx":24},{"high_idx":6,"image_name":"000000175.png","low_idx":24},{"high_idx":6,"image_name":"000000176.png","low_idx":24},{"high_idx":6,"image_name":"000000177.png","low_idx":24},{"high_idx":6,"image_name":"000000178.png","low_idx":24},{"high_idx":6,"image_name":"000000179.png","low_idx":24},{"high_idx":6,"image_name":"000000180.png","low_idx":24},{"high_idx":6,"image_name":"000000181.png","low_idx":24},{"high_idx":6,"image_name":"000000182.png","low_idx":24}],"num":{"action_high":[{"action":3,"action_high_args":[4],"high_idx":0},{"action":5,"action_high_args":[34],"high_idx":1},{"action":3,"action_high_args":[53],"high_idx":2},{"action":10,"action_high_args":[34,53],"high_idx":3},{"action":5,"action_high_args":[53],"high_idx":4},{"action":3,"action_high_args":[13],"high_idx":5},{"action":10,"action_high_args":[53,13],"high_idx":6},{"action":12,"action_high_args":[],"high_idx":7}],"action_low":[[{"action":3,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0}],[{"action":6,"action_high_args":{"bbox":[109,110,126,155],"mask":[[32823,2],[33123,1],[33423,1],[33723,1],[34023,1],[34323,1],[34622,2],[34922,2],[35222,2],[35521,2],[35821,2],[36121,2],[36420,3],[36720,3],[37019,4],[37320,2],[37620,2],[37920,2],[38220,2],[38520,2],[38819,2],[39119,2],[39419,2],[39719,2],[40019,2],[40319,2],[40619,2],[40919,2],[41218,3],[41518,3],[41818,3],[42118,3],[42418,2],[42716,6],[43012,13],[43311,16],[43611,16],[43910,17],[44210,16],[44510,16],[44810,16],[45109,17],[45409,17],[45709,17],[46009,17],[46309,16]],"point":[119,131]},"centroid":[0.39166666666666666,0.44166666666666665],"high_idx":1,"mask":[[32823,2],[33123,1],[33423,1],[33723,1],[34023,1],[34323,1],[34622,2],[34922,2],[35222,2],[35521,2],[35821,2],[36121,2],[36420,3],[36720,3],[37019,4],[37320,2],[37620,2],[37920,2],[38220,2],[38520,2],[38819,2],[39119,2],[39419,2],[39719,2],[40019,2],[40319,2],[40619,2],[40919,2],[41218,3],[41518,3],[41818,3],[42118,3],[42418,2],[42716,6],[43012,13],[43311,16],[43611,16],[43910,17],[44210,16],[44510,16],[44810,16],[45109,17],[45409,17],[45709,17],[46009,17],[46309,16]],"valid_interact":1}],[{"action":5,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":3,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0}],[{"action":11,"action_high_args":{"bbox":[45,83,163,147],"mask":[[24723,6],[25016,20],[25311,29],[25609,34],[25906,39],[26204,43],[26502,47],[26800,51],[27099,53],[27397,56],[27696,58],[27995,61],[28294,63],[28593,65],[28892,66],[29191,68],[29490,70],[29789,71],[30089,72],[30388,73],[30688,74],[30987,75],[31287,76],[31586,77],[31885,78],[32147,14],[32184,79],[32446,25],[32482,82],[32745,3],[32750,114],[33045,119],[33346,33],[33382,82],[33647,6],[33670,10],[33681,83],[33976,88],[34279,85],[34581,83],[34882,82],[35183,81],[35484,80],[35784,79],[36084,79],[36385,78],[36685,77],[36985,77],[37285,77],[37586,75],[37886,74],[38187,73],[38487,72],[38788,70],[39088,70],[39389,68],[39690,66],[39991,64],[40292,62],[40592,61],[40894,58],[41195,55],[41496,53],[41798,49],[42099,47],[42401,43],[42703,38],[43005,34],[43309,27],[43612,20],[43921,2]],"point":[104,114]},"centroid":[0.3466666666666667,0.38333333333333336],"high_idx":3,"mask":[[24723,6],[25016,20],[25311,29],[25609,34],[25906,39],[26204,43],[26502,47],[26800,51],[27099,53],[27397,56],[27696,58],[27995,61],[28294,63],[28593,65],[28892,66],[29191,68],[29490,70],[29789,71],[30089,72],[30388,73],[30688,74],[30987,75],[31287,76],[31586,77],[31885,78],[32147,14],[32184,79],[32446,25],[32482,82],[32745,3],[32750,114],[33045,119],[33346,33],[33382,82],[33647,6],[33670,10],[33681,83],[33976,88],[34279,85],[34581,83],[34882,82],[35183,81],[35484,80],[35784,79],[36084,79],[36385,78],[36685,77],[36985,77],[37285,77],[37586,75],[37886,74],[38187,73],[38487,72],[38788,70],[39088,70],[39389,68],[39690,66],[39991,64],[40292,62],[40592,61],[40894,58],[41195,55],[41496,53],[41798,49],[42099,47],[42401,43],[42703,38],[43005,34],[43309,27],[43612,20],[43921,2]],"valid_interact":1}],[{"action":6,"action_high_args":{"bbox":[45,83,163,147],"mask":[[24723,6],[25016,20],[25311,29],[25609,34],[25909,36],[26204,2],[26209,38],[26502,4],[26508,41],[26800,7],[26808,43],[27099,8],[27108,44],[27397,10],[27408,45],[27696,58],[27995,13],[28009,47],[28294,14],[28309,48],[28593,15],[28609,49],[28892,16],[28909,49],[29191,17],[29209,50],[29490,18],[29509,51],[29789,19],[29809,51],[30089,19],[30109,52],[30388,20],[30410,51],[30688,21],[30710,52],[30987,22],[31010,52],[31287,22],[31310,53],[31586,23],[31610,53],[31885,24],[31910,53],[32147,14],[32184,25],[32210,1],[32212,51],[32446,25],[32482,27],[32513,51],[32745,3],[32750,59],[32813,51],[33045,64],[33114,50],[33346,33],[33382,28],[33414,50],[33647,6],[33670,10],[33681,29],[33714,50],[33976,34],[34015,49],[34279,31],[34315,49],[34581,29],[34616,48],[34882,28],[34916,48],[35183,27],[35217,47],[35484,26],[35517,47],[35784,25],[35817,46],[36084,25],[36118,45],[36385,25],[36418,45],[36685,25],[36718,44],[36985,25],[37018,44],[37285,26],[37318,44],[37586,25],[37617,44],[37886,26],[37917,43],[38187,25],[38217,43],[38487,26],[38517,42],[38788,25],[38817,41],[39088,26],[39117,41],[39389,25],[39417,40],[39690,25],[39717,39],[39991,24],[40017,38],[40292,62],[40592,61],[40894,58],[41195,55],[41496,53],[41798,49],[42099,47],[42401,43],[42703,38],[43005,34],[43309,27],[43612,20],[43921,2]],"point":[104,114]},"centroid":[0.3466666666666667,0.38333333333333336],"high_idx":4,"mask":[[24723,6],[25016,20],[25311,29],[25609,34],[25909,36],[26204,2],[26209,38],[26502,4],[26508,41],[26800,7],[26808,43],[27099,8],[27108,44],[27397,10],[27408,45],[27696,58],[27995,13],[28009,47],[28294,14],[28309,48],[28593,15],[28609,49],[28892,16],[28909,49],[29191,17],[29209,50],[29490,18],[29509,51],[29789,19],[29809,51],[30089,19],[30109,52],[30388,20],[30410,51],[30688,21],[30710,52],[30987,22],[31010,52],[31287,22],[31310,53],[31586,23],[31610,53],[31885,24],[31910,53],[32147,14],[32184,25],[32210,1],[32212,51],[32446,25],[32482,27],[32513,51],[32745,3],[32750,59],[32813,51],[33045,64],[33114,50],[33346,33],[33382,28],[33414,50],[33647,6],[33670,10],[33681,29],[33714,50],[33976,34],[34015,49],[34279,31],[34315,49],[34581,29],[34616,48],[34882,28],[34916,48],[35183,27],[35217,47],[35484,26],[35517,47],[35784,25],[35817,46],[36084,25],[36118,45],[36385,25],[36418,45],[36685,25],[36718,44],[36985,25],[37018,44],[37285,26],[37318,44],[37586,25],[37617,44],[37886,26],[37917,43],[38187,25],[38217,43],[38487,26],[38517,42],[38788,25],[38817,41],[39088,26],[39117,41],[39389,25],[39417,40],[39690,25],[39717,39],[39991,24],[40017,38],[40292,62],[40592,61],[40894,58],[41195,55],[41496,53],[41798,49],[42099,47],[42401,43],[42703,38],[43005,34],[43309,27],[43612,20],[43921,2]],"valid_interact":1}],[{"action":8,"action_high_args":{},"centroid":[-1,-1],"high_idx":5,"mask":null,"valid_interact":0},{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":5,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":5,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":5,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":5,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":5,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":5,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":5,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":5,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":5,"mask":null,"valid_interact":0},{"action":5,"action_high_args":{},"centroid":[-1,-1],"high_idx":5,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":5,"mask":null,"valid_interact":0},{"action":3,"action_high_args":{},"centroid":[-1,-1],"high_idx":5,"mask":null,"valid_interact":0}],[{"action":11,"action_high_args":{"bbox":[0,52,299,204],"mask":[[15332,268],[15633,267],[15933,267],[16233,267],[16533,267],[16832,268],[17132,268],[17432,268],[17731,269],[18031,269],[18331,269],[18630,270],[18930,270],[19230,270],[19529,271],[19829,271],[20129,271],[20428,272],[20728,272],[21028,272],[21327,273],[21627,273],[21927,273],[22226,274],[22526,274],[22826,274],[23125,275],[23425,275],[23725,275],[24024,276],[24324,276],[24624,276],[24923,277],[25223,277],[25523,277],[25822,278],[26122,278],[26422,278],[26721,279],[27021,279],[27321,279],[27620,280],[27920,280],[28220,280],[28519,281],[28819,281],[29119,281],[29418,282],[29718,282],[30018,282],[30317,283],[30617,283],[30917,283],[31216,284],[31516,284],[31816,284],[32115,285],[32415,285],[32715,285],[33014,286],[33314,286],[33614,286],[33913,287],[34213,287],[34513,287],[34812,288],[35112,288],[35412,288],[35711,289],[36011,289],[36311,289],[36610,290],[36910,290],[37210,290],[37509,291],[37809,291],[38109,291],[38408,292],[38708,292],[39008,292],[39307,293],[39607,293],[39907,293],[40207,293],[40506,294],[40806,294],[41106,294],[41405,295],[41705,295],[42005,295],[42304,296],[42604,296],[42903,297],[43203,297],[43502,7045],[50553,283],[50864,267],[51169,258],[51473,250],[51777,243],[52080,237],[52383,232],[52685,228],[52987,224],[53289,220],[53591,215],[53894,210],[54196,207],[54497,204],[54799,201],[55100,198],[55402,195],[55703,192],[56005,189],[56306,187],[56607,184],[56909,181],[57210,179],[57511,177],[57812,175],[58113,173],[58414,171],[58715,169],[59016,167],[59317,165],[59618,163],[59919,161],[60220,159],[60521,157],[60822,155],[61123,77]],"point":[149,127]},"centroid":[0.49833333333333335,0.4266666666666667],"high_idx":6,"mask":[[15332,268],[15633,267],[15933,267],[16233,267],[16533,267],[16832,268],[17132,268],[17432,268],[17731,269],[18031,269],[18331,269],[18630,270],[18930,270],[19230,270],[19529,271],[19829,271],[20129,271],[20428,272],[20728,272],[21028,272],[21327,273],[21627,273],[21927,273],[22226,274],[22526,274],[22826,274],[23125,275],[23425,275],[23725,275],[24024,276],[24324,276],[24624,276],[24923,277],[25223,277],[25523,277],[25822,278],[26122,278],[26422,278],[26721,279],[27021,279],[27321,279],[27620,280],[27920,280],[28220,280],[28519,281],[28819,281],[29119,281],[29418,282],[29718,282],[30018,282],[30317,283],[30617,283],[30917,283],[31216,284],[31516,284],[31816,284],[32115,285],[32415,285],[32715,285],[33014,286],[33314,286],[33614,286],[33913,287],[34213,287],[34513,287],[34812,288],[35112,288],[35412,288],[35711,289],[36011,289],[36311,289],[36610,290],[36910,290],[37210,290],[37509,291],[37809,291],[38109,291],[38408,292],[38708,292],[39008,292],[39307,293],[39607,293],[39907,293],[40207,293],[40506,294],[40806,294],[41106,294],[41405,295],[41705,295],[42005,295],[42304,296],[42604,296],[42903,297],[43203,297],[43502,7045],[50553,283],[50864,267],[51169,258],[51473,250],[51777,243],[52080,237],[52383,232],[52685,228],[52987,224],[53289,220],[53591,215],[53894,210],[54196,207],[54497,204],[54799,201],[55100,198],[55402,195],[55703,192],[56005,189],[56306,187],[56607,184],[56909,181],[57210,179],[57511,177],[57812,175],[58113,173],[58414,171],[58715,169],[59016,167],[59317,165],[59618,163],[59919,161],[60220,159],[60521,157],[60822,155],[61123,77]],"valid_interact":1}],[{"action":2,"action_high_args":{},"centroid":[-1,-1],"high_idx":7,"mask":null,"valid_interact":0}]],"lang_goal":[244,35,13,51,35,601,11,52,50,15,4,36,18,4,38,21,4,178,16,2],"lang_instr":[[24,18,4,38,26,47,144,18,4,248,60,16],[22,23,4,601,73,18,4,156,21,74,16],[47,70,201,19,26,24,18,39,4,13,15,4,60,16],[10,4,601,68,4,13,15,4,60,16],[22,23,4,13,15,4,60,16],[24,38,26,47,144,9,26,37,24,18,4,19,26,39,4,36,38,307,520,4,178,16],[10,4,13,50,15,4,36,18,4,38,21,4,178,16],[34]],"low_to_high_idx":[0,0,0,0,1,2,2,2,2,3,4,5,5,5,5,5,5,5,5,5,5,5,5,5,6,7]},"pddl_params":{"mrecep_target":"Pan","object_sliced":false,"object_target":"Spatula","parent_target":"CounterTop","toggle_target":""},"plan":{"high_pddl":[{"discrete_action":{"action":"GotoLocation","args":["diningtable"]},"high_idx":0,"planner_action":{"action":"GotoLocation","location":"loc|2|9|1|45"}},{"discrete_action":{"action":"PickupObject","args":["spatula"]},"high_idx":1,"planner_action":{"action":"PickupObject","coordinateObjectId":["Spatula",[5.46888,5.46888,9.47674944,9.47674944,3.6051996,3.6051996]],"coordinateReceptacleObjectId":["DiningTable",[4.756,4.756,9.908,9.908,3.6872,3.6872]],"forceVisible":true,"objectId":"Spatula|+01.37|+00.90|+02.37"}},{"discrete_action":{"action":"GotoLocation","args":["pan"]},"high_idx":2,"planner_action":{"action":"GotoLocation","location":"loc|2|10|1|60"}},{"discrete_action":{"action":"PutObject","args":["spatula","pan"]},"high_idx":3,"planner_action":{"action":"PutObject","coordinateObjectId":["Spatula",[5.46888,5.46888,9.47674944,9.47674944,3.6051996,3.6051996]],"coordinateReceptacleObjectId":["Pan",[4.13888024,4.13888024,10.33925056,10.33925056,3.543638,3.543638]],"forceVisible":true,"objectId":"Spatula|+01.37|+00.90|+02.37","receptacleObjectId":"Pan|+01.03|+00.89|+02.58"}},{"discrete_action":{"action":"PickupObject","args":["pan"]},"high_idx":4,"planner_action":{"action":"PickupObject","coordinateObjectId":["Pan",[4.13888024,4.13888024,10.33925056,10.33925056,3.543638,3.543638]],"coordinateReceptacleObjectId":["DiningTable",[4.756,4.756,9.908,9.908,3.6872,3.6872]],"forceVisible":true,"objectId":"Pan|+01.03|+00.89|+02.58"}},{"discrete_action":{"action":"GotoLocation","args":["countertop"]},"high_idx":5,"planner_action":{"action":"GotoLocation","location":"loc|3|2|1|60"}},{"discrete_action":{"action":"PutObject","args":["pan","countertop"]},"high_idx":6,"planner_action":{"action":"PutObject","coordinateObjectId":["Pan",[4.13888024,4.13888024,10.33925056,10.33925056,3.543638,3.543638]],"coordinateReceptacleObjectId":["CounterTop",[5.1,5.1,0.26,0.26,3.788,3.788]],"forceVisible":true,"objectId":"Pan|+01.03|+00.89|+02.58","receptacleObjectId":"CounterTop|+01.28|+00.95|+00.07"}},{"discrete_action":{"action":"NoOp","args":[]},"high_idx":7,"planner_action":{"action":"End","value":1}}],"low_actions":[{"api_action":{"action":"LookDown","forceAction":true},"discrete_action":{"action":"LookDown_15","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"PickupObject","objectId":"Spatula|+01.37|+00.90|+02.37"},"discrete_action":{"action":"PickupObject","args":{"bbox":[109,110,126,155],"mask":[[32823,2],[33123,1],[33423,1],[33723,1],[34023,1],[34323,1],[34622,2],[34922,2],[35222,2],[35521,2],[35821,2],[36121,2],[36420,3],[36720,3],[37019,4],[37320,2],[37620,2],[37920,2],[38220,2],[38520,2],[38819,2],[39119,2],[39419,2],[39719,2],[40019,2],[40319,2],[40619,2],[40919,2],[41218,3],[41518,3],[41818,3],[42118,3],[42418,2],[42716,6],[43012,13],[43311,16],[43611,16],[43910,17],[44210,16],[44510,16],[44810,16],[45109,17],[45409,17],[45709,17],[46009,17],[46309,16]],"point":[119,131]}},"high_idx":1},{"api_action":{"action":"RotateLeft","forceAction":true},"discrete_action":{"action":"RotateLeft_90","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":2},{"api_action":{"action":"LookDown","forceAction":true},"discrete_action":{"action":"LookDown_15","args":{}},"high_idx":2},{"api_action":{"action":"PutObject","forceAction":true,"objectId":"Spatula|+01.37|+00.90|+02.37","placeStationary":true,"receptacleObjectId":"Pan|+01.03|+00.89|+02.58"},"discrete_action":{"action":"PutObject","args":{"bbox":[45,83,163,147],"mask":[[24723,6],[25016,20],[25311,29],[25609,34],[25906,39],[26204,43],[26502,47],[26800,51],[27099,53],[27397,56],[27696,58],[27995,61],[28294,63],[28593,65],[28892,66],[29191,68],[29490,70],[29789,71],[30089,72],[30388,73],[30688,74],[30987,75],[31287,76],[31586,77],[31885,78],[32147,14],[32184,79],[32446,25],[32482,82],[32745,3],[32750,114],[33045,119],[33346,33],[33382,82],[33647,6],[33670,10],[33681,83],[33976,88],[34279,85],[34581,83],[34882,82],[35183,81],[35484,80],[35784,79],[36084,79],[36385,78],[36685,77],[36985,77],[37285,77],[37586,75],[37886,74],[38187,73],[38487,72],[38788,70],[39088,70],[39389,68],[39690,66],[39991,64],[40292,62],[40592,61],[40894,58],[41195,55],[41496,53],[41798,49],[42099,47],[42401,43],[42703,38],[43005,34],[43309,27],[43612,20],[43921,2]],"point":[104,114]}},"high_idx":3},{"api_action":{"action":"PickupObject","objectId":"Pan|+01.03|+00.89|+02.58"},"discrete_action":{"action":"PickupObject","args":{"bbox":[45,83,163,147],"mask":[[24723,6],[25016,20],[25311,29],[25609,34],[25909,36],[26204,2],[26209,38],[26502,4],[26508,41],[26800,7],[26808,43],[27099,8],[27108,44],[27397,10],[27408,45],[27696,58],[27995,13],[28009,47],[28294,14],[28309,48],[28593,15],[28609,49],[28892,16],[28909,49],[29191,17],[29209,50],[29490,18],[29509,51],[29789,19],[29809,51],[30089,19],[30109,52],[30388,20],[30410,51],[30688,21],[30710,52],[30987,22],[31010,52],[31287,22],[31310,53],[31586,23],[31610,53],[31885,24],[31910,53],[32147,14],[32184,25],[32210,1],[32212,51],[32446,25],[32482,27],[32513,51],[32745,3],[32750,59],[32813,51],[33045,64],[33114,50],[33346,33],[33382,28],[33414,50],[33647,6],[33670,10],[33681,29],[33714,50],[33976,34],[34015,49],[34279,31],[34315,49],[34581,29],[34616,48],[34882,28],[34916,48],[35183,27],[35217,47],[35484,26],[35517,47],[35784,25],[35817,46],[36084,25],[36118,45],[36385,25],[36418,45],[36685,25],[36718,44],[36985,25],[37018,44],[37285,26],[37318,44],[37586,25],[37617,44],[37886,26],[37917,43],[38187,25],[38217,43],[38487,26],[38517,42],[38788,25],[38817,41],[39088,26],[39117,41],[39389,25],[39417,40],[39690,25],[39717,39],[39991,24],[40017,38],[40292,62],[40592,61],[40894,58],[41195,55],[41496,53],[41798,49],[42099,47],[42401,43],[42703,38],[43005,34],[43309,27],[43612,20],[43921,2]],"point":[104,114]}},"high_idx":4},{"api_action":{"action":"LookUp","forceAction":true},"discrete_action":{"action":"LookUp_15","args":{}},"high_idx":5},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":5},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":5},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":5},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":5},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":5},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":5},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":5},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":5},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":5},{"api_action":{"action":"RotateLeft","forceAction":true},"discrete_action":{"action":"RotateLeft_90","args":{}},"high_idx":5},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":5},{"api_action":{"action":"LookDown","forceAction":true},"discrete_action":{"action":"LookDown_15","args":{}},"high_idx":5},{"api_action":{"action":"PutObject","forceAction":true,"objectId":"Pan|+01.03|+00.89|+02.58","placeStationary":true,"receptacleObjectId":"CounterTop|+01.28|+00.95|+00.07"},"discrete_action":{"action":"PutObject","args":{"bbox":[0,52,299,204],"mask":[[15332,268],[15633,267],[15933,267],[16233,267],[16533,267],[16832,268],[17132,268],[17432,268],[17731,269],[18031,269],[18331,269],[18630,270],[18930,270],[19230,270],[19529,271],[19829,271],[20129,271],[20428,272],[20728,272],[21028,272],[21327,273],[21627,273],[21927,273],[22226,274],[22526,274],[22826,274],[23125,275],[23425,275],[23725,275],[24024,276],[24324,276],[24624,276],[24923,277],[25223,277],[25523,277],[25822,278],[26122,278],[26422,278],[26721,279],[27021,279],[27321,279],[27620,280],[27920,280],[28220,280],[28519,281],[28819,281],[29119,281],[29418,282],[29718,282],[30018,282],[30317,283],[30617,283],[30917,283],[31216,284],[31516,284],[31816,284],[32115,285],[32415,285],[32715,285],[33014,286],[33314,286],[33614,286],[33913,287],[34213,287],[34513,287],[34812,288],[35112,288],[35412,288],[35711,289],[36011,289],[36311,289],[36610,290],[36910,290],[37210,290],[37509,291],[37809,291],[38109,291],[38408,292],[38708,292],[39008,292],[39307,293],[39607,293],[39907,293],[40207,293],[40506,294],[40806,294],[41106,294],[41405,295],[41705,295],[42005,295],[42304,296],[42604,296],[42903,297],[43203,297],[43502,7045],[50553,283],[50864,267],[51169,258],[51473,250],[51777,243],[52080,237],[52383,232],[52685,228],[52987,224],[53289,220],[53591,215],[53894,210],[54196,207],[54497,204],[54799,201],[55100,198],[55402,195],[55703,192],[56005,189],[56306,187],[56607,184],[56909,181],[57210,179],[57511,177],[57812,175],[58113,173],[58414,171],[58715,169],[59016,167],[59317,165],[59618,163],[59919,161],[60220,159],[60521,157],[60822,155],[61123,77]],"point":[149,127]}},"high_idx":6}]},"repeat_idx":2,"root":"alfred/data/json_2.1.0/pick_and_place_with_movable_recep-Spatula-Pan-CounterTop-17/trial_T20190906_194903_710920","scene":{"dirty_and_empty":false,"floor_plan":"FloorPlan17","init_action":{"action":"TeleportFull","horizon":30,"rotateOnTeleport":true,"rotation":0,"x":0.25,"y":0.908999562,"z":2.0},"object_poses":[{"objectName":"DishSponge_4b57442b","position":{"x":-1.0990653,"y":0.776182532,"z":0.174450845},"rotation":{"x":0.0,"y":179.999664,"z":0.0}},{"objectName":"Glassbottle_6018293c","position":{"x":-1.2630949,"y":1.6564405,"z":-0.2047273},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Glassbottle_6018293c","position":{"x":-1.16246915,"y":0.342277467,"z":0.778625369},"rotation":{"x":0.0,"y":89.99983,"z":0.0}},{"objectName":"WineBottle_6b7178a8","position":{"x":-1.32097507,"y":0.752086341,"z":0.9879999},"rotation":{"x":0.0,"y":89.99983,"z":0.0}},{"objectName":"Kettle_c40d8d1f","position":{"x":0.5029,"y":0.9393,"z":-0.7406},"rotation":{"x":0.0,"y":89.99983,"z":0.0}},{"objectName":"Fork_9f8771c2","position":{"x":-1.19785714,"y":0.749448538,"z":3.015717},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Fork_9f8771c2","position":{"x":1.03472006,"y":0.886848569,"z":2.477},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Spatula_2f163330","position":{"x":1.36722,"y":0.9012999,"z":2.36918736},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Cup_572193ee","position":{"x":-1.20685518,"y":0.75040555,"z":0.9880003},"rotation":{"x":0.0,"y":89.99983,"z":0.0}},{"objectName":"Cup_572193ee","position":{"x":-0.144537389,"y":0.7578041,"z":-0.691273868},"rotation":{"x":1.40334191e-14,"y":0.0,"z":0.0}},{"objectName":"Knife_268c1c72","position":{"x":1.450345,"y":0.9082927,"z":2.692625},"rotation":{"x":0.0,"y":90.0,"z":0.0}},{"objectName":"Bowl_7e041f70","position":{"x":-1.3617214,"y":1.01389325,"z":0.04647524},"rotation":{"x":0.0,"y":89.99983,"z":0.0}},{"objectName":"Bread_74101882","position":{"x":-1.32097566,"y":0.8145725,"z":1.19737482},"rotation":{"x":0.0,"y":89.99983,"z":0.0}},{"objectName":"SaltShaker_8429d040","position":{"x":-1.176719,"y":0.113363981,"z":0.248357609},"rotation":{"x":0.0,"y":179.999664,"z":0.0}},{"objectName":"Mug_c297f602","position":{"x":-1.20685458,"y":1.63195741,"z":0.7816508},"rotation":{"x":0.0,"y":89.99983,"z":0.0}},{"objectName":"Apple_7daf87a0","position":{"x":-0.0824483,"y":0.818760157,"z":-0.533726156},"rotation":{"x":1.40334191e-14,"y":0.0,"z":0.0}},{"objectName":"Bread_74101882","position":{"x":-1.32097566,"y":1.48467243,"z":1.19737482},"rotation":{"x":0.0,"y":89.99983,"z":0.0}},{"objectName":"Glassbottle_6018293c","position":{"x":-1.28665,"y":0.912816644,"z":-0.477608353},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Fork_9f8771c2","position":{"x":1.117845,"y":0.886848569,"z":2.15356255},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Kettle_c40d8d1f","position":{"x":-1.357,"y":0.7396263,"z":3.024},"rotation":{"x":0.0,"y":240.000229,"z":0.0}},{"objectName":"Tomato_57296338","position":{"x":-1.01254034,"y":0.7986288,"z":2.08785558},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Plate_c933fa0b","position":{"x":1.32554936,"y":2.15760326,"z":0.5555196},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"CellPhone_e3d6b27e","position":{"x":-1.47583234,"y":0.747337937,"z":1.90228331},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Lettuce_6438ff8b","position":{"x":1.36722,"y":0.957268536,"z":2.477},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Pot_92502562","position":{"x":0.802,"y":0.9393,"z":-0.7406},"rotation":{"x":0.0,"y":89.9998245,"z":0.0}},{"objectName":"SoapBottle_e0c21b7c","position":{"x":-1.513145,"y":0.913428545,"z":-0.732326269},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"WineBottle_6b7178a8","position":{"x":-1.47583234,"y":0.750555,"z":2.459},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Spatula_2f163330","position":{"x":-0.813686848,"y":0.9270999,"z":-0.669},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Bowl_7e041f70","position":{"x":-1.01254034,"y":0.7473406,"z":2.459},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Apple_7daf87a0","position":{"x":-1.09273589,"y":0.8113616,"z":1.19737554},"rotation":{"x":0.0,"y":89.99983,"z":0.0}},{"objectName":"Cup_572193ee","position":{"x":-0.170651615,"y":0.115886688,"z":-0.5777503},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Knife_268c1c72","position":{"x":-0.130184948,"y":0.934092641,"z":-0.348743349},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Egg_1ede3fc6","position":{"x":-1.43509483,"y":1.67112386,"z":0.984882},"rotation":{"x":0.0,"y":89.99983,"z":0.0}},{"objectName":"SaltShaker_8429d040","position":{"x":1.03472006,"y":0.8826062,"z":2.15356255},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"PepperShaker_b6eaf348","position":{"x":1.35591948,"y":2.15081978,"z":1.0003984},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Potato_edec52fd","position":{"x":1.117845,"y":0.9312309,"z":2.261375},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"ButterKnife_432df619","position":{"x":0.0541234,"y":0.912142038,"z":-0.359971046},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"DishSponge_4b57442b","position":{"x":1.17539251,"y":0.115419507,"z":1.11956179},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Pan_a0065d6c","position":{"x":1.03472006,"y":0.8859095,"z":2.58481264},"rotation":{"x":0.0,"y":180.0,"z":0.0}},{"objectName":"Spoon_1d6d1e51","position":{"x":-1.43365359,"y":0.9132294,"z":-0.5894883},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"SprayBottle_4f8d0eee","position":{"x":-1.383174,"y":0.749030352,"z":2.83014464},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Mug_c297f602","position":{"x":-1.19785714,"y":0.7439,"z":2.64457226},"rotation":{"x":0.0,"y":0.0,"z":0.0}}],"object_toggles":[],"random_seed":1391595972,"scene_num":17},"split":"valid_seen","task_id":"trial_T20190906_194903_710920","task_type":"pick_and_place_with_movable_recep","turk_annotations":{"anns":[{"assignment_id":"A10AVWALIHR4UQ_3DZQRBDBSOWL14BLGU7QVV1FB7J3SQ","high_descs":["Turn right and move to the table in front of the window and to the left of the red garbage bin.","Pick up the spatula to the right of the head of lettuce on the table.","Move slightly to the left towards the door and look down at the table.","Place the spatula on the pan to the left of the fork on the table.","Pick up the pan containing the spatula from the table.","Turn right and move past the toaster and towards the range then turn left and face the kitchen counter.","Place the pan containing the spatula on the edge of the kitchen counter to the right of the toaster."],"task_desc":"Place a pan containing a spatula on the kitchen counter.","votes":[1,1,1]},{"assignment_id":"A1HKHM4NVAO98H_3JCG6DTRV671VP2AM1UHD3FP37XQQ4","high_descs":["go to the small white square table","grab the spatula off of the table","back up a bit and face the center of the table","put the spatula in the sauce pan on the table","pick up the sauce pan off of the table","walk over to the kitchen counter next to the toaster","place the sauce pan down on the counter"],"task_desc":"place a sauce pan with a spatula in it on the kitchen counter","votes":[1,1,1]},{"assignment_id":"A1AKL5YH9NLD2V_3MTMREQS4YZES6RF9EW1FSI6NV9WAY","high_descs":["Turn to the right and walk forward to the blue table.","Pick up the spatula next to the head of lettuce.","Walk one step left and turn to face the pan on the table.","Place the spatula inside the pan on the table.","Pick up the pan on the table.","Turn right and walk forward, and then turn to the left and face the counter right after passing the toaster.","Place the pan down on the counter to the right of the toaster."],"task_desc":"Plan a pan with a spatula in it down on the counter to the right of the toaster.","votes":[0,1,1]}]}}},"observations":[],"question":{"options":[],"original":"Plan a pan with a spatula in it down on the counter to the right of the toaster.","text":"Plan a pan with a spatula in it down on the counter to the right of the toaster."},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"AI2-THOR / ALFRED","eval_set":"spatial","instruction_override":"Plan a pan with a spatula in it down on the counter to the right of the toaster.","mode":"interactive","native_episode_locator":{"file":"pick_and_place_with_movable_recep-Spatula-Pan-CounterTop-17/trial_T20190906_194903_710920/pp/ann_2.json","format":"hf_file"},"observation_policy":"current RGB and upstream feedback; demonstration plans and hidden task metadata excluded from model input","repo":"EmbodiedBench/EmbodiedBench","revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","selected_index":10},"sampling":{"component_id":"43e72a21b60976333c6f","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":14,"stratum_pool":50},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"embodiedbench/envs/eb_alfred/data/splits/splits.json","annotation_sha256":"fe607575ef56ccd7f58bd26047b66f949d98e700ae68e59a384a74634e8267b7","host":"huggingface","license":"apache-2.0","media_policy":"upstream-reference; source media terms apply","native_episode_sha256":"cb178cec6aa735fd35e6a8f9b30b0587a1b983918eee6e53c42c4058f4c99c72","repo":"EmbodiedBench/EB-ALFRED","revision":"af55cc721725ed058830fd7a8aee66c1f69efbaa","row_sha256":"03321b90d3bc53b131773a19a4360e1917f5754e3341b539d54e1dffcf2a80bf","runtime_revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","sample_id":"spatial/10","split":"spatial","upstream_dataset":"EB-ALFRED","url":"https://huggingface.co/datasets/EmbodiedBench/EB-ALFRED"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_environment_success","original_answer":null},"task":{"category":"spatial","role":"spatial_core","skill_tags":["spatial","spatial"],"stratum":"EB-ALFRED/spatial/spatial","subcategory":"spatial"},"transforms":[]}
{"dataset":"EB-ALFRED","group":{"id":"AI2THOR/FloorPlan327","kind":"scene","scene":"FloorPlan327"},"id":"94c6cfc50ee2405951a1","native_annotation":{"instruction":"Inspect keys near a lit lamp.","repeat_idx":1,"task":"look_at_obj_in_light-KeyChain-None-DeskLamp-327/trial_T20190906_202601_548273","upstream_episode":{"ann":{"goal":[" inspect "," keys "," near "," a "," lit "," lamp ",". ","<<goal>>"],"instr":[[" turn "," right "," and "," go "," to "," the "," dresser "," at "," the "," far "," right "," corner "," by "," the "," end "," of "," the "," bed ",". "],[" take "," the "," keys "," between "," the "," lamp "," and "," the "," phone "," on "," the "," dresser ",". "],[" go "," to "," the "," left "," of "," the "," dresser ",". "],[" turn "," on "," the "," lamp "," on "," the "," dresser ",". "],["<<stop>>"]],"repeat_idx":1},"images":[{"high_idx":0,"image_name":"000000000.png","low_idx":0},{"high_idx":0,"image_name":"000000001.png","low_idx":0},{"high_idx":0,"image_name":"000000002.png","low_idx":0},{"high_idx":0,"image_name":"000000003.png","low_idx":0},{"high_idx":0,"image_name":"000000004.png","low_idx":0},{"high_idx":0,"image_name":"000000005.png","low_idx":0},{"high_idx":0,"image_name":"000000006.png","low_idx":0},{"high_idx":0,"image_name":"000000007.png","low_idx":0},{"high_idx":0,"image_name":"000000008.png","low_idx":0},{"high_idx":0,"image_name":"000000009.png","low_idx":0},{"high_idx":0,"image_name":"000000010.png","low_idx":0},{"high_idx":0,"image_name":"000000011.png","low_idx":1},{"high_idx":0,"image_name":"000000012.png","low_idx":1},{"high_idx":0,"image_name":"000000013.png","low_idx":1},{"high_idx":0,"image_name":"000000014.png","low_idx":1},{"high_idx":0,"image_name":"000000015.png","low_idx":1},{"high_idx":0,"image_name":"000000016.png","low_idx":1},{"high_idx":0,"image_name":"000000017.png","low_idx":1},{"high_idx":0,"image_name":"000000018.png","low_idx":1},{"high_idx":0,"image_name":"000000019.png","low_idx":1},{"high_idx":0,"image_name":"000000020.png","low_idx":1},{"high_idx":0,"image_name":"000000021.png","low_idx":1},{"high_idx":0,"image_name":"000000022.png","low_idx":2},{"high_idx":0,"image_name":"000000023.png","low_idx":2},{"high_idx":0,"image_name":"000000024.png","low_idx":3},{"high_idx":0,"image_name":"000000025.png","low_idx":3},{"high_idx":0,"image_name":"000000026.png","low_idx":4},{"high_idx":0,"image_name":"000000027.png","low_idx":4},{"high_idx":0,"image_name":"000000028.png","low_idx":5},{"high_idx":0,"image_name":"000000029.png","low_idx":5},{"high_idx":0,"image_name":"000000030.png","low_idx":6},{"high_idx":0,"image_name":"000000031.png","low_idx":6},{"high_idx":0,"image_name":"000000032.png","low_idx":7},{"high_idx":0,"image_name":"000000033.png","low_idx":7},{"high_idx":0,"image_name":"000000034.png","low_idx":8},{"high_idx":0,"image_name":"000000035.png","low_idx":8},{"high_idx":0,"image_name":"000000036.png","low_idx":9},{"high_idx":0,"image_name":"000000037.png","low_idx":9},{"high_idx":0,"image_name":"000000038.png","low_idx":10},{"high_idx":0,"image_name":"000000039.png","low_idx":10},{"high_idx":0,"image_name":"000000040.png","low_idx":11},{"high_idx":0,"image_name":"000000041.png","low_idx":11},{"high_idx":0,"image_name":"000000042.png","low_idx":12},{"high_idx":0,"image_name":"000000043.png","low_idx":12},{"high_idx":0,"image_name":"000000044.png","low_idx":12},{"high_idx":0,"image_name":"000000045.png","low_idx":12},{"high_idx":0,"image_name":"000000046.png","low_idx":12},{"high_idx":0,"image_name":"000000047.png","low_idx":12},{"high_idx":0,"image_name":"000000048.png","low_idx":12},{"high_idx":0,"image_name":"000000049.png","low_idx":12},{"high_idx":0,"image_name":"000000050.png","low_idx":12},{"high_idx":0,"image_name":"000000051.png","low_idx":12},{"high_idx":0,"image_name":"000000052.png","low_idx":12},{"high_idx":0,"image_name":"000000053.png","low_idx":13},{"high_idx":0,"image_name":"000000054.png","low_idx":13},{"high_idx":0,"image_name":"000000055.png","low_idx":14},{"high_idx":0,"image_name":"000000056.png","low_idx":14},{"high_idx":0,"image_name":"000000057.png","low_idx":15},{"high_idx":0,"image_name":"000000058.png","low_idx":15},{"high_idx":0,"image_name":"000000059.png","low_idx":15},{"high_idx":0,"image_name":"000000060.png","low_idx":15},{"high_idx":0,"image_name":"000000061.png","low_idx":15},{"high_idx":0,"image_name":"000000062.png","low_idx":15},{"high_idx":0,"image_name":"000000063.png","low_idx":15},{"high_idx":0,"image_name":"000000064.png","low_idx":15},{"high_idx":0,"image_name":"000000065.png","low_idx":15},{"high_idx":0,"image_name":"000000066.png","low_idx":15},{"high_idx":0,"image_name":"000000067.png","low_idx":15},{"high_idx":0,"image_name":"000000068.png","low_idx":16},{"high_idx":0,"image_name":"000000069.png","low_idx":16},{"high_idx":0,"image_name":"000000070.png","low_idx":17},{"high_idx":0,"image_name":"000000071.png","low_idx":17},{"high_idx":0,"image_name":"000000072.png","low_idx":18},{"high_idx":0,"image_name":"000000073.png","low_idx":18},{"high_idx":0,"image_name":"000000074.png","low_idx":18},{"high_idx":0,"image_name":"000000075.png","low_idx":18},{"high_idx":0,"image_name":"000000076.png","low_idx":18},{"high_idx":0,"image_name":"000000077.png","low_idx":18},{"high_idx":0,"image_name":"000000078.png","low_idx":18},{"high_idx":0,"image_name":"000000079.png","low_idx":18},{"high_idx":0,"image_name":"000000080.png","low_idx":18},{"high_idx":0,"image_name":"000000081.png","low_idx":18},{"high_idx":0,"image_name":"000000082.png","low_idx":18},{"high_idx":0,"image_name":"000000083.png","low_idx":19},{"high_idx":0,"image_name":"000000084.png","low_idx":19},{"high_idx":0,"image_name":"000000085.png","low_idx":20},{"high_idx":0,"image_name":"000000086.png","low_idx":20},{"high_idx":1,"image_name":"000000087.png","low_idx":21},{"high_idx":1,"image_name":"000000088.png","low_idx":21},{"high_idx":1,"image_name":"000000089.png","low_idx":21},{"high_idx":1,"image_name":"000000090.png","low_idx":21},{"high_idx":1,"image_name":"000000091.png","low_idx":21},{"high_idx":1,"image_name":"000000092.png","low_idx":21},{"high_idx":1,"image_name":"000000093.png","low_idx":21},{"high_idx":1,"image_name":"000000094.png","low_idx":21},{"high_idx":1,"image_name":"000000095.png","low_idx":21},{"high_idx":1,"image_name":"000000096.png","low_idx":21},{"high_idx":1,"image_name":"000000097.png","low_idx":21},{"high_idx":1,"image_name":"000000098.png","low_idx":21},{"high_idx":1,"image_name":"000000099.png","low_idx":21},{"high_idx":1,"image_name":"000000100.png","low_idx":21},{"high_idx":1,"image_name":"000000101.png","low_idx":21},{"high_idx":2,"image_name":"000000102.png","low_idx":22},{"high_idx":2,"image_name":"000000103.png","low_idx":22},{"high_idx":2,"image_name":"000000104.png","low_idx":22},{"high_idx":2,"image_name":"000000105.png","low_idx":22},{"high_idx":2,"image_name":"000000106.png","low_idx":22},{"high_idx":2,"image_name":"000000107.png","low_idx":22},{"high_idx":2,"image_name":"000000108.png","low_idx":22},{"high_idx":2,"image_name":"000000109.png","low_idx":22},{"high_idx":2,"image_name":"000000110.png","low_idx":22},{"high_idx":2,"image_name":"000000111.png","low_idx":22},{"high_idx":2,"image_name":"000000112.png","low_idx":22},{"high_idx":2,"image_name":"000000113.png","low_idx":23},{"high_idx":2,"image_name":"000000114.png","low_idx":23},{"high_idx":2,"image_name":"000000115.png","low_idx":24},{"high_idx":2,"image_name":"000000116.png","low_idx":24},{"high_idx":2,"image_name":"000000117.png","low_idx":25},{"high_idx":2,"image_name":"000000118.png","low_idx":25},{"high_idx":2,"image_name":"000000119.png","low_idx":25},{"high_idx":2,"image_name":"000000120.png","low_idx":25},{"high_idx":2,"image_name":"000000121.png","low_idx":25},{"high_idx":2,"image_name":"000000122.png","low_idx":25},{"high_idx":2,"image_name":"000000123.png","low_idx":25},{"high_idx":2,"image_name":"000000124.png","low_idx":25},{"high_idx":2,"image_name":"000000125.png","low_idx":25},{"high_idx":2,"image_name":"000000126.png","low_idx":25},{"high_idx":2,"image_name":"000000127.png","low_idx":25},{"high_idx":3,"image_name":"000000128.png","low_idx":26},{"high_idx":3,"image_name":"000000129.png","low_idx":26},{"high_idx":3,"image_name":"000000130.png","low_idx":26},{"high_idx":3,"image_name":"000000131.png","low_idx":26},{"high_idx":3,"image_name":"000000132.png","low_idx":26},{"high_idx":3,"image_name":"000000133.png","low_idx":26},{"high_idx":3,"image_name":"000000134.png","low_idx":26},{"high_idx":3,"image_name":"000000135.png","low_idx":26},{"high_idx":3,"image_name":"000000136.png","low_idx":26},{"high_idx":3,"image_name":"000000137.png","low_idx":26},{"high_idx":3,"image_name":"000000138.png","low_idx":26},{"high_idx":3,"image_name":"000000139.png","low_idx":26},{"high_idx":3,"image_name":"000000140.png","low_idx":26},{"high_idx":3,"image_name":"000000141.png","low_idx":26},{"high_idx":3,"image_name":"000000142.png","low_idx":26},{"high_idx":3,"image_name":"000000143.png","low_idx":26},{"high_idx":3,"image_name":"000000144.png","low_idx":26},{"high_idx":3,"image_name":"000000145.png","low_idx":26}],"num":{"action_high":[{"action":3,"action_high_args":[61],"high_idx":0},{"action":5,"action_high_args":[26],"high_idx":1},{"action":3,"action_high_args":[65],"high_idx":2},{"action":41,"action_high_args":[65],"high_idx":3},{"action":12,"action_high_args":[],"high_idx":4}],"action_low":[[{"action":3,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":5,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0}],[{"action":6,"action_high_args":{"bbox":[126,153,143,175],"mask":[[45743,1],[46043,1],[46342,2],[46642,1],[46942,1],[47232,3],[47241,2],[47530,6],[47539,3],[47832,5],[47839,5],[48133,5],[48139,5],[48426,3],[48434,4],[48441,1],[48728,6],[48735,2],[49030,5],[49036,3],[49041,1],[49331,7],[49632,2],[49936,4],[50237,3],[50537,3],[50837,5],[51136,7],[51435,9],[51734,9],[52036,6],[52338,3]],"point":[134,163]},"centroid":[0.4483333333333333,0.5466666666666666],"high_idx":1,"mask":[[45743,1],[46043,1],[46342,2],[46642,1],[46942,1],[47232,3],[47241,2],[47530,6],[47539,3],[47832,5],[47839,5],[48133,5],[48139,5],[48426,3],[48434,4],[48441,1],[48728,6],[48735,2],[49030,5],[49036,3],[49041,1],[49331,7],[49632,2],[49936,4],[50237,3],[50537,3],[50837,5],[51136,7],[51435,9],[51734,9],[52036,6],[52338,3]],"valid_interact":1}],[{"action":5,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0}],[{"action":13,"action_high_args":{"bbox":[134,89,208,188],"mask":[[26566,15],[26865,18],[27163,21],[27462,24],[27761,26],[28060,28],[28360,28],[28659,30],[28959,31],[29258,32],[29558,32],[29858,32],[30157,34],[30457,34],[30756,35],[31056,36],[31355,37],[31655,37],[31954,38],[32254,39],[32553,40],[32853,41],[33152,42],[33451,43],[33750,45],[34049,46],[34348,48],[34647,49],[34946,51],[35245,52],[35544,54],[35843,56],[36142,58],[36441,60],[36740,62],[37039,64],[37338,66],[37637,68],[37937,69],[38236,71],[38535,73],[38834,74],[39134,75],[39434,75],[39735,74],[40035,73],[40336,72],[40637,71],[40937,70],[41238,69],[41538,68],[41839,66],[42140,65],[42441,63],[42741,63],[43042,61],[43343,59],[43644,58],[43945,56],[44246,54],[44547,52],[44848,51],[45149,49],[45450,47],[45749,47],[46049,46],[46349,42],[46649,37],[46949,37],[47249,37],[47549,38],[47849,38],[48149,38],[48449,38],[48749,38],[49049,38],[49349,38],[49649,39],[49949,39],[50249,39],[50549,39],[50849,39],[51149,39],[51449,39],[51749,39],[52049,40],[52349,40],[52649,40],[52949,40],[53249,40],[53549,40],[53849,40],[54149,41],[54449,41],[54749,41],[55049,41],[55349,41],[55649,41],[55949,41],[56249,41]],"point":[171,137]},"centroid":[0.57,0.46166666666666667],"high_idx":3,"mask":[[26566,15],[26865,18],[27163,21],[27462,24],[27761,26],[28060,28],[28360,28],[28659,30],[28959,31],[29258,32],[29558,32],[29858,32],[30157,34],[30457,34],[30756,35],[31056,36],[31355,37],[31655,37],[31954,38],[32254,39],[32553,40],[32853,41],[33152,42],[33451,43],[33750,45],[34049,46],[34348,48],[34647,49],[34946,51],[35245,52],[35544,54],[35843,56],[36142,58],[36441,60],[36740,62],[37039,64],[37338,66],[37637,68],[37937,69],[38236,71],[38535,73],[38834,74],[39134,75],[39434,75],[39735,74],[40035,73],[40336,72],[40637,71],[40937,70],[41238,69],[41538,68],[41839,66],[42140,65],[42441,63],[42741,63],[43042,61],[43343,59],[43644,58],[43945,56],[44246,54],[44547,52],[44848,51],[45149,49],[45450,47],[45749,47],[46049,46],[46349,42],[46649,37],[46949,37],[47249,37],[47549,38],[47849,38],[48149,38],[48449,38],[48749,38],[49049,38],[49349,38],[49649,39],[49949,39],[50249,39],[50549,39],[50849,39],[51149,39],[51449,39],[51749,39],[52049,40],[52349,40],[52649,40],[52949,40],[53249,40],[53549,40],[53849,40],[54149,41],[54449,41],[54749,41],[55049,41],[55349,41],[55649,41],[55949,41],[56249,41]],"valid_interact":1}],[{"action":2,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0}]],"lang_goal":[530,137,264,35,101,96,16,2],"lang_instr":[[24,38,26,30,18,4,97,28,4,31,38,121,120,4,141,21,4,99,16],[69,4,137,198,4,96,26,4,317,15,4,97,16],[30,18,4,19,21,4,97,16],[24,15,4,96,15,4,97,16],[34]],"low_to_high_idx":[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,2,2,2,3,4]},"pddl_params":{"mrecep_target":"","object_sliced":false,"object_target":"KeyChain","parent_target":"","toggle_target":"DeskLamp"},"plan":{"high_pddl":[{"discrete_action":{"action":"GotoLocation","args":["dresser"]},"high_idx":0,"planner_action":{"action":"GotoLocation","location":"loc|-3|-8|3|45"}},{"discrete_action":{"action":"PickupObject","args":["keychain"]},"high_idx":1,"planner_action":{"action":"PickupObject","coordinateObjectId":["KeyChain",[-6.07952548,-6.07952548,-8.184,-8.184,2.7923584,2.7923584]],"coordinateReceptacleObjectId":["Dresser",[-5.864,-5.864,-8.184,-8.184,0.1,0.1]],"forceVisible":true,"objectId":"KeyChain|-01.52|+00.70|-02.05"}},{"discrete_action":{"action":"GotoLocation","args":["desklamp"]},"high_idx":2,"planner_action":{"action":"GotoLocation","location":"loc|-3|-10|3|45"}},{"discrete_action":{"action":"ToggleObject","args":["desklamp"]},"high_idx":3,"planner_action":{"action":"ToggleObject","coordinateObjectId":["DeskLamp",[-5.95776844,-5.95776844,-9.6770506,-9.6770506,2.7722584,2.7722584]],"coordinateReceptacleObjectId":["DeskLamp",[-5.95776844,-5.95776844,-9.6770506,-9.6770506,2.7722584,2.7722584]],"forceVisible":true,"objectId":"DeskLamp|-01.49|+00.69|-02.42"}},{"discrete_action":{"action":"NoOp","args":[]},"high_idx":4,"planner_action":{"action":"End","value":1}}],"low_actions":[{"api_action":{"action":"LookDown","forceAction":true},"discrete_action":{"action":"LookDown_15","args":{}},"high_idx":0},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"RotateLeft","forceAction":true},"discrete_action":{"action":"RotateLeft_90","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"PickupObject","objectId":"KeyChain|-01.52|+00.70|-02.05"},"discrete_action":{"action":"PickupObject","args":{"bbox":[126,153,143,175],"mask":[[45743,1],[46043,1],[46342,2],[46642,1],[46942,1],[47232,3],[47241,2],[47530,6],[47539,3],[47832,5],[47839,5],[48133,5],[48139,5],[48426,3],[48434,4],[48441,1],[48728,6],[48735,2],[49030,5],[49036,3],[49041,1],[49331,7],[49632,2],[49936,4],[50237,3],[50537,3],[50837,5],[51136,7],[51435,9],[51734,9],[52036,6],[52338,3]],"point":[134,163]}},"high_idx":1},{"api_action":{"action":"RotateLeft","forceAction":true},"discrete_action":{"action":"RotateLeft_90","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":2},{"api_action":{"action":"ToggleObjectOn","objectId":"DeskLamp|-01.49|+00.69|-02.42"},"discrete_action":{"action":"ToggleObjectOn","args":{"bbox":[134,89,208,188],"mask":[[26566,15],[26865,18],[27163,21],[27462,24],[27761,26],[28060,28],[28360,28],[28659,30],[28959,31],[29258,32],[29558,32],[29858,32],[30157,34],[30457,34],[30756,35],[31056,36],[31355,37],[31655,37],[31954,38],[32254,39],[32553,40],[32853,41],[33152,42],[33451,43],[33750,45],[34049,46],[34348,48],[34647,49],[34946,51],[35245,52],[35544,54],[35843,56],[36142,58],[36441,60],[36740,62],[37039,64],[37338,66],[37637,68],[37937,69],[38236,71],[38535,73],[38834,74],[39134,75],[39434,75],[39735,74],[40035,73],[40336,72],[40637,71],[40937,70],[41238,69],[41538,68],[41839,66],[42140,65],[42441,63],[42741,63],[43042,61],[43343,59],[43644,58],[43945,56],[44246,54],[44547,52],[44848,51],[45149,49],[45450,47],[45749,47],[46049,46],[46349,42],[46649,37],[46949,37],[47249,37],[47549,38],[47849,38],[48149,38],[48449,38],[48749,38],[49049,38],[49349,38],[49649,39],[49949,39],[50249,39],[50549,39],[50849,39],[51149,39],[51449,39],[51749,39],[52049,40],[52349,40],[52649,40],[52949,40],[53249,40],[53549,40],[53849,40],[54149,41],[54449,41],[54749,41],[55049,41],[55349,41],[55649,41],[55949,41],[56249,41]],"point":[171,137]}},"high_idx":3}]},"repeat_idx":1,"root":"alfred/data/json_2.1.0/look_at_obj_in_light-KeyChain-None-DeskLamp-327/trial_T20190906_202601_548273","scene":{"dirty_and_empty":false,"floor_plan":"FloorPlan327","init_action":{"action":"TeleportFull","horizon":30,"rotateOnTeleport":true,"rotation":90,"x":0.25,"y":0.9009992,"z":1.0},"object_poses":[{"objectName":"Bowl_a179d6ba","position":{"x":1.226447,"y":0.38308087,"z":-0.3866323},"rotation":{"x":0.0,"y":270.000153,"z":0.0}},{"objectName":"Bowl_a179d6ba","position":{"x":1.26000118,"y":1.41068065,"z":0.195088446},"rotation":{"x":0.0,"y":270.000153,"z":0.0}},{"objectName":"CD_20bef21f","position":{"x":-1.400288,"y":0.395067483,"z":-2.259808},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"CD_20bef21f","position":{"x":1.12034917,"y":0.370311618,"z":-1.60532045},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"CellPhone_7274698b","position":{"x":-0.8424937,"y":0.611852467,"z":0.337641269},"rotation":{"x":0.0,"y":-3.756604e-05,"z":0.0}},{"objectName":"CellPhone_7274698b","position":{"x":-0.8424939,"y":0.611852467,"z":0.618250847},"rotation":{"x":0.0,"y":-3.756604e-05,"z":0.0}},{"objectName":"Pencil_affb30a7","position":{"x":-1.33205307,"y":0.7048791,"z":-1.75577068},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Pencil_affb30a7","position":{"x":-1.61125159,"y":1.52728057,"z":-2.14873266},"rotation":{"x":0.0,"y":269.9995,"z":0.0}},{"objectName":"KeyChain_4d1a2868","position":{"x":-1.51988137,"y":0.6980896,"z":-2.046},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"KeyChain_4d1a2868","position":{"x":-1.33460355,"y":0.3970478,"z":-2.046},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"KeyChain_4d1a2868","position":{"x":1.293552,"y":1.41248286,"z":-0.382632464},"rotation":{"x":0.0,"y":270.000153,"z":0.0}},{"objectName":"CreditCard_40e73bd4","position":{"x":1.22644663,"y":0.383292049,"z":-0.5310625},"rotation":{"x":0.0,"y":270.000153,"z":0.0}},{"objectName":"CreditCard_40e73bd4","position":{"x":1.22499633,"y":0.238312185,"z":-1.57069159},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Book_730875e1","position":{"x":-1.32327116,"y":0.610413,"z":0.6182505},"rotation":{"x":0.0,"y":-3.756604e-05,"z":0.0}},{"objectName":"Pillow_6257ee32","position":{"x":-1.3232708,"y":0.7137597,"z":0.0570313036},"rotation":{"x":0.0,"y":-3.756604e-05,"z":0.0}},{"objectName":"Book_730875e1","position":{"x":0.623,"y":0.5697099,"z":-2.471},"rotation":{"x":0.0,"y":350.999268,"z":0.0}},{"objectName":"KeyChain_4d1a2868","position":{"x":1.32710385,"y":0.384883076,"z":-0.675492942},"rotation":{"x":0.0,"y":0.000157094357,"z":0.0}},{"objectName":"BaseballBat_ccf551d5","position":{"x":1.43671393,"y":0.636,"z":1.985},"rotation":{"x":21.8824062,"y":0.0,"z":0.0}},{"objectName":"BasketBall_5856c7ec","position":{"x":1.27078664,"y":0.12,"z":-1.29005468},"rotation":{"x":0.0,"y":345.557465,"z":0.0}},{"objectName":"Pencil_affb30a7","position":{"x":-1.3946625,"y":0.7019871,"z":-2.19111466},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"CellPhone_7274698b","position":{"x":-1.51988137,"y":0.697214246,"z":-1.75577068},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"CreditCard_40e73bd4","position":{"x":1.06802464,"y":0.105612159,"z":-1.89474154},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Laptop_cdb35848","position":{"x":0.076,"y":0.5697099,"z":-2.456},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Pillow_6257ee32","position":{"x":-1.17090464,"y":0.684,"z":-0.990774751},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Boots_d4663af8","position":{"x":1.28801286,"y":0.0006439388,"z":-0.9610129},"rotation":{"x":0.0101616178,"y":177.9129,"z":359.993683}},{"objectName":"Pen_5b90d568","position":{"x":1.29355252,"y":1.41654873,"z":-0.238202244},"rotation":{"x":0.0,"y":270.000153,"z":0.0}},{"objectName":"AlarmClock_f169cd1d","position":{"x":1.19289613,"y":0.383373171,"z":0.191088617},"rotation":{"x":0.0,"y":270.000153,"z":0.0}},{"objectName":"CD_20bef21f","position":{"x":-1.26944363,"y":0.6990013,"z":-2.481344},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Bowl_a179d6ba","position":{"x":1.26000047,"y":0.38308087,"z":-0.09777196},"rotation":{"x":0.0,"y":270.000153,"z":0.0}}],"object_toggles":[{"isOn":false,"objectType":"DeskLamp"}],"random_seed":3216291691,"scene_num":327},"split":"valid_seen","task_id":"trial_T20190906_202601_548273","task_type":"look_at_obj_in_light","turk_annotations":{"anns":[{"assignment_id":"A320QA9HJFUOZO_351SEKWQS3YGL10DPMHGWVOLAPZDMJ","high_descs":["Turn right and walk across the room to the dresser by the bed","Pick up the keys from the dresser","Move left to the lamp on the same dresser","Turn on the table lamp"],"task_desc":"Examine the keys under the light of the table lamp","votes":[1,1]},{"assignment_id":"A3HL2LL0LEPZT8_35L9RVQFCRZGAPAOKKRSEQKDF31HUU","high_descs":["Turn right and go to the dresser at the far right corner by the end of the bed.","Take the keys between the lamp and the phone on the dresser.","Go to the left of the dresser.","Turn on the lamp on the dresser."],"task_desc":"Inspect keys near a lit lamp.","votes":[1,1]},{"assignment_id":"A1BWS5AD2T4NIR_3WOKGM4L74XAMKKVQQ8Y9ST7BZW0OH","high_descs":["Turn around and walk across the room, then turn right and walk towards the desk, and then turn right again and walk towards the dresser.","Pick up the keys on the dresser.","Turn left and walk towards the door, then turn right towards the dresser.","Turn on the lamp."],"task_desc":"Take the keys on the dresser and turn on the lamp on the dresser.","votes":[1,1]}]}}},"observations":[],"question":{"options":[],"original":"Inspect keys near a lit lamp.","text":"Inspect keys near a lit lamp."},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"AI2-THOR / ALFRED","eval_set":"spatial","instruction_override":"Inspect keys near a lit lamp.","mode":"interactive","native_episode_locator":{"file":"look_at_obj_in_light-KeyChain-None-DeskLamp-327/trial_T20190906_202601_548273/pp/ann_1.json","format":"hf_file"},"observation_policy":"current RGB and upstream feedback; demonstration plans and hidden task metadata excluded from model input","repo":"EmbodiedBench/EmbodiedBench","revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","selected_index":12},"sampling":{"component_id":"0497aeda804949f7557f","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":14,"stratum_pool":50},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"embodiedbench/envs/eb_alfred/data/splits/splits.json","annotation_sha256":"fe607575ef56ccd7f58bd26047b66f949d98e700ae68e59a384a74634e8267b7","host":"huggingface","license":"apache-2.0","media_policy":"upstream-reference; source media terms apply","native_episode_sha256":"1bc10001b8d439278ca39320bedc6b11fd072d3871a67a2a3241624930a86b78","repo":"EmbodiedBench/EB-ALFRED","revision":"af55cc721725ed058830fd7a8aee66c1f69efbaa","row_sha256":"f84962bcee1ae2f162b6d58c9448a39388ea97b40b63350e71b170f980875c83","runtime_revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","sample_id":"spatial/12","split":"spatial","upstream_dataset":"EB-ALFRED","url":"https://huggingface.co/datasets/EmbodiedBench/EB-ALFRED"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_environment_success","original_answer":null},"task":{"category":"spatial","role":"spatial_core","skill_tags":["spatial","spatial"],"stratum":"EB-ALFRED/spatial/spatial","subcategory":"spatial"},"transforms":[]}
{"dataset":"EB-ALFRED","group":{"id":"AI2THOR/FloorPlan16","kind":"scene","scene":"FloorPlan16"},"id":"261194ee2c2608ce5c0f","native_annotation":{"instruction":"Put a clean butter knife on a round white table.","repeat_idx":1,"task":"pick_clean_then_place_in_recep-ButterKnife-None-DiningTable-16/trial_T20190909_114508_617301","upstream_episode":{"ann":{"goal":[" put "," a "," clean "," butter "," knife "," on "," a "," round "," white "," table ",". ","<<goal>>"],"instr":[[" turn "," right "," and "," walk "," forward ",", "," then "," turn "," right "," again "," and "," walk "," over "," to "," the "," counter ",". "],[" pick "," up "," the "," metal "," butter "," knife "," off "," of "," the "," counter ",". "],[" turn "," left "," and "," walk "," over "," to "," the "," sink ",". "],[" put "," the "," butter "," knife "," in "," the "," sink "," then "," turn "," on "," the "," water ",", "," after "," a "," couple "," seconds "," turn "," the "," water "," off "," and "," remove "," the "," now "," clean "," butter "," knife ",". "],[" turn "," right "," and "," walk "," towards "," the "," wall ",", "," then "," hang "," a "," right "," and "," walk "," over "," to "," the "," round "," white "," table "," in "," the "," corner "," of "," the "," room ",". "],[" put "," the "," clean "," butter "," knife "," on "," the "," round "," white "," table ",". "],["<<stop>>"]],"repeat_idx":1},"images":[{"high_idx":0,"image_name":"000000000.png","low_idx":0},{"high_idx":0,"image_name":"000000001.png","low_idx":0},{"high_idx":0,"image_name":"000000002.png","low_idx":0},{"high_idx":0,"image_name":"000000003.png","low_idx":0},{"high_idx":0,"image_name":"000000004.png","low_idx":0},{"high_idx":0,"image_name":"000000005.png","low_idx":0},{"high_idx":0,"image_name":"000000006.png","low_idx":0},{"high_idx":0,"image_name":"000000007.png","low_idx":0},{"high_idx":0,"image_name":"000000008.png","low_idx":0},{"high_idx":0,"image_name":"000000009.png","low_idx":0},{"high_idx":0,"image_name":"000000010.png","low_idx":0},{"high_idx":0,"image_name":"000000011.png","low_idx":1},{"high_idx":0,"image_name":"000000012.png","low_idx":1},{"high_idx":0,"image_name":"000000013.png","low_idx":1},{"high_idx":0,"image_name":"000000014.png","low_idx":1},{"high_idx":0,"image_name":"000000015.png","low_idx":1},{"high_idx":0,"image_name":"000000016.png","low_idx":1},{"high_idx":0,"image_name":"000000017.png","low_idx":1},{"high_idx":0,"image_name":"000000018.png","low_idx":1},{"high_idx":0,"image_name":"000000019.png","low_idx":1},{"high_idx":0,"image_name":"000000020.png","low_idx":1},{"high_idx":0,"image_name":"000000021.png","low_idx":1},{"high_idx":0,"image_name":"000000022.png","low_idx":2},{"high_idx":0,"image_name":"000000023.png","low_idx":2},{"high_idx":0,"image_name":"000000024.png","low_idx":3},{"high_idx":0,"image_name":"000000025.png","low_idx":3},{"high_idx":0,"image_name":"000000026.png","low_idx":3},{"high_idx":0,"image_name":"000000027.png","low_idx":3},{"high_idx":0,"image_name":"000000028.png","low_idx":3},{"high_idx":0,"image_name":"000000029.png","low_idx":3},{"high_idx":0,"image_name":"000000030.png","low_idx":3},{"high_idx":0,"image_name":"000000031.png","low_idx":3},{"high_idx":0,"image_name":"000000032.png","low_idx":3},{"high_idx":0,"image_name":"000000033.png","low_idx":3},{"high_idx":0,"image_name":"000000034.png","low_idx":3},{"high_idx":0,"image_name":"000000035.png","low_idx":4},{"high_idx":0,"image_name":"000000036.png","low_idx":4},{"high_idx":0,"image_name":"000000037.png","low_idx":5},{"high_idx":0,"image_name":"000000038.png","low_idx":5},{"high_idx":0,"image_name":"000000039.png","low_idx":6},{"high_idx":0,"image_name":"000000040.png","low_idx":6},{"high_idx":0,"image_name":"000000041.png","low_idx":7},{"high_idx":0,"image_name":"000000042.png","low_idx":7},{"high_idx":0,"image_name":"000000043.png","low_idx":8},{"high_idx":0,"image_name":"000000044.png","low_idx":8},{"high_idx":0,"image_name":"000000045.png","low_idx":9},{"high_idx":0,"image_name":"000000046.png","low_idx":9},{"high_idx":1,"image_name":"000000047.png","low_idx":10},{"high_idx":1,"image_name":"000000048.png","low_idx":10},{"high_idx":1,"image_name":"000000049.png","low_idx":10},{"high_idx":1,"image_name":"000000050.png","low_idx":10},{"high_idx":1,"image_name":"000000051.png","low_idx":10},{"high_idx":1,"image_name":"000000052.png","low_idx":10},{"high_idx":1,"image_name":"000000053.png","low_idx":10},{"high_idx":1,"image_name":"000000054.png","low_idx":10},{"high_idx":1,"image_name":"000000055.png","low_idx":10},{"high_idx":1,"image_name":"000000056.png","low_idx":10},{"high_idx":1,"image_name":"000000057.png","low_idx":10},{"high_idx":1,"image_name":"000000058.png","low_idx":10},{"high_idx":1,"image_name":"000000059.png","low_idx":10},{"high_idx":1,"image_name":"000000060.png","low_idx":10},{"high_idx":1,"image_name":"000000061.png","low_idx":10},{"high_idx":2,"image_name":"000000062.png","low_idx":11},{"high_idx":2,"image_name":"000000063.png","low_idx":11},{"high_idx":2,"image_name":"000000064.png","low_idx":11},{"high_idx":2,"image_name":"000000065.png","low_idx":11},{"high_idx":2,"image_name":"000000066.png","low_idx":11},{"high_idx":2,"image_name":"000000067.png","low_idx":11},{"high_idx":2,"image_name":"000000068.png","low_idx":11},{"high_idx":2,"image_name":"000000069.png","low_idx":11},{"high_idx":2,"image_name":"000000070.png","low_idx":11},{"high_idx":2,"image_name":"000000071.png","low_idx":11},{"high_idx":2,"image_name":"000000072.png","low_idx":11},{"high_idx":2,"image_name":"000000073.png","low_idx":12},{"high_idx":2,"image_name":"000000074.png","low_idx":12},{"high_idx":2,"image_name":"000000075.png","low_idx":13},{"high_idx":2,"image_name":"000000076.png","low_idx":13},{"high_idx":2,"image_name":"000000077.png","low_idx":14},{"high_idx":2,"image_name":"000000078.png","low_idx":14},{"high_idx":2,"image_name":"000000079.png","low_idx":15},{"high_idx":2,"image_name":"000000080.png","low_idx":15},{"high_idx":2,"image_name":"000000081.png","low_idx":16},{"high_idx":2,"image_name":"000000082.png","low_idx":16},{"high_idx":2,"image_name":"000000083.png","low_idx":16},{"high_idx":2,"image_name":"000000084.png","low_idx":16},{"high_idx":2,"image_name":"000000085.png","low_idx":16},{"high_idx":2,"image_name":"000000086.png","low_idx":16},{"high_idx":2,"image_name":"000000087.png","low_idx":16},{"high_idx":2,"image_name":"000000088.png","low_idx":16},{"high_idx":2,"image_name":"000000089.png","low_idx":16},{"high_idx":2,"image_name":"000000090.png","low_idx":16},{"high_idx":2,"image_name":"000000091.png","low_idx":16},{"high_idx":3,"image_name":"000000092.png","low_idx":17},{"high_idx":3,"image_name":"000000093.png","low_idx":17},{"high_idx":3,"image_name":"000000094.png","low_idx":17},{"high_idx":3,"image_name":"000000095.png","low_idx":17},{"high_idx":3,"image_name":"000000096.png","low_idx":17},{"high_idx":3,"image_name":"000000097.png","low_idx":17},{"high_idx":3,"image_name":"000000098.png","low_idx":17},{"high_idx":3,"image_name":"000000099.png","low_idx":17},{"high_idx":3,"image_name":"000000100.png","low_idx":17},{"high_idx":3,"image_name":"000000101.png","low_idx":17},{"high_idx":3,"image_name":"000000102.png","low_idx":17},{"high_idx":3,"image_name":"000000103.png","low_idx":17},{"high_idx":3,"image_name":"000000104.png","low_idx":17},{"high_idx":3,"image_name":"000000105.png","low_idx":17},{"high_idx":3,"image_name":"000000106.png","low_idx":17},{"high_idx":3,"image_name":"000000107.png","low_idx":18},{"high_idx":3,"image_name":"000000108.png","low_idx":18},{"high_idx":3,"image_name":"000000109.png","low_idx":18},{"high_idx":3,"image_name":"000000110.png","low_idx":18},{"high_idx":3,"image_name":"000000111.png","low_idx":18},{"high_idx":3,"image_name":"000000112.png","low_idx":18},{"high_idx":3,"image_name":"000000113.png","low_idx":18},{"high_idx":3,"image_name":"000000114.png","low_idx":18},{"high_idx":3,"image_name":"000000115.png","low_idx":18},{"high_idx":3,"image_name":"000000116.png","low_idx":18},{"high_idx":3,"image_name":"000000117.png","low_idx":18},{"high_idx":3,"image_name":"000000118.png","low_idx":18},{"high_idx":3,"image_name":"000000119.png","low_idx":18},{"high_idx":3,"image_name":"000000120.png","low_idx":18},{"high_idx":3,"image_name":"000000121.png","low_idx":18},{"high_idx":3,"image_name":"000000122.png","low_idx":18},{"high_idx":3,"image_name":"000000123.png","low_idx":18},{"high_idx":3,"image_name":"000000124.png","low_idx":18},{"high_idx":3,"image_name":"000000125.png","low_idx":19},{"high_idx":3,"image_name":"000000126.png","low_idx":19},{"high_idx":3,"image_name":"000000127.png","low_idx":19},{"high_idx":3,"image_name":"000000128.png","low_idx":19},{"high_idx":3,"image_name":"000000129.png","low_idx":19},{"high_idx":3,"image_name":"000000130.png","low_idx":19},{"high_idx":3,"image_name":"000000131.png","low_idx":20},{"high_idx":3,"image_name":"000000132.png","low_idx":20},{"high_idx":3,"image_name":"000000133.png","low_idx":20},{"high_idx":3,"image_name":"000000134.png","low_idx":20},{"high_idx":3,"image_name":"000000135.png","low_idx":20},{"high_idx":3,"image_name":"000000136.png","low_idx":20},{"high_idx":3,"image_name":"000000137.png","low_idx":20},{"high_idx":3,"image_name":"000000138.png","low_idx":20},{"high_idx":3,"image_name":"000000139.png","low_idx":20},{"high_idx":3,"image_name":"000000140.png","low_idx":20},{"high_idx":3,"image_name":"000000141.png","low_idx":20},{"high_idx":3,"image_name":"000000142.png","low_idx":20},{"high_idx":3,"image_name":"000000143.png","low_idx":20},{"high_idx":3,"image_name":"000000144.png","low_idx":20},{"high_idx":3,"image_name":"000000145.png","low_idx":20},{"high_idx":4,"image_name":"000000146.png","low_idx":21},{"high_idx":4,"image_name":"000000147.png","low_idx":21},{"high_idx":4,"image_name":"000000148.png","low_idx":21},{"high_idx":4,"image_name":"000000149.png","low_idx":21},{"high_idx":4,"image_name":"000000150.png","low_idx":21},{"high_idx":4,"image_name":"000000151.png","low_idx":21},{"high_idx":4,"image_name":"000000152.png","low_idx":21},{"high_idx":4,"image_name":"000000153.png","low_idx":21},{"high_idx":4,"image_name":"000000154.png","low_idx":21},{"high_idx":4,"image_name":"000000155.png","low_idx":21},{"high_idx":4,"image_name":"000000156.png","low_idx":21},{"high_idx":4,"image_name":"000000157.png","low_idx":22},{"high_idx":4,"image_name":"000000158.png","low_idx":22},{"high_idx":4,"image_name":"000000159.png","low_idx":23},{"high_idx":4,"image_name":"000000160.png","low_idx":23},{"high_idx":4,"image_name":"000000161.png","low_idx":24},{"high_idx":4,"image_name":"000000162.png","low_idx":24},{"high_idx":4,"image_name":"000000163.png","low_idx":25},{"high_idx":4,"image_name":"000000164.png","low_idx":25},{"high_idx":4,"image_name":"000000165.png","low_idx":26},{"high_idx":4,"image_name":"000000166.png","low_idx":26},{"high_idx":4,"image_name":"000000167.png","low_idx":27},{"high_idx":4,"image_name":"000000168.png","low_idx":27},{"high_idx":4,"image_name":"000000169.png","low_idx":27},{"high_idx":4,"image_name":"000000170.png","low_idx":27},{"high_idx":4,"image_name":"000000171.png","low_idx":27},{"high_idx":4,"image_name":"000000172.png","low_idx":27},{"high_idx":4,"image_name":"000000173.png","low_idx":27},{"high_idx":4,"image_name":"000000174.png","low_idx":27},{"high_idx":4,"image_name":"000000175.png","low_idx":27},{"high_idx":4,"image_name":"000000176.png","low_idx":27},{"high_idx":4,"image_name":"000000177.png","low_idx":27},{"high_idx":4,"image_name":"000000178.png","low_idx":28},{"high_idx":4,"image_name":"000000179.png","low_idx":28},{"high_idx":4,"image_name":"000000180.png","low_idx":29},{"high_idx":4,"image_name":"000000181.png","low_idx":29},{"high_idx":4,"image_name":"000000182.png","low_idx":30},{"high_idx":4,"image_name":"000000183.png","low_idx":30},{"high_idx":4,"image_name":"000000184.png","low_idx":31},{"high_idx":4,"image_name":"000000185.png","low_idx":31},{"high_idx":4,"image_name":"000000186.png","low_idx":32},{"high_idx":4,"image_name":"000000187.png","low_idx":32},{"high_idx":4,"image_name":"000000188.png","low_idx":33},{"high_idx":4,"image_name":"000000189.png","low_idx":33},{"high_idx":4,"image_name":"000000190.png","low_idx":34},{"high_idx":4,"image_name":"000000191.png","low_idx":34},{"high_idx":4,"image_name":"000000192.png","low_idx":35},{"high_idx":4,"image_name":"000000193.png","low_idx":35},{"high_idx":4,"image_name":"000000194.png","low_idx":36},{"high_idx":4,"image_name":"000000195.png","low_idx":36},{"high_idx":4,"image_name":"000000196.png","low_idx":37},{"high_idx":4,"image_name":"000000197.png","low_idx":37},{"high_idx":4,"image_name":"000000198.png","low_idx":38},{"high_idx":4,"image_name":"000000199.png","low_idx":38},{"high_idx":4,"image_name":"000000200.png","low_idx":38},{"high_idx":4,"image_name":"000000201.png","low_idx":38},{"high_idx":4,"image_name":"000000202.png","low_idx":38},{"high_idx":4,"image_name":"000000203.png","low_idx":38},{"high_idx":4,"image_name":"000000204.png","low_idx":38},{"high_idx":4,"image_name":"000000205.png","low_idx":38},{"high_idx":4,"image_name":"000000206.png","low_idx":38},{"high_idx":4,"image_name":"000000207.png","low_idx":38},{"high_idx":4,"image_name":"000000208.png","low_idx":38},{"high_idx":4,"image_name":"000000209.png","low_idx":39},{"high_idx":4,"image_name":"000000210.png","low_idx":39},{"high_idx":5,"image_name":"000000211.png","low_idx":40},{"high_idx":5,"image_name":"000000212.png","low_idx":40},{"high_idx":5,"image_name":"000000213.png","low_idx":40},{"high_idx":5,"image_name":"000000214.png","low_idx":40},{"high_idx":5,"image_name":"000000215.png","low_idx":40},{"high_idx":5,"image_name":"000000216.png","low_idx":40},{"high_idx":5,"image_name":"000000217.png","low_idx":40},{"high_idx":5,"image_name":"000000218.png","low_idx":40},{"high_idx":5,"image_name":"000000219.png","low_idx":40},{"high_idx":5,"image_name":"000000220.png","low_idx":40},{"high_idx":5,"image_name":"000000221.png","low_idx":40},{"high_idx":5,"image_name":"000000222.png","low_idx":40},{"high_idx":5,"image_name":"000000223.png","low_idx":40},{"high_idx":5,"image_name":"000000224.png","low_idx":40},{"high_idx":5,"image_name":"000000225.png","low_idx":40}],"num":{"action_high":[{"action":3,"action_high_args":[13],"high_idx":0},{"action":5,"action_high_args":[38],"high_idx":1},{"action":3,"action_high_args":[20],"high_idx":2},{"action":24,"action_high_args":[38],"high_idx":3},{"action":3,"action_high_args":[4],"high_idx":4},{"action":10,"action_high_args":[38,4],"high_idx":5},{"action":12,"action_high_args":[],"high_idx":6}],"action_low":[[{"action":3,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0}],[{"action":6,"action_high_args":{"bbox":[123,101,134,153],"mask":[[30130,4],[30429,5],[30729,6],[31029,6],[31329,6],[31629,6],[31929,6],[32228,6],[32528,6],[32828,6],[33129,5],[33429,5],[33729,4],[34029,4],[34329,4],[34629,4],[34929,4],[35229,3],[35529,3],[35828,4],[36128,4],[36428,4],[36728,4],[37027,5],[37327,5],[37627,4],[37926,5],[38226,5],[38526,5],[38825,6],[39125,6],[39424,7],[39724,7],[40024,7],[40324,7],[40624,7],[40923,8],[41223,8],[41523,8],[41823,7],[42123,7],[42423,7],[42723,7],[43023,7],[43323,7],[43623,7],[43924,6],[44224,6],[44524,6],[44824,6],[45125,4],[45425,4],[45725,4]],"point":[128,126]},"centroid":[0.42833333333333334,0.42333333333333334],"high_idx":1,"mask":[[30130,4],[30429,5],[30729,6],[31029,6],[31329,6],[31629,6],[31929,6],[32228,6],[32528,6],[32828,6],[33129,5],[33429,5],[33729,4],[34029,4],[34329,4],[34629,4],[34929,4],[35229,3],[35529,3],[35828,4],[36128,4],[36428,4],[36728,4],[37027,5],[37327,5],[37627,4],[37926,5],[38226,5],[38526,5],[38825,6],[39125,6],[39424,7],[39724,7],[40024,7],[40324,7],[40624,7],[40923,8],[41223,8],[41523,8],[41823,7],[42123,7],[42423,7],[42723,7],[43023,7],[43323,7],[43623,7],[43924,6],[44224,6],[44524,6],[44824,6],[45125,4],[45425,4],[45725,4]],"valid_interact":1}],[{"action":5,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0}],[{"action":11,"action_high_args":{"bbox":[16,118,191,186],"mask":[[35156,2],[35177,39],[35242,32],[35453,5],[35477,39],[35542,34],[35751,8],[35778,38],[35842,36],[36049,10],[36078,39],[36142,37],[36348,11],[36378,39],[36441,40],[36646,13],[36679,39],[36741,41],[36945,15],[36981,37],[37041,41],[37244,16],[37282,36],[37341,42],[37543,17],[37583,36],[37641,42],[37843,17],[37885,34],[37940,44],[38142,18],[38186,33],[38240,44],[38442,17],[38487,33],[38540,44],[38741,18],[38789,31],[38840,44],[39041,17],[39090,31],[39139,46],[39340,18],[39392,29],[39439,46],[39640,17],[39693,28],[39739,46],[39939,18],[39994,28],[40039,46],[40239,17],[40295,27],[40339,46],[40538,18],[40595,28],[40638,47],[40838,14],[40896,27],[40938,47],[41138,12],[41196,27],[41237,49],[41437,13],[41497,27],[41536,50],[41737,12],[41797,29],[41835,51],[42036,13],[42098,31],[42131,55],[42336,12],[42398,88],[42635,13],[42699,87],[42935,12],[42999,87],[43234,13],[43299,88],[43534,12],[43600,87],[43833,13],[43851,1],[43900,87],[44133,12],[44151,1],[44200,44],[44252,35],[44433,12],[44450,2],[44500,42],[44554,33],[44732,12],[44750,2],[44800,40],[44856,31],[45032,12],[45049,3],[45100,38],[45157,30],[45331,12],[45348,4],[45401,37],[45458,30],[45631,12],[45648,4],[45701,36],[45758,30],[45930,12],[45947,6],[46001,36],[46059,29],[46230,12],[46246,7],[46301,35],[46359,29],[46529,12],[46546,7],[46601,35],[46660,28],[46829,12],[46844,9],[46902,34],[46960,28],[47128,12],[47144,10],[47202,34],[47260,28],[47428,12],[47444,10],[47502,34],[47560,29],[47728,11],[47745,10],[47802,34],[47860,29],[48027,11],[48046,9],[48102,34],[48160,29],[48327,11],[48349,6],[48403,33],[48460,29],[48626,11],[48649,7],[48703,33],[48759,30],[48926,11],[48948,8],[49003,33],[49059,30],[49225,11],[49248,8],[49303,33],[49359,30],[49525,11],[49547,10],[49603,33],[49659,31],[49824,11],[49847,10],[49904,33],[49958,32],[50124,10],[50146,12],[50204,33],[50258,32],[50423,11],[50446,12],[50504,34],[50558,32],[50723,10],[50745,13],[50804,35],[50857,33],[51023,10],[51045,14],[51104,36],[51157,33],[51322,10],[51344,15],[51404,37],[51456,35],[51622,10],[51644,15],[51705,37],[51755,36],[51921,10],[51943,17],[52005,38],[52054,37],[52221,9],[52242,18],[52305,40],[52352,39],[52520,10],[52542,19],[52605,86],[52820,9],[52841,20],[52905,86],[53119,10],[53141,20],[53206,85],[53419,9],[53440,21],[53506,86],[53718,10],[53740,21],[53806,86],[54018,9],[54039,22],[54106,86],[54318,9],[54338,22],[54406,86],[54617,9],[54638,22],[54706,86],[54917,8],[54937,23],[55007,85],[55216,9],[55237,22],[55307,80],[55516,8],[55536,23],[55607,75]],"point":[103,151]},"centroid":[0.345,0.5066666666666667],"high_idx":3,"mask":[[35156,2],[35177,39],[35242,32],[35453,5],[35477,39],[35542,34],[35751,8],[35778,38],[35842,36],[36049,10],[36078,39],[36142,37],[36348,11],[36378,39],[36441,40],[36646,13],[36679,39],[36741,41],[36945,15],[36981,37],[37041,41],[37244,16],[37282,36],[37341,42],[37543,17],[37583,36],[37641,42],[37843,17],[37885,34],[37940,44],[38142,18],[38186,33],[38240,44],[38442,17],[38487,33],[38540,44],[38741,18],[38789,31],[38840,44],[39041,17],[39090,31],[39139,46],[39340,18],[39392,29],[39439,46],[39640,17],[39693,28],[39739,46],[39939,18],[39994,28],[40039,46],[40239,17],[40295,27],[40339,46],[40538,18],[40595,28],[40638,47],[40838,14],[40896,27],[40938,47],[41138,12],[41196,27],[41237,49],[41437,13],[41497,27],[41536,50],[41737,12],[41797,29],[41835,51],[42036,13],[42098,31],[42131,55],[42336,12],[42398,88],[42635,13],[42699,87],[42935,12],[42999,87],[43234,13],[43299,88],[43534,12],[43600,87],[43833,13],[43851,1],[43900,87],[44133,12],[44151,1],[44200,44],[44252,35],[44433,12],[44450,2],[44500,42],[44554,33],[44732,12],[44750,2],[44800,40],[44856,31],[45032,12],[45049,3],[45100,38],[45157,30],[45331,12],[45348,4],[45401,37],[45458,30],[45631,12],[45648,4],[45701,36],[45758,30],[45930,12],[45947,6],[46001,36],[46059,29],[46230,12],[46246,7],[46301,35],[46359,29],[46529,12],[46546,7],[46601,35],[46660,28],[46829,12],[46844,9],[46902,34],[46960,28],[47128,12],[47144,10],[47202,34],[47260,28],[47428,12],[47444,10],[47502,34],[47560,29],[47728,11],[47745,10],[47802,34],[47860,29],[48027,11],[48046,9],[48102,34],[48160,29],[48327,11],[48349,6],[48403,33],[48460,29],[48626,11],[48649,7],[48703,33],[48759,30],[48926,11],[48948,8],[49003,33],[49059,30],[49225,11],[49248,8],[49303,33],[49359,30],[49525,11],[49547,10],[49603,33],[49659,31],[49824,11],[49847,10],[49904,33],[49958,32],[50124,10],[50146,12],[50204,33],[50258,32],[50423,11],[50446,12],[50504,34],[50558,32],[50723,10],[50745,13],[50804,35],[50857,33],[51023,10],[51045,14],[51104,36],[51157,33],[51322,10],[51344,15],[51404,37],[51456,35],[51622,10],[51644,15],[51705,37],[51755,36],[51921,10],[51943,17],[52005,38],[52054,37],[52221,9],[52242,18],[52305,40],[52352,39],[52520,10],[52542,19],[52605,86],[52820,9],[52841,20],[52905,86],[53119,10],[53141,20],[53206,85],[53419,9],[53440,21],[53506,86],[53718,10],[53740,21],[53806,86],[54018,9],[54039,22],[54106,86],[54318,9],[54338,22],[54406,86],[54617,9],[54638,22],[54706,86],[54917,8],[54937,23],[55007,85],[55216,9],[55237,22],[55307,80],[55516,8],[55536,23],[55607,75]],"valid_interact":1},{"action":13,"action_high_args":{"bbox":[97,34,118,77],"mask":[[10009,2],[10308,4],[10607,6],[10907,7],[11206,9],[11507,9],[11807,9],[12106,11],[12406,11],[12706,11],[13006,11],[13306,11],[13606,11],[13907,10],[14207,11],[14507,11],[14807,11],[15107,11],[15407,11],[15708,10],[16008,10],[16308,11],[16607,12],[16903,16],[17201,18],[17500,19],[17799,20],[18098,21],[18397,22],[18697,22],[18997,22],[19297,20],[19597,17],[19897,17],[20197,17],[20497,17],[20797,17],[21097,17],[21398,16],[21698,16],[21998,16],[22298,16],[22598,15],[22904,1]],"point":[108,54]},"centroid":[0.35833333333333334,0.185],"high_idx":3,"mask":[[10009,2],[10308,4],[10607,6],[10907,7],[11206,9],[11507,9],[11807,9],[12106,11],[12406,11],[12706,11],[13006,11],[13306,11],[13606,11],[13907,10],[14207,11],[14507,11],[14807,11],[15107,11],[15407,11],[15708,10],[16008,10],[16308,11],[16607,12],[16903,16],[17201,18],[17500,19],[17799,20],[18098,21],[18397,22],[18697,22],[18997,22],[19297,20],[19597,17],[19897,17],[20197,17],[20497,17],[20797,17],[21097,17],[21398,16],[21698,16],[21998,16],[22298,16],[22598,15],[22904,1]],"valid_interact":1},{"action":14,"action_high_args":{"bbox":[97,34,118,77],"mask":[[10009,2],[10308,4],[10607,6],[10907,7],[11206,9],[11507,9],[11807,9],[12106,11],[12406,11],[12706,11],[13006,11],[13306,11],[13606,11],[13907,10],[14207,11],[14507,11],[14807,11],[15107,11],[15407,11],[15708,10],[16008,10],[16308,11],[16607,12],[16903,16],[17201,18],[17500,19],[17799,20],[18098,21],[18397,22],[18697,22],[18997,22],[19297,20],[19597,17],[19897,17],[20197,17],[20497,17],[20797,17],[21097,17],[21398,16],[21698,16],[21998,16],[22298,16],[22598,15],[22904,1]],"point":[108,54]},"centroid":[0.35833333333333334,0.185],"high_idx":3,"mask":[[10009,2],[10308,4],[10607,6],[10907,7],[11206,9],[11507,9],[11807,9],[12106,11],[12406,11],[12706,11],[13006,11],[13306,11],[13606,11],[13907,10],[14207,11],[14507,11],[14807,11],[15107,11],[15407,11],[15708,10],[16008,10],[16308,11],[16607,12],[16903,16],[17201,18],[17500,19],[17799,20],[18098,21],[18397,22],[18697,22],[18997,22],[19297,20],[19597,17],[19897,17],[20197,17],[20497,17],[20797,17],[21097,17],[21398,16],[21698,16],[21998,16],[22298,16],[22598,15],[22904,1]],"valid_interact":1},{"action":6,"action_high_args":{"bbox":[122,116,128,172],"mask":[[34622,1],[35223,1],[35523,1],[35823,1],[36123,1],[36423,1],[36723,1],[37023,2],[37323,2],[37624,1],[37924,1],[38224,1],[38524,1],[38824,1],[39124,1],[39424,1],[39724,1],[40024,1],[40625,1],[40925,1],[41225,1],[41525,1],[41825,1],[42125,1],[42425,1],[42725,1],[43025,1],[43626,1],[43926,1],[44226,1],[44526,1],[44826,1],[45126,1],[45426,1],[45726,1],[46026,1],[46326,2],[46626,2],[46926,2],[47226,2],[47526,2],[47826,2],[48127,1],[48427,1],[48727,1],[49027,2],[49327,2],[49627,2],[49927,2],[50227,2],[50527,2],[50828,1],[51128,1],[51428,1]],"point":[125,143]},"centroid":[0.4166666666666667,0.48],"high_idx":3,"mask":[[34622,1],[35223,1],[35523,1],[35823,1],[36123,1],[36423,1],[36723,1],[37023,2],[37323,2],[37624,1],[37924,1],[38224,1],[38524,1],[38824,1],[39124,1],[39424,1],[39724,1],[40024,1],[40625,1],[40925,1],[41225,1],[41525,1],[41825,1],[42125,1],[42425,1],[42725,1],[43025,1],[43626,1],[43926,1],[44226,1],[44526,1],[44826,1],[45126,1],[45426,1],[45726,1],[46026,1],[46326,2],[46626,2],[46926,2],[47226,2],[47526,2],[47826,2],[48127,1],[48427,1],[48727,1],[49027,2],[49327,2],[49627,2],[49927,2],[50227,2],[50527,2],[50828,1],[51128,1],[51428,1]],"valid_interact":1}],[{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0},{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0},{"action":5,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0}],[{"action":11,"action_high_args":{"bbox":[0,60,299,300],"mask":[[17836,17],[18117,48],[18411,66],[18704,31],[18741,38],[18998,36],[19041,37],[19292,42],[19341,9],[19358,20],[19385,6],[19588,46],[19641,2],[19665,13],[19685,10],[19885,49],[19967,11],[19985,15],[20186,48],[20267,11],[20285,19],[20487,22],[20523,11],[20568,10],[20585,22],[20788,18],[20826,8],[20869,9],[20885,25],[21089,15],[21127,7],[21169,8],[21185,27],[21390,12],[21428,6],[21469,8],[21485,30],[21691,10],[21729,5],[21769,8],[21785,33],[21991,9],[22030,4],[22069,8],[22085,36],[22291,9],[22330,4],[22369,8],[22385,38],[22592,7],[22630,4],[22668,9],[22684,42],[22892,7],[22930,4],[22968,9],[22984,45],[23153,2],[23192,7],[23230,4],[23268,9],[23284,47],[23451,5],[23492,7],[23530,4],[23567,10],[23584,49],[23749,7],[23792,7],[23830,4],[23842,6],[23860,16],[23884,51],[24046,11],[24093,7],[24130,4],[24142,34],[24184,53],[24344,13],[24393,7],[24430,4],[24443,32],[24485,53],[24642,16],[24693,7],[24730,3],[24744,30],[24785,55],[24940,19],[24994,6],[25030,2],[25045,28],[25086,56],[25238,22],[25294,6],[25331,1],[25345,28],[25386,58],[25536,24],[25594,6],[25646,26],[25687,58],[25834,27],[25894,7],[25947,24],[25988,59],[26133,29],[26194,7],[26248,22],[26288,61],[26431,31],[26494,7],[26548,22],[26589,62],[26730,33],[26793,8],[26848,21],[26889,64],[27028,36],[27091,10],[27149,20],[27189,65],[27327,37],[27388,14],[27449,20],[27489,67],[27625,40],[27684,19],[27727,1],[27749,20],[27789,68],[27924,42],[27980,24],[28026,2],[28049,20],[28089,69],[28222,45],[28276,30],[28324,4],[28349,20],[28389,71],[28521,44],[28590,19],[28620,9],[28649,20],[28689,72],[28819,46],[28890,39],[28949,20],[28989,73],[29118,46],[29191,38],[29249,19],[29289,1],[29292,71],[29417,47],[29491,38],[29549,19],[29589,2],[29596,68],[29715,49],[29790,39],[29849,19],[29889,4],[29899,66],[30014,49],[30090,39],[30149,19],[30189,6],[30201,66],[30312,51],[30390,39],[30449,19],[30488,9],[30503,65],[30611,51],[30690,39],[30749,19],[30788,11],[30804,65],[30910,53],[30989,40],[31049,19],[31088,13],[31106,64],[31209,54],[31289,40],[31349,19],[31388,15],[31408,63],[31508,56],[31568,61],[31649,19],[31688,17],[31709,63],[31807,122],[31949,19],[31988,19],[32011,47],[32066,6],[32106,123],[32249,19],[32288,21],[32312,41],[32369,4],[32405,124],[32549,19],[32588,22],[32614,34],[32671,3],[32704,125],[32849,19],[32887,25],[32916,27],[32972,3],[33003,127],[33149,19],[33187,27],[33218,22],[33272,3],[33302,128],[33449,19],[33487,29],[33520,18],[33573,3],[33601,129],[33749,19],[33787,31],[33823,13],[33873,4],[33900,130],[34049,19],[34087,32],[34125,10],[34173,4],[34200,130],[34349,18],[34387,34],[34427,6],[34474,4],[34500,130],[34649,18],[34687,36],[34729,2],[34774,5],[34800,130],[34949,18],[34987,38],[35074,5],[35100,130],[35249,18],[35286,41],[35374,6],[35400,130],[35549,18],[35586,42],[35674,6],[35700,130],[35849,18],[35886,42],[35974,7],[36000,129],[36149,18],[36186,42],[36274,7],[36300,129],[36449,18],[36486,42],[36574,8],[36600,128],[36749,18],[36786,42],[36874,9],[36900,129],[37049,18],[37086,42],[37174,9],[37200,129],[37349,18],[37386,42],[37473,11],[37500,129],[37649,18],[37685,43],[37773,11],[37800,129],[37949,18],[37985,44],[38072,13],[38100,129],[38249,18],[38285,46],[38372,13],[38400,73],[38480,49],[38548,20],[38585,48],[38670,16],[38700,70],[38784,45],[38848,21],[38884,53],[38969,18],[39000,68],[39085,44],[39146,24],[39183,59],[39260,27],[39300,67],[39387,42],[39445,27],[39481,107],[39600,66],[39687,42],[39745,143],[39900,66],[39988,41],[40045,144],[40200,66],[40290,39],[40345,144],[40500,66],[40606,23],[40645,145],[40800,67],[40888,3],[40919,11],[40945,146],[41100,67],[41176,7],[41187,16],[41245,146],[41400,68],[41475,8],[41486,17],[41512,5],[41545,147],[41700,69],[41775,5],[41785,13],[41814,16],[41845,147],[42000,71],[42084,9],[42117,13],[42145,79],[42227,66],[42300,73],[42381,7],[42417,13],[42445,78],[42529,64],[42600,85],[42718,12],[42745,77],[42830,64],[42900,83],[43018,12],[43045,77],[43130,64],[43200,81],[43319,11],[43345,77],[43429,66],[43500,79],[43619,11],[43645,76],[43729,66],[43800,78],[43920,10],[43945,75],[44029,67],[44100,76],[44220,10],[44245,75],[44329,67],[44400,74],[44520,10],[44545,74],[44629,68],[44700,73],[44820,10],[44845,74],[44929,68],[45000,72],[45120,11],[45145,74],[45229,69],[45300,20],[45323,49],[45420,11],[45445,73],[45529,69],[45600,17],[45626,45],[45721,10],[45745,73],[45829,70],[45900,15],[45927,44],[46021,10],[46045,72],[46128,71],[46200,13],[46227,44],[46321,10],[46345,7],[46361,56],[46428,71],[46500,13],[46528,43],[46621,10],[46645,3],[46665,51],[46728,84],[46828,43],[46920,11],[46968,48],[47028,83],[47128,43],[47220,11],[47270,46],[47328,83],[47429,42],[47520,11],[47572,43],[47628,83],[47729,43],[47820,11],[47873,42],[47928,84],[48030,43],[48119,12],[48174,41],[48227,85],[48330,44],[48419,13],[48475,40],[48527,86],[48631,45],[48719,13],[48776,40],[48827,87],[48932,47],[49017,16],[49077,40],[49127,87],[49235,47],[49316,18],[49378,40],[49426,89],[49537,49],[49608,27],[49678,43],[49723,92],[49839,60],[49900,35],[49979,137],[50140,94],[50279,137],[50442,92],[50580,137],[50743,91],[50880,136],[51044,90],[51180,136],[51345,88],[51480,136],[51646,88],[51780,135],[51947,87],[52080,135],[52248,86],[52380,135],[52548,86],[52680,135],[52849,85],[52980,134],[53150,84],[53280,134],[53450,84],[53580,134],[53751,83],[53880,134],[54051,83],[54179,48],[54238,76],[54352,82],[54479,47],[54540,75],[54652,82],[54779,45],[54842,73],[54952,82],[55079,44],[55144,71],[55253,81],[55379,44],[55445,70],[55553,82],[55679,43],[55746,69],[55853,82],[55979,43],[56047,68],[56154,81],[56278,44],[56347,68],[56454,81],[56578,44],[56648,68],[56754,81],[56878,43],[56948,68],[57055,81],[57178,43],[57249,67],[57355,81],[57477,44],[57549,68],[57655,82],[57777,44],[57849,68],[57955,82],[58076,44],[58149,69],[58255,83],[58376,44],[58449,69],[58556,83],[58675,45],[58748,71],[58856,84],[58974,46],[59048,71],[59156,85],[59273,46],[59347,73],[59456,86],[59572,47],[59647,74],[59756,87],[59870,7],[59882,37],[59946,76],[60056,89],[60168,6],[60185,34],[60246,76],[60356,92],[60466,6],[60487,31],[60545,78],[60656,95],[60763,7],[60788,30],[60844,80],[60956,113],[61089,29],[61144,80],[61256,112],[61390,28],[61443,82],[61555,112],[61691,27],[61743,83],[61855,111],[61992,27],[62042,57],[62100,27],[62154,112],[62293,26],[62342,57],[62400,28],[62453,112],[62594,25],[62641,57],[62700,29],[62753,111],[62895,25],[62941,56],[63000,30],[63051,113],[63195,26],[63240,57],[63300,31],[63350,113],[63496,26],[63539,57],[63600,33],[63649,114],[63796,27],[63839,57],[63900,34],[63947,116],[64097,28],[64138,57],[64200,37],[64243,119],[64397,30],[64436,59],[64500,162],[64698,96],[64800,162],[64998,96],[65100,162],[65298,95],[65400,161],[65599,94],[65700,161],[65899,93],[66000,161],[66199,93],[66300,161],[66499,92],[66600,161],[66799,92],[66900,162],[67099,91],[67200,162],[67399,91],[67500,162],[67699,90],[67800,162],[67999,90],[68100,163],[68299,89],[68400,163],[68599,88],[68700,163],[68899,88],[69000,164],[69198,88],[69300,165],[69498,88],[69600,165],[69798,87],[69900,166],[70097,88],[70200,167],[70397,87],[70500,168],[70696,88],[70800,169],[70995,88],[71100,171],[71294,89],[71400,173],[71593,89],[71700,176],[71891,90],[72000,180],[72188,92],[72300,279],[72600,278],[72900,277],[73200,276],[73500,275],[73800,273],[74100,272],[74400,271],[74700,270],[75000,269],[75300,74],[75383,185],[75600,66],[75702,164],[75901,62],[76011,154],[76202,59],[76324,140],[76503,56],[76649,2],[76704,59],[76803,56],[77041,21],[77104,55],[77342,19],[77405,53],[77643,16],[77706,52],[77944,14],[78007,51],[78244,13],[78309,49],[78544,12],[78610,48],[78844,11],[78912,47],[79020,18],[79143,11],[79214,47],[79307,39],[79441,11],[79515,48],[79597,57],[79738,13],[79817,143],[80034,16],[80119,146],[80331,18],[80420,150],[80627,21],[80722,153],[80923,24],[81024,158],[81218,27],[81325,169],[81514,30],[81627,216],[81929,213],[82230,210],[82532,206],[82834,201],[83135,198],[83437,193],[83739,189],[84041,184],[84342,181],[84644,176],[84946,172],[85247,168],[85549,164],[85851,159],[86152,156],[86454,151],[86757,146],[87062,138],[87366,132],[87671,124],[87976,117],[88280,110],[88585,103],[88890,95],[89194,83],[89499,66],[89804,49]],"point":[133,179]},"centroid":[0.49833333333333335,0.6],"high_idx":5,"mask":[[17836,17],[18117,48],[18411,66],[18704,31],[18741,38],[18998,36],[19041,37],[19292,42],[19341,9],[19358,20],[19385,6],[19588,46],[19641,2],[19665,13],[19685,10],[19885,49],[19967,11],[19985,15],[20186,48],[20267,11],[20285,19],[20487,22],[20523,11],[20568,10],[20585,22],[20788,18],[20826,8],[20869,9],[20885,25],[21089,15],[21127,7],[21169,8],[21185,27],[21390,12],[21428,6],[21469,8],[21485,30],[21691,10],[21729,5],[21769,8],[21785,33],[21991,9],[22030,4],[22069,8],[22085,36],[22291,9],[22330,4],[22369,8],[22385,38],[22592,7],[22630,4],[22668,9],[22684,42],[22892,7],[22930,4],[22968,9],[22984,45],[23153,2],[23192,7],[23230,4],[23268,9],[23284,47],[23451,5],[23492,7],[23530,4],[23567,10],[23584,49],[23749,7],[23792,7],[23830,4],[23842,6],[23860,16],[23884,51],[24046,11],[24093,7],[24130,4],[24142,34],[24184,53],[24344,13],[24393,7],[24430,4],[24443,32],[24485,53],[24642,16],[24693,7],[24730,3],[24744,30],[24785,55],[24940,19],[24994,6],[25030,2],[25045,28],[25086,56],[25238,22],[25294,6],[25331,1],[25345,28],[25386,58],[25536,24],[25594,6],[25646,26],[25687,58],[25834,27],[25894,7],[25947,24],[25988,59],[26133,29],[26194,7],[26248,22],[26288,61],[26431,31],[26494,7],[26548,22],[26589,62],[26730,33],[26793,8],[26848,21],[26889,64],[27028,36],[27091,10],[27149,20],[27189,65],[27327,37],[27388,14],[27449,20],[27489,67],[27625,40],[27684,19],[27727,1],[27749,20],[27789,68],[27924,42],[27980,24],[28026,2],[28049,20],[28089,69],[28222,45],[28276,30],[28324,4],[28349,20],[28389,71],[28521,44],[28590,19],[28620,9],[28649,20],[28689,72],[28819,46],[28890,39],[28949,20],[28989,73],[29118,46],[29191,38],[29249,19],[29289,1],[29292,71],[29417,47],[29491,38],[29549,19],[29589,2],[29596,68],[29715,49],[29790,39],[29849,19],[29889,4],[29899,66],[30014,49],[30090,39],[30149,19],[30189,6],[30201,66],[30312,51],[30390,39],[30449,19],[30488,9],[30503,65],[30611,51],[30690,39],[30749,19],[30788,11],[30804,65],[30910,53],[30989,40],[31049,19],[31088,13],[31106,64],[31209,54],[31289,40],[31349,19],[31388,15],[31408,63],[31508,56],[31568,61],[31649,19],[31688,17],[31709,63],[31807,122],[31949,19],[31988,19],[32011,47],[32066,6],[32106,123],[32249,19],[32288,21],[32312,41],[32369,4],[32405,124],[32549,19],[32588,22],[32614,34],[32671,3],[32704,125],[32849,19],[32887,25],[32916,27],[32972,3],[33003,127],[33149,19],[33187,27],[33218,22],[33272,3],[33302,128],[33449,19],[33487,29],[33520,18],[33573,3],[33601,129],[33749,19],[33787,31],[33823,13],[33873,4],[33900,130],[34049,19],[34087,32],[34125,10],[34173,4],[34200,130],[34349,18],[34387,34],[34427,6],[34474,4],[34500,130],[34649,18],[34687,36],[34729,2],[34774,5],[34800,130],[34949,18],[34987,38],[35074,5],[35100,130],[35249,18],[35286,41],[35374,6],[35400,130],[35549,18],[35586,42],[35674,6],[35700,130],[35849,18],[35886,42],[35974,7],[36000,129],[36149,18],[36186,42],[36274,7],[36300,129],[36449,18],[36486,42],[36574,8],[36600,128],[36749,18],[36786,42],[36874,9],[36900,129],[37049,18],[37086,42],[37174,9],[37200,129],[37349,18],[37386,42],[37473,11],[37500,129],[37649,18],[37685,43],[37773,11],[37800,129],[37949,18],[37985,44],[38072,13],[38100,129],[38249,18],[38285,46],[38372,13],[38400,73],[38480,49],[38548,20],[38585,48],[38670,16],[38700,70],[38784,45],[38848,21],[38884,53],[38969,18],[39000,68],[39085,44],[39146,24],[39183,59],[39260,27],[39300,67],[39387,42],[39445,27],[39481,107],[39600,66],[39687,42],[39745,143],[39900,66],[39988,41],[40045,144],[40200,66],[40290,39],[40345,144],[40500,66],[40606,23],[40645,145],[40800,67],[40888,3],[40919,11],[40945,146],[41100,67],[41176,7],[41187,16],[41245,146],[41400,68],[41475,8],[41486,17],[41512,5],[41545,147],[41700,69],[41775,5],[41785,13],[41814,16],[41845,147],[42000,71],[42084,9],[42117,13],[42145,79],[42227,66],[42300,73],[42381,7],[42417,13],[42445,78],[42529,64],[42600,85],[42718,12],[42745,77],[42830,64],[42900,83],[43018,12],[43045,77],[43130,64],[43200,81],[43319,11],[43345,77],[43429,66],[43500,79],[43619,11],[43645,76],[43729,66],[43800,78],[43920,10],[43945,75],[44029,67],[44100,76],[44220,10],[44245,75],[44329,67],[44400,74],[44520,10],[44545,74],[44629,68],[44700,73],[44820,10],[44845,74],[44929,68],[45000,72],[45120,11],[45145,74],[45229,69],[45300,20],[45323,49],[45420,11],[45445,73],[45529,69],[45600,17],[45626,45],[45721,10],[45745,73],[45829,70],[45900,15],[45927,44],[46021,10],[46045,72],[46128,71],[46200,13],[46227,44],[46321,10],[46345,7],[46361,56],[46428,71],[46500,13],[46528,43],[46621,10],[46645,3],[46665,51],[46728,84],[46828,43],[46920,11],[46968,48],[47028,83],[47128,43],[47220,11],[47270,46],[47328,83],[47429,42],[47520,11],[47572,43],[47628,83],[47729,43],[47820,11],[47873,42],[47928,84],[48030,43],[48119,12],[48174,41],[48227,85],[48330,44],[48419,13],[48475,40],[48527,86],[48631,45],[48719,13],[48776,40],[48827,87],[48932,47],[49017,16],[49077,40],[49127,87],[49235,47],[49316,18],[49378,40],[49426,89],[49537,49],[49608,27],[49678,43],[49723,92],[49839,60],[49900,35],[49979,137],[50140,94],[50279,137],[50442,92],[50580,137],[50743,91],[50880,136],[51044,90],[51180,136],[51345,88],[51480,136],[51646,88],[51780,135],[51947,87],[52080,135],[52248,86],[52380,135],[52548,86],[52680,135],[52849,85],[52980,134],[53150,84],[53280,134],[53450,84],[53580,134],[53751,83],[53880,134],[54051,83],[54179,48],[54238,76],[54352,82],[54479,47],[54540,75],[54652,82],[54779,45],[54842,73],[54952,82],[55079,44],[55144,71],[55253,81],[55379,44],[55445,70],[55553,82],[55679,43],[55746,69],[55853,82],[55979,43],[56047,68],[56154,81],[56278,44],[56347,68],[56454,81],[56578,44],[56648,68],[56754,81],[56878,43],[56948,68],[57055,81],[57178,43],[57249,67],[57355,81],[57477,44],[57549,68],[57655,82],[57777,44],[57849,68],[57955,82],[58076,44],[58149,69],[58255,83],[58376,44],[58449,69],[58556,83],[58675,45],[58748,71],[58856,84],[58974,46],[59048,71],[59156,85],[59273,46],[59347,73],[59456,86],[59572,47],[59647,74],[59756,87],[59870,7],[59882,37],[59946,76],[60056,89],[60168,6],[60185,34],[60246,76],[60356,92],[60466,6],[60487,31],[60545,78],[60656,95],[60763,7],[60788,30],[60844,80],[60956,113],[61089,29],[61144,80],[61256,112],[61390,28],[61443,82],[61555,112],[61691,27],[61743,83],[61855,111],[61992,27],[62042,57],[62100,27],[62154,112],[62293,26],[62342,57],[62400,28],[62453,112],[62594,25],[62641,57],[62700,29],[62753,111],[62895,25],[62941,56],[63000,30],[63051,113],[63195,26],[63240,57],[63300,31],[63350,113],[63496,26],[63539,57],[63600,33],[63649,114],[63796,27],[63839,57],[63900,34],[63947,116],[64097,28],[64138,57],[64200,37],[64243,119],[64397,30],[64436,59],[64500,162],[64698,96],[64800,162],[64998,96],[65100,162],[65298,95],[65400,161],[65599,94],[65700,161],[65899,93],[66000,161],[66199,93],[66300,161],[66499,92],[66600,161],[66799,92],[66900,162],[67099,91],[67200,162],[67399,91],[67500,162],[67699,90],[67800,162],[67999,90],[68100,163],[68299,89],[68400,163],[68599,88],[68700,163],[68899,88],[69000,164],[69198,88],[69300,165],[69498,88],[69600,165],[69798,87],[69900,166],[70097,88],[70200,167],[70397,87],[70500,168],[70696,88],[70800,169],[70995,88],[71100,171],[71294,89],[71400,173],[71593,89],[71700,176],[71891,90],[72000,180],[72188,92],[72300,279],[72600,278],[72900,277],[73200,276],[73500,275],[73800,273],[74100,272],[74400,271],[74700,270],[75000,269],[75300,74],[75383,185],[75600,66],[75702,164],[75901,62],[76011,154],[76202,59],[76324,140],[76503,56],[76649,2],[76704,59],[76803,56],[77041,21],[77104,55],[77342,19],[77405,53],[77643,16],[77706,52],[77944,14],[78007,51],[78244,13],[78309,49],[78544,12],[78610,48],[78844,11],[78912,47],[79020,18],[79143,11],[79214,47],[79307,39],[79441,11],[79515,48],[79597,57],[79738,13],[79817,143],[80034,16],[80119,146],[80331,18],[80420,150],[80627,21],[80722,153],[80923,24],[81024,158],[81218,27],[81325,169],[81514,30],[81627,216],[81929,213],[82230,210],[82532,206],[82834,201],[83135,198],[83437,193],[83739,189],[84041,184],[84342,181],[84644,176],[84946,172],[85247,168],[85549,164],[85851,159],[86152,156],[86454,151],[86757,146],[87062,138],[87366,132],[87671,124],[87976,117],[88280,110],[88585,103],[88890,95],[89194,83],[89499,66],[89804,49]],"valid_interact":1}],[{"action":2,"action_high_args":{},"centroid":[-1,-1],"high_idx":6,"mask":null,"valid_interact":0}]],"lang_goal":[14,35,337,206,63,15,35,119,59,60,16,2],"lang_instr":[[24,38,26,47,144,9,37,24,38,43,26,47,53,18,4,36,16],[22,23,4,160,206,63,115,21,4,36,16],[24,19,26,47,53,18,4,149,16],[14,4,206,63,11,4,149,37,24,15,4,179,9,307,35,308,232,24,4,179,115,26,91,4,351,337,206,63,16],[24,38,26,47,45,4,258,9,37,166,35,38,26,47,53,18,4,119,59,60,11,4,121,21,4,165,16],[14,4,337,206,63,15,4,119,59,60,16],[34]],"low_to_high_idx":[0,0,0,0,0,0,0,0,0,0,1,2,2,2,2,2,2,3,3,3,3,4,4,4,4,4,4,4,4,4,4,4,4,4,4,4,4,4,4,4,5,6]},"pddl_params":{"mrecep_target":"","object_sliced":false,"object_target":"ButterKnife","parent_target":"DiningTable","toggle_target":""},"plan":{"high_pddl":[{"discrete_action":{"action":"GotoLocation","args":["countertop"]},"high_idx":0,"planner_action":{"action":"GotoLocation","location":"loc|0|10|3|45"}},{"discrete_action":{"action":"PickupObject","args":["butterknife"]},"high_idx":1,"planner_action":{"action":"PickupObject","coordinateObjectId":["ButterKnife",[-2.6785392,-2.6785392,9.73709488,9.73709488,4.11016844,4.11016844]],"coordinateReceptacleObjectId":["CounterTop",[-3.2522,-3.2522,8.756,8.756,4.252,4.252]],"forceVisible":true,"objectId":"ButterKnife|-00.67|+01.03|+02.43"}},{"discrete_action":{"action":"GotoLocation","args":["sinkbasin"]},"high_idx":2,"planner_action":{"action":"GotoLocation","location":"loc|0|6|3|45"}},{"discrete_action":{"action":"CleanObject","args":["butterknife"]},"high_idx":3,"planner_action":{"action":"CleanObject","cleanObjectId":"ButterKnife|-00.67|+01.03|+02.43","coordinateObjectId":["ButterKnife",[-2.6785392,-2.6785392,9.73709488,9.73709488,4.11016844,4.11016844]],"coordinateReceptacleObjectId":["SinkBasin",[-2.8576,-2.8576,5.3932,5.3932,3.224,3.224]],"forceVisible":true,"objectId":"Sink|-00.72|+01.02|+01.33|SinkBasin"}},{"discrete_action":{"action":"GotoLocation","args":["diningtable"]},"high_idx":4,"planner_action":{"action":"GotoLocation","location":"loc|10|12|0|45"}},{"discrete_action":{"action":"PutObject","args":["butterknife","diningtable"]},"high_idx":5,"planner_action":{"action":"PutObject","coordinateObjectId":["ButterKnife",[-2.6785392,-2.6785392,9.73709488,9.73709488,4.11016844,4.11016844]],"coordinateReceptacleObjectId":["DiningTable",[9.788,9.788,15.904,15.904,2.673336984,2.673336984]],"forceVisible":true,"objectId":"ButterKnife|-00.67|+01.03|+02.43","receptacleObjectId":"DiningTable|+02.45|+00.67|+03.98"}},{"discrete_action":{"action":"NoOp","args":[]},"high_idx":6,"planner_action":{"action":"End","value":1}}],"low_actions":[{"api_action":{"action":"LookDown","forceAction":true},"discrete_action":{"action":"LookDown_15","args":{}},"high_idx":0},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"PickupObject","objectId":"ButterKnife|-00.67|+01.03|+02.43"},"discrete_action":{"action":"PickupObject","args":{"bbox":[123,101,134,153],"mask":[[30130,4],[30429,5],[30729,6],[31029,6],[31329,6],[31629,6],[31929,6],[32228,6],[32528,6],[32828,6],[33129,5],[33429,5],[33729,4],[34029,4],[34329,4],[34629,4],[34929,4],[35229,3],[35529,3],[35828,4],[36128,4],[36428,4],[36728,4],[37027,5],[37327,5],[37627,4],[37926,5],[38226,5],[38526,5],[38825,6],[39125,6],[39424,7],[39724,7],[40024,7],[40324,7],[40624,7],[40923,8],[41223,8],[41523,8],[41823,7],[42123,7],[42423,7],[42723,7],[43023,7],[43323,7],[43623,7],[43924,6],[44224,6],[44524,6],[44824,6],[45125,4],[45425,4],[45725,4]],"point":[128,126]}},"high_idx":1},{"api_action":{"action":"RotateLeft","forceAction":true},"discrete_action":{"action":"RotateLeft_90","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":2},{"api_action":{"action":"PutObject","forceAction":true,"objectId":"ButterKnife|-00.67|+01.03|+02.43","placeStationary":true,"receptacleObjectId":"Sink|-00.72|+01.02|+01.33|SinkBasin"},"discrete_action":{"action":"PutObject","args":{"bbox":[16,118,191,186],"mask":[[35156,2],[35177,39],[35242,32],[35453,5],[35477,39],[35542,34],[35751,8],[35778,38],[35842,36],[36049,10],[36078,39],[36142,37],[36348,11],[36378,39],[36441,40],[36646,13],[36679,39],[36741,41],[36945,15],[36981,37],[37041,41],[37244,16],[37282,36],[37341,42],[37543,17],[37583,36],[37641,42],[37843,17],[37885,34],[37940,44],[38142,18],[38186,33],[38240,44],[38442,17],[38487,33],[38540,44],[38741,18],[38789,31],[38840,44],[39041,17],[39090,31],[39139,46],[39340,18],[39392,29],[39439,46],[39640,17],[39693,28],[39739,46],[39939,18],[39994,28],[40039,46],[40239,17],[40295,27],[40339,46],[40538,18],[40595,28],[40638,47],[40838,14],[40896,27],[40938,47],[41138,12],[41196,27],[41237,49],[41437,13],[41497,27],[41536,50],[41737,12],[41797,29],[41835,51],[42036,13],[42098,31],[42131,55],[42336,12],[42398,88],[42635,13],[42699,87],[42935,12],[42999,87],[43234,13],[43299,88],[43534,12],[43600,87],[43833,13],[43851,1],[43900,87],[44133,12],[44151,1],[44200,44],[44252,35],[44433,12],[44450,2],[44500,42],[44554,33],[44732,12],[44750,2],[44800,40],[44856,31],[45032,12],[45049,3],[45100,38],[45157,30],[45331,12],[45348,4],[45401,37],[45458,30],[45631,12],[45648,4],[45701,36],[45758,30],[45930,12],[45947,6],[46001,36],[46059,29],[46230,12],[46246,7],[46301,35],[46359,29],[46529,12],[46546,7],[46601,35],[46660,28],[46829,12],[46844,9],[46902,34],[46960,28],[47128,12],[47144,10],[47202,34],[47260,28],[47428,12],[47444,10],[47502,34],[47560,29],[47728,11],[47745,10],[47802,34],[47860,29],[48027,11],[48046,9],[48102,34],[48160,29],[48327,11],[48349,6],[48403,33],[48460,29],[48626,11],[48649,7],[48703,33],[48759,30],[48926,11],[48948,8],[49003,33],[49059,30],[49225,11],[49248,8],[49303,33],[49359,30],[49525,11],[49547,10],[49603,33],[49659,31],[49824,11],[49847,10],[49904,33],[49958,32],[50124,10],[50146,12],[50204,33],[50258,32],[50423,11],[50446,12],[50504,34],[50558,32],[50723,10],[50745,13],[50804,35],[50857,33],[51023,10],[51045,14],[51104,36],[51157,33],[51322,10],[51344,15],[51404,37],[51456,35],[51622,10],[51644,15],[51705,37],[51755,36],[51921,10],[51943,17],[52005,38],[52054,37],[52221,9],[52242,18],[52305,40],[52352,39],[52520,10],[52542,19],[52605,86],[52820,9],[52841,20],[52905,86],[53119,10],[53141,20],[53206,85],[53419,9],[53440,21],[53506,86],[53718,10],[53740,21],[53806,86],[54018,9],[54039,22],[54106,86],[54318,9],[54338,22],[54406,86],[54617,9],[54638,22],[54706,86],[54917,8],[54937,23],[55007,85],[55216,9],[55237,22],[55307,80],[55516,8],[55536,23],[55607,75]],"point":[103,151]}},"high_idx":3},{"api_action":{"action":"ToggleObjectOn","cleanObjectId":"ButterKnife|-00.67|+01.03|+02.43","coordinateObjectId":["ButterKnife",[-2.6785392,-2.6785392,9.73709488,9.73709488,4.11016844,4.11016844]],"coordinateReceptacleObjectId":["SinkBasin",[-2.8576,-2.8576,5.3932,5.3932,3.224,3.224]],"forceVisible":true,"objectId":"Faucet|-01.12|+01.01|+01.33"},"discrete_action":{"action":"ToggleObjectOn","args":{"bbox":[97,34,118,77],"mask":[[10009,2],[10308,4],[10607,6],[10907,7],[11206,9],[11507,9],[11807,9],[12106,11],[12406,11],[12706,11],[13006,11],[13306,11],[13606,11],[13907,10],[14207,11],[14507,11],[14807,11],[15107,11],[15407,11],[15708,10],[16008,10],[16308,11],[16607,12],[16903,16],[17201,18],[17500,19],[17799,20],[18098,21],[18397,22],[18697,22],[18997,22],[19297,20],[19597,17],[19897,17],[20197,17],[20497,17],[20797,17],[21097,17],[21398,16],[21698,16],[21998,16],[22298,16],[22598,15],[22904,1]],"point":[108,54]}},"high_idx":3},{"api_action":{"action":"ToggleObjectOff","cleanObjectId":"ButterKnife|-00.67|+01.03|+02.43","coordinateObjectId":["ButterKnife",[-2.6785392,-2.6785392,9.73709488,9.73709488,4.11016844,4.11016844]],"coordinateReceptacleObjectId":["SinkBasin",[-2.8576,-2.8576,5.3932,5.3932,3.224,3.224]],"forceVisible":true,"objectId":"Faucet|-01.12|+01.01|+01.33"},"discrete_action":{"action":"ToggleObjectOff","args":{"bbox":[97,34,118,77],"mask":[[10009,2],[10308,4],[10607,6],[10907,7],[11206,9],[11507,9],[11807,9],[12106,11],[12406,11],[12706,11],[13006,11],[13306,11],[13606,11],[13907,10],[14207,11],[14507,11],[14807,11],[15107,11],[15407,11],[15708,10],[16008,10],[16308,11],[16607,12],[16903,16],[17201,18],[17500,19],[17799,20],[18098,21],[18397,22],[18697,22],[18997,22],[19297,20],[19597,17],[19897,17],[20197,17],[20497,17],[20797,17],[21097,17],[21398,16],[21698,16],[21998,16],[22298,16],[22598,15],[22904,1]],"point":[108,54]}},"high_idx":3},{"api_action":{"action":"PickupObject","objectId":"ButterKnife|-00.67|+01.03|+02.43"},"discrete_action":{"action":"PickupObject","args":{"bbox":[122,116,128,172],"mask":[[34622,1],[35223,1],[35523,1],[35823,1],[36123,1],[36423,1],[36723,1],[37023,2],[37323,2],[37624,1],[37924,1],[38224,1],[38524,1],[38824,1],[39124,1],[39424,1],[39724,1],[40024,1],[40625,1],[40925,1],[41225,1],[41525,1],[41825,1],[42125,1],[42425,1],[42725,1],[43025,1],[43626,1],[43926,1],[44226,1],[44526,1],[44826,1],[45126,1],[45426,1],[45726,1],[46026,1],[46326,2],[46626,2],[46926,2],[47226,2],[47526,2],[47826,2],[48127,1],[48427,1],[48727,1],[49027,2],[49327,2],[49627,2],[49927,2],[50227,2],[50527,2],[50828,1],[51128,1],[51428,1]],"point":[125,143]}},"high_idx":3},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":4},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":4},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":4},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":4},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":4},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":4},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":4},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":4},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":4},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":4},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":4},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":4},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":4},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":4},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":4},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":4},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":4},{"api_action":{"action":"RotateLeft","forceAction":true},"discrete_action":{"action":"RotateLeft_90","args":{}},"high_idx":4},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":4},{"api_action":{"action":"PutObject","forceAction":true,"objectId":"ButterKnife|-00.67|+01.03|+02.43","placeStationary":true,"receptacleObjectId":"DiningTable|+02.45|+00.67|+03.98"},"discrete_action":{"action":"PutObject","args":{"bbox":[0,60,299,300],"mask":[[17836,17],[18117,48],[18411,66],[18704,31],[18741,38],[18998,36],[19041,37],[19292,42],[19341,9],[19358,20],[19385,6],[19588,46],[19641,2],[19665,13],[19685,10],[19885,49],[19967,11],[19985,15],[20186,48],[20267,11],[20285,19],[20487,22],[20523,11],[20568,10],[20585,22],[20788,18],[20826,8],[20869,9],[20885,25],[21089,15],[21127,7],[21169,8],[21185,27],[21390,12],[21428,6],[21469,8],[21485,30],[21691,10],[21729,5],[21769,8],[21785,33],[21991,9],[22030,4],[22069,8],[22085,36],[22291,9],[22330,4],[22369,8],[22385,38],[22592,7],[22630,4],[22668,9],[22684,42],[22892,7],[22930,4],[22968,9],[22984,45],[23153,2],[23192,7],[23230,4],[23268,9],[23284,47],[23451,5],[23492,7],[23530,4],[23567,10],[23584,49],[23749,7],[23792,7],[23830,4],[23842,6],[23860,16],[23884,51],[24046,11],[24093,7],[24130,4],[24142,34],[24184,53],[24344,13],[24393,7],[24430,4],[24443,32],[24485,53],[24642,16],[24693,7],[24730,3],[24744,30],[24785,55],[24940,19],[24994,6],[25030,2],[25045,28],[25086,56],[25238,22],[25294,6],[25331,1],[25345,28],[25386,58],[25536,24],[25594,6],[25646,26],[25687,58],[25834,27],[25894,7],[25947,24],[25988,59],[26133,29],[26194,7],[26248,22],[26288,61],[26431,31],[26494,7],[26548,22],[26589,62],[26730,33],[26793,8],[26848,21],[26889,64],[27028,36],[27091,10],[27149,20],[27189,65],[27327,37],[27388,14],[27449,20],[27489,67],[27625,40],[27684,19],[27727,1],[27749,20],[27789,68],[27924,42],[27980,24],[28026,2],[28049,20],[28089,69],[28222,45],[28276,30],[28324,4],[28349,20],[28389,71],[28521,44],[28590,19],[28620,9],[28649,20],[28689,72],[28819,46],[28890,39],[28949,20],[28989,73],[29118,46],[29191,38],[29249,19],[29289,1],[29292,71],[29417,47],[29491,38],[29549,19],[29589,2],[29596,68],[29715,49],[29790,39],[29849,19],[29889,4],[29899,66],[30014,49],[30090,39],[30149,19],[30189,6],[30201,66],[30312,51],[30390,39],[30449,19],[30488,9],[30503,65],[30611,51],[30690,39],[30749,19],[30788,11],[30804,65],[30910,53],[30989,40],[31049,19],[31088,13],[31106,64],[31209,54],[31289,40],[31349,19],[31388,15],[31408,63],[31508,56],[31568,61],[31649,19],[31688,17],[31709,63],[31807,122],[31949,19],[31988,19],[32011,47],[32066,6],[32106,123],[32249,19],[32288,21],[32312,41],[32369,4],[32405,124],[32549,19],[32588,22],[32614,34],[32671,3],[32704,125],[32849,19],[32887,25],[32916,27],[32972,3],[33003,127],[33149,19],[33187,27],[33218,22],[33272,3],[33302,128],[33449,19],[33487,29],[33520,18],[33573,3],[33601,129],[33749,19],[33787,31],[33823,13],[33873,4],[33900,130],[34049,19],[34087,32],[34125,10],[34173,4],[34200,130],[34349,18],[34387,34],[34427,6],[34474,4],[34500,130],[34649,18],[34687,36],[34729,2],[34774,5],[34800,130],[34949,18],[34987,38],[35074,5],[35100,130],[35249,18],[35286,41],[35374,6],[35400,130],[35549,18],[35586,42],[35674,6],[35700,130],[35849,18],[35886,42],[35974,7],[36000,129],[36149,18],[36186,42],[36274,7],[36300,129],[36449,18],[36486,42],[36574,8],[36600,128],[36749,18],[36786,42],[36874,9],[36900,129],[37049,18],[37086,42],[37174,9],[37200,129],[37349,18],[37386,42],[37473,11],[37500,129],[37649,18],[37685,43],[37773,11],[37800,129],[37949,18],[37985,44],[38072,13],[38100,129],[38249,18],[38285,46],[38372,13],[38400,73],[38480,49],[38548,20],[38585,48],[38670,16],[38700,70],[38784,45],[38848,21],[38884,53],[38969,18],[39000,68],[39085,44],[39146,24],[39183,59],[39260,27],[39300,67],[39387,42],[39445,27],[39481,107],[39600,66],[39687,42],[39745,143],[39900,66],[39988,41],[40045,144],[40200,66],[40290,39],[40345,144],[40500,66],[40606,23],[40645,145],[40800,67],[40888,3],[40919,11],[40945,146],[41100,67],[41176,7],[41187,16],[41245,146],[41400,68],[41475,8],[41486,17],[41512,5],[41545,147],[41700,69],[41775,5],[41785,13],[41814,16],[41845,147],[42000,71],[42084,9],[42117,13],[42145,79],[42227,66],[42300,73],[42381,7],[42417,13],[42445,78],[42529,64],[42600,85],[42718,12],[42745,77],[42830,64],[42900,83],[43018,12],[43045,77],[43130,64],[43200,81],[43319,11],[43345,77],[43429,66],[43500,79],[43619,11],[43645,76],[43729,66],[43800,78],[43920,10],[43945,75],[44029,67],[44100,76],[44220,10],[44245,75],[44329,67],[44400,74],[44520,10],[44545,74],[44629,68],[44700,73],[44820,10],[44845,74],[44929,68],[45000,72],[45120,11],[45145,74],[45229,69],[45300,20],[45323,49],[45420,11],[45445,73],[45529,69],[45600,17],[45626,45],[45721,10],[45745,73],[45829,70],[45900,15],[45927,44],[46021,10],[46045,72],[46128,71],[46200,13],[46227,44],[46321,10],[46345,7],[46361,56],[46428,71],[46500,13],[46528,43],[46621,10],[46645,3],[46665,51],[46728,84],[46828,43],[46920,11],[46968,48],[47028,83],[47128,43],[47220,11],[47270,46],[47328,83],[47429,42],[47520,11],[47572,43],[47628,83],[47729,43],[47820,11],[47873,42],[47928,84],[48030,43],[48119,12],[48174,41],[48227,85],[48330,44],[48419,13],[48475,40],[48527,86],[48631,45],[48719,13],[48776,40],[48827,87],[48932,47],[49017,16],[49077,40],[49127,87],[49235,47],[49316,18],[49378,40],[49426,89],[49537,49],[49608,27],[49678,43],[49723,92],[49839,60],[49900,35],[49979,137],[50140,94],[50279,137],[50442,92],[50580,137],[50743,91],[50880,136],[51044,90],[51180,136],[51345,88],[51480,136],[51646,88],[51780,135],[51947,87],[52080,135],[52248,86],[52380,135],[52548,86],[52680,135],[52849,85],[52980,134],[53150,84],[53280,134],[53450,84],[53580,134],[53751,83],[53880,134],[54051,83],[54179,48],[54238,76],[54352,82],[54479,47],[54540,75],[54652,82],[54779,45],[54842,73],[54952,82],[55079,44],[55144,71],[55253,81],[55379,44],[55445,70],[55553,82],[55679,43],[55746,69],[55853,82],[55979,43],[56047,68],[56154,81],[56278,44],[56347,68],[56454,81],[56578,44],[56648,68],[56754,81],[56878,43],[56948,68],[57055,81],[57178,43],[57249,67],[57355,81],[57477,44],[57549,68],[57655,82],[57777,44],[57849,68],[57955,82],[58076,44],[58149,69],[58255,83],[58376,44],[58449,69],[58556,83],[58675,45],[58748,71],[58856,84],[58974,46],[59048,71],[59156,85],[59273,46],[59347,73],[59456,86],[59572,47],[59647,74],[59756,87],[59870,7],[59882,37],[59946,76],[60056,89],[60168,6],[60185,34],[60246,76],[60356,92],[60466,6],[60487,31],[60545,78],[60656,95],[60763,7],[60788,30],[60844,80],[60956,113],[61089,29],[61144,80],[61256,112],[61390,28],[61443,82],[61555,112],[61691,27],[61743,83],[61855,111],[61992,27],[62042,57],[62100,27],[62154,112],[62293,26],[62342,57],[62400,28],[62453,112],[62594,25],[62641,57],[62700,29],[62753,111],[62895,25],[62941,56],[63000,30],[63051,113],[63195,26],[63240,57],[63300,31],[63350,113],[63496,26],[63539,57],[63600,33],[63649,114],[63796,27],[63839,57],[63900,34],[63947,116],[64097,28],[64138,57],[64200,37],[64243,119],[64397,30],[64436,59],[64500,162],[64698,96],[64800,162],[64998,96],[65100,162],[65298,95],[65400,161],[65599,94],[65700,161],[65899,93],[66000,161],[66199,93],[66300,161],[66499,92],[66600,161],[66799,92],[66900,162],[67099,91],[67200,162],[67399,91],[67500,162],[67699,90],[67800,162],[67999,90],[68100,163],[68299,89],[68400,163],[68599,88],[68700,163],[68899,88],[69000,164],[69198,88],[69300,165],[69498,88],[69600,165],[69798,87],[69900,166],[70097,88],[70200,167],[70397,87],[70500,168],[70696,88],[70800,169],[70995,88],[71100,171],[71294,89],[71400,173],[71593,89],[71700,176],[71891,90],[72000,180],[72188,92],[72300,279],[72600,278],[72900,277],[73200,276],[73500,275],[73800,273],[74100,272],[74400,271],[74700,270],[75000,269],[75300,74],[75383,185],[75600,66],[75702,164],[75901,62],[76011,154],[76202,59],[76324,140],[76503,56],[76649,2],[76704,59],[76803,56],[77041,21],[77104,55],[77342,19],[77405,53],[77643,16],[77706,52],[77944,14],[78007,51],[78244,13],[78309,49],[78544,12],[78610,48],[78844,11],[78912,47],[79020,18],[79143,11],[79214,47],[79307,39],[79441,11],[79515,48],[79597,57],[79738,13],[79817,143],[80034,16],[80119,146],[80331,18],[80420,150],[80627,21],[80722,153],[80923,24],[81024,158],[81218,27],[81325,169],[81514,30],[81627,216],[81929,213],[82230,210],[82532,206],[82834,201],[83135,198],[83437,193],[83739,189],[84041,184],[84342,181],[84644,176],[84946,172],[85247,168],[85549,164],[85851,159],[86152,156],[86454,151],[86757,146],[87062,138],[87366,132],[87671,124],[87976,117],[88280,110],[88585,103],[88890,95],[89194,83],[89499,66],[89804,49]],"point":[133,179]}},"high_idx":5}]},"repeat_idx":1,"root":"alfred/data/json_2.1.0/pick_clean_then_place_in_recep-ButterKnife-None-DiningTable-16/trial_T20190909_114508_617301","scene":{"dirty_and_empty":true,"floor_plan":"FloorPlan16","init_action":{"action":"TeleportFull","horizon":30,"rotateOnTeleport":true,"rotation":90,"x":1.5,"y":0.900999665,"z":2.75},"object_poses":[{"objectName":"Pan_c7f7c9bb","position":{"x":2.116,"y":1.0276562,"z":-1.84},"rotation":{"x":0.0,"y":270.0001,"z":0.0}},{"objectName":"Potato_a189bfca","position":{"x":1.77747273,"y":1.06887722,"z":1.555129},"rotation":{"x":0.0,"y":136.999985,"z":0.0}},{"objectName":"Potato_a189bfca","position":{"x":2.719964,"y":1.06887722,"z":1.59717107},"rotation":{"x":0.0,"y":136.999985,"z":0.0}},{"objectName":"Ladle_8232b75a","position":{"x":1.23058891,"y":1.066041,"z":-1.98779511},"rotation":{"x":0.0,"y":89.99983,"z":0.0}},{"objectName":"ButterKnife_98253f2a","position":{"x":-0.6696348,"y":1.02754211,"z":2.43427372},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"ButterKnife_98253f2a","position":{"x":2.33667755,"y":1.02691555,"z":1.79764748},"rotation":{"x":0.0,"y":136.999985,"z":0.0}},{"objectName":"ButterKnife_98253f2a","position":{"x":2.8157115,"y":0.7645124,"z":4.124789},"rotation":{"x":0.0,"y":224.999969,"z":0.0}},{"objectName":"WineBottle_ca02bbc4","position":{"x":2.451,"y":0.765399,"z":3.97},"rotation":{"x":0.0,"y":224.999969,"z":0.0}},{"objectName":"WineBottle_ca02bbc4","position":{"x":-0.360740721,"y":1.02842867,"z":1.35605025},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Glassbottle_105a13ed","position":{"x":-0.6696348,"y":1.02821672,"z":2.189},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Glassbottle_105a13ed","position":{"x":-0.9161765,"y":0.07799157,"z":2.77962041},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Pot_267fd2ad","position":{"x":2.177,"y":1.0276562,"z":-1.59929013},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Spatula_87bb090b","position":{"x":-0.920360565,"y":1.0424999,"z":1.82108927},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Spatula_87bb090b","position":{"x":-0.5442727,"y":1.0424999,"z":0.508360863},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Cup_7fa88b29","position":{"x":-0.851217866,"y":0.8151458,"z":1.41482222},"rotation":{"x":0.0,"y":90.0,"z":0.0}},{"objectName":"Cup_7fa88b29","position":{"x":2.48959637,"y":1.77948439,"z":-1.83319163},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Plate_1895c9f9","position":{"x":2.99128866,"y":0.0330656767,"z":-1.07496715},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Plate_1895c9f9","position":{"x":-0.4189102,"y":1.027989,"z":0.600607157},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Knife_2539b087","position":{"x":2.6642487,"y":0.826383,"z":0.7884567},"rotation":{"x":0.0,"y":47.0,"z":0.0}},{"objectName":"Bowl_b3ba1f80","position":{"x":-0.85285306,"y":2.28850412,"z":-0.489432335},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Bowl_b3ba1f80","position":{"x":2.52521873,"y":0.7629045,"z":3.62},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"SaltShaker_c2d3cb7a","position":{"x":-0.6608092,"y":0.7976084,"z":1.84490681},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"SaltShaker_c2d3cb7a","position":{"x":1.35014987,"y":1.02317965,"z":-1.8810637},"rotation":{"x":0.0,"y":89.99983,"z":0.0}},{"objectName":"PepperShaker_26395c85","position":{"x":2.801,"y":0.7607765,"z":3.747344},"rotation":{"x":0.0,"y":269.999939,"z":0.0}},{"objectName":"Lettuce_2bc5be8e","position":{"x":-0.9474034,"y":0.8443726,"z":-0.184049949},"rotation":{"x":0.0,"y":89.99984,"z":0.0}},{"objectName":"Lettuce_2bc5be8e","position":{"x":2.976,"y":0.822627544,"z":3.97000051},"rotation":{"x":0.0,"y":269.999939,"z":0.0}},{"objectName":"Apple_dc079739","position":{"x":-0.7828089,"y":0.86690855,"z":1.181684},"rotation":{"x":0.0,"y":90.0,"z":0.0}},{"objectName":"Apple_dc079739","position":{"x":-0.6459911,"y":0.86690855,"z":1.49253488},"rotation":{"x":0.0,"y":90.0,"z":0.0}},{"objectName":"Pan_c7f7c9bb","position":{"x":2.04230833,"y":1.017125,"z":1.77973437},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Glassbottle_105a13ed","position":{"x":2.11385512,"y":0.765187,"z":3.52789354},"rotation":{"x":0.0,"y":224.999969,"z":0.0}},{"objectName":"Knife_2539b087","position":{"x":-0.714400053,"y":0.8419058,"z":1.10397124},"rotation":{"x":0.0,"y":180.0,"z":0.0}},{"objectName":"SoapBottle_a47378fd","position":{"x":2.42511535,"y":1.02554536,"z":-1.45413828},"rotation":{"x":0.0,"y":89.99983,"z":0.0}},{"objectName":"Egg_6cf51d94","position":{"x":2.10634613,"y":1.90506566,"z":-1.910266},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Fork_8af67485","position":{"x":2.76190186,"y":0.800531268,"z":-0.6997441},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Potato_a189bfca","position":{"x":-1.07455707,"y":1.06950378,"z":1.243201},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Ladle_8232b75a","position":{"x":2.276,"y":0.803637862,"z":3.895781},"rotation":{"x":0.0,"y":-4.34670546e-05,"z":0.0}},{"objectName":"Tomato_6be5e93d","position":{"x":2.59943748,"y":0.8181622,"z":3.445},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Pot_267fd2ad","position":{"x":1.761,"y":1.0276562,"z":-1.59929013},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"WineBottle_ca02bbc4","position":{"x":2.626,"y":0.7653991,"z":3.97000027},"rotation":{"x":0.0,"y":269.999939,"z":0.0}},{"objectName":"Plate_1895c9f9","position":{"x":2.52521873,"y":0.764959335,"z":4.495},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Spatula_87bb090b","position":{"x":-0.418909073,"y":1.0424999,"z":1.82108927},"rotation":{"x":0.0,"y":90.0,"z":0.0}},{"objectName":"PaperTowelRoll_758d0bf4","position":{"x":2.45100021,"y":0.8687557,"z":3.74734378},"rotation":{"x":0.0,"y":269.999939,"z":0.0}},{"objectName":"Lettuce_2bc5be8e","position":{"x":2.27600026,"y":0.822627544,"z":3.74734354},"rotation":{"x":0.0,"y":269.999939,"z":0.0}},{"objectName":"Apple_dc079739","position":{"x":-1.03853559,"y":0.127627268,"z":2.74808836},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"SaltShaker_c2d3cb7a","position":{"x":1.19863784,"y":0.787037134,"z":-1.41573107},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"PepperShaker_26395c85","position":{"x":2.70621943,"y":1.02317965,"z":-0.236300111},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"ButterKnife_98253f2a","position":{"x":-0.5904489,"y":0.8023382,"z":0.535134554},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Bread_7275394e","position":{"x":2.04694128,"y":0.832571,"z":4.372973},"rotation":{"x":0.0,"y":329.9999,"z":0.0}},{"objectName":"Cup_7fa88b29","position":{"x":-0.968221545,"y":1.440705,"z":-0.516975045},"rotation":{"x":0.0,"y":89.99984,"z":0.0}},{"objectName":"DishSponge_00fca5a2","position":{"x":2.10099983,"y":0.7640346,"z":4.192656},"rotation":{"x":0.0,"y":269.999939,"z":0.0}},{"objectName":"Bowl_b3ba1f80","position":{"x":2.30256248,"y":0.7629045,"z":4.32},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Spoon_5dd10cb9","position":{"x":-0.6459911,"y":0.8176854,"z":1.1816839},"rotation":{"x":0.0,"y":180.0,"z":0.0}},{"objectName":"Mug_a04e993b","position":{"x":2.79078341,"y":0.759470344,"z":3.52991724},"rotation":{"x":0.0,"y":329.9999,"z":0.0}}],"object_toggles":[],"random_seed":170861577,"scene_num":16},"split":"valid_seen","task_id":"trial_T20190909_114508_617301","task_type":"pick_clean_then_place_in_recep","turk_annotations":{"anns":[{"assignment_id":"A1O3TWBUDONVLO_3ERET4BTVP0HDC9RO2OFW8XTP8SK9N","high_descs":["Turn around and walk forward to face the knife on the counter.","Pick up the knife on the counter.","Take a step to the left to face the sink.","Wash the knife in the sink and remove it.","Turn around and cross the room and turn left to face the kitchen table.","Place the knife on the kitchen table."],"task_desc":"To wash an knife and place it on the kitchen table.","votes":[1,1]},{"assignment_id":"A3F7G1FSFWQPLE_3HMIGG0U4OXCJCFYNPJS5KHT3HRY8F","high_descs":["Turn right and walk forward, then turn right again and walk over to the counter.","Pick up the metal butter knife off of the counter.","Turn left and walk over to the sink.","Put the butter knife in the sink then turn on the water, after a couple seconds turn the water off and remove the now clean butter knife.","Turn right and walk towards the wall, then hang a right and walk over to the round white table in the corner of the room.","Put the clean butter knife on the round white table."],"task_desc":"Put a clean butter knife on a round white table.","votes":[1,1]},{"assignment_id":"A12HZGOZQD5YK7_3HWRJOOET8TWWRDG1MD3F8PEX07SEA","high_descs":["Turn around and go to the counter.","Pick up the knife on the counter.","Turn left and go to the sink.","Rinse the knife off in the sink and pick it back up.","Turn around and go to the round white table.","Put the knife on the table to the left of the tomato."],"task_desc":"Put a clean knife on the table.","votes":[1,1]}]}}},"observations":[],"question":{"options":[],"original":"Put a clean butter knife on a round white table.","text":"Put a clean butter knife on a round white table."},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"AI2-THOR / ALFRED","eval_set":"visual_appearance","instruction_override":"Put a clean butter knife on a round white table.","mode":"interactive","native_episode_locator":{"file":"pick_clean_then_place_in_recep-ButterKnife-None-DiningTable-16/trial_T20190909_114508_617301/pp/ann_1.json","format":"hf_file"},"observation_policy":"current RGB and upstream feedback; demonstration plans and hidden task metadata excluded from model input","repo":"EmbodiedBench/EmbodiedBench","revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","selected_index":33},"sampling":{"component_id":"1ac54c8aa3a7ff58c1a7","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":13,"stratum_pool":50},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"embodiedbench/envs/eb_alfred/data/splits/splits.json","annotation_sha256":"fe607575ef56ccd7f58bd26047b66f949d98e700ae68e59a384a74634e8267b7","host":"huggingface","license":"apache-2.0","media_policy":"upstream-reference; source media terms apply","native_episode_sha256":"b34ce98df7c266970d9e52c8287eb96451b7f96a949a80a3406e2e288a3af212","repo":"EmbodiedBench/EB-ALFRED","revision":"af55cc721725ed058830fd7a8aee66c1f69efbaa","row_sha256":"d20c3a859161e054ae194bdbe09e964bba709edd4f7b6a6000e24fd70a307391","runtime_revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","sample_id":"visual_appearance/33","split":"visual_appearance","upstream_dataset":"EB-ALFRED","url":"https://huggingface.co/datasets/EmbodiedBench/EB-ALFRED"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_environment_success","original_answer":null},"task":{"category":"visual_appearance","role":"spatial_core","skill_tags":["visual_appearance","visual_appearance"],"stratum":"EB-ALFRED/visual_appearance/visual_appearance","subcategory":"visual_appearance"},"transforms":[]}
{"dataset":"EB-ALFRED","group":{"id":"AI2THOR/FloorPlan212","kind":"scene","scene":"FloorPlan212"},"id":"677eb9ed4a7f56b8f8c8","native_annotation":{"instruction":"Turn a light on while holding a white object.","repeat_idx":2,"task":"look_at_obj_in_light-WateringCan-None-FloorLamp-212/trial_T20190907_034437_413802","upstream_episode":{"ann":{"goal":[" turn "," a "," light "," on "," while "," holding "," a "," white "," object ",". ","<<goal>>"],"instr":[[" go "," right "," and "," face "," the "," right "," side "," of "," the "," television ",". "],[" pick "," up "," the "," white "," object "," from "," the "," shelf "," below "," the "," television ",". "],[" turn "," around "," and "," walk "," past "," the "," black "," table "," to "," the "," right "," and "," approach "," the "," green "," lamp "," with "," the "," pink "," stand ",". "],[" turn "," the "," light "," on ",". "],["<<stop>>"]],"repeat_idx":2},"images":[{"high_idx":0,"image_name":"000000000.png","low_idx":0},{"high_idx":0,"image_name":"000000001.png","low_idx":0},{"high_idx":0,"image_name":"000000002.png","low_idx":0},{"high_idx":0,"image_name":"000000003.png","low_idx":0},{"high_idx":0,"image_name":"000000004.png","low_idx":0},{"high_idx":0,"image_name":"000000005.png","low_idx":0},{"high_idx":0,"image_name":"000000006.png","low_idx":0},{"high_idx":0,"image_name":"000000007.png","low_idx":0},{"high_idx":0,"image_name":"000000008.png","low_idx":0},{"high_idx":0,"image_name":"000000009.png","low_idx":0},{"high_idx":0,"image_name":"000000010.png","low_idx":0},{"high_idx":0,"image_name":"000000011.png","low_idx":1},{"high_idx":0,"image_name":"000000012.png","low_idx":1},{"high_idx":0,"image_name":"000000013.png","low_idx":1},{"high_idx":0,"image_name":"000000014.png","low_idx":1},{"high_idx":0,"image_name":"000000015.png","low_idx":1},{"high_idx":0,"image_name":"000000016.png","low_idx":1},{"high_idx":0,"image_name":"000000017.png","low_idx":1},{"high_idx":0,"image_name":"000000018.png","low_idx":1},{"high_idx":0,"image_name":"000000019.png","low_idx":1},{"high_idx":0,"image_name":"000000020.png","low_idx":1},{"high_idx":0,"image_name":"000000021.png","low_idx":1},{"high_idx":0,"image_name":"000000022.png","low_idx":2},{"high_idx":0,"image_name":"000000023.png","low_idx":2},{"high_idx":0,"image_name":"000000024.png","low_idx":3},{"high_idx":0,"image_name":"000000025.png","low_idx":3},{"high_idx":0,"image_name":"000000026.png","low_idx":4},{"high_idx":0,"image_name":"000000027.png","low_idx":4},{"high_idx":0,"image_name":"000000028.png","low_idx":4},{"high_idx":0,"image_name":"000000029.png","low_idx":4},{"high_idx":0,"image_name":"000000030.png","low_idx":4},{"high_idx":0,"image_name":"000000031.png","low_idx":4},{"high_idx":0,"image_name":"000000032.png","low_idx":4},{"high_idx":0,"image_name":"000000033.png","low_idx":4},{"high_idx":0,"image_name":"000000034.png","low_idx":4},{"high_idx":0,"image_name":"000000035.png","low_idx":4},{"high_idx":0,"image_name":"000000036.png","low_idx":4},{"high_idx":0,"image_name":"000000037.png","low_idx":5},{"high_idx":0,"image_name":"000000038.png","low_idx":5},{"high_idx":0,"image_name":"000000039.png","low_idx":6},{"high_idx":0,"image_name":"000000040.png","low_idx":6},{"high_idx":0,"image_name":"000000041.png","low_idx":7},{"high_idx":0,"image_name":"000000042.png","low_idx":7},{"high_idx":0,"image_name":"000000043.png","low_idx":8},{"high_idx":0,"image_name":"000000044.png","low_idx":8},{"high_idx":0,"image_name":"000000045.png","low_idx":8},{"high_idx":0,"image_name":"000000046.png","low_idx":8},{"high_idx":0,"image_name":"000000047.png","low_idx":8},{"high_idx":0,"image_name":"000000048.png","low_idx":8},{"high_idx":0,"image_name":"000000049.png","low_idx":8},{"high_idx":0,"image_name":"000000050.png","low_idx":8},{"high_idx":0,"image_name":"000000051.png","low_idx":8},{"high_idx":0,"image_name":"000000052.png","low_idx":8},{"high_idx":0,"image_name":"000000053.png","low_idx":8},{"high_idx":0,"image_name":"000000054.png","low_idx":9},{"high_idx":0,"image_name":"000000055.png","low_idx":9},{"high_idx":0,"image_name":"000000056.png","low_idx":10},{"high_idx":0,"image_name":"000000057.png","low_idx":10},{"high_idx":0,"image_name":"000000058.png","low_idx":11},{"high_idx":0,"image_name":"000000059.png","low_idx":11},{"high_idx":0,"image_name":"000000060.png","low_idx":12},{"high_idx":0,"image_name":"000000061.png","low_idx":12},{"high_idx":0,"image_name":"000000062.png","low_idx":12},{"high_idx":0,"image_name":"000000063.png","low_idx":12},{"high_idx":0,"image_name":"000000064.png","low_idx":12},{"high_idx":0,"image_name":"000000065.png","low_idx":12},{"high_idx":0,"image_name":"000000066.png","low_idx":12},{"high_idx":0,"image_name":"000000067.png","low_idx":12},{"high_idx":0,"image_name":"000000068.png","low_idx":12},{"high_idx":0,"image_name":"000000069.png","low_idx":12},{"high_idx":0,"image_name":"000000070.png","low_idx":12},{"high_idx":0,"image_name":"000000071.png","low_idx":13},{"high_idx":0,"image_name":"000000072.png","low_idx":13},{"high_idx":0,"image_name":"000000073.png","low_idx":13},{"high_idx":0,"image_name":"000000074.png","low_idx":13},{"high_idx":0,"image_name":"000000075.png","low_idx":13},{"high_idx":0,"image_name":"000000076.png","low_idx":13},{"high_idx":0,"image_name":"000000077.png","low_idx":13},{"high_idx":0,"image_name":"000000078.png","low_idx":13},{"high_idx":0,"image_name":"000000079.png","low_idx":13},{"high_idx":0,"image_name":"000000080.png","low_idx":13},{"high_idx":0,"image_name":"000000081.png","low_idx":13},{"high_idx":1,"image_name":"000000082.png","low_idx":14},{"high_idx":1,"image_name":"000000083.png","low_idx":14},{"high_idx":1,"image_name":"000000084.png","low_idx":14},{"high_idx":1,"image_name":"000000085.png","low_idx":14},{"high_idx":1,"image_name":"000000086.png","low_idx":14},{"high_idx":1,"image_name":"000000087.png","low_idx":14},{"high_idx":1,"image_name":"000000088.png","low_idx":14},{"high_idx":1,"image_name":"000000089.png","low_idx":14},{"high_idx":1,"image_name":"000000090.png","low_idx":14},{"high_idx":1,"image_name":"000000091.png","low_idx":14},{"high_idx":1,"image_name":"000000092.png","low_idx":14},{"high_idx":1,"image_name":"000000093.png","low_idx":14},{"high_idx":1,"image_name":"000000094.png","low_idx":14},{"high_idx":1,"image_name":"000000095.png","low_idx":14},{"high_idx":1,"image_name":"000000096.png","low_idx":14},{"high_idx":2,"image_name":"000000097.png","low_idx":15},{"high_idx":2,"image_name":"000000098.png","low_idx":15},{"high_idx":2,"image_name":"000000099.png","low_idx":15},{"high_idx":2,"image_name":"000000100.png","low_idx":15},{"high_idx":2,"image_name":"000000101.png","low_idx":15},{"high_idx":2,"image_name":"000000102.png","low_idx":15},{"high_idx":2,"image_name":"000000103.png","low_idx":15},{"high_idx":2,"image_name":"000000104.png","low_idx":15},{"high_idx":2,"image_name":"000000105.png","low_idx":15},{"high_idx":2,"image_name":"000000106.png","low_idx":15},{"high_idx":2,"image_name":"000000107.png","low_idx":15},{"high_idx":2,"image_name":"000000108.png","low_idx":16},{"high_idx":2,"image_name":"000000109.png","low_idx":16},{"high_idx":2,"image_name":"000000110.png","low_idx":16},{"high_idx":2,"image_name":"000000111.png","low_idx":16},{"high_idx":2,"image_name":"000000112.png","low_idx":16},{"high_idx":2,"image_name":"000000113.png","low_idx":16},{"high_idx":2,"image_name":"000000114.png","low_idx":16},{"high_idx":2,"image_name":"000000115.png","low_idx":16},{"high_idx":2,"image_name":"000000116.png","low_idx":16},{"high_idx":2,"image_name":"000000117.png","low_idx":16},{"high_idx":2,"image_name":"000000118.png","low_idx":16},{"high_idx":2,"image_name":"000000119.png","low_idx":17},{"high_idx":2,"image_name":"000000120.png","low_idx":17},{"high_idx":2,"image_name":"000000121.png","low_idx":18},{"high_idx":2,"image_name":"000000122.png","low_idx":18},{"high_idx":2,"image_name":"000000123.png","low_idx":19},{"high_idx":2,"image_name":"000000124.png","low_idx":19},{"high_idx":2,"image_name":"000000125.png","low_idx":20},{"high_idx":2,"image_name":"000000126.png","low_idx":20},{"high_idx":2,"image_name":"000000127.png","low_idx":21},{"high_idx":2,"image_name":"000000128.png","low_idx":21},{"high_idx":2,"image_name":"000000129.png","low_idx":22},{"high_idx":2,"image_name":"000000130.png","low_idx":22},{"high_idx":2,"image_name":"000000131.png","low_idx":23},{"high_idx":2,"image_name":"000000132.png","low_idx":23},{"high_idx":2,"image_name":"000000133.png","low_idx":24},{"high_idx":2,"image_name":"000000134.png","low_idx":24},{"high_idx":2,"image_name":"000000135.png","low_idx":24},{"high_idx":2,"image_name":"000000136.png","low_idx":24},{"high_idx":2,"image_name":"000000137.png","low_idx":24},{"high_idx":2,"image_name":"000000138.png","low_idx":24},{"high_idx":2,"image_name":"000000139.png","low_idx":24},{"high_idx":2,"image_name":"000000140.png","low_idx":24},{"high_idx":2,"image_name":"000000141.png","low_idx":24},{"high_idx":2,"image_name":"000000142.png","low_idx":24},{"high_idx":2,"image_name":"000000143.png","low_idx":24},{"high_idx":2,"image_name":"000000144.png","low_idx":25},{"high_idx":2,"image_name":"000000145.png","low_idx":25},{"high_idx":2,"image_name":"000000146.png","low_idx":26},{"high_idx":2,"image_name":"000000147.png","low_idx":26},{"high_idx":2,"image_name":"000000148.png","low_idx":26},{"high_idx":2,"image_name":"000000149.png","low_idx":26},{"high_idx":2,"image_name":"000000150.png","low_idx":26},{"high_idx":2,"image_name":"000000151.png","low_idx":26},{"high_idx":2,"image_name":"000000152.png","low_idx":26},{"high_idx":2,"image_name":"000000153.png","low_idx":26},{"high_idx":2,"image_name":"000000154.png","low_idx":26},{"high_idx":2,"image_name":"000000155.png","low_idx":26},{"high_idx":2,"image_name":"000000156.png","low_idx":26},{"high_idx":2,"image_name":"000000157.png","low_idx":27},{"high_idx":2,"image_name":"000000158.png","low_idx":27},{"high_idx":2,"image_name":"000000159.png","low_idx":28},{"high_idx":2,"image_name":"000000160.png","low_idx":28},{"high_idx":2,"image_name":"000000161.png","low_idx":28},{"high_idx":2,"image_name":"000000162.png","low_idx":28},{"high_idx":2,"image_name":"000000163.png","low_idx":28},{"high_idx":2,"image_name":"000000164.png","low_idx":28},{"high_idx":2,"image_name":"000000165.png","low_idx":28},{"high_idx":2,"image_name":"000000166.png","low_idx":28},{"high_idx":2,"image_name":"000000167.png","low_idx":28},{"high_idx":2,"image_name":"000000168.png","low_idx":28},{"high_idx":2,"image_name":"000000169.png","low_idx":28},{"high_idx":2,"image_name":"000000170.png","low_idx":29},{"high_idx":2,"image_name":"000000171.png","low_idx":29},{"high_idx":2,"image_name":"000000172.png","low_idx":30},{"high_idx":2,"image_name":"000000173.png","low_idx":30},{"high_idx":2,"image_name":"000000174.png","low_idx":31},{"high_idx":2,"image_name":"000000175.png","low_idx":31},{"high_idx":2,"image_name":"000000176.png","low_idx":32},{"high_idx":2,"image_name":"000000177.png","low_idx":32},{"high_idx":2,"image_name":"000000178.png","low_idx":33},{"high_idx":2,"image_name":"000000179.png","low_idx":33},{"high_idx":2,"image_name":"000000180.png","low_idx":34},{"high_idx":2,"image_name":"000000181.png","low_idx":34},{"high_idx":2,"image_name":"000000182.png","low_idx":34},{"high_idx":2,"image_name":"000000183.png","low_idx":34},{"high_idx":2,"image_name":"000000184.png","low_idx":34},{"high_idx":2,"image_name":"000000185.png","low_idx":34},{"high_idx":2,"image_name":"000000186.png","low_idx":34},{"high_idx":2,"image_name":"000000187.png","low_idx":34},{"high_idx":2,"image_name":"000000188.png","low_idx":34},{"high_idx":2,"image_name":"000000189.png","low_idx":34},{"high_idx":2,"image_name":"000000190.png","low_idx":34},{"high_idx":2,"image_name":"000000191.png","low_idx":35},{"high_idx":2,"image_name":"000000192.png","low_idx":35},{"high_idx":2,"image_name":"000000193.png","low_idx":35},{"high_idx":2,"image_name":"000000194.png","low_idx":35},{"high_idx":2,"image_name":"000000195.png","low_idx":35},{"high_idx":2,"image_name":"000000196.png","low_idx":35},{"high_idx":2,"image_name":"000000197.png","low_idx":35},{"high_idx":2,"image_name":"000000198.png","low_idx":35},{"high_idx":2,"image_name":"000000199.png","low_idx":35},{"high_idx":2,"image_name":"000000200.png","low_idx":35},{"high_idx":2,"image_name":"000000201.png","low_idx":35},{"high_idx":2,"image_name":"000000202.png","low_idx":36},{"high_idx":2,"image_name":"000000203.png","low_idx":36},{"high_idx":2,"image_name":"000000204.png","low_idx":36},{"high_idx":2,"image_name":"000000205.png","low_idx":36},{"high_idx":2,"image_name":"000000206.png","low_idx":36},{"high_idx":2,"image_name":"000000207.png","low_idx":36},{"high_idx":2,"image_name":"000000208.png","low_idx":36},{"high_idx":2,"image_name":"000000209.png","low_idx":36},{"high_idx":2,"image_name":"000000210.png","low_idx":36},{"high_idx":2,"image_name":"000000211.png","low_idx":36},{"high_idx":2,"image_name":"000000212.png","low_idx":36},{"high_idx":3,"image_name":"000000213.png","low_idx":37},{"high_idx":3,"image_name":"000000214.png","low_idx":37},{"high_idx":3,"image_name":"000000215.png","low_idx":37},{"high_idx":3,"image_name":"000000216.png","low_idx":37},{"high_idx":3,"image_name":"000000217.png","low_idx":37},{"high_idx":3,"image_name":"000000218.png","low_idx":37},{"high_idx":3,"image_name":"000000219.png","low_idx":37},{"high_idx":3,"image_name":"000000220.png","low_idx":37},{"high_idx":3,"image_name":"000000221.png","low_idx":37},{"high_idx":3,"image_name":"000000222.png","low_idx":37},{"high_idx":3,"image_name":"000000223.png","low_idx":37},{"high_idx":3,"image_name":"000000224.png","low_idx":37},{"high_idx":3,"image_name":"000000225.png","low_idx":37},{"high_idx":3,"image_name":"000000226.png","low_idx":37},{"high_idx":3,"image_name":"000000227.png","low_idx":37},{"high_idx":3,"image_name":"000000228.png","low_idx":37},{"high_idx":3,"image_name":"000000229.png","low_idx":37},{"high_idx":3,"image_name":"000000230.png","low_idx":37}],"num":{"action_high":[{"action":3,"action_high_args":[46],"high_idx":0},{"action":5,"action_high_args":[67],"high_idx":1},{"action":3,"action_high_args":[40],"high_idx":2},{"action":41,"action_high_args":[40],"high_idx":3},{"action":12,"action_high_args":[],"high_idx":4}],"action_low":[[{"action":3,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":5,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0},{"action":3,"action_high_args":{},"centroid":[-1,-1],"high_idx":0,"mask":null,"valid_interact":0}],[{"action":6,"action_high_args":{"bbox":[117,217,139,231],"mask":[[64917,23],[65218,21],[65519,18],[65820,16],[66121,14],[66423,11],[66723,11],[67023,11],[67323,10],[67624,9],[67924,8],[68225,5],[68525,2],[68824,3],[69125,2]],"point":[128,223]},"centroid":[0.4266666666666667,0.7466666666666667],"high_idx":1,"mask":[[64917,23],[65218,21],[65519,18],[65820,16],[66121,14],[66423,11],[66723,11],[67023,11],[67323,10],[67624,9],[67924,8],[68225,5],[68525,2],[68824,3],[69125,2]],"valid_interact":1}],[{"action":8,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":5,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":5,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":9,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":5,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":4,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":8,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":8,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0},{"action":8,"action_high_args":{},"centroid":[-1,-1],"high_idx":2,"mask":null,"valid_interact":0}],[{"action":13,"action_high_args":{"bbox":[126,74,270,300],"mask":[[22073,29],[22366,42],[22660,53],[22954,64],[23248,75],[23545,80],[23842,85],[24140,88],[24438,91],[24737,92],[25036,93],[25336,93],[25636,93],[25936,93],[26236,92],[26536,92],[26836,92],[27136,92],[27437,90],[27738,89],[28038,89],[28338,89],[28638,89],[28938,88],[29238,88],[29538,9],[29553,73],[29839,6],[29855,71],[30139,5],[30156,70],[30439,5],[30456,70],[30739,4],[30757,68],[31039,5],[31056,69],[31339,5],[31356,69],[31639,5],[31656,69],[31939,5],[31956,69],[32239,5],[32256,69],[32539,5],[32556,69],[32839,6],[32855,70],[33139,6],[33155,70],[33439,6],[33455,71],[33739,6],[33755,71],[34039,6],[34055,71],[34339,6],[34355,71],[34639,6],[34655,71],[34939,6],[34955,71],[35239,5],[35256,70],[35539,5],[35556,70],[35839,5],[35856,70],[36139,5],[36156,70],[36439,5],[36456,70],[36739,5],[36756,70],[37038,6],[37056,70],[37338,6],[37356,71],[37638,5],[37657,70],[37938,5],[37957,70],[38238,5],[38257,70],[38537,6],[38557,70],[38837,6],[38857,71],[39137,6],[39157,71],[39437,6],[39457,71],[39737,6],[39757,71],[40036,6],[40058,71],[40336,6],[40358,71],[40636,6],[40658,71],[40936,6],[40958,71],[41236,6],[41258,71],[41535,7],[41558,72],[41835,6],[41859,71],[42135,6],[42159,71],[42435,6],[42459,71],[42734,7],[42759,72],[43034,7],[43059,72],[43334,6],[43360,71],[43633,7],[43660,72],[43933,7],[43960,72],[44233,7],[44260,72],[44532,8],[44560,73],[44832,7],[44861,72],[45132,7],[45161,72],[45431,8],[45461,73],[45731,8],[45761,73],[46031,8],[46061,73],[46331,7],[46362,73],[46630,8],[46662,73],[46930,8],[46962,73],[47230,8],[47262,74],[47529,9],[47562,74],[47829,8],[47863,74],[48128,9],[48163,74],[48428,9],[48463,75],[48727,6],[48767,71],[49027,3],[49070,69],[49326,2],[49372,67],[49675,65],[49976,65],[50277,64],[50579,63],[50880,62],[51181,62],[51482,61],[51784,60],[52085,59],[52386,59],[52688,57],[52989,57],[53291,55],[53592,55],[53893,54],[54195,53],[54496,53],[54797,52],[55099,51],[55400,51],[55701,51],[56002,51],[56302,52],[56603,51],[56904,51],[57205,51],[57506,51],[57807,51],[58108,51],[58409,51],[58710,50],[59011,50],[59312,50],[59613,50],[59914,50],[60215,50],[60515,51],[60816,51],[61117,52],[61417,53],[61718,53],[62018,53],[62319,52],[62619,52],[62919,52],[63220,51],[63520,48],[63821,44],[64121,41],[64421,38],[64722,33],[65022,30],[65322,26],[65622,22],[65922,14],[66222,6],[74326,14],[74626,15],[74926,16],[75227,16],[75527,17],[75827,17],[76127,17],[76427,17],[76727,17],[77027,17],[77327,17],[77627,17],[77927,17],[78227,17],[78527,17],[78827,17],[79128,16],[79428,16],[79728,16],[80028,16],[80328,16],[80628,16],[80928,16],[81228,16],[81528,16],[81827,17],[82127,17],[82427,17],[82727,17],[83027,17],[83327,17],[83627,17],[83927,17],[84227,17],[84527,17],[84827,17],[85127,17],[85427,17],[85727,17],[86027,17],[86327,17],[86627,17],[86927,17],[87227,17],[87527,17],[87827,17],[88127,17],[88427,17],[88727,17],[89027,17],[89327,17],[89627,17],[89927,17]],"point":[200,184]},"centroid":[0.66,0.6233333333333333],"high_idx":3,"mask":[[22073,29],[22366,42],[22660,53],[22954,64],[23248,75],[23545,80],[23842,85],[24140,88],[24438,91],[24737,92],[25036,93],[25336,93],[25636,93],[25936,93],[26236,92],[26536,92],[26836,92],[27136,92],[27437,90],[27738,89],[28038,89],[28338,89],[28638,89],[28938,88],[29238,88],[29538,9],[29553,73],[29839,6],[29855,71],[30139,5],[30156,70],[30439,5],[30456,70],[30739,4],[30757,68],[31039,5],[31056,69],[31339,5],[31356,69],[31639,5],[31656,69],[31939,5],[31956,69],[32239,5],[32256,69],[32539,5],[32556,69],[32839,6],[32855,70],[33139,6],[33155,70],[33439,6],[33455,71],[33739,6],[33755,71],[34039,6],[34055,71],[34339,6],[34355,71],[34639,6],[34655,71],[34939,6],[34955,71],[35239,5],[35256,70],[35539,5],[35556,70],[35839,5],[35856,70],[36139,5],[36156,70],[36439,5],[36456,70],[36739,5],[36756,70],[37038,6],[37056,70],[37338,6],[37356,71],[37638,5],[37657,70],[37938,5],[37957,70],[38238,5],[38257,70],[38537,6],[38557,70],[38837,6],[38857,71],[39137,6],[39157,71],[39437,6],[39457,71],[39737,6],[39757,71],[40036,6],[40058,71],[40336,6],[40358,71],[40636,6],[40658,71],[40936,6],[40958,71],[41236,6],[41258,71],[41535,7],[41558,72],[41835,6],[41859,71],[42135,6],[42159,71],[42435,6],[42459,71],[42734,7],[42759,72],[43034,7],[43059,72],[43334,6],[43360,71],[43633,7],[43660,72],[43933,7],[43960,72],[44233,7],[44260,72],[44532,8],[44560,73],[44832,7],[44861,72],[45132,7],[45161,72],[45431,8],[45461,73],[45731,8],[45761,73],[46031,8],[46061,73],[46331,7],[46362,73],[46630,8],[46662,73],[46930,8],[46962,73],[47230,8],[47262,74],[47529,9],[47562,74],[47829,8],[47863,74],[48128,9],[48163,74],[48428,9],[48463,75],[48727,6],[48767,71],[49027,3],[49070,69],[49326,2],[49372,67],[49675,65],[49976,65],[50277,64],[50579,63],[50880,62],[51181,62],[51482,61],[51784,60],[52085,59],[52386,59],[52688,57],[52989,57],[53291,55],[53592,55],[53893,54],[54195,53],[54496,53],[54797,52],[55099,51],[55400,51],[55701,51],[56002,51],[56302,52],[56603,51],[56904,51],[57205,51],[57506,51],[57807,51],[58108,51],[58409,51],[58710,50],[59011,50],[59312,50],[59613,50],[59914,50],[60215,50],[60515,51],[60816,51],[61117,52],[61417,53],[61718,53],[62018,53],[62319,52],[62619,52],[62919,52],[63220,51],[63520,48],[63821,44],[64121,41],[64421,38],[64722,33],[65022,30],[65322,26],[65622,22],[65922,14],[66222,6],[74326,14],[74626,15],[74926,16],[75227,16],[75527,17],[75827,17],[76127,17],[76427,17],[76727,17],[77027,17],[77327,17],[77627,17],[77927,17],[78227,17],[78527,17],[78827,17],[79128,16],[79428,16],[79728,16],[80028,16],[80328,16],[80628,16],[80928,16],[81228,16],[81528,16],[81827,17],[82127,17],[82427,17],[82727,17],[83027,17],[83327,17],[83627,17],[83927,17],[84227,17],[84527,17],[84827,17],[85127,17],[85427,17],[85727,17],[86027,17],[86327,17],[86627,17],[86927,17],[87227,17],[87527,17],[87827,17],[88127,17],[88427,17],[88727,17],[89027,17],[89327,17],[89627,17],[89927,17]],"valid_interact":1}],[{"action":2,"action_high_args":{},"centroid":[-1,-1],"high_idx":4,"mask":null,"valid_interact":0}]],"lang_goal":[24,35,95,15,356,454,35,59,344,16,2],"lang_instr":[[30,38,26,39,4,38,20,21,4,128,16],[22,23,4,59,344,6,4,189,230,4,128,16],[24,25,26,47,207,4,123,60,18,4,38,26,204,4,292,96,51,4,472,129,16],[24,4,95,15,16],[34]],"low_to_high_idx":[0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,3,4]},"pddl_params":{"mrecep_target":"","object_sliced":false,"object_target":"WateringCan","parent_target":"","toggle_target":"FloorLamp"},"plan":{"high_pddl":[{"discrete_action":{"action":"GotoLocation","args":["shelf"]},"high_idx":0,"planner_action":{"action":"GotoLocation","location":"loc|6|-1|2|60"}},{"discrete_action":{"action":"PickupObject","args":["wateringcan"]},"high_idx":1,"planner_action":{"action":"PickupObject","coordinateObjectId":["WateringCan",[6.48489952,6.48489952,-2.789216996,-2.789216996,0.22537852,0.22537852]],"coordinateReceptacleObjectId":["Shelf",[7.5568,7.5568,-2.9167996,-2.9167996,0.5016,0.5016]],"forceVisible":true,"objectId":"WateringCan|+01.62|+00.06|-00.70"}},{"discrete_action":{"action":"GotoLocation","args":["floorlamp"]},"high_idx":2,"planner_action":{"action":"GotoLocation","location":"loc|14|5|0|0"}},{"discrete_action":{"action":"ToggleObject","args":["floorlamp"]},"high_idx":3,"planner_action":{"action":"ToggleObject","coordinateObjectId":["FloorLamp",[14.43577672,14.43577672,8.65409376,8.65409376,0.0,0.0]],"coordinateReceptacleObjectId":["FloorLamp",[14.43577672,14.43577672,8.65409376,8.65409376,0.0,0.0]],"forceVisible":true,"objectId":"FloorLamp|+03.61|+00.00|+02.16"}},{"discrete_action":{"action":"NoOp","args":[]},"high_idx":4,"planner_action":{"action":"End","value":1}}],"low_actions":[{"api_action":{"action":"LookDown","forceAction":true},"discrete_action":{"action":"LookDown_15","args":{}},"high_idx":0},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"RotateLeft","forceAction":true},"discrete_action":{"action":"RotateLeft_90","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":0},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":0},{"api_action":{"action":"LookDown","forceAction":true},"discrete_action":{"action":"LookDown_15","args":{}},"high_idx":0},{"api_action":{"action":"PickupObject","objectId":"WateringCan|+01.62|+00.06|-00.70"},"discrete_action":{"action":"PickupObject","args":{"bbox":[117,217,139,231],"mask":[[64917,23],[65218,21],[65519,18],[65820,16],[66121,14],[66423,11],[66723,11],[67023,11],[67323,10],[67624,9],[67924,8],[68225,5],[68525,2],[68824,3],[69125,2]],"point":[128,223]}},"high_idx":1},{"api_action":{"action":"LookUp","forceAction":true},"discrete_action":{"action":"LookUp_15","args":{}},"high_idx":2},{"api_action":{"action":"RotateLeft","forceAction":true},"discrete_action":{"action":"RotateLeft_90","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"RotateLeft","forceAction":true},"discrete_action":{"action":"RotateLeft_90","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"RotateRight","forceAction":true},"discrete_action":{"action":"RotateRight_90","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"RotateLeft","forceAction":true},"discrete_action":{"action":"RotateLeft_90","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"MoveAhead","forceAction":true,"moveMagnitude":0.25},"discrete_action":{"action":"MoveAhead_25","args":{}},"high_idx":2},{"api_action":{"action":"LookUp","forceAction":true},"discrete_action":{"action":"LookUp_15","args":{}},"high_idx":2},{"api_action":{"action":"LookUp","forceAction":true},"discrete_action":{"action":"LookUp_15","args":{}},"high_idx":2},{"api_action":{"action":"LookUp","forceAction":true},"discrete_action":{"action":"LookUp_15","args":{}},"high_idx":2},{"api_action":{"action":"ToggleObjectOn","objectId":"FloorLamp|+03.61|+00.00|+02.16"},"discrete_action":{"action":"ToggleObjectOn","args":{"bbox":[126,74,270,300],"mask":[[22073,29],[22366,42],[22660,53],[22954,64],[23248,75],[23545,80],[23842,85],[24140,88],[24438,91],[24737,92],[25036,93],[25336,93],[25636,93],[25936,93],[26236,92],[26536,92],[26836,92],[27136,92],[27437,90],[27738,89],[28038,89],[28338,89],[28638,89],[28938,88],[29238,88],[29538,9],[29553,73],[29839,6],[29855,71],[30139,5],[30156,70],[30439,5],[30456,70],[30739,4],[30757,68],[31039,5],[31056,69],[31339,5],[31356,69],[31639,5],[31656,69],[31939,5],[31956,69],[32239,5],[32256,69],[32539,5],[32556,69],[32839,6],[32855,70],[33139,6],[33155,70],[33439,6],[33455,71],[33739,6],[33755,71],[34039,6],[34055,71],[34339,6],[34355,71],[34639,6],[34655,71],[34939,6],[34955,71],[35239,5],[35256,70],[35539,5],[35556,70],[35839,5],[35856,70],[36139,5],[36156,70],[36439,5],[36456,70],[36739,5],[36756,70],[37038,6],[37056,70],[37338,6],[37356,71],[37638,5],[37657,70],[37938,5],[37957,70],[38238,5],[38257,70],[38537,6],[38557,70],[38837,6],[38857,71],[39137,6],[39157,71],[39437,6],[39457,71],[39737,6],[39757,71],[40036,6],[40058,71],[40336,6],[40358,71],[40636,6],[40658,71],[40936,6],[40958,71],[41236,6],[41258,71],[41535,7],[41558,72],[41835,6],[41859,71],[42135,6],[42159,71],[42435,6],[42459,71],[42734,7],[42759,72],[43034,7],[43059,72],[43334,6],[43360,71],[43633,7],[43660,72],[43933,7],[43960,72],[44233,7],[44260,72],[44532,8],[44560,73],[44832,7],[44861,72],[45132,7],[45161,72],[45431,8],[45461,73],[45731,8],[45761,73],[46031,8],[46061,73],[46331,7],[46362,73],[46630,8],[46662,73],[46930,8],[46962,73],[47230,8],[47262,74],[47529,9],[47562,74],[47829,8],[47863,74],[48128,9],[48163,74],[48428,9],[48463,75],[48727,6],[48767,71],[49027,3],[49070,69],[49326,2],[49372,67],[49675,65],[49976,65],[50277,64],[50579,63],[50880,62],[51181,62],[51482,61],[51784,60],[52085,59],[52386,59],[52688,57],[52989,57],[53291,55],[53592,55],[53893,54],[54195,53],[54496,53],[54797,52],[55099,51],[55400,51],[55701,51],[56002,51],[56302,52],[56603,51],[56904,51],[57205,51],[57506,51],[57807,51],[58108,51],[58409,51],[58710,50],[59011,50],[59312,50],[59613,50],[59914,50],[60215,50],[60515,51],[60816,51],[61117,52],[61417,53],[61718,53],[62018,53],[62319,52],[62619,52],[62919,52],[63220,51],[63520,48],[63821,44],[64121,41],[64421,38],[64722,33],[65022,30],[65322,26],[65622,22],[65922,14],[66222,6],[74326,14],[74626,15],[74926,16],[75227,16],[75527,17],[75827,17],[76127,17],[76427,17],[76727,17],[77027,17],[77327,17],[77627,17],[77927,17],[78227,17],[78527,17],[78827,17],[79128,16],[79428,16],[79728,16],[80028,16],[80328,16],[80628,16],[80928,16],[81228,16],[81528,16],[81827,17],[82127,17],[82427,17],[82727,17],[83027,17],[83327,17],[83627,17],[83927,17],[84227,17],[84527,17],[84827,17],[85127,17],[85427,17],[85727,17],[86027,17],[86327,17],[86627,17],[86927,17],[87227,17],[87527,17],[87827,17],[88127,17],[88427,17],[88727,17],[89027,17],[89327,17],[89627,17],[89927,17]],"point":[200,184]}},"high_idx":3}]},"repeat_idx":2,"root":"alfred/data/json_2.1.0/look_at_obj_in_light-WateringCan-None-FloorLamp-212/trial_T20190907_034437_413802","scene":{"dirty_and_empty":false,"floor_plan":"FloorPlan212","init_action":{"action":"TeleportFull","horizon":30,"rotateOnTeleport":true,"rotation":0,"x":0.25,"y":0.9009992,"z":0.5},"object_poses":[{"objectName":"TissueBox_b814623d","position":{"x":0.04416117,"y":0.841799557,"z":-0.8189261},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Pencil_ae6ac1d3","position":{"x":3.8389883,"y":0.07049671,"z":-0.46259138},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Pen_47cfc867","position":{"x":3.9507513,"y":0.7719233,"z":0.5789505},"rotation":{"x":0.0,"y":270.0,"z":0.0}},{"objectName":"KeyChain_485ec074","position":{"x":3.8278234,"y":0.767106235,"z":0.9603498},"rotation":{"x":0.0,"y":180.0,"z":0.0}},{"objectName":"KeyChain_485ec074","position":{"x":-0.6241611,"y":0.840935767,"z":-0.867852151},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"CreditCard_8e4e0d55","position":{"x":1.3802129,"y":0.335995972,"z":1.74674225},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"RemoteControl_f9e01833","position":{"x":-0.185333669,"y":0.4589254,"z":-0.7291999},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Box_3c3547a4","position":{"x":1.58642578,"y":0.5822376,"z":1.81967783},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Box_3c3547a4","position":{"x":2.65600014,"y":0.5692376,"z":1.79885626},"rotation":{"x":0.0,"y":-0.000160509444,"z":0.0}},{"objectName":"Box_3c3547a4","position":{"x":-0.29,"y":1.074,"z":-0.714},"rotation":{"x":0.0,"y":270.0,"z":0.0}},{"objectName":"Newspaper_02556112","position":{"x":0.9677872,"y":0.334831178,"z":1.52793562},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Laptop_8b68e398","position":{"x":1.805,"y":0.47,"z":0.499},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"WateringCan_33bf3943","position":{"x":1.62122488,"y":0.05634463,"z":-0.697304249},"rotation":{"x":0.000197274829,"y":-6.9529684e-05,"z":0.0007474065}},{"objectName":"TissueBox_b814623d","position":{"x":-0.5127741,"y":0.841799557,"z":-0.721073866},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"KeyChain_485ec074","position":{"x":3.90158,"y":0.766127348,"z":1.05569959},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Pen_47cfc867","position":{"x":3.80323768,"y":0.7719233,"z":0.5789505},"rotation":{"x":0.0,"y":270.0,"z":0.0}},{"objectName":"Boots_e23cd2af","position":{"x":4.00566864,"y":0.001239866,"z":1.707024},"rotation":{"x":1.56307054,"y":246.167221,"z":359.9851}},{"objectName":"Pencil_ae6ac1d3","position":{"x":3.92838931,"y":0.879838765,"z":1.07635593},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"RemoteControl_f9e01833","position":{"x":3.849217,"y":0.8779111,"z":0.971055746},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"CreditCard_8e4e0d55","position":{"x":1.74980962,"y":0.473496,"z":0.267904162},"rotation":{"x":0.0,"y":179.999664,"z":0.0}},{"objectName":"Pillow_9cbc67e7","position":{"x":0.6510968,"y":0.3955,"z":1.7089169},"rotation":{"x":0.0,"y":0.0,"z":0.0}},{"objectName":"Statue_b2cc2598","position":{"x":-0.5323,"y":0.4430988,"z":-0.7381},"rotation":{"x":0.0,"y":92.2449951,"z":0.0}},{"objectName":"Statue_3b9cf513","position":{"x":-0.08160353,"y":0.05720465,"z":-0.6923385},"rotation":{"x":0.0,"y":0.0,"z":0.0}}],"object_toggles":[{"isOn":false,"objectType":"FloorLamp"}],"random_seed":1313000119,"scene_num":212},"split":"valid_seen","task_id":"trial_T20190907_034437_413802","task_type":"look_at_obj_in_light","turk_annotations":{"anns":[{"assignment_id":"A2WKZI3JQCE3Z6_3DR23U6WE8VPQ24XUETCOR1Y5YNETK","high_descs":["Turn around and move to the wall, turn left and move forward to the edge of the TV, turn right.","Pick up the teapot on the bottom shelf.","Turn left and move forward all the way to the trash bin, turn left and move all the way to the lamp.","Turn on the lamp."],"task_desc":"Turn on the lamp while holding the teapot.","votes":[1,1]},{"assignment_id":"ABQ4JY52NCREZ_3T111IHZ5H7VFR0OIE8VWYZ5QGBR9B","high_descs":["Go right to the TV stand across the room","Pick up the watering can from the TV stand","Turn left and walk to the lamp across the room","Turn on the lamp"],"task_desc":"Turning on a lamp","votes":[1,1]},{"assignment_id":"AJQGWGESKQT4Y_3WRFBPLXRD5OLRJG8YQ4W1R9PR63NC","high_descs":["Go right and face the right side of the television.","Pick up the white object from the shelf below the television.","Turn around and walk past the black table to the right and approach the green lamp with the pink stand.","Turn the light on."],"task_desc":"Turn a light on while holding a white object.","votes":[1,1]}]}}},"observations":[],"question":{"options":[],"original":"Turn a light on while holding a white object.","text":"Turn a light on while holding a white object."},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"AI2-THOR / ALFRED","eval_set":"visual_appearance","instruction_override":"Turn a light on while holding a white object.","mode":"interactive","native_episode_locator":{"file":"look_at_obj_in_light-WateringCan-None-FloorLamp-212/trial_T20190907_034437_413802/pp/ann_2.json","format":"hf_file"},"observation_policy":"current RGB and upstream feedback; demonstration plans and hidden task metadata excluded from model input","repo":"EmbodiedBench/EmbodiedBench","revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","selected_index":38},"sampling":{"component_id":"0fa9b36d7d36fdf92bf4","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":13,"stratum_pool":50},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"embodiedbench/envs/eb_alfred/data/splits/splits.json","annotation_sha256":"fe607575ef56ccd7f58bd26047b66f949d98e700ae68e59a384a74634e8267b7","host":"huggingface","license":"apache-2.0","media_policy":"upstream-reference; source media terms apply","native_episode_sha256":"26841a0cc95d0761e5c9efd63fb4b38f23cc3d2cfba45c843cfb9b29ee472565","repo":"EmbodiedBench/EB-ALFRED","revision":"af55cc721725ed058830fd7a8aee66c1f69efbaa","row_sha256":"7fb31207e7287b9d04e901145c6419600b5dc72c6b3e855422d6f77bd57ae17d","runtime_revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","sample_id":"visual_appearance/38","split":"visual_appearance","upstream_dataset":"EB-ALFRED","url":"https://huggingface.co/datasets/EmbodiedBench/EB-ALFRED"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_environment_success","original_answer":null},"task":{"category":"visual_appearance","role":"spatial_core","skill_tags":["visual_appearance","visual_appearance"],"stratum":"EB-ALFRED/visual_appearance/visual_appearance","subcategory":"visual_appearance"},"transforms":[]}
{"dataset":"EB-Habitat","group":{"id":"ReplicaCAD/data/replica_cad/configs/scenes/v3_sc3_staging_05.scene_instance.json","kind":"scene","scene":"data/replica_cad/configs/scenes/v3_sc3_staging_05.scene_instance.json"},"id":"12fc19ede22233a552c6","native_annotation":{"additional_obj_config_paths":["data/objects/ycb/configs"],"ao_states":{"77":{"2":0.0},"78":{"1":0.0,"2":0.0,"3":0.0,"4":0.0,"5":0.0,"6":0.0,"7":0.0}},"episode_id":"192","goal_preds":{"expr_type":"AND","inputs":[{"expr_type":"toy airplane","name":"X"},{"expr_type":"orange","name":"Y"}],"quantifier":"EXISTS","sub_exprs":["on_top(X, receptacle_aabb_counter_right_kitchen_counter)","on_top(Y, receptacle_aabb_counter_right_kitchen_counter)","not_holding()"]},"goal_receptacles":[],"idx_to_name":{"0":"007_tuna_fish_can.object_config.json","1":"008_pudding_box.object_config.json","10":"021_bleach_cleanser.object_config.json","100":"009_gelatin_box_:0000","101":"072-b_toy_airplane_:0000","102":"073-b_lego_duplo_:0000","103":"frl_apartment_book_01_:0000","104":"024_bowl_:0000","105":"065-b_cups_:0000","106":"003_cracker_box.object_config.json","107":"051_large_clamp.object_config.json","108":"055_baseball.object_config.json","109":"072-e_toy_airplane.object_config.json","11":"025_mug.object_config.json","110":"073-a_lego_duplo.object_config.json","111":"frl_apartment_book_06.object_config.json","112":"frl_apartment_bowl_02.object_config.json","113":"055_baseball_:0000","114":"051_large_clamp_:0000","115":"003_cracker_box_:0000","116":"072-e_toy_airplane_:0000","117":"073-a_lego_duplo_:0000","118":"077_rubiks_cube_:0001","119":"frl_apartment_book_06_:0000","12":"026_sponge.object_config.json","120":"frl_apartment_bowl_02_:0000","121":"010_potted_meat_can.object_config.json","122":"044_flat_screwdriver.object_config.json","123":"057_racquetball.object_config.json","124":"065-f_cups.object_config.json","125":"065-j_cups.object_config.json","126":"072-a_toy_airplane.object_config.json","127":"frl_apartment_book_02.object_config.json","128":"065-j_cups_:0000","129":"057_racquetball_:0000","13":"028_skillet_lid.object_config.json","130":"044_flat_screwdriver_:0000","131":"010_potted_meat_can_:0000","132":"072-a_toy_airplane_:0000","133":"frl_apartment_book_02_:0000","134":"065-f_cups_:0000","135":"004_sugar_box.object_config.json","136":"050_medium_clamp.object_config.json","137":"073-c_lego_duplo.object_config.json","138":"frl_apartment_bowl_06.object_config.json","139":"frl_apartment_bowl_07.object_config.json","14":"029_plate.object_config.json","140":"frl_apartment_bowl_07_:0000","141":"050_medium_clamp_:0000","142":"004_sugar_box_:0000","143":"073-c_lego_duplo_:0000","144":"frl_apartment_bowl_06_:0000","145":"053_mini_soccer_ball.object_config.json","146":"frl_apartment_cup_02.object_config.json","147":"053_mini_soccer_ball_:0000","148":"011_banana_:0001","149":"frl_apartment_cup_02_:0000","15":"031_spoon.object_config.json","150":"005_tomato_soup_can.object_config.json","151":"frl_apartment_book_03.object_config.json","152":"frl_apartment_book_03_:0000","153":"005_tomato_soup_can_:0000","154":"frl_apartment_cup_01.object_config.json","155":"frl_apartment_cup_01_:0000","156":"065-i_cups.object_config.json","157":"072-c_toy_airplane.object_config.json","158":"036_wood_block_:0001","159":"072-c_toy_airplane_:0000","16":"032_knife.object_config.json","160":"065-i_cups_:0000","17":"033_spatula.object_config.json","18":"035_power_drill.object_config.json","19":"037_scissors.object_config.json","2":"011_banana.object_config.json","20":"038_padlock.object_config.json","21":"042_adjustable_wrench.object_config.json","22":"043_phillips_screwdriver.object_config.json","23":"048_hammer.object_config.json","24":"052_extra_large_clamp.object_config.json","25":"056_tennis_ball.object_config.json","26":"065-d_cups.object_config.json","27":"065-g_cups.object_config.json","28":"070-a_colored_wood_blocks.object_config.json","29":"070-b_colored_wood_blocks.object_config.json","3":"012_strawberry.object_config.json","30":"072-d_toy_airplane.object_config.json","31":"073-g_lego_duplo.object_config.json","32":"077_rubiks_cube.object_config.json","33":"frl_apartment_book_04.object_config.json","34":"frl_apartment_bowl_03.object_config.json","35":"070-a_colored_wood_blocks_:0000","36":"receptacle_aabb_counter_left_kitchen_counter","37":"056_tennis_ball_:0000","38":"receptacle_aabb_Tbl2_Top1_frl_apartment_table_02","39":"052_extra_large_clamp_:0000","4":"013_apple.object_config.json","40":"048_hammer_:0000","41":"receptacle_aabb_Tbl1_Top1_frl_apartment_table_01","42":"043_phillips_screwdriver_:0000","43":"receptacle_aabb_TvStnd1_Top1_frl_apartment_tvstand","44":"042_adjustable_wrench_:0000","45":"receptacle_aabb_Sofa_frl_apartment_sofa","46":"038_padlock_:0000","47":"037_scissors_:0000","48":"070-b_colored_wood_blocks_:0000","49":"035_power_drill_:0000","5":"014_lemon.object_config.json","50":"033_spatula_:0000","51":"032_knife_:0000","52":"031_spoon_:0000","53":"029_plate_:0000","54":"028_skillet_lid_:0000","55":"receptacle_aabb_counter_right_kitchen_counter","56":"026_sponge_:0000","57":"021_bleach_cleanser_:0000","58":"018_plum_:0000","59":"017_orange_:0000","6":"015_peach.object_config.json","60":"016_pear_:0000","61":"receptacle_aabb_sink_kitchen_counter","62":"015_peach_:0000","63":"013_apple_:0000","64":"014_lemon_:0000","65":"007_tuna_fish_can_:0000","66":"008_pudding_box_:0000","67":"011_banana_:0000","68":"012_strawberry_:0000","69":"072-d_toy_airplane_:0000","7":"016_pear.object_config.json","70":"073-g_lego_duplo_:0000","71":"077_rubiks_cube_:0000","72":"frl_apartment_book_04_:0000","73":"frl_apartment_bowl_03_:0000","74":"025_mug_:0000","75":"065-g_cups_:0000","76":"065-d_cups_:0000","77":"fridge_:0000","78":"kitchen_counter_:0000","79":"cab_push_point_7","8":"017_orange.object_config.json","80":"articulated_object","81":"drawer1_top","82":"cab_push_point_6","83":"drawer2_top","84":"cab_push_point_5","85":"drawer3","86":"cab_push_point_4","87":"drawer4","88":"fridge_push_point","89":"top_door","9":"018_plum.object_config.json","90":"009_gelatin_box.object_config.json","91":"024_bowl.object_config.json","92":"036_wood_block.object_config.json","93":"054_softball.object_config.json","94":"065-b_cups.object_config.json","95":"072-b_toy_airplane.object_config.json","96":"073-b_lego_duplo.object_config.json","97":"frl_apartment_book_01.object_config.json","98":"054_softball_:0000","99":"036_wood_block_:0000"},"info":{"object_labels":{}},"instruct_id":"fd8dd56c","instruction":"On the right counter, I need a toy airplane and a orange.","markers":[[79,80,[0.3,0.0,0.0],81,78],[82,80,[0.3,0.0,0.0],83,78],[84,80,[0.3,0.0,0.0],85,78],[86,80,[0.3,0.0,0.0],87,78],[88,80,[0.1,-0.62,0.2],89,77]],"name_to_receptacle":[[67,36],[147,61],[114,55],[40,61],[130,36],[44,61],[46,38],[47,36],[99,41],[49,36],[50,45],[51,45],[52,43],[53,41],[54,55],[56,61],[57,43],[58,38],[59,41],[60,61],[62,43],[63,61],[64,55],[131,41],[142,36],[148,36],[68,61],[101,38],[102,36],[71,55],[133,55],[140,41],[74,55],[149,36]],"resolved_rigid_objects":[{"object_config":"004_sugar_box.object_config.json","transform":[[0.9988967776298523,0.018643727526068687,0.04309976473450661,-2.4344842433929443],[-0.01929587684571743,0.9997047781944275,0.014764916151762009,0.9470255970954895],[-0.04281176999211311,-0.015580276027321815,0.9989616870880127,3.041827440261841],[0.0,0.0,0.0,1.0]]},{"object_config":"010_potted_meat_can.object_config.json","transform":[[0.7973490357398987,-0.0018908627098426223,0.6035155057907104,0.44565099477767944],[0.000684634898789227,0.9999973177909851,0.002228550147265196,0.8037861585617065],[-0.6035181283950806,-0.001363744493573904,0.797348141670227,1.9360839128494263],[0.0,0.0,0.0,1.0]]},{"object_config":"011_banana.object_config.json","transform":[[0.33593282103538513,-0.05729171633720398,-0.9401419162750244,-2.2645349502563477],[-0.23873192071914673,0.9603751301765442,-0.14382874965667725,0.8771234750747681],[0.9111291170120239,0.27275869250297546,0.3089441657066345,3.0575520992279053],[0.0,0.0,0.0,1.0]]},{"object_config":"011_banana.object_config.json","transform":[[0.15457485616207123,0.39050912857055664,0.9075291752815247,-1.9099794626235962],[-0.5056467056274414,0.8204177618026733,-0.266900897026062,0.8784695863723755],[-0.8487803339958191,-0.4176329970359802,0.3242756128311157,2.4934277534484863],[0.0,0.0,0.0,1.0]]},{"object_config":"012_strawberry.object_config.json","transform":[[-0.4657748341560364,0.5515978932380676,0.691949188709259,-2.110565185546875],[0.7106069922447205,-0.2328394055366516,0.6639454960823059,0.7274784445762634],[0.5273439288139343,0.8009529709815979,-0.28351855278015137,2.1204352378845215],[0.0,0.0,0.0,1.0]]},{"object_config":"013_apple.object_config.json","transform":[[-0.5526798367500305,0.0019966212566941977,0.8333913087844849,-2.0568954944610596],[-0.0003800195991061628,0.9999964237213135,-0.002647788031026721,0.7424886226654053],[-0.8333935737609863,-0.0017800841014832258,-0.5526770949363708,1.9221035242080688],[0.0,0.0,0.0,1.0]]},{"object_config":"014_lemon.object_config.json","transform":[[-0.8942511677742004,-0.23448967933654785,-0.38122183084487915,-2.3781609535217285],[-0.2733646035194397,0.9605899453163147,0.050385646522045135,0.8858262896537781],[0.3543829321861267,0.1492699384689331,-0.9231098890304565,0.5307429432868958],[0.0,0.0,0.0,1.0]]},{"object_config":"015_peach.object_config.json","transform":[[-0.9876537322998047,-0.14842651784420013,0.050105299800634384,3.8032491207122803],[-0.152486190199852,0.9841671586036682,-0.09034950286149979,0.6550805568695068],[-0.03590172901749611,-0.09687434881925583,-0.994649350643158,5.526561737060547],[0.0,0.0,0.0,1.0]]},{"object_config":"016_pear.object_config.json","transform":[[0.42084676027297974,0.43835240602493286,0.794188380241394,-2.1007418632507324],[-0.7949709296226501,0.5999134182929993,0.09013912081718445,0.7393568158149719],[-0.4369316101074219,-0.6692913770675659,0.6009490489959717,1.9749690294265747],[0.0,0.0,0.0,1.0]]},{"object_config":"017_orange.object_config.json","transform":[[0.9988903403282166,0.03857628256082535,-0.02701866440474987,1.5693498849868774],[-0.038791052997112274,0.9992194175720215,-0.007470209617167711,0.797776997089386],[0.026709401980042458,0.008510002866387367,0.9996070265769958,1.552505373954773],[0.0,0.0,0.0,1.0]]},{"object_config":"018_plum.object_config.json","transform":[[-0.8182086944580078,0.007497958838939667,0.5748724341392517,2.4127914905548096],[-0.02780666947364807,0.9982286691665649,-0.052596598863601685,0.9602909684181213],[-0.5742484927177429,-0.059020280838012695,-0.8165508508682251,7.325542449951172],[0.0,0.0,0.0,1.0]]},{"object_config":"021_bleach_cleanser.object_config.json","transform":[[0.8827360272407532,-0.0030399600509554148,-0.46985936164855957,4.151684284210205],[0.0026385171804577112,0.9999953508377075,-0.0015128606464713812,0.7513532042503357],[0.46986180543899536,9.572453564032912e-05,0.8827399611473083,5.107142925262451],[0.0,0.0,0.0,1.0]]},{"object_config":"025_mug.object_config.json","transform":[[-0.48875364661216736,0.001092715421691537,0.872421145439148,-2.4751875400543213],[0.0034958987962454557,0.9999936819076538,0.0007059948984533548,0.8996935486793518],[-0.8724148273468018,0.0033949536737054586,-0.4887543320655823,0.41092774271965027],[0.0,0.0,0.0,1.0]]},{"object_config":"026_sponge.object_config.json","transform":[[0.6107425093650818,0.024495547637343407,-0.7914502620697021,-2.2061822414398193],[0.03113013692200184,0.9980058670043945,0.05491083487868309,0.7038753628730774],[0.7912170886993408,-0.058174338191747665,0.6087620854377747,1.775524377822876],[0.0,0.0,0.0,1.0]]},{"object_config":"028_skillet_lid.object_config.json","transform":[[0.8212150931358337,-0.00766864325851202,0.57056725025177,-2.0652883052825928],[0.003385813208296895,0.9999576210975647,0.008566627278923988,0.8961997628211975],[-0.5706087350845337,-0.005103209055960178,0.8212062120437622,0.8517454266548157],[0.0,0.0,0.0,1.0]]},{"object_config":"029_plate.object_config.json","transform":[[0.4504152536392212,0.00010043825022876263,0.8928192257881165,1.0726449489593506],[-0.0016520691569894552,0.9999983906745911,0.0007209513569250703,0.7755412459373474],[-0.8928176760673523,-0.001799726509489119,0.4504147171974182,1.8087247610092163],[0.0,0.0,0.0,1.0]]},{"object_config":"031_spoon.object_config.json","transform":[[0.8266680836677551,0.3272099494934082,-0.45777004957199097,3.805100679397583],[-0.14030125737190247,0.9077059626579285,0.395455926656723,0.6363528966903687],[0.5449177622795105,-0.262685090303421,0.7962795495986938,4.071145057678223],[0.0,0.0,0.0,1.0]]},{"object_config":"032_knife.object_config.json","transform":[[0.35218268632888794,0.09128119796514511,-0.9314693212509155,0.8271199464797974],[-0.04693632572889328,0.995702862739563,0.07982956618070602,0.41143685579299927],[0.9347536563873291,0.015605159103870392,0.35495370626449585,5.304571151733398],[0.0,0.0,0.0,1.0]]},{"object_config":"033_spatula.object_config.json","transform":[[-0.9601156711578369,-0.14817309379577637,-0.2371141016483307,1.156383991241455],[0.26489830017089844,-0.753444492816925,-0.6017895340919495,0.419347882270813],[-0.08948325365781784,-0.6405985951423645,0.7626442313194275,5.477875709533691],[0.0,0.0,0.0,1.0]]},{"object_config":"035_power_drill.object_config.json","transform":[[-0.8737737536430359,0.06332478672266006,0.48219266533851624,-1.9768754243850708],[0.06275803595781326,0.99787837266922,-0.0173252671957016,0.8869420886039734],[-0.48226675391197205,0.015123102813959122,-0.8758940696716309,3.077488660812378],[0.0,0.0,0.0,1.0]]},{"object_config":"036_wood_block.object_config.json","transform":[[-0.9870750308036804,0.0014998909318819642,0.16025486588478088,1.1418191194534302],[0.001642747432924807,0.9999983310699463,0.0007589516462758183,0.864978015422821],[-0.16025346517562866,0.0010124000255018473,-0.9870758652687073,2.0422933101654053],[0.0,0.0,0.0,1.0]]},{"object_config":"037_scissors.object_config.json","transform":[[-0.4038597345352173,0.12989379465579987,-0.9055521488189697,-2.1621859073638916],[0.09142604470252991,0.9906435012817383,0.10132506489753723,0.866254985332489],[0.910240888595581,-0.041869938373565674,-0.41195666790008545,2.3532180786132812],[0.0,0.0,0.0,1.0]]},{"object_config":"038_padlock.object_config.json","transform":[[0.6867815256118774,0.15286065638065338,0.710608720779419,2.4594571590423584],[-0.16279606521129608,0.9851489663124084,-0.054580219089984894,0.947985053062439],[-0.7083985805511475,-0.07819961756467819,0.7014672160148621,7.772921562194824],[0.0,0.0,0.0,1.0]]},{"object_config":"042_adjustable_wrench.object_config.json","transform":[[-0.9805629849433899,0.12018240988254547,-0.15508940815925598,-2.0610768795013428],[0.1364475041627884,0.9857027530670166,-0.09885407239198685,0.7087056040763855],[0.14099153876304626,-0.11809418350458145,-0.9829422831535339,1.8293620347976685],[0.0,0.0,0.0,1.0]]},{"object_config":"044_flat_screwdriver.object_config.json","transform":[[-0.5603630542755127,0.7353633642196655,-0.3810961842536926,-2.103269100189209],[-0.6244394779205322,-0.07281440496444702,0.7776718735694885,0.8734987378120422],[0.5441220998764038,0.6737499833106995,0.4999921917915344,2.8747549057006836],[0.0,0.0,0.0,1.0]]},{"object_config":"048_hammer.object_config.json","transform":[[-0.94769287109375,-0.017844349145889282,-0.31868571043014526,-2.2568564414978027],[-0.017326515167951584,0.9998399019241333,-0.004459835588932037,0.7009944319725037],[0.3187142610549927,0.001295158639550209,-0.9478503465652466,1.9831790924072266],[0.0,0.0,0.0,1.0]]},{"object_config":"051_large_clamp.object_config.json","transform":[[-0.29710525274276733,0.10758322477340698,-0.9487646818161011,-2.236959934234619],[0.18327295780181885,0.9815825819969177,0.05391271039843559,0.87632155418396],[0.9370909929275513,-0.15786515176296234,-0.3113504648208618,1.4799370765686035],[0.0,0.0,0.0,1.0]]},{"object_config":"053_mini_soccer_ball.object_config.json","transform":[[-0.8822765946388245,-0.09627972543239594,-0.46078041195869446,-2.16554594039917],[-0.07900558412075043,0.9952613115310669,-0.056683674454689026,0.770446240901947],[0.4640543758869171,-0.013606445863842964,-0.8857024312019348,1.8528869152069092],[0.0,0.0,0.0,1.0]]},{"object_config":"072-b_toy_airplane.object_config.json","transform":[[0.6710584163665771,0.00849074311554432,0.741355836391449,2.1760220527648926],[-0.01003994606435299,0.9999467730522156,-0.002364452462643385,0.9633008241653442],[-0.7413365244865417,-0.00585648650303483,0.6711080074310303,7.67756462097168],[0.0,0.0,0.0,1.0]]},{"object_config":"073-b_lego_duplo.object_config.json","transform":[[0.9196504354476929,0.002291882410645485,0.39273127913475037,-1.9000321626663208],[-0.0025510769337415695,0.9999967217445374,0.00013806868810206652,0.8806865215301514],[-0.39272966980934143,-0.0011288626119494438,0.9196532368659973,2.863586902618408],[0.0,0.0,0.0,1.0]]},{"object_config":"077_rubiks_cube.object_config.json","transform":[[0.528897225856781,-0.0004402829799801111,-0.8486858010292053,-1.924910545349121],[0.00475076399743557,0.9999857544898987,0.0024418802931904793,0.8880317211151123],[0.8486725687980652,-0.0053234100341796875,0.5288918018341064,1.0337327718734741],[0.0,0.0,0.0,1.0]]},{"object_config":"frl_apartment_book_02.object_config.json","transform":[[-0.03641831874847412,-1.5095091839611996e-05,0.9993366003036499,-2.218940019607544],[3.3864989745779894e-06,1.0,1.5228524716803804e-05,0.9688518047332764],[-0.9993366003036499,3.938850568374619e-06,-0.03641831874847412,1.0419583320617676],[0.0,0.0,0.0,1.0]]},{"object_config":"frl_apartment_bowl_07.object_config.json","transform":[[0.5820683240890503,1.5151632396737114e-05,-0.8131398558616638,0.4993341267108917],[3.5101871617371216e-05,1.0,4.376039214548655e-05,0.8349140882492065],[0.8131398558616638,-5.4014268243918195e-05,0.5820683240890503,1.4939730167388916],[0.0,0.0,0.0,1.0]]},{"object_config":"frl_apartment_cup_02.object_config.json","transform":[[0.9376165270805359,-7.436181476805359e-06,-0.34767115116119385,-2.4291927814483643],[3.097117951256223e-05,1.0,6.213603774085641e-05,0.9062668085098267],[0.34767115116119385,-6.902756285853684e-05,0.9376165270805359,2.9274449348449707],[0.0,0.0,0.0,1.0]]}],"rigid_objs":[[135,871],[121,872],[2,873],[2,874],[3,875],[4,876],[5,877],[6,878],[7,879],[8,880],[9,881],[10,882],[11,883],[12,884],[13,885],[14,886],[15,887],[16,888],[17,889],[18,890],[92,891],[19,892],[20,893],[21,894],[122,895],[23,896],[107,897],[145,898],[95,899],[96,900],[32,901],[127,902],[139,903],[146,904]],"sampled_entities":{"object1":"toy airplane","object2":"orange","source_recep_1":"receptacle_aabb_Tbl2_Top1_frl_apartment_table_02","source_recep_2":"receptacle_aabb_Tbl1_Top1_frl_apartment_table_01","targ_recep":"receptacle_aabb_counter_right_kitchen_counter"},"sampler_info":{},"scene_dataset_config":"data/replica_cad/replicaCAD.scene_dataset_config.json","scene_id":"data/replica_cad/configs/scenes/v3_sc3_staging_05.scene_instance.json","start_position":[0,0,0],"start_preds":[],"start_rotation":[0,0,0,1],"subgoals":[["robot_at_obj(072-b_toy_airplane_:0000)","robot_at(receptacle_aabb_Chr1_Top1_frl_apartment_chair_01)","robot_at(receptacle_aabb_Tbl2_Top1_frl_apartment_table_02)","robot_at(072-b_toy_airplane_:0000)"],["holding(072-b_toy_airplane_:0000)","robot_at_obj(072-b_toy_airplane_:0000)","robot_at(receptacle_aabb_Chr1_Top1_frl_apartment_chair_01)","robot_at(receptacle_aabb_Tbl2_Top1_frl_apartment_table_02)","robot_at(072-b_toy_airplane_:0000)"],["on_top(072-b_toy_airplane_:0000,receptacle_aabb_counter_right_kitchen_counter)","holding(072-b_toy_airplane_:0000)","robot_at_obj(072-b_toy_airplane_:0000)","robot_at_obj(077_rubiks_cube_:0000)","robot_at_obj(frl_apartment_book_02_:0000)","robot_at(receptacle_aabb_sink_kitchen_counter)","robot_at(receptacle_aabb_counter_right_kitchen_counter)","robot_at(receptacle_aabb_counter_left_kitchen_counter)","robot_at(receptacle_aabb_drawer_left_top_frl_apartment_kitchen_counter)","robot_at(receptacle_aabb_drawer_right_top_frl_apartment_kitchen_counter)","robot_at(072-b_toy_airplane_:0000)","robot_at(077_rubiks_cube_:0000)","robot_at(frl_apartment_book_02_:0000)"],["on_top(072-b_toy_airplane_:0000,receptacle_aabb_counter_right_kitchen_counter)","robot_at_obj(072-b_toy_airplane_:0000)","robot_at_obj(077_rubiks_cube_:0000)","robot_at_obj(frl_apartment_book_02_:0000)","robot_at(receptacle_aabb_sink_kitchen_counter)","robot_at(receptacle_aabb_counter_right_kitchen_counter)","robot_at(receptacle_aabb_counter_left_kitchen_counter)","robot_at(receptacle_aabb_drawer_left_top_frl_apartment_kitchen_counter)","robot_at(receptacle_aabb_drawer_right_top_frl_apartment_kitchen_counter)","robot_at(072-b_toy_airplane_:0000)","robot_at(077_rubiks_cube_:0000)","robot_at(frl_apartment_book_02_:0000)"],["on_top(072-b_toy_airplane_:0000,receptacle_aabb_counter_right_kitchen_counter)","robot_at_obj(017_orange_:0000)"],["on_top(072-b_toy_airplane_:0000,receptacle_aabb_counter_right_kitchen_counter)","holding(017_orange_:0000)","robot_at_obj(017_orange_:0000)"],["on_top(017_orange_:0000,receptacle_aabb_counter_right_kitchen_counter)","on_top(072-b_toy_airplane_:0000,receptacle_aabb_counter_right_kitchen_counter)","holding(017_orange_:0000)","robot_at_obj(017_orange_:0000)","robot_at_obj(072-b_toy_airplane_:0000)","robot_at_obj(077_rubiks_cube_:0000)","robot_at_obj(frl_apartment_book_02_:0000)","robot_at(receptacle_aabb_sink_kitchen_counter)","robot_at(receptacle_aabb_counter_right_kitchen_counter)","robot_at(receptacle_aabb_counter_left_kitchen_counter)","robot_at(receptacle_aabb_drawer_left_top_frl_apartment_kitchen_counter)","robot_at(receptacle_aabb_drawer_right_top_frl_apartment_kitchen_counter)","robot_at(072-b_toy_airplane_:0000)","robot_at(077_rubiks_cube_:0000)","robot_at(frl_apartment_book_02_:0000)"],["on_top(017_orange_:0000,receptacle_aabb_counter_right_kitchen_counter)","on_top(072-b_toy_airplane_:0000,receptacle_aabb_counter_right_kitchen_counter)","robot_at_obj(017_orange_:0000)","robot_at_obj(072-b_toy_airplane_:0000)","robot_at_obj(077_rubiks_cube_:0000)","robot_at_obj(frl_apartment_book_02_:0000)","robot_at(receptacle_aabb_sink_kitchen_counter)","robot_at(receptacle_aabb_counter_right_kitchen_counter)","robot_at(receptacle_aabb_counter_left_kitchen_counter)","robot_at(receptacle_aabb_drawer_left_top_frl_apartment_kitchen_counter)","robot_at(receptacle_aabb_drawer_right_top_frl_apartment_kitchen_counter)","robot_at(072-b_toy_airplane_:0000)","robot_at(077_rubiks_cube_:0000)","robot_at(frl_apartment_book_02_:0000)"]],"target_receptacles":[],"targets":{}},"observations":[],"question":{"options":[],"original":"On the right counter, I need a toy airplane and a orange.","text":"On the right counter, I need a toy airplane and a orange."},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"Habitat-Sim 0.3.0 / ReplicaCAD / YCB","eval_set":"base","mode":"interactive","observation_policy":"current RGB and upstream feedback; hidden goals/poses are evaluator-only","repo":"EmbodiedBench/EmbodiedBench","revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","selected_index":25},"sampling":{"component_id":"0b6b6539c7121882b660","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":15,"stratum_pool":50},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"embodiedbench/envs/eb_habitat/datasets/base.pickle","annotation_sha256":"1e338a8729b89fa8101d1834d25c5a00c95f31296d93253e469679fe83c71c23","host":"github","license":"not-specified; underlying simulator/data terms apply","media_policy":"runtime simulator; no trajectories supplied as observations","repo":"EmbodiedBench/EmbodiedBench","revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","row_sha256":"2c5a2967a4dd454dd9bd15fb6f8d2dedfea2b59816a0fe28fe9e8efe063ee676","sample_id":"base/25","split":"base","upstream_dataset":"EB-Habitat","url":"https://github.com/EmbodiedBench/EmbodiedBench"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_environment_success","original_answer":null},"task":{"category":"base","role":"spatial_core","skill_tags":["base","base"],"stratum":"EB-Habitat/base/base","subcategory":"base"},"transforms":[]}
{"dataset":"EB-Habitat","group":{"id":"ReplicaCAD/data/replica_cad/configs/scenes/v3_sc3_staging_10.scene_instance.json","kind":"scene","scene":"data/replica_cad/configs/scenes/v3_sc3_staging_10.scene_instance.json"},"id":"ccb3b2a4c4f8f55d0ca3","native_annotation":{"additional_obj_config_paths":["data/objects/ycb/configs"],"ao_states":{"77":{"2":0.0},"78":{"1":0.0,"2":0.0,"3":0.0,"4":0.0,"5":0.0,"6":0.0,"7":0.0}},"episode_id":"60","goal_preds":{"expr_type":"AND","sub_exprs":["not_holding()",{"expr_type":"NAND","inputs":[{"expr_type":"lego","name":"X"}],"quantifier":"EXISTS","sub_exprs":["on_top(X, receptacle_aabb_counter_left_kitchen_counter)"]}]},"goal_receptacles":[],"idx_to_name":{"0":"007_tuna_fish_can.object_config.json","1":"008_pudding_box.object_config.json","10":"021_bleach_cleanser.object_config.json","100":"009_gelatin_box_:0000","101":"072-b_toy_airplane_:0000","102":"073-b_lego_duplo_:0000","103":"frl_apartment_book_01_:0000","104":"024_bowl_:0000","105":"065-b_cups_:0000","106":"003_cracker_box.object_config.json","107":"051_large_clamp.object_config.json","108":"055_baseball.object_config.json","109":"072-e_toy_airplane.object_config.json","11":"025_mug.object_config.json","110":"073-a_lego_duplo.object_config.json","111":"frl_apartment_book_06.object_config.json","112":"frl_apartment_bowl_02.object_config.json","113":"055_baseball_:0000","114":"051_large_clamp_:0000","115":"003_cracker_box_:0000","116":"072-e_toy_airplane_:0000","117":"073-a_lego_duplo_:0000","118":"077_rubiks_cube_:0001","119":"frl_apartment_book_06_:0000","12":"026_sponge.object_config.json","120":"frl_apartment_bowl_02_:0000","121":"010_potted_meat_can.object_config.json","122":"044_flat_screwdriver.object_config.json","123":"057_racquetball.object_config.json","124":"065-f_cups.object_config.json","125":"065-j_cups.object_config.json","126":"072-a_toy_airplane.object_config.json","127":"frl_apartment_book_02.object_config.json","128":"065-j_cups_:0000","129":"057_racquetball_:0000","13":"028_skillet_lid.object_config.json","130":"044_flat_screwdriver_:0000","131":"010_potted_meat_can_:0000","132":"072-a_toy_airplane_:0000","133":"frl_apartment_book_02_:0000","134":"065-f_cups_:0000","135":"004_sugar_box.object_config.json","136":"050_medium_clamp.object_config.json","137":"073-c_lego_duplo.object_config.json","138":"frl_apartment_bowl_06.object_config.json","139":"frl_apartment_bowl_07.object_config.json","14":"029_plate.object_config.json","140":"frl_apartment_bowl_07_:0000","141":"050_medium_clamp_:0000","142":"004_sugar_box_:0000","143":"073-c_lego_duplo_:0000","144":"frl_apartment_bowl_06_:0000","145":"053_mini_soccer_ball.object_config.json","146":"frl_apartment_cup_02.object_config.json","147":"053_mini_soccer_ball_:0000","148":"011_banana_:0001","149":"frl_apartment_cup_02_:0000","15":"031_spoon.object_config.json","150":"005_tomato_soup_can.object_config.json","151":"frl_apartment_book_03.object_config.json","152":"frl_apartment_book_03_:0000","153":"005_tomato_soup_can_:0000","154":"frl_apartment_cup_01.object_config.json","155":"frl_apartment_cup_01_:0000","156":"065-i_cups.object_config.json","157":"072-c_toy_airplane.object_config.json","158":"036_wood_block_:0001","159":"072-c_toy_airplane_:0000","16":"032_knife.object_config.json","160":"065-i_cups_:0000","17":"033_spatula.object_config.json","18":"035_power_drill.object_config.json","19":"037_scissors.object_config.json","2":"011_banana.object_config.json","20":"038_padlock.object_config.json","21":"042_adjustable_wrench.object_config.json","22":"043_phillips_screwdriver.object_config.json","23":"048_hammer.object_config.json","24":"052_extra_large_clamp.object_config.json","25":"056_tennis_ball.object_config.json","26":"065-d_cups.object_config.json","27":"065-g_cups.object_config.json","28":"070-a_colored_wood_blocks.object_config.json","29":"070-b_colored_wood_blocks.object_config.json","3":"012_strawberry.object_config.json","30":"072-d_toy_airplane.object_config.json","31":"073-g_lego_duplo.object_config.json","32":"077_rubiks_cube.object_config.json","33":"frl_apartment_book_04.object_config.json","34":"frl_apartment_bowl_03.object_config.json","35":"070-a_colored_wood_blocks_:0000","36":"receptacle_aabb_counter_left_kitchen_counter","37":"056_tennis_ball_:0000","38":"receptacle_aabb_Tbl2_Top1_frl_apartment_table_02","39":"052_extra_large_clamp_:0000","4":"013_apple.object_config.json","40":"048_hammer_:0000","41":"receptacle_aabb_Tbl1_Top1_frl_apartment_table_01","42":"043_phillips_screwdriver_:0000","43":"receptacle_aabb_TvStnd1_Top1_frl_apartment_tvstand","44":"042_adjustable_wrench_:0000","45":"receptacle_aabb_Sofa_frl_apartment_sofa","46":"038_padlock_:0000","47":"037_scissors_:0000","48":"070-b_colored_wood_blocks_:0000","49":"035_power_drill_:0000","5":"014_lemon.object_config.json","50":"033_spatula_:0000","51":"032_knife_:0000","52":"031_spoon_:0000","53":"029_plate_:0000","54":"028_skillet_lid_:0000","55":"receptacle_aabb_counter_right_kitchen_counter","56":"026_sponge_:0000","57":"021_bleach_cleanser_:0000","58":"018_plum_:0000","59":"017_orange_:0000","6":"015_peach.object_config.json","60":"016_pear_:0000","61":"receptacle_aabb_sink_kitchen_counter","62":"015_peach_:0000","63":"013_apple_:0000","64":"014_lemon_:0000","65":"007_tuna_fish_can_:0000","66":"008_pudding_box_:0000","67":"011_banana_:0000","68":"012_strawberry_:0000","69":"072-d_toy_airplane_:0000","7":"016_pear.object_config.json","70":"073-g_lego_duplo_:0000","71":"077_rubiks_cube_:0000","72":"frl_apartment_book_04_:0000","73":"frl_apartment_bowl_03_:0000","74":"025_mug_:0000","75":"065-g_cups_:0000","76":"065-d_cups_:0000","77":"fridge_:0000","78":"kitchen_counter_:0000","79":"cab_push_point_7","8":"017_orange.object_config.json","80":"articulated_object","81":"drawer1_top","82":"cab_push_point_6","83":"drawer2_top","84":"cab_push_point_5","85":"drawer3","86":"cab_push_point_4","87":"drawer4","88":"fridge_push_point","89":"top_door","9":"018_plum.object_config.json","90":"009_gelatin_box.object_config.json","91":"024_bowl.object_config.json","92":"036_wood_block.object_config.json","93":"054_softball.object_config.json","94":"065-b_cups.object_config.json","95":"072-b_toy_airplane.object_config.json","96":"073-b_lego_duplo.object_config.json","97":"frl_apartment_book_01.object_config.json","98":"054_softball_:0000","99":"036_wood_block_:0000"},"info":{"object_labels":{}},"instruct_id":"9a1dd6ee","instruction":"On the left counter, remove the lego.","markers":[[79,80,[0.3,0.0,0.0],81,78],[82,80,[0.3,0.0,0.0],83,78],[84,80,[0.3,0.0,0.0],85,78],[86,80,[0.3,0.0,0.0],87,78],[88,80,[0.1,-0.62,0.2],89,77]],"name_to_receptacle":[[39,55],[113,38],[141,45],[40,41],[130,61],[44,41],[46,38],[47,45],[99,36],[49,55],[50,43],[51,38],[52,38],[53,36],[54,55],[56,55],[57,43],[58,38],[59,41],[60,41],[62,38],[63,43],[64,38],[65,38],[142,45],[67,61],[68,36],[69,55],[102,36],[71,61],[133,43],[73,36],[74,45],[155,61]],"resolved_rigid_objects":[{"object_config":"004_sugar_box.object_config.json","transform":[[-0.8333306908607483,-0.008961116895079613,-0.552702784538269,1.1278202533721924],[-0.020461443811655045,0.9996833801269531,0.014642342925071716,0.49170202016830444],[0.5523966550827026,0.023511003702878952,-0.8332502245903015,5.346341609954834],[0.0,0.0,0.0,1.0]]},{"object_config":"007_tuna_fish_can.object_config.json","transform":[[0.9986976981163025,-0.004189015831798315,0.05084562674164772,2.015321969985962],[0.004195378627628088,0.9999911785125732,-1.840640470618382e-05,0.9503680467605591],[-0.050845105201005936,0.00023169908672571182,0.9987065196037292,2.4072701930999756],[0.0,0.0,0.0,1.0]]},{"object_config":"011_banana.object_config.json","transform":[[-0.643264651298523,-0.2916790246963501,-0.707908034324646,-2.2279555797576904],[-0.28813397884368896,-0.7643990516662598,0.5767777562141418,0.7662054300308228],[-0.7093583345413208,0.5749931931495667,0.40766850113868713,1.9923683404922485],[0.0,0.0,0.0,1.0]]},{"object_config":"012_strawberry.object_config.json","transform":[[0.869864284992218,0.03982587903738022,0.4916808605194092,-2.2747433185577393],[-0.04754143953323364,0.9988641142845154,0.003201170824468136,0.8819712996482849],[-0.4909948706626892,-0.026159800589084625,0.8707696199417114,2.851900815963745],[0.0,0.0,0.0,1.0]]},{"object_config":"013_apple.object_config.json","transform":[[-0.6211788654327393,0.005019275471568108,-0.7836526036262512,2.773123264312744],[-0.011745378375053406,0.9998075366020203,0.015713967382907867,0.6621215343475342],[0.7835806012153625,0.018965482711791992,-0.621000349521637,7.447529315948486],[0.0,0.0,0.0,1.0]]},{"object_config":"014_lemon.object_config.json","transform":[[0.7176710367202759,0.44867628812789917,0.5325766801834106,1.9233194589614868],[-0.3364076614379883,0.8929924368858337,-0.29898887872695923,0.9606870412826538],[-0.6097362041473389,0.0354127436876297,0.7918128967285156,1.555087685585022],[0.0,0.0,0.0,1.0]]},{"object_config":"015_peach.object_config.json","transform":[[0.3709619641304016,-0.2350735366344452,0.8984028100967407,1.5785187482833862],[0.016130901873111725,-0.9656537771224976,-0.2593308985233307,0.9624958634376526],[0.928507924079895,0.11069393903017044,-0.35442882776260376,2.194650888442993],[0.0,0.0,0.0,1.0]]},{"object_config":"016_pear.object_config.json","transform":[[0.588735818862915,-0.3257932960987091,-0.7397628426551819,4.067868709564209],[0.4251742660999298,-0.653537392616272,0.6261917948722839,0.7862640619277954],[-0.6874715685844421,-0.6831895709037781,-0.2462420016527176,5.038983345031738],[0.0,0.0,0.0,1.0]]},{"object_config":"017_orange.object_config.json","transform":[[0.5877700448036194,0.015597260557115078,0.8088776469230652,4.177044868469238],[-0.015646502375602722,0.9998462796211243,-0.007910116575658321,0.7978838682174683],[-0.8088766932487488,-0.008006774820387363,0.5879237651824951,5.20216703414917],[0.0,0.0,0.0,1.0]]},{"object_config":"018_plum.object_config.json","transform":[[0.4432969391345978,-0.030318425968289375,0.8958619832992554,1.5469883680343628],[0.014394143596291542,0.9995397329330444,0.02670454978942871,0.9600375294685364],[-0.8962593078613281,0.001057119108736515,0.44352930784225464,2.130171298980713],[0.0,0.0,0.0,1.0]]},{"object_config":"021_bleach_cleanser.object_config.json","transform":[[-0.9954482316970825,0.0010040297638624907,0.09529983252286911,2.6097006797790527],[0.0013903833460062742,0.9999910593032837,0.0039877681992948055,0.7514254450798035],[-0.09529497474431992,0.0041021197102963924,-0.9954407215118408,7.662754535675049],[0.0,0.0,0.0,1.0]]},{"object_config":"025_mug.object_config.json","transform":[[0.9466156363487244,-1.9011786207556725e-05,-0.32236433029174805,0.9224770069122314],[0.0014286546502262354,0.9999904036521912,0.004136236850172281,0.44430992007255554],[0.32236117124557495,-0.004375974182039499,0.9466066360473633,5.233734607696533],[0.0,0.0,0.0,1.0]]},{"object_config":"026_sponge.object_config.json","transform":[[0.4421454966068268,-0.004468411672860384,-0.8969322443008423,-2.1998040676116943],[0.005998189095407724,0.9999799132347107,-0.0020249574445188046,0.8682963252067566],[0.896923303604126,-0.00448464322835207,0.4421634078025818,1.4137591123580933],[0.0,0.0,0.0,1.0]]},{"object_config":"028_skillet_lid.object_config.json","transform":[[-0.49343907833099365,0.009181944653391838,-0.8697322010993958,-2.351500988006592],[0.003344115801155567,0.9999569058418274,0.0086594857275486,0.8961969614028931],[0.8697742819786072,0.00136444135569036,-0.49344855546951294,0.4236922562122345],[0.0,0.0,0.0,1.0]]},{"object_config":"029_plate.object_config.json","transform":[[0.2459370195865631,-0.001421083346940577,0.9692848920822144,-2.1500861644744873],[0.0033791447058320045,0.9999940991401672,0.0006087148794904351,0.8725436925888062],[-0.9692800045013428,0.00312564754858613,0.24594038724899292,3.0880753993988037],[0.0,0.0,0.0,1.0]]},{"object_config":"031_spoon.object_config.json","transform":[[-0.0651298463344574,0.7638648152351379,-0.6420816779136658,1.8109136819839478],[-0.2965767979621887,0.5995545387268066,0.7433550357818604,0.945389449596405],[0.9527856707572937,0.2388409972190857,0.1874956488609314,2.4190688133239746],[0.0,0.0,0.0,1.0]]},{"object_config":"032_knife.object_config.json","transform":[[0.4533381164073944,-0.00804455578327179,0.8913022875785828,1.3285821676254272],[-0.046789154410362244,0.9983658790588379,0.032808974385261536,0.9414286017417908],[-0.8901097178459167,-0.056576840579509735,0.4522209167480469,2.330432415008545],[0.0,0.0,0.0,1.0]]},{"object_config":"033_spatula.object_config.json","transform":[[-0.0005779217462986708,0.07093264907598495,0.9974808096885681,2.7918527126312256],[0.03704354912042618,0.9967979788780212,-0.07086262106895447,0.6416001319885254],[-0.9993134140968323,0.03690927103161812,-0.0032036900520324707,7.6475419998168945],[0.0,0.0,0.0,1.0]]},{"object_config":"035_power_drill.object_config.json","transform":[[-0.7411476969718933,0.03361887484788895,-0.6704996228218079,-2.199172258377075],[0.06090345233678818,0.997994065284729,-0.017281172797083855,0.8869108557701111],[0.6685736775398254,-0.053643643856048584,-0.7417084574699402,0.7631499171257019],[0.0,0.0,0.0,1.0]]},{"object_config":"036_wood_block.object_config.json","transform":[[0.9877238273620605,-0.00038175744703039527,0.15620975196361542,-2.4273629188537598],[0.0004768077051267028,0.9999997019767761,-0.0005710077239200473,0.961992621421814],[-0.15620948374271393,0.0006384799489751458,0.9877237677574158,2.93275785446167],[0.0,0.0,0.0,1.0]]},{"object_config":"037_scissors.object_config.json","transform":[[0.34644433856010437,0.06322715431451797,-0.9359373450279236,1.1944857835769653],[0.09045741707086563,0.9908246994018555,0.1004185751080513,0.4107641875743866],[0.9336989521980286,-0.11945191770792007,0.3375462293624878,5.234289646148682],[0.0,0.0,0.0,1.0]]},{"object_config":"038_padlock.object_config.json","transform":[[0.2537749707698822,0.002604568377137184,-0.9672598242759705,1.5919959545135498],[-0.042509064078330994,0.9990602731704712,-0.008462687954306602,0.9481254816055298],[0.9663287997245789,0.043264925479888916,0.25364720821380615,1.7131397724151611],[0.0,0.0,0.0,1.0]]},{"object_config":"042_adjustable_wrench.object_config.json","transform":[[0.38758689165115356,0.004141021519899368,0.9218239188194275,3.9275002479553223],[0.0524468719959259,0.998271107673645,-0.02653607167303562,0.7681698799133301],[-0.9203400015830994,0.058631815016269684,0.3866996169090271,4.644285202026367],[0.0,0.0,0.0,1.0]]},{"object_config":"044_flat_screwdriver.object_config.json","transform":[[0.7095379829406738,0.04396425187587738,0.7032943964004517,-2.1079630851745605],[0.5309892296791077,-0.6894881129264832,-0.49260205030441284,0.7152782678604126],[0.46325621008872986,0.7229616045951843,-0.5125625729560852,2.130204200744629],[0.0,0.0,0.0,1.0]]},{"object_config":"048_hammer.object_config.json","transform":[[-0.13685983419418335,0.003315538400784135,0.9905850291252136,3.8446357250213623],[0.006291236728429794,0.999977171421051,-0.0024777743965387344,0.7782316207885742],[-0.990570604801178,0.005892896093428135,-0.13687753677368164,4.2216949462890625],[0.0,0.0,0.0,1.0]]},{"object_config":"050_medium_clamp.object_config.json","transform":[[0.818869948387146,0.038672156631946564,-0.5726748704910278,0.9180611968040466],[0.13113141059875488,0.9587364792823792,0.25224778056144714,0.416301429271698],[0.5587992668151855,-0.2816537916660309,0.7800093293190002,5.8005475997924805],[0.0,0.0,0.0,1.0]]},{"object_config":"052_extra_large_clamp.object_config.json","transform":[[-0.16889390349388123,-0.012383539229631424,0.9855564832687378,-2.0977416038513184],[0.0007123365066945553,0.9999192357063293,0.012686081230640411,0.8769369125366211],[-0.9856339693069458,0.0028446498326957226,-0.1688714623451233,1.0249289274215698],[0.0,0.0,0.0,1.0]]},{"object_config":"055_baseball.object_config.json","transform":[[0.4935595691204071,-0.0784090906381607,-0.8661702871322632,1.854728102684021],[0.09865964949131012,0.99454665184021,-0.03381215035915375,0.9699015021324158],[0.8640979528427124,-0.06876774877309799,0.49860382080078125,2.4996650218963623],[0.0,0.0,0.0,1.0]]},{"object_config":"072-d_toy_airplane.object_config.json","transform":[[-0.2616978585720062,0.0005899435491301119,-0.9651496410369873,-2.1554770469665527],[0.0023485999554395676,0.9999971985816956,-2.5572837330400944e-05,0.8922554850578308],[0.9651470184326172,-0.0022734426893293858,-0.26169854402542114,1.6215839385986328],[0.0,0.0,0.0,1.0]]},{"object_config":"073-b_lego_duplo.object_config.json","transform":[[-0.5079593658447266,0.0025673327036201954,0.8613772392272949,-2.2084462642669678],[-0.003446891438215971,0.9999815225601196,-0.005013095214962959,0.8806942105293274],[-0.8613741397857666,-0.005515522323548794,-0.5079411268234253,2.6680712699890137],[0.0,0.0,0.0,1.0]]},{"object_config":"077_rubiks_cube.object_config.json","transform":[[0.8487637042999268,0.005989351309835911,-0.5287384390830994,-2.236891031265259],[-0.010020238347351551,0.9999384880065918,-0.004758178256452084,0.7353113889694214],[0.5286774039268494,0.009336654096841812,0.8487714529037476,2.0551462173461914],[0.0,0.0,0.0,1.0]]},{"object_config":"frl_apartment_book_02.object_config.json","transform":[[0.5929701328277588,-0.00010062758519779891,-0.8052244782447815,3.442314863204956],[-0.00011614352115429938,1.0,-0.00021049685892648995,0.735787034034729],[0.8052244782447815,0.00021833996288478374,0.5929701328277588,7.6177544593811035],[0.0,0.0,0.0,1.0]]},{"object_config":"frl_apartment_bowl_03.object_config.json","transform":[[0.8731555938720703,5.9569807490333915e-05,0.4874415695667267,-1.9866207838058472],[-9.185954695567489e-05,1.0,4.233917570672929e-05,0.9173718094825745],[-0.4874415695667267,-8.174484537448734e-05,0.8731555938720703,2.326663017272949],[0.0,0.0,0.0,1.0]]},{"object_config":"frl_apartment_cup_01.object_config.json","transform":[[-0.8823269009590149,0.00018539030861575156,-0.4706375300884247,-2.2009758949279785],[-0.00012515428534243256,0.9999998211860657,0.0006285458221100271,0.741626501083374],[0.4706375300884247,0.0006134850555099547,-0.8823267221450806,1.8147343397140503],[0.0,0.0,0.0,1.0]]}],"rigid_objs":[[135,1528],[0,1529],[2,1530],[3,1531],[4,1532],[5,1533],[6,1534],[7,1535],[8,1536],[9,1537],[10,1538],[11,1539],[12,1540],[13,1541],[14,1542],[15,1543],[16,1544],[17,1545],[18,1546],[92,1547],[19,1548],[20,1549],[21,1550],[122,1551],[23,1552],[136,1553],[24,1554],[108,1555],[30,1556],[96,1557],[32,1558],[127,1559],[34,1560],[154,1561]],"sampled_entities":{"target_object_name":"lego","target_receptacle_name":"receptacle_aabb_counter_left_kitchen_counter"},"sampler_info":{"place_search_all_receps":true},"scene_dataset_config":"data/replica_cad/replicaCAD.scene_dataset_config.json","scene_id":"data/replica_cad/configs/scenes/v3_sc3_staging_10.scene_instance.json","start_position":[0,0,0],"start_preds":[],"start_rotation":[0,0,0,1],"subgoals":[["robot_at_obj(073-b_lego_duplo_:0000)","robot_at_obj(077_rubiks_cube_:0000)","robot_at(receptacle_aabb_sink_kitchen_counter)","robot_at(receptacle_aabb_counter_right_kitchen_counter)","robot_at(receptacle_aabb_counter_left_kitchen_counter)","robot_at(receptacle_aabb_middle_topfrl_apartment_refrigerator)","robot_at(receptacle_aabb_drawer_left_top_frl_apartment_kitchen_counter)","robot_at(receptacle_aabb_drawer_right_top_frl_apartment_kitchen_counter)","robot_at(073-b_lego_duplo_:0000)","robot_at(077_rubiks_cube_:0000)"],["holding(073-b_lego_duplo_:0000)","robot_at_obj(073-b_lego_duplo_:0000)","robot_at_obj(077_rubiks_cube_:0000)","robot_at(receptacle_aabb_sink_kitchen_counter)","robot_at(receptacle_aabb_counter_right_kitchen_counter)","robot_at(receptacle_aabb_counter_left_kitchen_counter)","robot_at(receptacle_aabb_middle_topfrl_apartment_refrigerator)","robot_at(receptacle_aabb_drawer_left_top_frl_apartment_kitchen_counter)","robot_at(receptacle_aabb_drawer_right_top_frl_apartment_kitchen_counter)","robot_at(073-b_lego_duplo_:0000)","robot_at(077_rubiks_cube_:0000)"],["on_top(073-b_lego_duplo_:0000,receptacle_aabb_sink_kitchen_counter)","robot_at_obj(073-b_lego_duplo_:0000)","robot_at_obj(077_rubiks_cube_:0000)","robot_at(receptacle_aabb_sink_kitchen_counter)","robot_at(receptacle_aabb_counter_right_kitchen_counter)","robot_at(receptacle_aabb_counter_left_kitchen_counter)","robot_at(receptacle_aabb_middle_topfrl_apartment_refrigerator)","robot_at(receptacle_aabb_drawer_left_top_frl_apartment_kitchen_counter)","robot_at(receptacle_aabb_drawer_right_top_frl_apartment_kitchen_counter)","robot_at(073-b_lego_duplo_:0000)","robot_at(077_rubiks_cube_:0000)"]],"target_receptacles":[],"targets":{}},"observations":[],"question":{"options":[],"original":"On the left counter, remove the lego.","text":"On the left counter, remove the lego."},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"Habitat-Sim 0.3.0 / ReplicaCAD / YCB","eval_set":"base","mode":"interactive","observation_policy":"current RGB and upstream feedback; hidden goals/poses are evaluator-only","repo":"EmbodiedBench/EmbodiedBench","revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","selected_index":44},"sampling":{"component_id":"251d8861e101b77801e3","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":15,"stratum_pool":50},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"embodiedbench/envs/eb_habitat/datasets/base.pickle","annotation_sha256":"1e338a8729b89fa8101d1834d25c5a00c95f31296d93253e469679fe83c71c23","host":"github","license":"not-specified; underlying simulator/data terms apply","media_policy":"runtime simulator; no trajectories supplied as observations","repo":"EmbodiedBench/EmbodiedBench","revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","row_sha256":"77369d00597f2d860c0decb80b6e62de0d65e62f174a363b45d58528b94818ee","sample_id":"base/44","split":"base","upstream_dataset":"EB-Habitat","url":"https://github.com/EmbodiedBench/EmbodiedBench"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_environment_success","original_answer":null},"task":{"category":"base","role":"spatial_core","skill_tags":["base","base"],"stratum":"EB-Habitat/base/base","subcategory":"base"},"transforms":[]}
{"dataset":"EB-Habitat","group":{"id":"ReplicaCAD/data/replica_cad/configs/scenes/v3_sc3_staging_05.scene_instance.json","kind":"scene","scene":"data/replica_cad/configs/scenes/v3_sc3_staging_05.scene_instance.json"},"id":"d533bce7f11af4909211","native_annotation":{"additional_obj_config_paths":["data/objects/ycb/configs"],"ao_states":{"74":{"2":0.0},"75":{"1":0.0,"2":0.0,"3":0.0,"4":0.0,"5":0.0,"6":0.0,"7":0.0}},"episode_id":"95","goal_preds":{"expr_type":"AND","inputs":[{"expr_type":"cleanser","name":"X"}],"quantifier":"EXISTS","sub_exprs":["on_top(X, receptacle_aabb_Tbl2_Top1_frl_apartment_table_02)","not_holding()"]},"goal_receptacles":[],"idx_to_name":{"0":"003_cracker_box.object_config.json","1":"010_potted_meat_can.object_config.json","10":"021_bleach_cleanser.object_config.json","100":"005_tomato_soup_can_:0000","101":"008_pudding_box_:0000","102":"072-d_toy_airplane_:0000","103":"073-b_lego_duplo_:0000","104":"frl_apartment_book_02_:0000","105":"frl_apartment_bowl_07_:0000","106":"frl_apartment_cup_02_:0000","107":"004_sugar_box.object_config.json","108":"007_tuna_fish_can.object_config.json","109":"036_wood_block.object_config.json","11":"024_bowl.object_config.json","110":"056_tennis_ball.object_config.json","111":"073-f_lego_duplo.object_config.json","112":"frl_apartment_book_03.object_config.json","113":"frl_apartment_bowl_01.object_config.json","114":"frl_apartment_cup_01.object_config.json","115":"frl_apartment_book_03_:0000","116":"056_tennis_ball_:0000","117":"036_wood_block_:0000","118":"007_tuna_fish_can_:0000","119":"004_sugar_box_:0000","12":"025_mug.object_config.json","120":"073-f_lego_duplo_:0000","121":"frl_apartment_bowl_01_:0000","122":"frl_apartment_cup_01_:0000","123":"051_large_clamp.object_config.json","124":"065-a_cups.object_config.json","125":"072-c_toy_airplane.object_config.json","126":"051_large_clamp_:0000","127":"070-b_colored_wood_blocks_:0001","128":"072-c_toy_airplane_:0000","129":"065-a_cups_:0000","13":"026_sponge.object_config.json","130":"002_master_chef_can.object_config.json","131":"050_medium_clamp.object_config.json","132":"065-b_cups.object_config.json","133":"072-a_toy_airplane.object_config.json","134":"073-c_lego_duplo.object_config.json","135":"050_medium_clamp_:0000","136":"002_master_chef_can_:0000","137":"072-a_toy_airplane_:0000","138":"073-c_lego_duplo_:0000","139":"077_rubiks_cube_:0001","14":"028_skillet_lid.object_config.json","140":"065-b_cups_:0000","141":"073-g_lego_duplo.object_config.json","142":"frl_apartment_book_05.object_config.json","143":"frl_apartment_bowl_02.object_config.json","144":"frl_apartment_cup_03.object_config.json","145":"017_orange_:0001","146":"073-g_lego_duplo_:0000","147":"frl_apartment_book_05_:0000","148":"frl_apartment_bowl_02_:0000","149":"frl_apartment_cup_03_:0000","15":"029_plate.object_config.json","16":"031_spoon.object_config.json","17":"032_knife.object_config.json","18":"033_spatula.object_config.json","19":"035_power_drill.object_config.json","2":"011_banana.object_config.json","20":"037_scissors.object_config.json","21":"038_padlock.object_config.json","22":"042_adjustable_wrench.object_config.json","23":"044_flat_screwdriver.object_config.json","24":"048_hammer.object_config.json","25":"052_extra_large_clamp.object_config.json","26":"054_softball.object_config.json","27":"065-d_cups.object_config.json","28":"070-a_colored_wood_blocks.object_config.json","29":"072-b_toy_airplane.object_config.json","3":"012_strawberry.object_config.json","30":"073-e_lego_duplo.object_config.json","31":"077_rubiks_cube.object_config.json","32":"frl_apartment_book_01.object_config.json","33":"070-a_colored_wood_blocks_:0000","34":"receptacle_aabb_sink_kitchen_counter","35":"054_softball_:0000","36":"052_extra_large_clamp_:0000","37":"048_hammer_:0000","38":"receptacle_aabb_Tbl1_Top1_frl_apartment_table_01","39":"044_flat_screwdriver_:0000","4":"013_apple.object_config.json","40":"receptacle_aabb_counter_left_kitchen_counter","41":"042_adjustable_wrench_:0000","42":"receptacle_aabb_counter_right_kitchen_counter","43":"038_padlock_:0000","44":"receptacle_aabb_Tbl2_Top1_frl_apartment_table_02","45":"037_scissors_:0000","46":"receptacle_aabb_TvStnd1_Top1_frl_apartment_tvstand","47":"070-a_colored_wood_blocks_:0001","48":"receptacle_aabb_Sofa_frl_apartment_sofa","49":"035_power_drill_:0000","5":"014_lemon.object_config.json","50":"033_spatula_:0000","51":"032_knife_:0000","52":"031_spoon_:0000","53":"029_plate_:0000","54":"028_skillet_lid_:0000","55":"026_sponge_:0000","56":"021_bleach_cleanser_:0000","57":"018_plum_:0000","58":"017_orange_:0000","59":"016_pear_:0000","6":"015_peach.object_config.json","60":"015_peach_:0000","61":"013_apple_:0000","62":"014_lemon_:0000","63":"010_potted_meat_can_:0000","64":"003_cracker_box_:0000","65":"011_banana_:0000","66":"012_strawberry_:0000","67":"072-b_toy_airplane_:0000","68":"073-e_lego_duplo_:0000","69":"077_rubiks_cube_:0000","7":"016_pear.object_config.json","70":"frl_apartment_book_01_:0000","71":"024_bowl_:0000","72":"025_mug_:0000","73":"065-d_cups_:0000","74":"fridge_:0000","75":"kitchen_counter_:0000","76":"cab_push_point_7","77":"articulated_object","78":"drawer1_top","79":"cab_push_point_6","8":"017_orange.object_config.json","80":"drawer2_top","81":"cab_push_point_5","82":"drawer3","83":"cab_push_point_4","84":"drawer4","85":"fridge_push_point","86":"top_door","87":"005_tomato_soup_can.object_config.json","88":"008_pudding_box.object_config.json","89":"043_phillips_screwdriver.object_config.json","9":"018_plum.object_config.json","90":"057_racquetball.object_config.json","91":"070-b_colored_wood_blocks.object_config.json","92":"072-d_toy_airplane.object_config.json","93":"073-b_lego_duplo.object_config.json","94":"frl_apartment_book_02.object_config.json","95":"frl_apartment_bowl_07.object_config.json","96":"frl_apartment_cup_02.object_config.json","97":"057_racquetball_:0000","98":"043_phillips_screwdriver_:0000","99":"070-b_colored_wood_blocks_:0000"},"info":{"object_labels":{}},"instruct_id":"21e2ce5f_9996fbd6","instruction":"There's been a spill, and I require an object to assist with cleaning it. Can you bring it to the brown table?","markers":[[76,77,[0.3,0.0,0.0],78,75],[79,77,[0.3,0.0,0.0],80,75],[81,77,[0.3,0.0,0.0],82,75],[83,77,[0.3,0.0,0.0],84,75],[85,77,[0.1,-0.62,0.2],86,74]],"name_to_receptacle":[[58,42],[116,46],[126,38],[37,40],[39,44],[41,46],[43,44],[45,40],[117,42],[49,46],[50,46],[51,48],[52,40],[53,40],[54,48],[55,44],[56,34],[57,42],[145,44],[59,44],[60,48],[61,42],[62,34],[136,34],[64,34],[65,46],[66,46],[102,38],[146,46],[69,34],[147,40],[148,40],[72,42],[149,48]],"resolved_rigid_objects":[{"object_config":"002_master_chef_can.object_config.json","transform":[[0.6238536238670349,-0.0009523681947030127,0.7815406322479248,-2.080012798309326],[0.0007351186941377819,0.9999995231628418,0.000631779374089092,0.7765388488769531],[-0.7815408706665039,0.00018038727284874767,0.6238540410995483,1.9156277179718018],[0.0,0.0,0.0,1.0]]},{"object_config":"003_cracker_box.object_config.json","transform":[[-0.7521593570709229,-0.007798931561410427,0.6589357256889343,-2.200083017349243],[-0.010832677595317364,0.9999411702156067,-0.0005302829667925835,0.8133184909820557],[-0.658892810344696,-0.0075368937104940414,-0.7521995902061462,1.9825164079666138],[0.0,0.0,0.0,1.0]]},{"object_config":"011_banana.object_config.json","transform":[[0.041542019695043564,-0.10670144855976105,-0.9934229254722595,4.038475513458252],[-0.17295558750629425,0.9785029292106628,-0.11233142018318176,0.6439902782440186],[0.9840531945228577,0.17648452520370483,0.022194385528564453,5.085727691650391],[0.0,0.0,0.0,1.0]]},{"object_config":"012_strawberry.object_config.json","transform":[[-0.9210718870162964,-0.09503999352455139,0.37761709094047546,3.8720614910125732],[-0.075058713555336,0.994904100894928,0.06732016801834106,0.6490840315818787],[-0.38209089636802673,0.03366324305534363,-0.923511803150177,5.060616970062256],[0.0,0.0,0.0,1.0]]},{"object_config":"013_apple.object_config.json","transform":[[0.9995654821395874,0.005055798217654228,-0.02903938852250576,-2.1010844707489014],[-0.004934764467179775,0.9999788403511047,0.004238063935190439,0.8950178623199463],[0.029060201719403267,-0.004092920105904341,0.9995692372322083,1.6156270503997803],[0.0,0.0,0.0,1.0]]},{"object_config":"014_lemon.object_config.json","transform":[[0.453747034072876,-0.013051288202404976,-0.8910349607467651,-2.193164587020874],[-0.03485029190778732,0.998867928981781,-0.03237777575850487,0.7329907417297363],[0.890448808670044,0.0457441471517086,0.45277851819992065,1.7836195230484009],[0.0,0.0,0.0,1.0]]},{"object_config":"015_peach.object_config.json","transform":[[0.5724876523017883,-0.8194326758384705,0.02807292342185974,0.8578563332557678],[-0.7072940468788147,-0.5108823180198669,-0.4886045455932617,0.429435670375824],[0.41472047567367554,0.25986427068710327,-0.8720536231994629,5.226400375366211],[0.0,0.0,0.0,1.0]]},{"object_config":"016_pear.object_config.json","transform":[[-0.4663279056549072,-0.4982908368110657,0.7309204339981079,2.7307329177856445],[0.8685123324394226,-0.1009753942489624,0.4852736294269562,0.9603599309921265],[-0.16800245642662048,0.8611099720001221,0.47985920310020447,7.620883941650391],[0.0,0.0,0.0,1.0]]},{"object_config":"017_orange.object_config.json","transform":[[-0.8975733518600464,0.010999000631272793,0.44072824716567993,-2.4177908897399902],[0.01252830121666193,0.9999213218688965,0.0005602804012596607,0.8948969841003418],[-0.4406874179840088,0.006024468224495649,-0.897640585899353,1.3693687915802002],[0.0,0.0,0.0,1.0]]},{"object_config":"017_orange.object_config.json","transform":[[-0.19935332238674164,-0.016826987266540527,-0.9797832369804382,2.4891374111175537],[-0.05098541080951691,0.9986763596534729,-0.006777627393603325,0.9693683981895447],[0.9786004424095154,0.04860350489616394,-0.19994741678237915,7.304841995239258],[0.0,0.0,0.0,1.0]]},{"object_config":"018_plum.object_config.json","transform":[[-0.5265502333641052,0.014196818694472313,0.8500255942344666,-2.049107551574707],[-0.000511836726218462,0.9998550415039062,-0.017016274854540825,0.885588526725769],[-0.8501439690589905,-0.009394995868206024,-0.5264666676521301,0.692647397518158],[0.0,0.0,0.0,1.0]]},{"object_config":"021_bleach_cleanser.object_config.json","transform":[[-0.603932797908783,0.003934069536626339,0.7970258593559265,-2.1504528522491455],[0.010070760734379292,0.9999456405639648,0.0026952752377837896,0.8321248888969421],[-0.7969719767570496,0.009654419496655464,-0.6039395928382874,2.0574941635131836],[0.0,0.0,0.0,1.0]]},{"object_config":"025_mug.object_config.json","transform":[[-0.050484996289014816,-6.265193223953247e-05,0.9987248182296753,-2.084280252456665],[0.0034873022232204676,0.9999938607215881,0.000239012879319489,0.8996878862380981],[-0.9987187385559082,0.0034949220716953278,-0.05048447847366333,0.3672737181186676],[0.0,0.0,0.0,1.0]]},{"object_config":"026_sponge.object_config.json","transform":[[0.9817860126495361,-0.0062632374465465546,-0.18988670408725739,1.9235583543777466],[0.005989180877804756,0.9999800324440002,-0.0020170880015939474,0.942775309085846],[0.18989555537700653,0.0008430828456766903,0.9818039536476135,7.585503578186035],[0.0,0.0,0.0,1.0]]},{"object_config":"028_skillet_lid.object_config.json","transform":[[-0.5239164233207703,0.009366516023874283,-0.8517182469367981,0.968323826789856],[0.00327010964974761,0.9999542832374573,0.008985159918665886,0.4406953454017639],[0.8517634272575378,0.0019222607370465994,-0.5239231586456299,5.484387397766113],[0.0,0.0,0.0,1.0]]},{"object_config":"029_plate.object_config.json","transform":[[-0.9994531869888306,-0.004439727868884802,0.03276723995804787,-2.102586269378662],[-0.004468089435249567,0.9999897480010986,-0.0007923673838376999,0.8724828362464905],[-0.03276338800787926,-0.0009383410215377808,-0.9994627237319946,3.0685973167419434],[0.0,0.0,0.0,1.0]]},{"object_config":"031_spoon.object_config.json","transform":[[0.556165874004364,0.7104525566101074,-0.43120378255844116,-2.2110397815704346],[-0.2785505950450897,0.6481966376304626,0.7086964845657349,0.870642364025116],[0.7830000519752502,-0.27404072880744934,0.5584018230438232,2.439913749694824],[0.0,0.0,0.0,1.0]]},{"object_config":"032_knife.object_config.json","transform":[[0.9847073554992676,0.1190478652715683,-0.12719649076461792,0.9881988167762756],[-0.041192516684532166,0.8685039281845093,0.493967741727829,0.4117850959300995],[0.16927644610404968,-0.48117414116859436,0.8601261377334595,5.839780807495117],[0.0,0.0,0.0,1.0]]},{"object_config":"033_spatula.object_config.json","transform":[[0.1798388808965683,0.5176137685775757,0.8365011811256409,4.26215934753418],[0.22873370349407196,0.8050534129142761,-0.547329843044281,0.6417771577835083],[-0.9567335247993469,0.28976720571517944,0.026384174823760986,5.028181552886963],[0.0,0.0,0.0,1.0]]},{"object_config":"035_power_drill.object_config.json","transform":[[0.15483291447162628,0.006968989968299866,0.9879160523414612,3.873810291290283],[0.0789862722158432,0.9966866970062256,-0.01941012404859066,0.6541421413421631],[-0.984778106212616,0.08103713393211365,0.15376943349838257,4.308757781982422],[0.0,0.0,0.0,1.0]]},{"object_config":"036_wood_block.object_config.json","transform":[[0.36499473452568054,0.00027228350518271327,-0.9310095906257629,-1.9275851249694824],[0.001854730537161231,0.9999977350234985,0.0010195920476689935,0.9619908332824707],[0.9310078024864197,-0.002098917495459318,0.3649933934211731,0.5628748536109924],[0.0,0.0,0.0,1.0]]},{"object_config":"037_scissors.object_config.json","transform":[[0.16998639702796936,-0.11636464297771454,0.978551983833313,-2.410701274871826],[0.09197886288166046,0.9905422925949097,0.10181262344121933,0.8662561774253845],[-0.9811445474624634,0.07269933074712753,0.17908179759979248,2.3529624938964844],[0.0,0.0,0.0,1.0]]},{"object_config":"038_padlock.object_config.json","transform":[[-0.4455152153968811,-0.014910079538822174,0.8951503038406372,2.698493719100952],[-0.10228285938501358,0.9941622018814087,-0.034346770495176315,0.9479732513427734],[-0.889412522315979,-0.10686053335666656,-0.44443947076797485,7.662806987762451],[0.0,0.0,0.0,1.0]]},{"object_config":"042_adjustable_wrench.object_config.json","transform":[[0.991918683052063,-0.04811038449406624,0.11739984154701233,3.8281476497650146],[0.051538947969675064,0.9983234405517578,-0.026343459263443947,0.632190465927124],[-0.11593562364578247,0.032181233167648315,0.9927352666854858,5.1940016746521],[0.0,0.0,0.0,1.0]]},{"object_config":"044_flat_screwdriver.object_config.json","transform":[[-0.9160853028297424,0.06048927083611488,-0.39639580249786377,1.6069259643554688],[0.03554559126496315,0.9969149231910706,0.06998026371002197,0.9509401917457581],[0.39940595626831055,0.050017744302749634,-0.9154092073440552,7.845951080322266],[0.0,0.0,0.0,1.0]]},{"object_config":"048_hammer.object_config.json","transform":[[0.7995496988296509,-0.002428700216114521,0.6005949974060059,-2.028452157974243],[0.004676947370171547,0.9999866485595703,-0.0021824759896844625,0.8751371502876282],[-0.6005816459655762,0.00455394946038723,0.7995504140853882,2.482257127761841],[0.0,0.0,0.0,1.0]]},{"object_config":"051_large_clamp.object_config.json","transform":[[-0.682990312576294,0.08766305446624756,0.7251479625701904,0.41589605808258057],[0.18419569730758667,0.9813578724861145,0.05485091730952263,0.7794461846351624],[-0.7068213224411011,0.17103175818920135,-0.6864051222801208,1.7714474201202393],[0.0,0.0,0.0,1.0]]},{"object_config":"056_tennis_ball.object_config.json","transform":[[0.8920685052871704,0.2894642651081085,0.3470219373703003,3.993659257888794],[-0.13351309299468994,0.9024596214294434,-0.4095619022846222,0.6596493721008301],[-0.4317268133163452,0.31902530789375305,0.843703031539917,4.108510971069336],[0.0,0.0,0.0,1.0]]},{"object_config":"072-d_toy_airplane.object_config.json","transform":[[-0.9520366787910461,0.002348463051021099,0.30597519874572754,0.8535652160644531],[0.0029664109461009502,0.9999943971633911,0.0015546418726444244,0.795208752155304],[-0.30596983432769775,0.002387723885476589,-0.9520383477210999,1.7819666862487793],[0.0,0.0,0.0,1.0]]},{"object_config":"073-g_lego_duplo.object_config.json","transform":[[-0.3861105740070343,-0.005015464499592781,-0.9224390983581543,3.984140157699585],[-0.002239540219306946,0.9999873638153076,-0.004499692469835281,0.6554362773895264],[0.922450065612793,0.0003284611739218235,-0.3861169219017029,5.384961128234863],[0.0,0.0,0.0,1.0]]},{"object_config":"077_rubiks_cube.object_config.json","transform":[[0.40018415451049805,0.00797318946570158,-0.9164000749588013,-2.054630756378174],[-0.02836890146136284,0.9995906949043274,-0.003691466525197029,0.735930323600769],[0.9159955978393555,0.027474530041217804,0.4002465605735779,1.7967019081115723],[0.0,0.0,0.0,1.0]]},{"object_config":"frl_apartment_book_05.object_config.json","transform":[[0.671045184135437,-9.4508686743211e-06,0.7414165139198303,-2.0323617458343506],[1.4220449884305708e-06,1.0,1.1459971574367955e-05,0.9464852809906006],[-0.7414165139198303,-6.635831141466042e-06,0.671045184135437,2.8288235664367676],[0.0,0.0,0.0,1.0]]},{"object_config":"frl_apartment_bowl_02.object_config.json","transform":[[-0.955091118812561,0.00010937076149275526,-0.2963123321533203,-1.906067967414856],[0.00017150174244306982,1.0,-0.00018368805467616767,0.9251201748847961],[0.2963123321533203,-0.0002262569178128615,-0.955091118812561,2.3207874298095703],[0.0,0.0,0.0,1.0]]},{"object_config":"frl_apartment_cup_03.object_config.json","transform":[[-0.9728044867515564,-0.161953866481781,0.1655971258878708,0.8915102481842041],[-0.17095595598220825,0.9844026565551758,-0.04154008999466896,0.4394187927246094],[-0.15628667175769806,-0.06872019916772842,-0.9853182435035706,4.800471305847168],[0.0,0.0,0.0,1.0]]}],"rigid_objs":[[130,850],[0,851],[2,852],[3,853],[4,854],[5,855],[6,856],[7,857],[8,858],[8,859],[9,860],[10,861],[12,862],[13,863],[14,864],[15,865],[16,866],[17,867],[18,868],[19,869],[109,870],[20,871],[21,872],[22,873],[23,874],[24,875],[123,876],[110,877],[92,878],[141,879],[31,880],[142,881],[143,882],[144,883]],"sampled_entities":{"source_receptacle_name":"receptacle_aabb_sink_kitchen_counter","target_object_name":"cleanser","target_receptacle_name":"receptacle_aabb_Tbl2_Top1_frl_apartment_table_02"},"sampler_info":{},"scene_dataset_config":"data/replica_cad/replicaCAD.scene_dataset_config.json","scene_id":"data/replica_cad/configs/scenes/v3_sc3_staging_05.scene_instance.json","start_position":[0,0,0],"start_preds":[],"start_rotation":[0,0,0,1],"subgoals":[["robot_at_obj(021_bleach_cleanser_:0000)","robot_at_obj(077_rubiks_cube_:0000)","robot_at(receptacle_aabb_sink_kitchen_counter)","robot_at(receptacle_aabb_counter_right_kitchen_counter)","robot_at(receptacle_aabb_counter_left_kitchen_counter)","robot_at(receptacle_aabb_drawer_left_top_frl_apartment_kitchen_counter)","robot_at(receptacle_aabb_drawer_right_top_frl_apartment_kitchen_counter)","robot_at(021_bleach_cleanser_:0000)","robot_at(077_rubiks_cube_:0000)","robot_at(frl_apartment_book_05_:0000)"],["holding(021_bleach_cleanser_:0000)","robot_at_obj(021_bleach_cleanser_:0000)","robot_at_obj(077_rubiks_cube_:0000)","robot_at(receptacle_aabb_sink_kitchen_counter)","robot_at(receptacle_aabb_counter_right_kitchen_counter)","robot_at(receptacle_aabb_counter_left_kitchen_counter)","robot_at(receptacle_aabb_drawer_left_top_frl_apartment_kitchen_counter)","robot_at(receptacle_aabb_drawer_right_top_frl_apartment_kitchen_counter)","robot_at(021_bleach_cleanser_:0000)","robot_at(077_rubiks_cube_:0000)","robot_at(frl_apartment_book_05_:0000)"],["on_top(021_bleach_cleanser_:0000,receptacle_aabb_Tbl2_Top1_frl_apartment_table_02)","holding(021_bleach_cleanser_:0000)","robot_at_obj(021_bleach_cleanser_:0000)","robot_at(receptacle_aabb_Chr1_Top1_frl_apartment_chair_01)","robot_at(receptacle_aabb_Tbl2_Top1_frl_apartment_table_02)","robot_at(021_bleach_cleanser_:0000)"],["on_top(021_bleach_cleanser_:0000,receptacle_aabb_Tbl2_Top1_frl_apartment_table_02)","robot_at_obj(021_bleach_cleanser_:0000)","robot_at(receptacle_aabb_Chr1_Top1_frl_apartment_chair_01)","robot_at(receptacle_aabb_Tbl2_Top1_frl_apartment_table_02)","robot_at(021_bleach_cleanser_:0000)"]],"target_receptacles":[],"targets":{}},"observations":[],"question":{"options":[],"original":"There's been a spill, and I require an object to assist with cleaning it. Can you bring it to the brown table?","text":"There's been a spill, and I require an object to assist with cleaning it. Can you bring it to the brown table?"},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"Habitat-Sim 0.3.0 / ReplicaCAD / YCB","eval_set":"common_sense","mode":"interactive","observation_policy":"current RGB and upstream feedback; hidden goals/poses are evaluator-only","repo":"EmbodiedBench/EmbodiedBench","revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","selected_index":25},"sampling":{"component_id":"0b6b6539c7121882b660","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":2,"stratum_pool":50},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"embodiedbench/envs/eb_habitat/datasets/common_sense.pickle","annotation_sha256":"2242c0f236e4bf3b751eeec371b5ff8bac72fd271a84eed6b49b656e3e21af17","host":"github","license":"not-specified; underlying simulator/data terms apply","media_policy":"runtime simulator; no trajectories supplied as observations","repo":"EmbodiedBench/EmbodiedBench","revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","row_sha256":"86c7a823969834de4cf005533084d9b984cbc816dd1d0a2104b8d9c5fe6032d3","sample_id":"common_sense/25","split":"common_sense","upstream_dataset":"EB-Habitat","url":"https://github.com/EmbodiedBench/EmbodiedBench"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_environment_success","original_answer":null},"task":{"category":"common_sense","role":"spatial_core","skill_tags":["common_sense","common_sense"],"stratum":"EB-Habitat/common_sense/common_sense","subcategory":"common_sense"},"transforms":[]}
{"dataset":"EB-Habitat","group":{"id":"ReplicaCAD/data/replica_cad/configs/scenes/v3_sc3_staging_05.scene_instance.json","kind":"scene","scene":"data/replica_cad/configs/scenes/v3_sc3_staging_05.scene_instance.json"},"id":"a94a48e97754d745af37","native_annotation":{"additional_obj_config_paths":["data/objects/ycb/configs"],"ao_states":{"74":{"2":0.0},"75":{"1":0.0,"2":0.0,"3":0.0,"4":0.0,"5":0.0,"6":0.0,"7":0.0}},"episode_id":"96","goal_preds":{"expr_type":"AND","inputs":[{"expr_type":"cleanser","name":"X"}],"quantifier":"EXISTS","sub_exprs":["on_top(X, receptacle_aabb_counter_right_kitchen_counter)","not_holding()"]},"goal_receptacles":[],"idx_to_name":{"0":"003_cracker_box.object_config.json","1":"010_potted_meat_can.object_config.json","10":"021_bleach_cleanser.object_config.json","100":"005_tomato_soup_can_:0000","101":"008_pudding_box_:0000","102":"072-d_toy_airplane_:0000","103":"073-b_lego_duplo_:0000","104":"frl_apartment_book_02_:0000","105":"frl_apartment_bowl_07_:0000","106":"frl_apartment_cup_02_:0000","107":"004_sugar_box.object_config.json","108":"007_tuna_fish_can.object_config.json","109":"036_wood_block.object_config.json","11":"024_bowl.object_config.json","110":"056_tennis_ball.object_config.json","111":"073-f_lego_duplo.object_config.json","112":"frl_apartment_book_03.object_config.json","113":"frl_apartment_bowl_01.object_config.json","114":"frl_apartment_cup_01.object_config.json","115":"frl_apartment_book_03_:0000","116":"056_tennis_ball_:0000","117":"036_wood_block_:0000","118":"007_tuna_fish_can_:0000","119":"004_sugar_box_:0000","12":"025_mug.object_config.json","120":"073-f_lego_duplo_:0000","121":"frl_apartment_bowl_01_:0000","122":"frl_apartment_cup_01_:0000","123":"051_large_clamp.object_config.json","124":"065-a_cups.object_config.json","125":"072-c_toy_airplane.object_config.json","126":"051_large_clamp_:0000","127":"070-b_colored_wood_blocks_:0001","128":"072-c_toy_airplane_:0000","129":"065-a_cups_:0000","13":"026_sponge.object_config.json","130":"002_master_chef_can.object_config.json","131":"050_medium_clamp.object_config.json","132":"065-b_cups.object_config.json","133":"072-a_toy_airplane.object_config.json","134":"073-c_lego_duplo.object_config.json","135":"050_medium_clamp_:0000","136":"002_master_chef_can_:0000","137":"072-a_toy_airplane_:0000","138":"073-c_lego_duplo_:0000","139":"077_rubiks_cube_:0001","14":"028_skillet_lid.object_config.json","140":"065-b_cups_:0000","141":"073-g_lego_duplo.object_config.json","142":"frl_apartment_book_05.object_config.json","143":"frl_apartment_bowl_02.object_config.json","144":"frl_apartment_cup_03.object_config.json","145":"017_orange_:0001","146":"073-g_lego_duplo_:0000","147":"frl_apartment_book_05_:0000","148":"frl_apartment_bowl_02_:0000","149":"frl_apartment_cup_03_:0000","15":"029_plate.object_config.json","16":"031_spoon.object_config.json","17":"032_knife.object_config.json","18":"033_spatula.object_config.json","19":"035_power_drill.object_config.json","2":"011_banana.object_config.json","20":"037_scissors.object_config.json","21":"038_padlock.object_config.json","22":"042_adjustable_wrench.object_config.json","23":"044_flat_screwdriver.object_config.json","24":"048_hammer.object_config.json","25":"052_extra_large_clamp.object_config.json","26":"054_softball.object_config.json","27":"065-d_cups.object_config.json","28":"070-a_colored_wood_blocks.object_config.json","29":"072-b_toy_airplane.object_config.json","3":"012_strawberry.object_config.json","30":"073-e_lego_duplo.object_config.json","31":"077_rubiks_cube.object_config.json","32":"frl_apartment_book_01.object_config.json","33":"070-a_colored_wood_blocks_:0000","34":"receptacle_aabb_sink_kitchen_counter","35":"054_softball_:0000","36":"052_extra_large_clamp_:0000","37":"048_hammer_:0000","38":"receptacle_aabb_Tbl1_Top1_frl_apartment_table_01","39":"044_flat_screwdriver_:0000","4":"013_apple.object_config.json","40":"receptacle_aabb_counter_left_kitchen_counter","41":"042_adjustable_wrench_:0000","42":"receptacle_aabb_counter_right_kitchen_counter","43":"038_padlock_:0000","44":"receptacle_aabb_Tbl2_Top1_frl_apartment_table_02","45":"037_scissors_:0000","46":"receptacle_aabb_TvStnd1_Top1_frl_apartment_tvstand","47":"070-a_colored_wood_blocks_:0001","48":"receptacle_aabb_Sofa_frl_apartment_sofa","49":"035_power_drill_:0000","5":"014_lemon.object_config.json","50":"033_spatula_:0000","51":"032_knife_:0000","52":"031_spoon_:0000","53":"029_plate_:0000","54":"028_skillet_lid_:0000","55":"026_sponge_:0000","56":"021_bleach_cleanser_:0000","57":"018_plum_:0000","58":"017_orange_:0000","59":"016_pear_:0000","6":"015_peach.object_config.json","60":"015_peach_:0000","61":"013_apple_:0000","62":"014_lemon_:0000","63":"010_potted_meat_can_:0000","64":"003_cracker_box_:0000","65":"011_banana_:0000","66":"012_strawberry_:0000","67":"072-b_toy_airplane_:0000","68":"073-e_lego_duplo_:0000","69":"077_rubiks_cube_:0000","7":"016_pear.object_config.json","70":"frl_apartment_book_01_:0000","71":"024_bowl_:0000","72":"025_mug_:0000","73":"065-d_cups_:0000","74":"fridge_:0000","75":"kitchen_counter_:0000","76":"cab_push_point_7","77":"articulated_object","78":"drawer1_top","79":"cab_push_point_6","8":"017_orange.object_config.json","80":"drawer2_top","81":"cab_push_point_5","82":"drawer3","83":"cab_push_point_4","84":"drawer4","85":"fridge_push_point","86":"top_door","87":"005_tomato_soup_can.object_config.json","88":"008_pudding_box.object_config.json","89":"043_phillips_screwdriver.object_config.json","9":"018_plum.object_config.json","90":"057_racquetball.object_config.json","91":"070-b_colored_wood_blocks.object_config.json","92":"072-d_toy_airplane.object_config.json","93":"073-b_lego_duplo.object_config.json","94":"frl_apartment_book_02.object_config.json","95":"frl_apartment_bowl_07.object_config.json","96":"frl_apartment_cup_02.object_config.json","97":"057_racquetball_:0000","98":"043_phillips_screwdriver_:0000","99":"070-b_colored_wood_blocks_:0000"},"info":{"object_labels":{}},"instruct_id":"21e2ce5f_9996fbd6","instruction":"I spilt something and need to clean it. Can you bring something to the right counter to help?","markers":[[76,77,[0.3,0.0,0.0],78,75],[79,77,[0.3,0.0,0.0],80,75],[81,77,[0.3,0.0,0.0],82,75],[83,77,[0.3,0.0,0.0],84,75],[85,77,[0.1,-0.62,0.2],86,74]],"name_to_receptacle":[[58,38],[116,40],[126,46],[37,42],[39,48],[41,46],[43,42],[45,42],[117,40],[49,42],[50,48],[51,38],[52,42],[53,40],[54,44],[55,38],[56,40],[57,38],[145,48],[59,42],[60,48],[61,42],[62,46],[136,38],[64,40],[65,44],[66,38],[102,44],[146,42],[69,46],[147,48],[148,40],[72,48],[149,48]],"resolved_rigid_objects":[{"object_config":"002_master_chef_can.object_config.json","transform":[[0.16022919118404388,0.0005474733770824969,-0.9870796799659729,0.9983872771263123],[0.0008466651779599488,0.9999994039535522,0.0006920753512531519,0.831997275352478],[0.9870794415473938,-0.0009466166375204921,0.16022861003875732,1.8788158893585205],[0.0,0.0,0.0,1.0]]},{"object_config":"003_cracker_box.object_config.json","transform":[[0.9698827266693115,-0.0016991272568702698,-0.24356643855571747,-2.445233106613159],[0.001852125395089388,0.9999982118606567,0.0003991527482867241,0.9657639265060425],[0.24356533586978912,-0.0008382468950003386,0.9698841571807861,2.5529990196228027],[0.0,0.0,0.0,1.0]]},{"object_config":"011_banana.object_config.json","transform":[[0.9546891450881958,0.12416167557239532,-0.2704671621322632,2.2460904121398926],[-0.15626151859760284,0.9825897216796875,-0.10049720108509064,0.9514356255531311],[0.2532803416252136,0.13820719718933105,0.9574694633483887,7.502162933349609],[0.0,0.0,0.0,1.0]]},{"object_config":"012_strawberry.object_config.json","transform":[[-0.45423129200935364,0.04624477028846741,0.8896827697753906,1.7137117385864258],[0.38276398181915283,0.9119108319282532,0.14802156388759613,0.7849610447883606],[-0.8044661283493042,0.40777450799942017,-0.43191927671432495,1.4615037441253662],[0.0,0.0,0.0,1.0]]},{"object_config":"013_apple.object_config.json","transform":[[-0.34378525614738464,-0.020806636661291122,0.9388177990913391,-2.108919858932495],[-0.00898535456508398,0.9997816681861877,0.018867410719394684,0.8950961828231812],[-0.9390053153038025,-0.001949273981153965,-0.34389710426330566,1.211830973625183],[0.0,0.0,0.0,1.0]]},{"object_config":"014_lemon.object_config.json","transform":[[0.9894598126411438,0.03976385295391083,0.13924099504947662,4.140608787536621],[-0.06392604857683182,0.9827358722686768,0.1736190766096115,0.6525483727455139],[-0.12993337213993073,-0.1806902438402176,0.9749196171760559,4.692585468292236],[0.0,0.0,0.0,1.0]]},{"object_config":"015_peach.object_config.json","transform":[[-0.5239554643630981,0.46585243940353394,0.7130581140518188,1.023271083831787],[-0.8314060568809509,-0.09786856174468994,-0.5469785928726196,0.43143659830093384],[-0.18502527475357056,-0.8794333934783936,0.43859148025512695,4.609887599945068],[0.0,0.0,0.0,1.0]]},{"object_config":"016_pear.object_config.json","transform":[[-0.5222809314727783,0.7726366519927979,0.36090925335884094,-1.8964771032333374],[0.8491841554641724,0.4324188232421875,0.3031507730484009,0.8890666365623474],[0.07816138863563538,0.46480822563171387,-0.8819549083709717,1.2930814027786255],[0.0,0.0,0.0,1.0]]},{"object_config":"017_orange.object_config.json","transform":[[0.18845435976982117,0.07807435095310211,0.9789736270904541,1.2895233631134033],[-0.0945405513048172,0.9936476349830627,-0.06104537099599838,0.7978025674819946],[-0.9775208234786987,-0.08104843646287918,0.1946384310722351,1.9153964519500732],[0.0,0.0,0.0,1.0]]},{"object_config":"017_orange.object_config.json","transform":[[-0.780878484249115,-0.010994221083819866,0.6245862245559692,0.8858232498168945],[-0.03359610214829445,0.9991372227668762,-0.024415742605924606,0.43938055634498596],[-0.6237789392471313,-0.040049392729997635,-0.7805740833282471,4.9413299560546875],[0.0,0.0,0.0,1.0]]},{"object_config":"018_plum.object_config.json","transform":[[-0.5156775712966919,0.05566442012786865,-0.8549723625183105,1.5226341485977173],[0.011998699977993965,0.9982585906982422,0.057756271213293076,0.7886207699775696],[0.8566985130310059,0.01952506974339485,-0.5154474973678589,2.1296515464782715],[0.0,0.0,0.0,1.0]]},{"object_config":"021_bleach_cleanser.object_config.json","transform":[[-0.16539430618286133,-0.0020817541517317295,0.986225426197052,-2.1462490558624268],[0.0005188515060581267,0.9999974370002747,0.0021978383883833885,0.9843310713768005],[-0.9862274527549744,0.000875214347615838,-0.16539281606674194,3.0084879398345947],[0.0,0.0,0.0,1.0]]},{"object_config":"025_mug.object_config.json","transform":[[-0.8967272043228149,0.025698937475681305,-0.44183671474456787,0.7136461734771729],[0.03485117852687836,0.9993129968643188,-0.012608099728822708,0.44551289081573486],[0.4412091374397278,-0.026704557240009308,-0.8970067501068115,5.131101608276367],[0.0,0.0,0.0,1.0]]},{"object_config":"026_sponge.object_config.json","transform":[[0.746757984161377,-0.0058109695091843605,-0.6650704741477966,0.48986709117889404],[0.005987164564430714,0.9999800324440002,-0.002014659810811281,0.7712666988372803],[0.6650689244270325,-0.002477422822266817,0.7467778921127319,1.8033385276794434],[0.0,0.0,0.0,1.0]]},{"object_config":"028_skillet_lid.object_config.json","transform":[[0.9069198369979858,-0.007017435040324926,0.4212447702884674,1.968755841255188],[0.0033611436374485493,0.9999499917030334,0.009421591646969318,0.9708420038223267],[-0.4212898313999176,-0.007128764409571886,0.9068980813026428,7.6309814453125],[0.0,0.0,0.0,1.0]]},{"object_config":"029_plate.object_config.json","transform":[[0.18428759276866913,0.00017997436225414276,-0.9828723073005676,-1.8763923645019531],[-0.004948250483721495,0.9999874830245972,-0.0007446836680173874,0.8724724054336548],[0.9828599095344543,0.005000734236091375,0.1842861771583557,2.8453288078308105],[0.0,0.0,0.0,1.0]]},{"object_config":"031_spoon.object_config.json","transform":[[0.9035568833351135,-0.06538654118776321,-0.4234495759010315,-2.0265212059020996],[0.03228546679019928,0.9958675503730774,-0.0848851427435875,0.8696727752685547],[0.4272500276565552,0.0630272850394249,0.901934027671814,0.27818700671195984],[0.0,0.0,0.0,1.0]]},{"object_config":"032_knife.object_config.json","transform":[[0.6998293399810791,-0.46508610248565674,-0.5421566367149353,0.9460220336914062],[-0.02259059250354767,0.7442032098770142,-0.6675711870193481,0.770466148853302],[0.7139528393745422,0.479433536529541,0.5103086233139038,2.1117892265319824],[0.0,0.0,0.0,1.0]]},{"object_config":"033_spatula.object_config.json","transform":[[-0.9029597640037537,0.21694740653038025,0.370942085981369,1.0687880516052246],[0.12124244123697281,0.9567534327507019,-0.26442989706993103,0.41816961765289307],[-0.4122674763202667,-0.1937955617904663,-0.890213131904602,5.4121994972229],[0.0,0.0,0.0,1.0]]},{"object_config":"035_power_drill.object_config.json","transform":[[-0.4711907207965851,0.01193658821284771,-0.8819506168365479,-2.2591426372528076],[0.0578199103474617,0.9981757402420044,-0.01738123409450054,0.8869170546531677],[0.8801342248916626,-0.059184178709983826,-0.47102129459381104,1.1249463558197021],[0.0,0.0,0.0,1.0]]},{"object_config":"036_wood_block.object_config.json","transform":[[-0.46661514043807983,0.0012824517907574773,-0.8844597935676575,-2.3286635875701904],[0.0016115076141431928,0.9999985098838806,0.0005997971165925264,0.9619888663291931],[0.8844591975212097,-0.0011454392224550247,-0.46661651134490967,2.601762533187866],[0.0,0.0,0.0,1.0]]},{"object_config":"037_scissors.object_config.json","transform":[[-0.42403823137283325,0.1283302903175354,-0.8965060114860535,-2.3702516555786133],[0.08774726837873459,0.9910739660263062,0.10036365687847137,0.8663186430931091],[0.9013834595680237,-0.036107923835515976,-0.43151384592056274,1.1883333921432495],[0.0,0.0,0.0,1.0]]},{"object_config":"038_padlock.object_config.json","transform":[[-0.6587000489234924,-0.126155823469162,-0.741753876209259,-2.199523448944092],[-0.1378788948059082,0.9893880486488342,-0.04583221673965454,0.873385488986969],[0.7396644949913025,0.07208251953125,-0.6691042184829712,0.4166679382324219],[0.0,0.0,0.0,1.0]]},{"object_config":"042_adjustable_wrench.object_config.json","transform":[[-0.7891583442687988,0.024613600224256516,-0.6136965751647949,3.91755747795105],[0.051679883152246475,0.9983142614364624,-0.026416143402457237,0.631993293762207],[0.6120119094848633,-0.05256228148937225,-0.7891000509262085,4.403133869171143],[0.0,0.0,0.0,1.0]]},{"object_config":"044_flat_screwdriver.object_config.json","transform":[[0.9629233479499817,-0.10216096043586731,0.24968309700489044,0.900664746761322],[-0.2007921040058136,-0.8895182609558105,0.41041356325149536,0.4155260920524597],[0.180169478058815,-0.4453312158584595,-0.877051055431366,4.987049102783203],[0.0,0.0,0.0,1.0]]},{"object_config":"048_hammer.object_config.json","transform":[[-0.04379833862185478,-0.0019655106589198112,-0.999038577079773,-2.353696584701538],[0.004790409002453089,0.9999861717224121,-0.002177388872951269,0.8751477599143982],[0.9990290403366089,-0.004881168715655804,-0.04378831386566162,0.915011465549469],[0.0,0.0,0.0,1.0]]},{"object_config":"051_large_clamp.object_config.json","transform":[[-0.745241105556488,0.09911110997200012,0.6593884825706482,4.182163238525391],[0.1797265112400055,0.982149600982666,0.05550234392285347,0.6434330940246582],[-0.6421172022819519,0.15987218916416168,-0.7497511506080627,5.525864124298096],[0.0,0.0,0.0,1.0]]},{"object_config":"056_tennis_ball.object_config.json","transform":[[-0.340232253074646,-0.9380814433097839,0.06515595316886902,-2.4483306407928467],[0.7660570740699768,-0.23632299900054932,0.5977524518966675,0.8925227522850037],[-0.5453426837921143,0.25328782200813293,0.7990286350250244,2.6821556091308594],[0.0,0.0,0.0,1.0]]},{"object_config":"072-d_toy_airplane.object_config.json","transform":[[-0.35873883962631226,-0.00017038453370332718,0.9334380030632019,2.1498472690582275],[0.003640629816800356,0.9999921321868896,0.001581699587404728,0.9667111039161682],[-0.9334309697151184,0.003965719137340784,-0.3587353825569153,7.351946830749512],[0.0,0.0,0.0,1.0]]},{"object_config":"073-g_lego_duplo.object_config.json","transform":[[-0.9267804622650146,-0.001099078101105988,0.3756016790866852,-2.252023458480835],[-0.0032378993928432465,0.9999819397926331,-0.0050632464699447155,0.8883429169654846],[-0.3755893409252167,-0.005908678751438856,-0.9267672896385193,1.538431167602539],[0.0,0.0,0.0,1.0]]},{"object_config":"077_rubiks_cube.object_config.json","transform":[[-0.8711001873016357,-0.011786053888499737,-0.4909633696079254,4.008538246154785],[-0.015767820179462433,0.9998677968978882,0.003973532933741808,0.6551008224487305],[0.49085161089897156,0.011202769353985786,-0.8711708784103394,5.203495502471924],[0.0,0.0,0.0,1.0]]},{"object_config":"frl_apartment_book_05.object_config.json","transform":[[-0.6167157888412476,-3.68281762348488e-05,0.7871858477592468,0.7570098638534546],[-6.477348506450653e-07,1.0,4.627713860827498e-05,0.49098706245422363],[-0.7871858477592468,2.8029953682562336e-05,-0.6167157888412476,4.706568717956543],[0.0,0.0,0.0,1.0]]},{"object_config":"frl_apartment_bowl_02.object_config.json","transform":[[0.852476954460144,0.00017276006110478193,-0.5227648019790649,-2.1819164752960205],[-0.00017904808919411153,1.0,3.8498583307955414e-05,0.9251242280006409],[0.5227648019790649,6.078088335925713e-05,0.852476954460144,2.8306000232696533],[0.0,0.0,0.0,1.0]]},{"object_config":"frl_apartment_cup_03.object_config.json","transform":[[0.9832033514976501,0.16993431746959686,-0.06658441573381424,0.9470873475074768],[-0.17162923514842987,0.9849466681480408,-0.020578403025865555,0.4393279552459717],[0.062085118144750595,0.03166058659553528,0.9975686073303223,5.223694801330566],[0.0,0.0,0.0,1.0]]}],"rigid_objs":[[130,1292],[0,1293],[2,1294],[3,1295],[4,1296],[5,1297],[6,1298],[7,1299],[8,1300],[8,1301],[9,1302],[10,1303],[12,1304],[13,1305],[14,1306],[15,1307],[16,1308],[17,1309],[18,1310],[19,1311],[109,1312],[20,1313],[21,1314],[22,1315],[23,1316],[24,1317],[123,1318],[110,1319],[92,1320],[141,1321],[31,1322],[142,1323],[143,1324],[144,1325]],"sampled_entities":{"source_receptacle_name":"receptacle_aabb_counter_left_kitchen_counter","target_object_name":"cleanser","target_receptacle_name":"receptacle_aabb_counter_right_kitchen_counter"},"sampler_info":{},"scene_dataset_config":"data/replica_cad/replicaCAD.scene_dataset_config.json","scene_id":"data/replica_cad/configs/scenes/v3_sc3_staging_05.scene_instance.json","start_position":[0,0,0],"start_preds":[],"start_rotation":[0,0,0,1],"subgoals":[["robot_at_obj(021_bleach_cleanser_:0000)","robot_at(receptacle_aabb_sink_kitchen_counter)","robot_at(receptacle_aabb_counter_left_kitchen_counter)","robot_at(receptacle_aabb_middle_topfrl_apartment_refrigerator)","robot_at(receptacle_aabb_drawer_left_top_frl_apartment_kitchen_counter)","robot_at(021_bleach_cleanser_:0000)"],["holding(021_bleach_cleanser_:0000)","robot_at_obj(021_bleach_cleanser_:0000)","robot_at(receptacle_aabb_sink_kitchen_counter)","robot_at(receptacle_aabb_counter_left_kitchen_counter)","robot_at(receptacle_aabb_middle_topfrl_apartment_refrigerator)","robot_at(receptacle_aabb_drawer_left_top_frl_apartment_kitchen_counter)","robot_at(021_bleach_cleanser_:0000)"],["on_top(021_bleach_cleanser_:0000,receptacle_aabb_counter_right_kitchen_counter)","holding(021_bleach_cleanser_:0000)","robot_at_obj(021_bleach_cleanser_:0000)","robot_at(receptacle_aabb_sink_kitchen_counter)","robot_at(receptacle_aabb_counter_right_kitchen_counter)","robot_at(receptacle_aabb_drawer_left_top_frl_apartment_kitchen_counter)","robot_at(receptacle_aabb_drawer_right_top_frl_apartment_kitchen_counter)","robot_at(021_bleach_cleanser_:0000)"],["on_top(021_bleach_cleanser_:0000,receptacle_aabb_counter_right_kitchen_counter)","robot_at_obj(021_bleach_cleanser_:0000)","robot_at(receptacle_aabb_sink_kitchen_counter)","robot_at(receptacle_aabb_counter_right_kitchen_counter)","robot_at(receptacle_aabb_drawer_left_top_frl_apartment_kitchen_counter)","robot_at(receptacle_aabb_drawer_right_top_frl_apartment_kitchen_counter)","robot_at(021_bleach_cleanser_:0000)"]],"target_receptacles":[],"targets":{}},"observations":[],"question":{"options":[],"original":"I spilt something and need to clean it. Can you bring something to the right counter to help?","text":"I spilt something and need to clean it. Can you bring something to the right counter to help?"},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"Habitat-Sim 0.3.0 / ReplicaCAD / YCB","eval_set":"common_sense","mode":"interactive","observation_policy":"current RGB and upstream feedback; hidden goals/poses are evaluator-only","repo":"EmbodiedBench/EmbodiedBench","revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","selected_index":38},"sampling":{"component_id":"0b6b6539c7121882b660","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":2,"stratum_pool":50},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"embodiedbench/envs/eb_habitat/datasets/common_sense.pickle","annotation_sha256":"2242c0f236e4bf3b751eeec371b5ff8bac72fd271a84eed6b49b656e3e21af17","host":"github","license":"not-specified; underlying simulator/data terms apply","media_policy":"runtime simulator; no trajectories supplied as observations","repo":"EmbodiedBench/EmbodiedBench","revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","row_sha256":"007b6390cda657371e62c129c9893861fe37f1b54d74358f4c542a387f052575","sample_id":"common_sense/38","split":"common_sense","upstream_dataset":"EB-Habitat","url":"https://github.com/EmbodiedBench/EmbodiedBench"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_environment_success","original_answer":null},"task":{"category":"common_sense","role":"spatial_core","skill_tags":["common_sense","common_sense"],"stratum":"EB-Habitat/common_sense/common_sense","subcategory":"common_sense"},"transforms":[]}
{"dataset":"EB-Habitat","group":{"id":"ReplicaCAD/data/replica_cad/configs/scenes/v3_sc3_staging_05.scene_instance.json","kind":"scene","scene":"data/replica_cad/configs/scenes/v3_sc3_staging_05.scene_instance.json"},"id":"f3df241359619e1f07d4","native_annotation":{"additional_obj_config_paths":["data/objects/ycb/configs"],"ao_states":{"77":{"2":0.0},"78":{"1":0.0,"2":0.0,"3":0.0,"4":0.0,"5":0.0,"6":0.0,"7":0.0}},"episode_id":"198","goal_preds":{"expr_type":"AND","inputs":[{"expr_type":"block","name":"X"},{"expr_type":"can","name":"Y"}],"quantifier":"EXISTS","sub_exprs":["closed_fridge(fridge_push_point)","on_top(X, receptacle_aabb_counter_left_kitchen_counter)","on_top(Y, receptacle_aabb_Sofa_frl_apartment_sofa)","not_holding()"]},"goal_receptacles":[],"idx_to_name":{"0":"007_tuna_fish_can.object_config.json","1":"008_pudding_box.object_config.json","10":"021_bleach_cleanser.object_config.json","100":"004_sugar_box_:0000","101":"055_baseball_:0000","102":"051_large_clamp_:0000","103":"044_flat_screwdriver_:0000","104":"010_potted_meat_can_:0000","105":"004_sugar_box_:0001","106":"072-a_toy_airplane_:0000","107":"073-f_lego_duplo_:0000","108":"frl_apartment_book_03_:0000","109":"024_bowl_:0000","11":"025_mug.object_config.json","110":"065-c_cups_:0000","111":"036_wood_block.object_config.json","112":"050_medium_clamp.object_config.json","113":"053_mini_soccer_ball.object_config.json","114":"072-b_toy_airplane.object_config.json","115":"frl_apartment_book_05.object_config.json","116":"frl_apartment_bowl_06.object_config.json","117":"frl_apartment_cup_05.object_config.json","118":"072-b_toy_airplane_:0000","119":"053_mini_soccer_ball_:0000","12":"026_sponge.object_config.json","120":"050_medium_clamp_:0000","121":"036_wood_block_:0000","122":"frl_apartment_book_05_:0000","123":"frl_apartment_bowl_06_:0000","124":"frl_apartment_cup_05_:0000","125":"002_master_chef_can.object_config.json","126":"072-e_toy_airplane.object_config.json","127":"frl_apartment_book_01.object_config.json","128":"002_master_chef_can_:0000","129":"002_master_chef_can_:0001","13":"028_skillet_lid.object_config.json","130":"072-e_toy_airplane_:0000","131":"frl_apartment_book_01_:0000","132":"054_softball.object_config.json","133":"065-j_cups.object_config.json","134":"073-e_lego_duplo.object_config.json","135":"frl_apartment_bowl_02.object_config.json","136":"054_softball_:0000","137":"051_large_clamp_:0001","138":"073-e_lego_duplo_:0000","139":"frl_apartment_bowl_02_:0000","14":"029_plate.object_config.json","140":"065-j_cups_:0000","141":"009_gelatin_box.object_config.json","142":"057_racquetball.object_config.json","143":"frl_apartment_book_06.object_config.json","144":"frl_apartment_bowl_07.object_config.json","145":"frl_apartment_cup_03.object_config.json","146":"057_racquetball_:0000","147":"009_gelatin_box_:0000","148":"frl_apartment_book_06_:0000","149":"frl_apartment_bowl_07_:0000","15":"031_spoon.object_config.json","150":"frl_apartment_cup_03_:0000","151":"005_tomato_soup_can.object_config.json","152":"frl_apartment_book_02.object_config.json","153":"005_tomato_soup_can_:0000","154":"frl_apartment_book_02_:0000","155":"065-f_cups.object_config.json","156":"072-c_toy_airplane.object_config.json","157":"073-d_lego_duplo.object_config.json","158":"frl_apartment_bowl_01.object_config.json","159":"065-f_cups_:0000","16":"032_knife.object_config.json","160":"072-c_toy_airplane_:0000","161":"073-d_lego_duplo_:0000","162":"frl_apartment_bowl_01_:0000","163":"065-e_cups.object_config.json","164":"073-a_lego_duplo.object_config.json","165":"016_pear_:0001","166":"073-a_lego_duplo_:0000","167":"065-e_cups_:0000","17":"033_spatula.object_config.json","18":"035_power_drill.object_config.json","19":"037_scissors.object_config.json","2":"011_banana.object_config.json","20":"038_padlock.object_config.json","21":"042_adjustable_wrench.object_config.json","22":"043_phillips_screwdriver.object_config.json","23":"048_hammer.object_config.json","24":"052_extra_large_clamp.object_config.json","25":"056_tennis_ball.object_config.json","26":"065-d_cups.object_config.json","27":"065-g_cups.object_config.json","28":"070-a_colored_wood_blocks.object_config.json","29":"070-b_colored_wood_blocks.object_config.json","3":"012_strawberry.object_config.json","30":"072-d_toy_airplane.object_config.json","31":"073-g_lego_duplo.object_config.json","32":"077_rubiks_cube.object_config.json","33":"frl_apartment_book_04.object_config.json","34":"frl_apartment_bowl_03.object_config.json","35":"070-a_colored_wood_blocks_:0000","36":"receptacle_aabb_TvStnd1_Top1_frl_apartment_tvstand","37":"056_tennis_ball_:0000","38":"052_extra_large_clamp_:0000","39":"receptacle_aabb_sink_kitchen_counter","4":"013_apple.object_config.json","40":"048_hammer_:0000","41":"043_phillips_screwdriver_:0000","42":"receptacle_aabb_Sofa_frl_apartment_sofa","43":"042_adjustable_wrench_:0000","44":"038_padlock_:0000","45":"receptacle_aabb_counter_left_kitchen_counter","46":"037_scissors_:0000","47":"070-b_colored_wood_blocks_:0000","48":"035_power_drill_:0000","49":"receptacle_aabb_counter_right_kitchen_counter","5":"014_lemon.object_config.json","50":"033_spatula_:0000","51":"032_knife_:0000","52":"031_spoon_:0000","53":"029_plate_:0000","54":"028_skillet_lid_:0000","55":"026_sponge_:0000","56":"021_bleach_cleanser_:0000","57":"018_plum_:0000","58":"017_orange_:0000","59":"016_pear_:0000","6":"015_peach.object_config.json","60":"receptacle_aabb_Tbl2_Top1_frl_apartment_table_02","61":"015_peach_:0000","62":"013_apple_:0000","63":"014_lemon_:0000","64":"007_tuna_fish_can_:0000","65":"008_pudding_box_:0000","66":"receptacle_aabb_Tbl1_Top1_frl_apartment_table_01","67":"011_banana_:0000","68":"012_strawberry_:0000","69":"072-d_toy_airplane_:0000","7":"016_pear.object_config.json","70":"073-g_lego_duplo_:0000","71":"077_rubiks_cube_:0000","72":"frl_apartment_book_04_:0000","73":"frl_apartment_bowl_03_:0000","74":"025_mug_:0000","75":"065-g_cups_:0000","76":"065-d_cups_:0000","77":"fridge_:0000","78":"kitchen_counter_:0000","79":"cab_push_point_7","8":"017_orange.object_config.json","80":"articulated_object","81":"drawer1_top","82":"cab_push_point_6","83":"drawer2_top","84":"cab_push_point_5","85":"drawer3","86":"cab_push_point_4","87":"drawer4","88":"fridge_push_point","89":"top_door","9":"018_plum.object_config.json","90":"004_sugar_box.object_config.json","91":"010_potted_meat_can.object_config.json","92":"024_bowl.object_config.json","93":"044_flat_screwdriver.object_config.json","94":"051_large_clamp.object_config.json","95":"055_baseball.object_config.json","96":"065-c_cups.object_config.json","97":"072-a_toy_airplane.object_config.json","98":"073-f_lego_duplo.object_config.json","99":"frl_apartment_book_03.object_config.json"},"info":{"object_labels":{}},"instruct_id":"e75d9d69","instruction":"If the refrigerator door is not closed, then proceed to move an block to the sofa; otherwise, place an can into the sofa.","markers":[[79,80,[0.3,0.0,0.0],81,78],[82,80,[0.3,0.0,0.0],83,78],[84,80,[0.3,0.0,0.0],85,78],[86,80,[0.3,0.0,0.0],87,78],[88,80,[0.1,-0.62,0.2],89,77]],"name_to_receptacle":[[118,66],[119,66],[120,49],[40,36],[103,42],[43,60],[44,66],[46,66],[121,45],[48,39],[50,36],[51,66],[52,60],[53,39],[54,42],[55,39],[56,49],[57,36],[58,60],[59,49],[61,39],[62,45],[63,42],[64,45],[65,66],[67,42],[68,66],[106,60],[70,36],[71,39],[122,66],[123,60],[74,66],[124,60]],"resolved_rigid_objects":[{"object_config":"007_tuna_fish_can.object_config.json","transform":[[-0.7194600105285645,0.0005228456575423479,-0.6945338249206543,-1.9744296073913574],[0.0014907096046954393,0.9999985694885254,-0.0007914099842309952,0.8757705092430115],[0.6945323944091797,-0.0016047358512878418,-0.7194597721099854,2.6848371028900146],[0.0,0.0,0.0,1.0]]},{"object_config":"008_pudding_box.object_config.json","transform":[[-0.35537347197532654,0.0035832736175507307,0.9347177743911743,0.4952016770839691],[0.0031084793154150248,0.9999916553497314,-0.002651681425049901,0.7813875079154968],[-0.934719443321228,0.001963213784620166,-0.35538166761398315,1.9549438953399658],[0.0,0.0,0.0,1.0]]},{"object_config":"011_banana.object_config.json","transform":[[-0.46836036443710327,0.3253993093967438,0.8214341402053833,0.9613862037658691],[-0.8772908449172974,-0.2816333770751953,-0.3886432945728302,0.4162370264530182],[0.10487896203994751,-0.9026616811752319,0.4173756241798401,5.717023849487305],[0.0,0.0,0.0,1.0]]},{"object_config":"012_strawberry.object_config.json","transform":[[-0.9095248579978943,0.17185185849666595,0.37846019864082336,1.4446135759353638],[0.20591531693935394,0.9772338271141052,0.051116589456796646,0.785027027130127],[-0.36105963587760925,0.12442253530025482,-0.9242054224014282,1.836094617843628],[0.0,0.0,0.0,1.0]]},{"object_config":"013_apple.object_config.json","transform":[[0.9617710113525391,0.013156191445887089,-0.27353885769844055,-1.9575252532958984],[-0.021881598979234695,0.9993436336517334,-0.028871696442365646,0.8955658674240112],[0.2729794681072235,0.03375342860817909,0.9614275693893433,2.759521484375],[0.0,0.0,0.0,1.0]]},{"object_config":"014_lemon.object_config.json","transform":[[-0.9873054027557373,-0.007973244413733482,0.1586323231458664,1.043420433998108],[0.01647978089749813,0.9882065057754517,0.15223751962184906,0.43010619282722473],[-0.15797533094882965,0.15291915833950043,-0.9755302667617798,5.488248825073242],[0.0,0.0,0.0,1.0]]},{"object_config":"015_peach.object_config.json","transform":[[0.3221064805984497,-0.8544421792030334,0.40764737129211426,-2.230242967605591],[-0.705873429775238,-0.5037026405334473,-0.4980233311653137,0.7323659062385559],[0.6308648586273193,-0.1273307204246521,-0.7653740644454956,1.8312932252883911],[0.0,0.0,0.0,1.0]]},{"object_config":"016_pear.object_config.json","transform":[[-0.22021949291229248,-0.9230953454971313,0.31527483463287354,-1.9591563940048218],[0.8821886777877808,-0.05055999755859375,0.4681737720966339,0.8862385153770447],[-0.416228711605072,0.38123294711112976,0.8254786729812622,0.42673251032829285],[0.0,0.0,0.0,1.0]]},{"object_config":"017_orange.object_config.json","transform":[[0.7156031131744385,-0.01877715066075325,-0.6982547044754028,2.45674729347229],[0.0354391410946846,0.9993271827697754,0.009446180425584316,0.9694671630859375],[0.6976075172424316,-0.03150526061654091,0.7157870531082153,7.2928338050842285],[0.0,0.0,0.0,1.0]]},{"object_config":"018_plum.object_config.json","transform":[[-0.1225096806883812,0.05091405287384987,-0.99116051197052,4.002262115478516],[0.017355535179376602,0.9986404776573181,0.049153100699186325,0.6526345610618591],[0.9923155307769775,-0.011180389672517776,-0.12322676181793213,4.981231212615967],[0.0,0.0,0.0,1.0]]},{"object_config":"021_bleach_cleanser.object_config.json","transform":[[-0.01679769903421402,-0.002732222666963935,0.9998551607131958,-2.407421588897705],[0.00042821280658245087,0.9999961256980896,0.0027398020029067993,0.9843325614929199],[-0.9998588562011719,0.0004741729935631156,-0.016796469688415527,0.5676703453063965],[0.0,0.0,0.0,1.0]]},{"object_config":"025_mug.object_config.json","transform":[[0.006464223377406597,-0.0021826636511832476,0.9999768137931824,0.6989922523498535],[0.003190812421962619,0.9999926090240479,0.0021620714105665684,0.8028501272201538],[-0.9999740719795227,0.0031767617911100388,0.006471157073974609,1.8324068784713745],[0.0,0.0,0.0,1.0]]},{"object_config":"026_sponge.object_config.json","transform":[[-0.050639890134334564,-0.017780061811208725,0.9985586404800415,-2.2513723373413086],[0.11639125645160675,0.9929234385490417,0.023582283407449722,0.7055352926254272],[-0.9919115304946899,0.11741770803928375,-0.04821211099624634,2.118858814239502],[0.0,0.0,0.0,1.0]]},{"object_config":"028_skillet_lid.object_config.json","transform":[[-0.5110117197036743,-0.00569898821413517,0.8595549464225769,1.1066867113113403],[0.00336249265819788,0.9999571442604065,0.008628904819488525,0.44070005416870117],[-0.8595672249794006,0.007299717981368303,-0.5109706521034241,5.281161785125732],[0.0,0.0,0.0,1.0]]},{"object_config":"029_plate.object_config.json","transform":[[0.9945124387741089,0.010040770284831524,-0.10413532704114914,-2.076662302017212],[-0.00844720657914877,0.9998405575752258,0.015732573345303535,0.6973477005958557],[0.10427669435739517,-0.014766586944460869,0.9944387078285217,1.7802097797393799],[0.0,0.0,0.0,1.0]]},{"object_config":"031_spoon.object_config.json","transform":[[-0.885787844657898,-0.027713190764188766,-0.46326252818107605,1.8360258340835571],[0.07171787321567535,0.9780502915382385,-0.19563789665699005,0.9445701837539673],[0.45851579308509827,-0.20651783049106598,-0.8643575310707092,7.574378490447998],[0.0,0.0,0.0,1.0]]},{"object_config":"032_knife.object_config.json","transform":[[0.15811264514923096,0.37943756580352783,-0.9116072058677673,1.3635894060134888],[-0.04287506639957428,0.9249876737594604,0.3775705099105835,0.7700287103652954],[0.9864898324012756,-0.02061346173286438,0.1625206470489502,1.3854950666427612],[0.0,0.0,0.0,1.0]]},{"object_config":"033_spatula.object_config.json","transform":[[-0.23816904425621033,-0.31187689304351807,-0.9197871088981628,4.0697197914123535],[0.15680427849292755,0.9222673177719116,-0.3533206880092621,0.6411129832267761],[0.9584820866584778,-0.2283766120672226,-0.17075186967849731,5.398473739624023],[0.0,0.0,0.0,1.0]]},{"object_config":"035_power_drill.object_config.json","transform":[[-0.953985333442688,0.1467755287885666,0.26147547364234924,-2.136923313140869],[0.14618374407291412,0.9890167117118835,-0.021823575720191002,0.7358441948890686],[-0.26180675625801086,0.017404096201062202,-0.9649636149406433,2.0100972652435303],[0.0,0.0,0.0,1.0]]},{"object_config":"036_wood_block.object_config.json","transform":[[-0.9994979500770569,0.0009610666893422604,0.03166695684194565,-2.377601146697998],[0.0009522989857941866,0.999999463558197,-0.0002919537655543536,0.9619802236557007],[-0.03166722506284714,-0.00026165079907514155,-0.9994983673095703,2.9015634059906006],[0.0,0.0,0.0,1.0]]},{"object_config":"037_scissors.object_config.json","transform":[[-0.9451514482498169,0.05715286359190941,0.3215934932231903,0.9411678910255432],[0.09439106285572052,0.9903568625450134,0.10140788555145264,0.7693268060684204],[-0.3126966059207916,0.12620136141777039,-0.9414319396018982,2.0451853275299072],[0.0,0.0,0.0,1.0]]},{"object_config":"038_padlock.object_config.json","transform":[[0.4398244619369507,0.09676128625869751,0.8928558826446533,0.9124158620834351],[-0.13859272003173828,0.989582359790802,-0.038972463458776474,0.776482105255127],[-0.8873254060745239,-0.10660228133201599,0.4486529231071472,1.8600577116012573],[0.0,0.0,0.0,1.0]]},{"object_config":"042_adjustable_wrench.object_config.json","transform":[[-0.9970443844795227,0.052950482815504074,0.05567053705453873,1.8128212690353394],[0.05154773220419884,0.9983231425285339,-0.026339398697018623,0.9395260214805603],[-0.056971870362758636,-0.023391852155327797,-0.9981019496917725,7.906261444091797],[0.0,0.0,0.0,1.0]]},{"object_config":"044_flat_screwdriver.object_config.json","transform":[[-0.8667827248573303,0.4974663555622101,0.034869179129600525,0.7371864914894104],[0.45413216948509216,0.8162977695465088,-0.3569621443748474,0.4205419421195984],[-0.20604024827480316,-0.293573260307312,-0.9334682822227478,4.647287368774414],[0.0,0.0,0.0,1.0]]},{"object_config":"048_hammer.object_config.json","transform":[[0.9661258459091187,-0.004128982312977314,0.25803831219673157,3.7694969177246094],[0.004840342327952385,0.9999859929084778,-0.0021216035820543766,0.6422742605209351],[-0.25802597403526306,0.0032987301237881184,0.9661323428153992,4.542591571807861],[0.0,0.0,0.0,1.0]]},{"object_config":"050_medium_clamp.object_config.json","transform":[[0.6891841888427734,0.12953945994377136,-0.7129128575325012,-2.201672315597534],[-0.13339164853096008,0.9897559285163879,0.05089125409722328,0.872296154499054],[0.7122021317481995,0.06002316251397133,0.6994035840034485,1.334068775177002],[0.0,0.0,0.0,1.0]]},{"object_config":"053_mini_soccer_ball.object_config.json","transform":[[-0.03527321666479111,-0.032919321209192276,-0.9988354444503784,0.7682866454124451],[0.03950727358460426,0.998630166053772,-0.034307729452848434,0.8248668909072876],[0.9985965490341187,-0.04067140445113182,-0.03392434120178223,1.995064616203308],[0.0,0.0,0.0,1.0]]},{"object_config":"072-a_toy_airplane.object_config.json","transform":[[-0.7798382043838501,0.002863459289073944,-0.6259745359420776,2.472780227661133],[0.0021492834202945232,0.9999958872795105,0.001896809320896864,1.0248249769210815],[0.6259773969650269,0.00013380759628489614,-0.7798411250114441,7.56460428237915],[0.0,0.0,0.0,1.0]]},{"object_config":"072-b_toy_airplane.object_config.json","transform":[[-0.6589329242706299,-0.004315825179219246,0.7521895170211792,1.1063878536224365],[-0.04435401409864426,0.9984665513038635,-0.033126100897789,0.7918486595153809],[-0.7508931159973145,-0.055190496146678925,-0.6581138968467712,1.7074222564697266],[0.0,0.0,0.0,1.0]]},{"object_config":"073-g_lego_duplo.object_config.json","transform":[[-0.1342078596353531,0.003971252124756575,0.9909452795982361,4.2473859786987305],[-0.0033573845867067575,0.9999844431877136,-0.004462181590497494,0.6554619669914246],[-0.9909475445747375,-0.003925844095647335,-0.13419240713119507,5.151956081390381],[0.0,0.0,0.0,1.0]]},{"object_config":"077_rubiks_cube.object_config.json","transform":[[-0.8805645704269409,0.014524634927511215,0.4737042784690857,-2.243884563446045],[-0.007845370098948479,0.9989465475082397,-0.045213211327791214,0.7368276715278625],[-0.4738619327545166,-0.04352952167391777,-0.8795230388641357,1.9603215456008911],[0.0,0.0,0.0,1.0]]},{"object_config":"frl_apartment_book_05.object_config.json","transform":[[-0.9110167622566223,0.0003188197151757777,0.41236987709999084,1.5786954164505005],[-7.330441439989954e-05,0.9999995827674866,-0.0009350855834782124,0.8494605422019958],[-0.4123699963092804,-0.0008821069495752454,-0.9110163450241089,2.010528802871704],[0.0,0.0,0.0,1.0]]},{"object_config":"frl_apartment_bowl_06.object_config.json","transform":[[0.6641191244125366,-0.00021433531946968287,-0.747626781463623,2.3155953884124756],[0.00017614341049920768,1.0,-0.00013021886115893722,0.9706926345825195],[0.747626781463623,-4.520870788837783e-05,0.6641191244125366,7.885782718658447],[0.0,0.0,0.0,1.0]]},{"object_config":"frl_apartment_cup_05.object_config.json","transform":[[0.9625670909881592,0.13250721991062164,-0.23644542694091797,1.9033039808273315],[-0.14598901569843292,0.9884620904922485,-0.04037231579422951,0.9649530649185181],[0.22836771607398987,0.0733795017004013,0.9708056449890137,7.829556465148926],[0.0,0.0,0.0,1.0]]}],"rigid_objs":[[0,452],[1,453],[2,454],[3,455],[4,456],[5,457],[6,458],[7,459],[8,460],[9,461],[10,462],[11,463],[12,464],[13,465],[14,466],[15,467],[16,468],[17,469],[18,470],[111,471],[19,472],[20,473],[21,474],[93,475],[23,476],[112,477],[113,478],[97,479],[114,480],[31,481],[32,482],[115,483],[116,484],[117,485]],"sampled_entities":{"source_receptacle_name1":"receptacle_aabb_counter_left_kitchen_counter","source_receptacle_name2":"receptacle_aabb_counter_left_kitchen_counter","target_object_name1":"block","target_object_name2":"can","target_receptacle_name":"receptacle_aabb_Sofa_frl_apartment_sofa"},"sampler_info":{},"scene_dataset_config":"data/replica_cad/replicaCAD.scene_dataset_config.json","scene_id":"data/replica_cad/configs/scenes/v3_sc3_staging_05.scene_instance.json","start_position":[0,0,0],"start_preds":["closed_fridge(fridge_push_point)"],"start_rotation":[0,0,0,1],"subgoals":[["robot_at_obj(007_tuna_fish_can_:0000)","robot_at_obj(036_wood_block_:0000)","robot_at_obj(077_rubiks_cube_:0000)","robot_at(cab_push_point_7)","robot_at(cab_push_point_6)","robot_at(fridge_push_point)","robot_at(receptacle_aabb_sink_kitchen_counter)","robot_at(receptacle_aabb_counter_left_kitchen_counter)","robot_at(receptacle_aabb_middle_topfrl_apartment_refrigerator)","robot_at(receptacle_aabb_drawer_left_top_frl_apartment_kitchen_counter)","robot_at(007_tuna_fish_can_:0000)","robot_at(036_wood_block_:0000)","robot_at(077_rubiks_cube_:0000)"],["holding(007_tuna_fish_can_:0000)","robot_at_obj(007_tuna_fish_can_:0000)","robot_at_obj(036_wood_block_:0000)","robot_at_obj(077_rubiks_cube_:0000)","robot_at(cab_push_point_7)","robot_at(cab_push_point_6)","robot_at(fridge_push_point)","robot_at(receptacle_aabb_sink_kitchen_counter)","robot_at(receptacle_aabb_counter_left_kitchen_counter)","robot_at(receptacle_aabb_middle_topfrl_apartment_refrigerator)","robot_at(receptacle_aabb_drawer_left_top_frl_apartment_kitchen_counter)","robot_at(007_tuna_fish_can_:0000)","robot_at(036_wood_block_:0000)","robot_at(077_rubiks_cube_:0000)"],["holding(007_tuna_fish_can_:0000)","robot_at_obj(007_tuna_fish_can_:0000)","robot_at(receptacle_aabb_Chr1_Top1_frl_apartment_chair_01)","robot_at(receptacle_aabb_Sofa_frl_apartment_sofa)","robot_at(007_tuna_fish_can_:0000)"],["on_top(007_tuna_fish_can_:0000,receptacle_aabb_Sofa_frl_apartment_sofa)","robot_at_obj(007_tuna_fish_can_:0000)","robot_at(receptacle_aabb_Chr1_Top1_frl_apartment_chair_01)","robot_at(receptacle_aabb_Sofa_frl_apartment_sofa)","robot_at(007_tuna_fish_can_:0000)"]],"target_receptacles":[],"targets":{}},"observations":[],"question":{"options":[],"original":"If the refrigerator door is not closed, then proceed to move an block to the sofa; otherwise, place an can into the sofa.","text":"If the refrigerator door is not closed, then proceed to move an block to the sofa; otherwise, place an can into the sofa."},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"Habitat-Sim 0.3.0 / ReplicaCAD / YCB","eval_set":"complex_instruction","mode":"interactive","observation_policy":"current RGB and upstream feedback; hidden goals/poses are evaluator-only","repo":"EmbodiedBench/EmbodiedBench","revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","selected_index":13},"sampling":{"component_id":"0b6b6539c7121882b660","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":18,"stratum_pool":50},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"embodiedbench/envs/eb_habitat/datasets/complex_instruction.pickle","annotation_sha256":"76d345f1ffe8680f462aaf7291b827704950d994364f70a254bfb470e8ba715c","host":"github","license":"not-specified; underlying simulator/data terms apply","media_policy":"runtime simulator; no trajectories supplied as observations","repo":"EmbodiedBench/EmbodiedBench","revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","row_sha256":"8b6b535780a0cde62deed8365219d91615e63d77e133c0184beae879e6819e0b","sample_id":"complex_instruction/13","split":"complex_instruction","upstream_dataset":"EB-Habitat","url":"https://github.com/EmbodiedBench/EmbodiedBench"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_environment_success","original_answer":null},"task":{"category":"complex_instruction","role":"spatial_core","skill_tags":["complex_instruction","complex_instruction"],"stratum":"EB-Habitat/complex_instruction/complex_instruction","subcategory":"complex_instruction"},"transforms":[]}
{"dataset":"EB-Habitat","group":{"id":"ReplicaCAD/data/replica_cad/configs/scenes/v3_sc3_staging_09.scene_instance.json","kind":"scene","scene":"data/replica_cad/configs/scenes/v3_sc3_staging_09.scene_instance.json"},"id":"16f61edcee0d42327f00","native_annotation":{"additional_obj_config_paths":["data/objects/ycb/configs"],"ao_states":{"77":{"2":0.0},"78":{"1":0.0,"2":0.0,"3":0.0,"4":0.0,"5":0.0,"6":0.0,"7":0.0}},"episode_id":"63","goal_preds":{"expr_type":"AND","inputs":[{"expr_type":"cup","name":"X"}],"quantifier":"EXISTS","sub_exprs":["on_top(X, receptacle_aabb_counter_left_kitchen_counter)","not_holding()"]},"goal_receptacles":[],"idx_to_name":{"0":"007_tuna_fish_can.object_config.json","1":"008_pudding_box.object_config.json","10":"021_bleach_cleanser.object_config.json","100":"004_sugar_box_:0000","101":"055_baseball_:0000","102":"051_large_clamp_:0000","103":"044_flat_screwdriver_:0000","104":"010_potted_meat_can_:0000","105":"004_sugar_box_:0001","106":"072-a_toy_airplane_:0000","107":"073-f_lego_duplo_:0000","108":"frl_apartment_book_03_:0000","109":"024_bowl_:0000","11":"025_mug.object_config.json","110":"065-c_cups_:0000","111":"036_wood_block.object_config.json","112":"050_medium_clamp.object_config.json","113":"053_mini_soccer_ball.object_config.json","114":"072-b_toy_airplane.object_config.json","115":"frl_apartment_book_05.object_config.json","116":"frl_apartment_bowl_06.object_config.json","117":"frl_apartment_cup_05.object_config.json","118":"072-b_toy_airplane_:0000","119":"053_mini_soccer_ball_:0000","12":"026_sponge.object_config.json","120":"050_medium_clamp_:0000","121":"036_wood_block_:0000","122":"frl_apartment_book_05_:0000","123":"frl_apartment_bowl_06_:0000","124":"frl_apartment_cup_05_:0000","125":"002_master_chef_can.object_config.json","126":"072-e_toy_airplane.object_config.json","127":"frl_apartment_book_01.object_config.json","128":"002_master_chef_can_:0000","129":"002_master_chef_can_:0001","13":"028_skillet_lid.object_config.json","130":"072-e_toy_airplane_:0000","131":"frl_apartment_book_01_:0000","132":"054_softball.object_config.json","133":"065-j_cups.object_config.json","134":"073-e_lego_duplo.object_config.json","135":"frl_apartment_bowl_02.object_config.json","136":"054_softball_:0000","137":"051_large_clamp_:0001","138":"073-e_lego_duplo_:0000","139":"frl_apartment_bowl_02_:0000","14":"029_plate.object_config.json","140":"065-j_cups_:0000","141":"009_gelatin_box.object_config.json","142":"057_racquetball.object_config.json","143":"frl_apartment_book_06.object_config.json","144":"frl_apartment_bowl_07.object_config.json","145":"frl_apartment_cup_03.object_config.json","146":"057_racquetball_:0000","147":"009_gelatin_box_:0000","148":"frl_apartment_book_06_:0000","149":"frl_apartment_bowl_07_:0000","15":"031_spoon.object_config.json","150":"frl_apartment_cup_03_:0000","151":"005_tomato_soup_can.object_config.json","152":"frl_apartment_book_02.object_config.json","153":"005_tomato_soup_can_:0000","154":"frl_apartment_book_02_:0000","155":"065-f_cups.object_config.json","156":"072-c_toy_airplane.object_config.json","157":"073-d_lego_duplo.object_config.json","158":"frl_apartment_bowl_01.object_config.json","159":"065-f_cups_:0000","16":"032_knife.object_config.json","160":"072-c_toy_airplane_:0000","161":"073-d_lego_duplo_:0000","162":"frl_apartment_bowl_01_:0000","163":"065-e_cups.object_config.json","164":"073-a_lego_duplo.object_config.json","165":"016_pear_:0001","166":"073-a_lego_duplo_:0000","167":"065-e_cups_:0000","17":"033_spatula.object_config.json","18":"035_power_drill.object_config.json","19":"037_scissors.object_config.json","2":"011_banana.object_config.json","20":"038_padlock.object_config.json","21":"042_adjustable_wrench.object_config.json","22":"043_phillips_screwdriver.object_config.json","23":"048_hammer.object_config.json","24":"052_extra_large_clamp.object_config.json","25":"056_tennis_ball.object_config.json","26":"065-d_cups.object_config.json","27":"065-g_cups.object_config.json","28":"070-a_colored_wood_blocks.object_config.json","29":"070-b_colored_wood_blocks.object_config.json","3":"012_strawberry.object_config.json","30":"072-d_toy_airplane.object_config.json","31":"073-g_lego_duplo.object_config.json","32":"077_rubiks_cube.object_config.json","33":"frl_apartment_book_04.object_config.json","34":"frl_apartment_bowl_03.object_config.json","35":"070-a_colored_wood_blocks_:0000","36":"receptacle_aabb_TvStnd1_Top1_frl_apartment_tvstand","37":"056_tennis_ball_:0000","38":"052_extra_large_clamp_:0000","39":"receptacle_aabb_sink_kitchen_counter","4":"013_apple.object_config.json","40":"048_hammer_:0000","41":"043_phillips_screwdriver_:0000","42":"receptacle_aabb_Sofa_frl_apartment_sofa","43":"042_adjustable_wrench_:0000","44":"038_padlock_:0000","45":"receptacle_aabb_counter_left_kitchen_counter","46":"037_scissors_:0000","47":"070-b_colored_wood_blocks_:0000","48":"035_power_drill_:0000","49":"receptacle_aabb_counter_right_kitchen_counter","5":"014_lemon.object_config.json","50":"033_spatula_:0000","51":"032_knife_:0000","52":"031_spoon_:0000","53":"029_plate_:0000","54":"028_skillet_lid_:0000","55":"026_sponge_:0000","56":"021_bleach_cleanser_:0000","57":"018_plum_:0000","58":"017_orange_:0000","59":"016_pear_:0000","6":"015_peach.object_config.json","60":"receptacle_aabb_Tbl2_Top1_frl_apartment_table_02","61":"015_peach_:0000","62":"013_apple_:0000","63":"014_lemon_:0000","64":"007_tuna_fish_can_:0000","65":"008_pudding_box_:0000","66":"receptacle_aabb_Tbl1_Top1_frl_apartment_table_01","67":"011_banana_:0000","68":"012_strawberry_:0000","69":"072-d_toy_airplane_:0000","7":"016_pear.object_config.json","70":"073-g_lego_duplo_:0000","71":"077_rubiks_cube_:0000","72":"frl_apartment_book_04_:0000","73":"frl_apartment_bowl_03_:0000","74":"025_mug_:0000","75":"065-g_cups_:0000","76":"065-d_cups_:0000","77":"fridge_:0000","78":"kitchen_counter_:0000","79":"cab_push_point_7","8":"017_orange.object_config.json","80":"articulated_object","81":"drawer1_top","82":"cab_push_point_6","83":"drawer2_top","84":"cab_push_point_5","85":"drawer3","86":"cab_push_point_4","87":"drawer4","88":"fridge_push_point","89":"top_door","9":"018_plum.object_config.json","90":"004_sugar_box.object_config.json","91":"010_potted_meat_can.object_config.json","92":"024_bowl.object_config.json","93":"044_flat_screwdriver.object_config.json","94":"051_large_clamp.object_config.json","95":"055_baseball.object_config.json","96":"065-c_cups.object_config.json","97":"072-a_toy_airplane.object_config.json","98":"073-f_lego_duplo.object_config.json","99":"frl_apartment_book_03.object_config.json"},"info":{"object_labels":{}},"instruct_id":"f0917e29","instruction":"Instead of finding an apple, I need a cup on the left counter. Can you help?","markers":[[79,80,[0.3,0.0,0.0],81,78],[82,80,[0.3,0.0,0.0],83,78],[84,80,[0.3,0.0,0.0],85,78],[86,80,[0.3,0.0,0.0],87,78],[88,80,[0.1,-0.62,0.2],89,77]],"name_to_receptacle":[[35,36],[37,36],[38,42],[40,39],[41,49],[43,45],[44,42],[46,36],[47,49],[48,45],[50,60],[51,45],[52,45],[53,60],[54,36],[55,45],[56,36],[57,39],[58,49],[59,60],[61,66],[62,36],[63,39],[64,42],[65,60],[67,60],[68,36],[69,39],[70,66],[71,39],[72,60],[73,60],[74,66],[75,42],[76,49]],"resolved_rigid_objects":[{"object_config":"007_tuna_fish_can.object_config.json","transform":[[-0.22608208656311035,-0.00010304967872798443,0.9741083383560181,3.6355857849121094],[0.0018150818068534136,0.9999982118606567,0.0005270531983114779,0.4203025698661804],[-0.9741066694259644,0.0018872434739023447,-0.2260814905166626,5.879319667816162],[0.0,0.0,0.0,1.0]]},{"object_config":"008_pudding_box.object_config.json","transform":[[0.9978129863739014,-0.004859797656536102,0.06592080742120743,3.32159423828125],[0.0044383034110069275,0.9999687671661377,0.006538894027471542,0.9530519843101501],[-0.06595052033662796,-0.00623201671987772,0.9978034496307373,3.863821268081665],[0.0,0.0,0.0,1.0]]},{"object_config":"011_banana.object_config.json","transform":[[0.9737195372581482,0.21626178920269012,0.07142216712236404,3.321017026901245],[-0.20616747438907623,0.9702323079109192,-0.1270599067211151,0.9515042304992676],[-0.09677430242300034,0.10899578779935837,0.9893202781677246,3.500598669052124],[0.0,0.0,0.0,1.0]]},{"object_config":"012_strawberry.object_config.json","transform":[[-0.22163626551628113,-0.07533803582191467,0.9722146987915039,0.533882200717926],[0.38455602526664734,0.9094545841217041,0.15814213454723358,0.6489414572715759],[-0.896099328994751,0.4089210629463196,-0.17259645462036133,6.264065265655518],[0.0,0.0,0.0,1.0]]},{"object_config":"013_apple.object_config.json","transform":[[0.2376711219549179,0.0031018012668937445,-0.9713407754898071,0.5197889804840088],[-0.008256006985902786,0.999965250492096,0.0011730985715985298,0.6621494889259338],[0.9713106155395508,0.007740584202110767,0.23768848180770874,5.823992729187012],[0.0,0.0,0.0,1.0]]},{"object_config":"014_lemon.object_config.json","transform":[[0.41096165776252747,0.209972083568573,-0.8871428370475769,-2.0765137672424316],[-0.07295630127191544,0.9775685667991638,0.19757796823978424,0.7330147624015808],[0.9087287783622742,-0.016474321484565735,0.417061984539032,1.8444205522537231],[0.0,0.0,0.0,1.0]]},{"object_config":"015_peach.object_config.json","transform":[[0.06000375747680664,-0.7792876958847046,0.6237873435020447,0.3629986345767975],[-0.7050304412841797,-0.47546911239624023,-0.5261767506599426,0.7882487773895264],[0.7066343426704407,-0.408216267824173,-0.5779516696929932,1.340270757675171],[0.0,0.0,0.0,1.0]]},{"object_config":"016_pear.object_config.json","transform":[[0.7728776931762695,-0.27853482961654663,0.5701565742492676,3.311809539794922],[-0.4717462658882141,-0.8531493544578552,0.22269418835639954,0.9640102386474609],[0.42440035939216614,-0.44108453392982483,-0.7907779812812805,4.0911946296691895],[0.0,0.0,0.0,1.0]]},{"object_config":"017_orange.object_config.json","transform":[[0.04912562668323517,0.061729833483695984,0.9968831539154053,-2.057953119277954],[-0.07040460407733917,0.9958195686340332,-0.05819449573755264,0.8948475122451782],[-0.9963080883026123,-0.06732632964849472,0.05326634645462036,0.7745423316955566],[0.0,0.0,0.0,1.0]]},{"object_config":"018_plum.object_config.json","transform":[[0.7249096035957336,-0.0009774614591151476,-0.688843309879303,-2.245450258255005],[0.006004225462675095,0.9999699592590332,0.004899647086858749,0.7330441474914551],[0.6888177990913391,-0.007687771692872047,0.7248937487602234,1.8526690006256104],[0.0,0.0,0.0,1.0]]},{"object_config":"021_bleach_cleanser.object_config.json","transform":[[-0.2127644419670105,-0.005534695461392403,0.9770879149436951,0.788466215133667],[0.0004521177615970373,0.9999833106994629,0.005762836895883083,0.7513453960418701],[-0.9771035313606262,0.0016678853426128626,-0.2127583622932434,6.797173500061035],[0.0,0.0,0.0,1.0]]},{"object_config":"025_mug.object_config.json","transform":[[0.9188847541809082,-0.003530883928760886,-0.3945102393627167,0.5712556838989258],[0.0038846281822770834,0.9999924898147583,9.80159966275096e-05,0.802824854850769],[0.39450690150260925,-0.001622591051273048,0.9188915491104126,2.15390944480896],[0.0,0.0,0.0,1.0]]},{"object_config":"026_sponge.object_config.json","transform":[[-0.16481301188468933,0.002976653864607215,0.9863204956054688,-2.10553240776062],[0.005987374112010002,0.9999800324440002,-0.002017395105212927,0.8682960271835327],[-0.9863067865371704,0.005572976544499397,-0.16482752561569214,2.977813720703125],[0.0,0.0,0.0,1.0]]},{"object_config":"028_skillet_lid.object_config.json","transform":[[0.0542878583073616,0.008099906146526337,-0.9984924793243408,0.8082101345062256],[0.0033206609077751637,0.9999601244926453,0.00829235464334488,0.6633240580558777],[0.998519778251648,-0.003765828674659133,0.05425882339477539,6.286583423614502],[0.0,0.0,0.0,1.0]]},{"object_config":"029_plate.object_config.json","transform":[[0.07264020293951035,0.0027474809903651476,0.9973543882369995,3.979574203491211],[-0.0033337383065372705,0.999991238117218,-0.0025119392666965723,0.9469873905181885],[-0.9973526000976562,-0.0031424511689692736,0.07264870405197144,3.0444228649139404],[0.0,0.0,0.0,1.0]]},{"object_config":"031_spoon.object_config.json","transform":[[0.21479083597660065,0.7679141163825989,-0.6034672260284424,-2.278265953063965],[-0.27821236848831177,0.6403969526290894,0.715883731842041,0.8705698251724243],[0.9361958503723145,0.014126807451248169,0.3511946201324463,3.1558902263641357],[0.0,0.0,0.0,1.0]]},{"object_config":"032_knife.object_config.json","transform":[[-0.9891506433486938,-0.039762578904628754,0.14142288267612457,-2.0025575160980225],[-0.044795259833335876,0.9984647631645203,-0.0325811393558979,0.8668975830078125],[-0.1399102658033371,-0.03856271877884865,-0.9894132018089294,2.6328928470611572],[0.0,0.0,0.0,1.0]]},{"object_config":"033_spatula.object_config.json","transform":[[-0.8200902938842773,-0.02165912091732025,-0.5718242526054382,3.561018228530884],[0.054275527596473694,0.991834282875061,-0.11540798097848892,0.9486466646194458],[0.5696545243263245,-0.12568101286888123,-0.8122180700302124,4.120734214782715],[0.0,0.0,0.0,1.0]]},{"object_config":"035_power_drill.object_config.json","transform":[[-0.587510347366333,0.048437923192977905,0.8077656030654907,-2.1581459045410156],[0.05859850347042084,0.9981328845024109,-0.017233040183782578,0.8869093060493469],[-0.8070921897888184,0.03720926493406296,-0.5892518162727356,2.803135871887207],[0.0,0.0,0.0,1.0]]},{"object_config":"037_scissors.object_config.json","transform":[[-0.8966432809829712,0.1329261064529419,-0.4223287105560303,0.86480712890625],[0.09745776653289795,0.9897276163101196,0.1046004667878151,0.6332775950431824],[0.43189454078674316,0.05263008922338486,-0.9003872871398926,6.676286220550537],[0.0,0.0,0.0,1.0]]},{"object_config":"038_padlock.object_config.json","transform":[[-0.3836365342140198,-0.02041439339518547,-0.9232585430145264,3.4773828983306885],[-0.036854878067970276,0.9992976188659668,-0.00678161159157753,0.4179699420928955],[0.9227484464645386,0.031424906104803085,-0.38411945104599,5.8921661376953125],[0.0,0.0,0.0,1.0]]},{"object_config":"042_adjustable_wrench.object_config.json","transform":[[-0.06743068248033524,0.03016459196805954,0.9972677826881409,-1.8888213634490967],[0.051913775503635406,0.9982949495315552,-0.026685485616326332,0.8650477528572083],[-0.996372401714325,0.049972519278526306,-0.06888169050216675,2.9023194313049316],[0.0,0.0,0.0,1.0]]},{"object_config":"043_phillips_screwdriver.object_config.json","transform":[[0.7822312116622925,-0.33612242341041565,-0.5245341062545776,-2.3672728538513184],[0.5022484064102173,-0.15790654718875885,0.8501835465431213,0.8699086308479309],[-0.36859312653541565,-0.9284865260124207,0.04529751464724541,0.5367261171340942],[0.0,0.0,0.0,1.0]]},{"object_config":"048_hammer.object_config.json","transform":[[0.979124903678894,0.010693319141864777,0.2029779702425003,-2.182141065597534],[-0.007509564980864525,0.9998365044593811,-0.01644892431795597,0.6987794637680054],[-0.2031206637620926,0.014581275172531605,0.9790450930595398,2.0360701084136963],[0.0,0.0,0.0,1.0]]},{"object_config":"052_extra_large_clamp.object_config.json","transform":[[0.16522781550884247,0.052608415484428406,-0.9848513603210449,3.6282010078430176],[-0.03557783365249634,0.9982443451881409,0.04735497012734413,0.42151692509651184],[0.9856135845184326,0.027214515954256058,0.16680943965911865,5.421114921569824],[0.0,0.0,0.0,1.0]]},{"object_config":"056_tennis_ball.object_config.json","transform":[[-0.9033235907554626,-0.38076695799827576,0.1975431889295578,0.5591029524803162],[-0.4168716371059418,0.8877962827682495,-0.19502773880958557,0.6596114039421082],[-0.10111798346042633,-0.25852328538894653,-0.9606983065605164,5.501605033874512],[0.0,0.0,0.0,1.0]]},{"object_config":"065-d_cups.object_config.json","transform":[[-0.31193363666534424,0.002552041783928871,0.9501003623008728,-2.164820909500122],[0.0031570675782859325,0.9999936819076538,-0.0016495409654453397,0.8934873342514038],[-0.9500985741615295,0.002484983531758189,-0.31193971633911133,0.4420608580112457],[0.0,0.0,0.0,1.0]]},{"object_config":"065-g_cups.object_config.json","transform":[[0.9992667436599731,0.0014325575903058052,-0.03826194629073143,3.7429964542388916],[-0.0014411478769034147,0.9999989867210388,-0.0001969340955838561,0.44050461053848267],[0.03826162591576576,0.00025193081819452345,0.9992677569389343,6.12423849105835],[0.0,0.0,0.0,1.0]]},{"object_config":"070-a_colored_wood_blocks.object_config.json","transform":[[0.5708389282226562,-0.004586918745189905,-0.8210492134094238,0.8937917947769165],[0.01272047683596611,0.99991375207901,0.003257807344198227,0.7077000737190247],[0.8209635019302368,-0.012303820811212063,0.5708481073379517,5.660913944244385],[0.0,0.0,0.0,1.0]]},{"object_config":"070-b_colored_wood_blocks.object_config.json","transform":[[-0.9110860228538513,-0.0006195629830472171,-0.4122164845466614,-2.003655433654785],[-0.0005008507869206369,0.9999997615814209,-0.00039601733442395926,0.8719978928565979],[0.4122166633605957,-0.00015434685337822884,-0.9110861420631409,0.7328090667724609],[0.0,0.0,0.0,1.0]]},{"object_config":"072-d_toy_airplane.object_config.json","transform":[[0.7908512949943542,-0.0038843038491904736,0.611996054649353,-2.052927255630493],[0.004489047918468714,0.9999898076057434,0.0005459098028950393,0.739697277545929],[-0.6119918823242188,0.0023155459202826023,0.790860652923584,2.0511012077331543],[0.0,0.0,0.0,1.0]]},{"object_config":"073-g_lego_duplo.object_config.json","transform":[[0.1655864417552948,0.005530120804905891,0.986179769039154,0.6347206234931946],[-0.003237239783629775,0.9999819397926331,-0.005063963122665882,0.7913134694099426],[-0.9861899018287659,-0.0023539764806628227,0.16560137271881104,1.4004876613616943],[0.0,0.0,0.0,1.0]]},{"object_config":"077_rubiks_cube.object_config.json","transform":[[0.9340164065361023,-0.00426436448469758,0.3572046458721161,-2.1858978271484375],[0.003945054020732641,0.9999909400939941,0.001622543903067708,0.7354835867881775],[-0.35720834136009216,-0.00010629085591062903,0.9340247511863708,1.8016849756240845],[0.0,0.0,0.0,1.0]]},{"object_config":"frl_apartment_book_04.object_config.json","transform":[[0.9999654293060303,-0.005716707557439804,-0.006032153964042664,3.853522539138794],[0.0057889362797141075,0.9999108910560608,0.012025192379951477,1.0095189809799194],[0.0059628719463944435,-0.012059696018695831,0.9999094605445862,3.4368231296539307],[0.0,0.0,0.0,1.0]]},{"object_config":"frl_apartment_bowl_03.object_config.json","transform":[[-0.23333464562892914,-0.005313379690051079,-0.9723820686340332,3.371725559234619],[-0.003140426240861416,0.9999839663505554,-0.004710622597485781,0.991980254650116],[0.9723914861679077,0.001954542938619852,-0.2333475947380066,3.191706657409668],[0.0,0.0,0.0,1.0]]}],"rigid_objs":[[0,1244],[1,1245],[2,1246],[3,1247],[4,1248],[5,1249],[6,1250],[7,1251],[8,1252],[9,1253],[10,1254],[11,1255],[12,1256],[13,1257],[14,1258],[15,1259],[16,1260],[17,1261],[18,1262],[19,1263],[20,1264],[21,1265],[22,1266],[23,1267],[24,1268],[25,1269],[26,1270],[27,1271],[28,1272],[29,1273],[30,1274],[31,1275],[32,1276],[33,1277],[34,1278]],"sampled_entities":{"source_receptacle_name":"receptacle_aabb_Sofa_frl_apartment_sofa","target_object_name":"cup","target_receptacle_name":"receptacle_aabb_counter_left_kitchen_counter"},"sampler_info":{},"scene_dataset_config":"data/replica_cad/replicaCAD.scene_dataset_config.json","scene_id":"data/replica_cad/configs/scenes/v3_sc3_staging_09.scene_instance.json","start_position":[0,0,0],"start_preds":[],"start_rotation":[0,0,0,1],"subgoals":[["robot_at(receptacle_aabb_Sofa_frl_apartment_sofa)","robot_at(065-g_cups_:0000)"],["holding(065-g_cups_:0000)","robot_at(receptacle_aabb_Sofa_frl_apartment_sofa)","robot_at(065-g_cups_:0000)"],["on_top(065-g_cups_:0000,receptacle_aabb_counter_left_kitchen_counter)","holding(065-g_cups_:0000)","robot_at(receptacle_aabb_sink_kitchen_counter)","robot_at(receptacle_aabb_counter_left_kitchen_counter)","robot_at(receptacle_aabb_middle_topfrl_apartment_refrigerator)","robot_at(receptacle_aabb_drawer_left_top_frl_apartment_kitchen_counter)","robot_at(065-g_cups_:0000)","robot_at(077_rubiks_cube_:0000)"],["on_top(065-g_cups_:0000,receptacle_aabb_counter_left_kitchen_counter)","robot_at(receptacle_aabb_sink_kitchen_counter)","robot_at(receptacle_aabb_counter_left_kitchen_counter)","robot_at(receptacle_aabb_middle_topfrl_apartment_refrigerator)","robot_at(receptacle_aabb_drawer_left_top_frl_apartment_kitchen_counter)","robot_at(065-g_cups_:0000)","robot_at(077_rubiks_cube_:0000)"]],"target_receptacles":[],"targets":{}},"observations":[],"question":{"options":[],"original":"Instead of finding an apple, I need a cup on the left counter. Can you help?","text":"Instead of finding an apple, I need a cup on the left counter. Can you help?"},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"Habitat-Sim 0.3.0 / ReplicaCAD / YCB","eval_set":"complex_instruction","mode":"interactive","observation_policy":"current RGB and upstream feedback; hidden goals/poses are evaluator-only","repo":"EmbodiedBench/EmbodiedBench","revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","selected_index":36},"sampling":{"component_id":"16f61edcee0d42327f00","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":18,"stratum_pool":50},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"embodiedbench/envs/eb_habitat/datasets/complex_instruction.pickle","annotation_sha256":"76d345f1ffe8680f462aaf7291b827704950d994364f70a254bfb470e8ba715c","host":"github","license":"not-specified; underlying simulator/data terms apply","media_policy":"runtime simulator; no trajectories supplied as observations","repo":"EmbodiedBench/EmbodiedBench","revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","row_sha256":"63f667c3ae8a49e513d576d8552c5afea40b7049840aa0d6527f476535d09618","sample_id":"complex_instruction/36","split":"complex_instruction","upstream_dataset":"EB-Habitat","url":"https://github.com/EmbodiedBench/EmbodiedBench"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_environment_success","original_answer":null},"task":{"category":"complex_instruction","role":"spatial_core","skill_tags":["complex_instruction","complex_instruction"],"stratum":"EB-Habitat/complex_instruction/complex_instruction","subcategory":"complex_instruction"},"transforms":[]}
{"dataset":"EB-Habitat","group":{"id":"ReplicaCAD/data/replica_cad/configs/scenes/v3_sc3_staging_10.scene_instance.json","kind":"scene","scene":"data/replica_cad/configs/scenes/v3_sc3_staging_10.scene_instance.json"},"id":"2b7faaefc2620ab7e4e3","native_annotation":{"additional_obj_config_paths":["data/objects/ycb/configs"],"ao_states":{"77":{"2":0.0},"78":{"1":0.0,"2":0.0,"3":0.0,"4":0.0,"5":0.0,"6":0.0,"7":0.0}},"episode_id":"81","goal_preds":{"expr_type":"AND","inputs":[{"expr_type":"spoon","name":"X"}],"quantifier":"FORALL","sub_exprs":["on_top(X, receptacle_aabb_Tbl2_Top1_frl_apartment_table_02)","not_holding()"]},"goal_receptacles":[],"idx_to_name":{"0":"007_tuna_fish_can.object_config.json","1":"008_pudding_box.object_config.json","10":"021_bleach_cleanser.object_config.json","100":"053_mini_soccer_ball_:0000","101":"042_adjustable_wrench_:0001","102":"038_padlock_:0001","103":"037_scissors_:0001","104":"035_power_drill_:0001","105":"033_spatula_:0001","106":"029_plate_:0001","107":"028_skillet_lid_:0001","108":"026_sponge_:0001","109":"021_bleach_cleanser_:0001","11":"025_mug.object_config.json","110":"017_orange_:0001","111":"016_pear_:0001","112":"015_peach_:0001","113":"013_apple_:0001","114":"005_tomato_soup_can_:0000","115":"004_sugar_box_:0000","116":"011_banana_:0001","117":"012_strawberry_:0001","118":"072-c_toy_airplane_:0000","119":"073-d_lego_duplo_:0000","12":"026_sponge.object_config.json","120":"frl_apartment_book_06_:0000","121":"frl_apartment_book_01_:0000","122":"024_bowl_:0000","123":"frl_apartment_bowl_01_:0000","124":"065-j_cups_:0000","125":"002_master_chef_can.object_config.json","126":"009_gelatin_box.object_config.json","127":"051_large_clamp.object_config.json","128":"065-f_cups.object_config.json","129":"065-h_cups.object_config.json","13":"028_skillet_lid.object_config.json","130":"072-e_toy_airplane.object_config.json","131":"073-c_lego_duplo.object_config.json","132":"frl_apartment_book_03.object_config.json","133":"frl_apartment_book_05.object_config.json","134":"frl_apartment_bowl_02.object_config.json","135":"frl_apartment_book_05_:0000","136":"051_large_clamp_:0000","137":"048_hammer_:0001","138":"043_phillips_screwdriver_:0001","139":"018_plum_:0001","14":"029_plate.object_config.json","140":"002_master_chef_can_:0000","141":"009_gelatin_box_:0000","142":"072-e_toy_airplane_:0000","143":"073-c_lego_duplo_:0000","144":"077_rubiks_cube_:0001","145":"frl_apartment_book_05_:0001","146":"frl_apartment_book_03_:0000","147":"frl_apartment_bowl_02_:0000","148":"025_mug_:0001","149":"065-f_cups_:0000","15":"031_spoon.object_config.json","150":"065-h_cups_:0000","151":"036_wood_block.object_config.json","152":"044_flat_screwdriver.object_config.json","153":"050_medium_clamp.object_config.json","154":"055_baseball.object_config.json","155":"072-b_toy_airplane.object_config.json","156":"frl_apartment_cup_01.object_config.json","157":"055_baseball_:0000","158":"050_medium_clamp_:0000","159":"044_flat_screwdriver_:0000","16":"032_knife.object_config.json","160":"036_wood_block_:0000","161":"031_spoon_:0001","162":"014_lemon_:0001","163":"072-b_toy_airplane_:0000","164":"frl_apartment_cup_01_:0000","165":"003_cracker_box.object_config.json","166":"065-i_cups.object_config.json","167":"072-a_toy_airplane.object_config.json","168":"073-f_lego_duplo.object_config.json","169":"frl_apartment_book_02.object_config.json","17":"033_spatula.object_config.json","170":"frl_apartment_cup_03.object_config.json","171":"032_knife_:0001","172":"003_cracker_box_:0000","173":"072-a_toy_airplane_:0000","174":"073-f_lego_duplo_:0000","175":"frl_apartment_book_02_:0000","176":"065-i_cups_:0000","177":"frl_apartment_cup_03_:0000","178":"010_potted_meat_can.object_config.json","179":"057_racquetball.object_config.json","18":"035_power_drill.object_config.json","180":"065-c_cups.object_config.json","181":"057_racquetball_:0000","182":"010_potted_meat_can_:0000","183":"065-c_cups_:0000","184":"054_softball.object_config.json","185":"054_softball_:0000","186":"070-b_colored_wood_blocks_:0001","187":"073-a_lego_duplo.object_config.json","188":"073-e_lego_duplo.object_config.json","189":"036_wood_block_:0001","19":"037_scissors.object_config.json","190":"016_pear_:0002","191":"009_gelatin_box_:0001","192":"073-a_lego_duplo_:0000","193":"073-e_lego_duplo_:0000","194":"frl_apartment_bowl_01_:0001","195":"frl_apartment_cup_02.object_config.json","196":"055_baseball_:0001","197":"073-f_lego_duplo_:0001","198":"073-f_lego_duplo_:0002","199":"024_bowl_:0001","2":"011_banana.object_config.json","20":"038_padlock.object_config.json","200":"frl_apartment_cup_02_:0000","201":"037_scissors_:0002","202":"070-a_colored_wood_blocks_:0001","203":"065-b_cups.object_config.json","204":"073-b_lego_duplo.object_config.json","205":"frl_apartment_bowl_07.object_config.json","206":"072-c_toy_airplane_:0001","207":"073-b_lego_duplo_:0000","208":"frl_apartment_book_03_:0001","209":"frl_apartment_bowl_07_:0000","21":"042_adjustable_wrench.object_config.json","210":"065-b_cups_:0000","211":"065-j_cups_:0001","212":"frl_apartment_bowl_06.object_config.json","213":"013_apple_:0002","214":"072-b_toy_airplane_:0001","215":"frl_apartment_bowl_06_:0000","216":"011_banana_:0002","217":"frl_apartment_book_04_:0001","218":"065-a_cups.object_config.json","219":"054_softball_:0001","22":"043_phillips_screwdriver.object_config.json","220":"052_extra_large_clamp_:0001","221":"044_flat_screwdriver_:0001","222":"065-a_cups_:0000","223":"005_tomato_soup_can_:0001","23":"048_hammer.object_config.json","24":"052_extra_large_clamp.object_config.json","25":"056_tennis_ball.object_config.json","26":"065-d_cups.object_config.json","27":"065-g_cups.object_config.json","28":"070-a_colored_wood_blocks.object_config.json","29":"070-b_colored_wood_blocks.object_config.json","3":"012_strawberry.object_config.json","30":"072-d_toy_airplane.object_config.json","31":"073-g_lego_duplo.object_config.json","32":"077_rubiks_cube.object_config.json","33":"frl_apartment_book_04.object_config.json","34":"frl_apartment_bowl_03.object_config.json","35":"070-a_colored_wood_blocks_:0000","36":"receptacle_aabb_counter_left_kitchen_counter","37":"056_tennis_ball_:0000","38":"receptacle_aabb_sink_kitchen_counter","39":"052_extra_large_clamp_:0000","4":"013_apple.object_config.json","40":"receptacle_aabb_Tbl1_Top1_frl_apartment_table_01","41":"048_hammer_:0000","42":"043_phillips_screwdriver_:0000","43":"042_adjustable_wrench_:0000","44":"receptacle_aabb_Tbl2_Top1_frl_apartment_table_02","45":"038_padlock_:0000","46":"receptacle_aabb_Sofa_frl_apartment_sofa","47":"037_scissors_:0000","48":"070-b_colored_wood_blocks_:0000","49":"035_power_drill_:0000","5":"014_lemon.object_config.json","50":"033_spatula_:0000","51":"receptacle_aabb_counter_right_kitchen_counter","52":"032_knife_:0000","53":"031_spoon_:0000","54":"029_plate_:0000","55":"028_skillet_lid_:0000","56":"026_sponge_:0000","57":"021_bleach_cleanser_:0000","58":"018_plum_:0000","59":"017_orange_:0000","6":"015_peach.object_config.json","60":"016_pear_:0000","61":"015_peach_:0000","62":"013_apple_:0000","63":"014_lemon_:0000","64":"007_tuna_fish_can_:0000","65":"008_pudding_box_:0000","66":"011_banana_:0000","67":"012_strawberry_:0000","68":"072-d_toy_airplane_:0000","69":"073-g_lego_duplo_:0000","7":"016_pear.object_config.json","70":"077_rubiks_cube_:0000","71":"frl_apartment_book_04_:0000","72":"frl_apartment_bowl_03_:0000","73":"025_mug_:0000","74":"receptacle_aabb_TvStnd1_Top1_frl_apartment_tvstand","75":"065-g_cups_:0000","76":"065-d_cups_:0000","77":"fridge_:0000","78":"kitchen_counter_:0000","79":"cab_push_point_7","8":"017_orange.object_config.json","80":"articulated_object","81":"drawer1_top","82":"cab_push_point_6","83":"drawer2_top","84":"cab_push_point_5","85":"drawer3","86":"cab_push_point_4","87":"drawer4","88":"fridge_push_point","89":"top_door","9":"018_plum.object_config.json","90":"004_sugar_box.object_config.json","91":"005_tomato_soup_can.object_config.json","92":"024_bowl.object_config.json","93":"053_mini_soccer_ball.object_config.json","94":"065-j_cups.object_config.json","95":"072-c_toy_airplane.object_config.json","96":"073-d_lego_duplo.object_config.json","97":"frl_apartment_book_01.object_config.json","98":"frl_apartment_book_06.object_config.json","99":"frl_apartment_bowl_01.object_config.json"},"info":{"object_labels":{}},"instruct_id":"92bcf9b3","instruction":"Put all the spoon on the brown table.","markers":[[79,80,[0.3,0.0,0.0],81,78],[82,80,[0.3,0.0,0.0],83,78],[84,80,[0.3,0.0,0.0],85,78],[86,80,[0.3,0.0,0.0],87,78],[88,80,[0.1,-0.62,0.2],89,77]],"name_to_receptacle":[[72,74],[37,44],[100,38],[39,46],[41,51],[42,40],[43,74],[101,51],[45,44],[102,74],[47,44],[103,74],[35,51],[49,44],[104,40],[50,36],[105,38],[52,51],[53,36],[54,44],[106,38],[55,40],[107,36],[56,51],[108,40],[57,36],[109,40],[58,51],[59,40],[110,51],[60,74],[111,44],[61,46],[112,40],[62,74],[113,36],[63,46],[114,74],[115,36],[66,46],[116,51],[67,36],[117,40],[68,36],[118,74],[119,51],[70,44],[120,40],[121,36],[122,44],[123,74],[73,36],[124,74]],"resolved_rigid_objects":[{"object_config":"004_sugar_box.object_config.json","transform":[[0.24107123911380768,0.01866968348622322,-0.9703279137611389,-2.24344801902771],[-0.0193912535905838,0.9997079968452454,0.01441735215485096,0.9470261931419373],[0.9703137278556824,0.015340261161327362,0.24136286973953247,2.7533674240112305],[0.0,0.0,0.0,1.0]]},{"object_config":"005_tomato_soup_can.object_config.json","transform":[[0.37193018198013306,0.0005997270345687866,0.9282605648040771,2.477368116378784],[0.0028272855561226606,0.9999944567680359,-0.00177889340557158,0.6769128441810608],[-0.9282565116882324,0.003286081599071622,0.3719264268875122,7.459402561187744],[0.0,0.0,0.0,1.0]]},{"object_config":"011_banana.object_config.json","transform":[[-0.9186660051345825,-0.32181090116500854,-0.22910861670970917,0.8901792168617249],[-0.28912925720214844,0.9429387450218201,-0.16513893008232117,0.4218061566352844],[0.2691788971424103,-0.08546549081802368,-0.9592906832695007,4.942689895629883],[0.0,0.0,0.0,1.0]]},{"object_config":"011_banana.object_config.json","transform":[[0.6008411645889282,0.3290559947490692,0.7284998893737793,-2.429793357849121],[-0.3034455478191376,0.9370177388191223,-0.17297013103961945,0.8773934245109558],[-0.7395341396331787,-0.11713247001171112,0.6628493666648865,1.1182162761688232],[0.0,0.0,0.0,1.0]]},{"object_config":"012_strawberry.object_config.json","transform":[[-0.2629358768463135,-0.004814597778022289,-0.9648014903068542,-2.434924364089966],[-0.008372119627892971,0.999961256980896,-0.002708414103835821,0.8819330930709839],[0.9647771716117859,0.007365293335169554,-0.2629660367965698,2.9131951332092285],[0.0,0.0,0.0,1.0]]},{"object_config":"012_strawberry.object_config.json","transform":[[0.9824936985969543,-0.0961339995265007,-0.15957535803318024,3.430145263671875],[0.09695229679346085,0.9952854514122009,-0.00266796862706542,0.7851907014846802],[0.15907950699329376,-0.01284993439912796,0.9871821403503418,4.386716842651367],[0.0,0.0,0.0,1.0]]},{"object_config":"013_apple.object_config.json","transform":[[-0.6796929836273193,0.010136171244084835,0.7334270477294922,3.050865650177002],[0.004582690075039864,0.9999436736106873,-0.009572569280862808,0.6621700525283813],[-0.7334827184677124,-0.003145337337628007,-0.6797011494636536,7.585721492767334],[0.0,0.0,0.0,1.0]]},{"object_config":"013_apple.object_config.json","transform":[[0.7102269530296326,0.030616244301199913,-0.7033066153526306,-2.2552669048309326],[-0.016194885596632957,0.9994999766349792,0.027155853807926178,0.895101010799408],[0.7037864327430725,-0.007896850816905499,0.7103676795959473,2.9332938194274902],[0.0,0.0,0.0,1.0]]},{"object_config":"014_lemon.object_config.json","transform":[[0.01550796627998352,-0.134288489818573,0.9908208847045898,1.2114624977111816],[-0.014662422239780426,0.9908030033111572,0.13451555371284485,0.43016380071640015],[-0.9997721910476685,-0.01661389321088791,0.01339632272720337,6.065232276916504],[0.0,0.0,0.0,1.0]]},{"object_config":"015_peach.object_config.json","transform":[[0.48902732133865356,-0.39006054401397705,-0.7801955342292786,0.9381155967712402],[-0.8615767955780029,-0.07638794928789139,-0.501846969127655,0.43176063895225525],[0.1361532211303711,0.9176152348518372,-0.3734229505062103,5.827317714691162],[0.0,0.0,0.0,1.0]]},{"object_config":"015_peach.object_config.json","transform":[[-0.1680247187614441,0.49257373809814453,-0.8538964986801147,3.8572049140930176],[-0.45855510234832764,-0.8058445453643799,-0.37462300062179565,0.7881678342819214],[-0.8726370334625244,0.32861268520355225,0.3612735867500305,4.708410739898682],[0.0,0.0,0.0,1.0]]},{"object_config":"016_pear.object_config.json","transform":[[0.226334810256958,-0.6464598774909973,-0.7286028861999512,3.4977915287017822],[0.7441605925559998,-0.3678811192512512,0.5575737953186035,0.6513475775718689],[-0.628488302230835,-0.66839599609375,0.39780566096305847,7.52968168258667],[0.0,0.0,0.0,1.0]]},{"object_config":"016_pear.object_config.json","transform":[[-0.7367694973945618,0.6737130880355835,-0.057287752628326416,1.7592142820358276],[-0.5926843881607056,-0.6027262806892395,0.5342721343040466,0.9605027437210083],[0.3254172205924988,0.4275888502597809,0.8433691263198853,1.9152333736419678],[0.0,0.0,0.0,1.0]]},{"object_config":"017_orange.object_config.json","transform":[[0.9963668584823608,0.0671854242682457,-0.052337948232889175,3.752044200897217],[-0.06975170224905014,0.9963673949241638,-0.04885401576757431,0.7977567911148071],[0.04886554554104805,0.05232717841863632,0.9974337220191956,5.327099800109863],[0.0,0.0,0.0,1.0]]},{"object_config":"017_orange.object_config.json","transform":[[0.975750744342804,0.049287665635347366,0.21326327323913574,-1.9819955825805664],[-0.046453360468149185,0.9987531304359436,-0.018284017220139503,0.8947498202323914],[-0.21389853954315186,0.007933847606182098,0.9768236875534058,0.3682601749897003],[0.0,0.0,0.0,1.0]]},{"object_config":"018_plum.object_config.json","transform":[[0.9557731747627258,0.014365381561219692,0.2937537133693695,-2.126103401184082],[-0.007008871994912624,0.9996352791786194,-0.026080520823597908,0.8856337666511536],[-0.29402121901512146,0.02286818064749241,0.955525279045105,1.4743692874908447],[0.0,0.0,0.0,1.0]]},{"object_config":"021_bleach_cleanser.object_config.json","transform":[[0.8888199925422668,-0.0015695220790803432,0.4582538306713104,-2.1326258182525635],[0.0006665944238193333,0.9999974966049194,0.0021320839878171682,0.9843245148658752],[-0.4582560360431671,-0.0015895694959908724,0.8888188004493713,3.0192620754241943],[0.0,0.0,0.0,1.0]]},{"object_config":"021_bleach_cleanser.object_config.json","transform":[[0.5608581304550171,0.0011076038936153054,-0.8279111981391907,3.5225863456726074],[0.00080766377504915,0.9999979138374329,0.001884968369267881,0.8872925639152527],[0.8279115557670593,-0.0017258737934753299,0.56085604429245,4.425318717956543],[0.0,0.0,0.0,1.0]]},{"object_config":"024_bowl.object_config.json","transform":[[0.9738601446151733,-0.002646643901243806,0.2271328568458557,1.966949701309204],[0.0023292929399758577,0.9999958872795105,0.0016652257181704044,0.961009681224823],[-0.22713634371757507,-0.0010926378890872002,0.97386234998703,1.5662953853607178],[0.0,0.0,0.0,1.0]]},{"object_config":"025_mug.object_config.json","transform":[[0.9647213220596313,-0.004804130643606186,0.26322925090789795,-2.4470744132995605],[0.004529980942606926,0.9999883770942688,0.0016483927611261606,0.8997129201889038],[-0.26323413848876953,-0.0003978158929385245,0.9647318720817566,2.7400643825531006],[0.0,0.0,0.0,1.0]]},{"object_config":"026_sponge.object_config.json","transform":[[-0.030564339831471443,-0.0018314085900783539,-0.9995311498641968,-2.3358423709869385],[0.005987749435007572,0.9999800324440002,-0.0020153282675892115,0.8682960271835327],[0.9995149374008179,-0.006046539172530174,-0.03055274486541748,0.3280313313007355],[0.0,0.0,0.0,1.0]]},{"object_config":"026_sponge.object_config.json","transform":[[0.9754238724708557,-0.00639953650534153,0.22024370729923248,3.6802995204925537],[0.006691833026707172,0.9999774098396301,-0.0005810914444737136,0.7713959217071533],[-0.22023503482341766,0.0020406446419656277,0.9754446744918823,4.516762733459473],[0.0,0.0,0.0,1.0]]},{"object_config":"028_skillet_lid.object_config.json","transform":[[0.6786038875579834,-0.009214472956955433,0.73444664478302,3.3989622592926025],[0.004262750037014484,0.9999538660049438,0.00860692746937275,0.7992477416992188],[-0.7344920635223389,-0.002709932392463088,0.6786118745803833,4.618527889251709],[0.0,0.0,0.0,1.0]]},{"object_config":"028_skillet_lid.object_config.json","transform":[[-0.9985601305961609,0.0035033978056162596,0.05353471636772156,-2.1820170879364014],[0.00457133911550045,0.9997926950454712,0.019839167594909668,0.8975337147712708],[-0.053454115986824036,0.020055320113897324,-0.9983691573143005,2.28839111328125],[0.0,0.0,0.0,1.0]]},{"object_config":"029_plate.object_config.json","transform":[[0.6626761555671692,0.0029621203429996967,0.7489002346992493,1.6376971006393433],[-0.0036538271233439445,0.999993085861206,-0.0007221197593025863,0.9471131563186646],[-0.748897135257721,-0.002257820451632142,0.6626823544502258,2.4408483505249023],[0.0,0.0,0.0,1.0]]},{"object_config":"029_plate.object_config.json","transform":[[0.573633074760437,0.022804323583841324,-0.8187949061393738,-2.092090368270874],[0.002687303349375725,0.9995546340942383,0.029721355065703392,0.6972621083259583],[0.8191079497337341,-0.019249504432082176,0.5733163356781006,1.788666009902954],[0.0,0.0,0.0,1.0]]},{"object_config":"031_spoon.object_config.json","transform":[[-0.3139099180698395,-0.9489638805389404,-0.030466228723526,-2.357571840286255],[-0.40335190296173096,0.10423961281776428,0.9090882539749146,0.8729304671287537],[-0.8595160245895386,0.29766038060188293,-0.4154883027076721,2.66912841796875],[0.0,0.0,0.0,1.0]]},{"object_config":"032_knife.object_config.json","transform":[[0.8206974267959595,-0.10642033070325851,0.5613648295402527,-2.0612215995788574],[-0.04669990390539169,0.9667198061943054,0.2515389919281006,0.8670058250427246],[-0.5694513916969299,-0.23265308141708374,0.7884146571159363,1.1416438817977905],[0.0,0.0,0.0,1.0]]},{"object_config":"033_spatula.object_config.json","transform":[[0.39433130621910095,0.11936021596193314,0.9111838340759277,-2.138739824295044],[0.0755256935954094,0.9839653968811035,-0.16157934069633484,0.8740163445472717],[-0.915859580039978,0.13253358006477356,0.37899357080459595,2.938162088394165],[0.0,0.0,0.0,1.0]]},{"object_config":"033_spatula.object_config.json","transform":[[-0.7260336875915527,0.0016869250684976578,0.6876572966575623,-2.0653598308563232],[0.058779068291187286,0.996489405632019,0.05961483716964722,0.7022313475608826],[-0.6851425766944885,0.0837022215127945,-0.7235840559005737,2.103987216949463],[0.0,0.0,0.0,1.0]]},{"object_config":"035_power_drill.object_config.json","transform":[[-0.3548029065132141,0.0044903382658958435,-0.9349303841590881,1.5404576063156128],[0.05775323882699013,0.9981840252876282,-0.017123021185398102,0.9613747596740723],[0.9331557154655457,-0.06007055193185806,-0.35441792011260986,1.8288785219192505],[0.0,0.0,0.0,1.0]]},{"object_config":"035_power_drill.object_config.json","transform":[[0.80349200963974,-0.03571848198771477,0.594243049621582,4.0889997482299805],[0.05600626394152641,0.9983066320419312,-0.01572182960808277,0.7900140285491943],[-0.5926752090454102,0.0459136962890625,0.804131805896759,4.578772068023682],[0.0,0.0,0.0,1.0]]},{"object_config":"037_scissors.object_config.json","transform":[[0.36846134066581726,0.05370453745126724,-0.9280906319618225,1.4558472633361816],[0.07427946478128433,0.9934373497962952,0.08697555959224701,0.9408591985702515],[0.9266708493232727,-0.10098519921302795,0.36205410957336426,2.574436902999878],[0.0,0.0,0.0,1.0]]},{"object_config":"037_scissors.object_config.json","transform":[[-0.5683201551437378,0.13571158051490784,-0.8115382790565491,2.8521640300750732],[0.09150801599025726,0.9906104207038879,0.10157430917024612,0.6333804130554199],[0.8177030682563782,-0.01653551310300827,-0.575402557849884,7.394632816314697],[0.0,0.0,0.0,1.0]]},{"object_config":"038_padlock.object_config.json","transform":[[0.8875150084495544,0.03632247820496559,0.45934489369392395,1.6466634273529053],[-0.03798816725611687,0.9992623925209045,-0.005618032068014145,0.9479579925537109],[-0.4592101275920868,-0.012463582679629326,0.8882402181625366,1.5341850519180298],[0.0,0.0,0.0,1.0]]},{"object_config":"038_padlock.object_config.json","transform":[[0.6248487830162048,0.0015271552838385105,0.7807443737983704,2.3808376789093018],[-0.01000811718404293,0.9999316334724426,0.006053850054740906,0.6405124664306641],[-0.7806816697120667,-0.011596521362662315,0.6248213052749634,7.732089996337891],[0.0,0.0,0.0,1.0]]},{"object_config":"042_adjustable_wrench.object_config.json","transform":[[-0.9607238173484802,0.05685414373874664,0.27162063121795654,2.2118635177612305],[0.051819659769535065,0.9983262419700623,-0.02567777782678604,0.6321566700935364],[-0.2726259231567383,-0.010593960992991924,-0.9620620012283325,7.40152645111084],[0.0,0.0,0.0,1.0]]},{"object_config":"042_adjustable_wrench.object_config.json","transform":[[0.8860601782798767,-0.033600445836782455,0.46235087513923645,-2.3053548336029053],[0.05162496492266655,0.9983179569244385,-0.02638450637459755,0.8650484681129456],[-0.46068665385246277,0.047247108072042465,0.8863044381141663,1.5412514209747314],[0.0,0.0,0.0,1.0]]},{"object_config":"043_phillips_screwdriver.object_config.json","transform":[[-0.6981527805328369,0.23144720494747162,-0.6775069236755371,3.660727024078369],[-0.0018042773008346558,-0.9468718767166138,-0.3216072618961334,0.7743723392486572],[-0.7159470319747925,-0.2233084738254547,0.6614781618118286,4.781184673309326],[0.0,0.0,0.0,1.0]]},{"object_config":"048_hammer.object_config.json","transform":[[-0.5330963134765625,0.0009774069767445326,-0.8460538983345032,-2.1476635932922363],[0.005921612493693829,0.9999791383743286,-0.002575963269919157,0.8751750588417053],[0.8460337519645691,-0.0063832406885921955,-0.5330909490585327,0.8644353151321411],[0.0,0.0,0.0,1.0]]},{"object_config":"052_extra_large_clamp.object_config.json","transform":[[-0.1815175861120224,0.01697026751935482,-0.9832412004470825,0.8956724405288696],[-0.014724102802574635,0.9996920824050903,0.019972439855337143,0.4215807020664215],[0.983277440071106,0.018102694302797318,-0.18121182918548584,5.432980537414551],[0.0,0.0,0.0,1.0]]},{"object_config":"053_mini_soccer_ball.object_config.json","transform":[[-0.8593698740005493,0.24324527382850647,-0.44979527592658997,-2.2076144218444824],[0.44720402359962463,0.78406822681427,-0.4304018020629883,0.7676678895950317],[0.24797698855400085,-0.5710244178771973,-0.7825849056243896,1.895569086074829],[0.0,0.0,0.0,1.0]]},{"object_config":"056_tennis_ball.object_config.json","transform":[[0.6754697561264038,-0.6534025073051453,0.34176868200302124,1.7907750606536865],[0.6437627673149109,0.7485665678977966,0.15880034863948822,0.9673143029212952],[-0.3595971465110779,0.11275313794612885,0.9262702465057373,1.4592097997665405],[0.0,0.0,0.0,1.0]]},{"object_config":"065-j_cups.object_config.json","transform":[[-0.024867691099643707,-0.0020343477372080088,0.9996887445449829,2.833343267440796],[0.0021863107103854418,0.9999954104423523,0.0020893574692308903,0.6637758612632751],[-0.9996883869171143,0.0022375877015292645,-0.024863123893737793,7.492639541625977],[0.0,0.0,0.0,1.0]]},{"object_config":"070-a_colored_wood_blocks.object_config.json","transform":[[0.8295477628707886,-0.009351851418614388,-0.5583575367927551,-2.1528193950653076],[0.013194149360060692,0.9999089241027832,0.002855120226740837,0.9406062364578247],[0.5582799315452576,-0.009735510684549809,0.8295955657958984,0.37798476219177246],[0.0,0.0,0.0,1.0]]},{"object_config":"072-c_toy_airplane.object_config.json","transform":[[0.28921666741371155,-0.05168547481298447,0.9558674097061157,2.743208408355713],[-0.008784934878349304,0.9983559250831604,0.056640975177288055,0.659824788570404],[-0.9572234153747559,-0.02477874793112278,0.28828710317611694,7.353042125701904],[0.0,0.0,0.0,1.0]]},{"object_config":"072-d_toy_airplane.object_config.json","transform":[[-0.9738017320632935,0.005653031170368195,-0.22732898592948914,-2.4405109882354736],[0.005129978060722351,0.9999826550483704,0.0028916336596012115,0.8922197222709656],[0.22734138369560242,0.001649684738367796,-0.9738138318061829,2.8712234497070312],[0.0,0.0,0.0,1.0]]},{"object_config":"073-d_lego_duplo.object_config.json","transform":[[-0.425779789686203,0.006665618624538183,0.9048023223876953,-2.2060089111328125],[0.004060294944792986,0.9999768733978271,-0.005456079728901386,0.8805999159812927],[-0.9048178195953369,0.0013506761752068996,-0.4257969856262207,1.2946171760559082],[0.0,0.0,0.0,1.0]]},{"object_config":"077_rubiks_cube.object_config.json","transform":[[0.39436694979667664,-0.0170903317630291,-0.9187940955162048,1.6855401992797852],[0.03993282839655876,0.9992012977600098,-0.0014459136873483658,0.9634432196617126],[0.9180850386619568,-0.03611982613801956,0.3947344422340393,1.931229829788208],[0.0,0.0,0.0,1.0]]},{"object_config":"frl_apartment_book_01.object_config.json","transform":[[-0.8213605880737305,-5.916821464779787e-06,0.5704094767570496,-2.3169243335723877],[1.3109511201037094e-06,1.0,1.2260639778105542e-05,0.9488005638122559],[-0.5704094767570496,1.0818183000083081e-05,-0.8213605880737305,2.968456745147705],[0.0,0.0,0.0,1.0]]},{"object_config":"frl_apartment_book_06.object_config.json","transform":[[0.30166691541671753,3.2656949770171195e-05,-0.9534133672714233,4.032179832458496],[9.180140295939054e-06,1.0,3.715733328135684e-05,0.8952276706695557],[0.9534133672714233,-1.996160608541686e-05,0.30166691541671753,4.932922840118408],[0.0,0.0,0.0,1.0]]},{"object_config":"frl_apartment_bowl_01.object_config.json","transform":[[0.11073415726423264,9.355074143968523e-05,0.99385005235672,3.293480634689331],[0.00022813247051090002,1.0,-0.00011954799992963672,0.7057028412818909],[-0.99385005235672,0.00023996751406230032,0.11073416471481323,7.744194507598877],[0.0,0.0,0.0,1.0]]},{"object_config":"frl_apartment_bowl_03.object_config.json","transform":[[-0.9365540146827698,0.0034068957902491093,-0.3505066931247711,2.8786733150482178],[0.0038157012313604355,0.9999926090240479,-0.0004757108981721103,0.6840815544128418],[0.35050246119499207,-0.0017829576972872019,-0.9365600943565369,7.638256549835205],[0.0,0.0,0.0,1.0]]}],"rigid_objs":[[90,35],[91,36],[2,37],[2,38],[3,39],[3,40],[4,41],[4,42],[5,43],[6,44],[6,45],[7,46],[7,47],[8,48],[8,49],[9,50],[10,51],[10,52],[92,53],[11,54],[12,55],[12,56],[13,57],[13,58],[14,59],[14,60],[15,61],[16,62],[17,63],[17,64],[18,65],[18,66],[19,67],[19,68],[20,69],[20,70],[21,71],[21,72],[22,73],[23,74],[24,75],[93,76],[25,77],[94,78],[28,79],[95,80],[30,81],[96,82],[32,83],[97,84],[98,85],[99,86],[34,87]],"sampled_entities":{"object_name":"spoon","receptacle1":"receptacle_aabb_Tbl1_Top1_frl_apartment_table_01","receptacle2":"receptacle_aabb_Tbl2_Top1_frl_apartment_table_02"},"sampler_info":{},"scene_dataset_config":"data/replica_cad/replicaCAD.scene_dataset_config.json","scene_id":"data/replica_cad/configs/scenes/v3_sc3_staging_10.scene_instance.json","start_position":[0,0,0],"start_preds":[],"start_rotation":[0,0,0,1],"subgoals":[["robot_at_obj(031_spoon_:0000)","robot_at(receptacle_aabb_sink_kitchen_counter)","robot_at(receptacle_aabb_counter_right_kitchen_counter)","robot_at(receptacle_aabb_counter_left_kitchen_counter)","robot_at(receptacle_aabb_drawer_left_top_frl_apartment_kitchen_counter)","robot_at(receptacle_aabb_drawer_right_top_frl_apartment_kitchen_counter)","robot_at(031_spoon_:0000)","robot_at(frl_apartment_book_01_:0000)"],["holding(031_spoon_:0000)","robot_at_obj(031_spoon_:0000)","robot_at(receptacle_aabb_sink_kitchen_counter)","robot_at(receptacle_aabb_counter_right_kitchen_counter)","robot_at(receptacle_aabb_counter_left_kitchen_counter)","robot_at(receptacle_aabb_drawer_left_top_frl_apartment_kitchen_counter)","robot_at(receptacle_aabb_drawer_right_top_frl_apartment_kitchen_counter)","robot_at(031_spoon_:0000)","robot_at(frl_apartment_book_01_:0000)"],["on_top(031_spoon_:0000,receptacle_aabb_Tbl2_Top1_frl_apartment_table_02)","holding(031_spoon_:0000)","robot_at_obj(031_spoon_:0000)","robot_at_obj(077_rubiks_cube_:0000)","robot_at(receptacle_aabb_Tbl2_Top1_frl_apartment_table_02)","robot_at(031_spoon_:0000)","robot_at(077_rubiks_cube_:0000)"],["on_top(031_spoon_:0000,receptacle_aabb_Tbl2_Top1_frl_apartment_table_02)","robot_at_obj(031_spoon_:0000)","robot_at_obj(077_rubiks_cube_:0000)","robot_at(receptacle_aabb_Tbl2_Top1_frl_apartment_table_02)","robot_at(031_spoon_:0000)","robot_at(077_rubiks_cube_:0000)"]],"target_receptacles":[],"targets":{}},"observations":[],"question":{"options":[],"original":"Put all the spoon on the brown table.","text":"Put all the spoon on the brown table."},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"Habitat-Sim 0.3.0 / ReplicaCAD / YCB","eval_set":"long_horizon","mode":"interactive","observation_policy":"current RGB and upstream feedback; hidden goals/poses are evaluator-only","repo":"EmbodiedBench/EmbodiedBench","revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","selected_index":1},"sampling":{"component_id":"251d8861e101b77801e3","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":8,"stratum_pool":50},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"embodiedbench/envs/eb_habitat/datasets/long_horizon.pickle","annotation_sha256":"eea7bc6754689fbd889c4469cc7e667e979919836231be8b5917b6d4e5b31bfb","host":"github","license":"not-specified; underlying simulator/data terms apply","media_policy":"runtime simulator; no trajectories supplied as observations","repo":"EmbodiedBench/EmbodiedBench","revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","row_sha256":"b1e6833ce47600e165ec276f905368233365db426b5b28ae189301124657843b","sample_id":"long_horizon/1","split":"long_horizon","upstream_dataset":"EB-Habitat","url":"https://github.com/EmbodiedBench/EmbodiedBench"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_environment_success","original_answer":null},"task":{"category":"long_horizon","role":"spatial_core","skill_tags":["long_horizon","long_horizon"],"stratum":"EB-Habitat/long_horizon/long_horizon","subcategory":"long_horizon"},"transforms":[]}
{"dataset":"EB-Habitat","group":{"id":"ReplicaCAD/data/replica_cad/configs/scenes/v3_sc3_staging_07.scene_instance.json","kind":"scene","scene":"data/replica_cad/configs/scenes/v3_sc3_staging_07.scene_instance.json"},"id":"6335b5dd4e3f4b6b27d5","native_annotation":{"additional_obj_config_paths":["data/objects/ycb/configs"],"ao_states":{"77":{"2":0.0},"78":{"1":0.0,"2":0.0,"3":0.0,"4":0.0,"5":0.0,"6":0.0,"7":0.0}},"episode_id":"78","goal_preds":{"expr_type":"AND","inputs":[{"expr_type":"box","name":"X"}],"quantifier":"FORALL","sub_exprs":["on_top(X, receptacle_aabb_counter_right_kitchen_counter)","not_holding()"]},"goal_receptacles":[],"idx_to_name":{"0":"007_tuna_fish_can.object_config.json","1":"008_pudding_box.object_config.json","10":"021_bleach_cleanser.object_config.json","100":"053_mini_soccer_ball_:0000","101":"042_adjustable_wrench_:0001","102":"038_padlock_:0001","103":"037_scissors_:0001","104":"035_power_drill_:0001","105":"033_spatula_:0001","106":"029_plate_:0001","107":"028_skillet_lid_:0001","108":"026_sponge_:0001","109":"021_bleach_cleanser_:0001","11":"025_mug.object_config.json","110":"017_orange_:0001","111":"016_pear_:0001","112":"015_peach_:0001","113":"013_apple_:0001","114":"005_tomato_soup_can_:0000","115":"004_sugar_box_:0000","116":"011_banana_:0001","117":"012_strawberry_:0001","118":"072-c_toy_airplane_:0000","119":"073-d_lego_duplo_:0000","12":"026_sponge.object_config.json","120":"frl_apartment_book_06_:0000","121":"frl_apartment_book_01_:0000","122":"024_bowl_:0000","123":"frl_apartment_bowl_01_:0000","124":"065-j_cups_:0000","125":"002_master_chef_can.object_config.json","126":"009_gelatin_box.object_config.json","127":"051_large_clamp.object_config.json","128":"065-f_cups.object_config.json","129":"065-h_cups.object_config.json","13":"028_skillet_lid.object_config.json","130":"072-e_toy_airplane.object_config.json","131":"073-c_lego_duplo.object_config.json","132":"frl_apartment_book_03.object_config.json","133":"frl_apartment_book_05.object_config.json","134":"frl_apartment_bowl_02.object_config.json","135":"frl_apartment_book_05_:0000","136":"051_large_clamp_:0000","137":"048_hammer_:0001","138":"043_phillips_screwdriver_:0001","139":"018_plum_:0001","14":"029_plate.object_config.json","140":"002_master_chef_can_:0000","141":"009_gelatin_box_:0000","142":"072-e_toy_airplane_:0000","143":"073-c_lego_duplo_:0000","144":"077_rubiks_cube_:0001","145":"frl_apartment_book_05_:0001","146":"frl_apartment_book_03_:0000","147":"frl_apartment_bowl_02_:0000","148":"025_mug_:0001","149":"065-f_cups_:0000","15":"031_spoon.object_config.json","150":"065-h_cups_:0000","151":"036_wood_block.object_config.json","152":"044_flat_screwdriver.object_config.json","153":"050_medium_clamp.object_config.json","154":"055_baseball.object_config.json","155":"072-b_toy_airplane.object_config.json","156":"frl_apartment_cup_01.object_config.json","157":"055_baseball_:0000","158":"050_medium_clamp_:0000","159":"044_flat_screwdriver_:0000","16":"032_knife.object_config.json","160":"036_wood_block_:0000","161":"031_spoon_:0001","162":"014_lemon_:0001","163":"072-b_toy_airplane_:0000","164":"frl_apartment_cup_01_:0000","165":"003_cracker_box.object_config.json","166":"065-i_cups.object_config.json","167":"072-a_toy_airplane.object_config.json","168":"073-f_lego_duplo.object_config.json","169":"frl_apartment_book_02.object_config.json","17":"033_spatula.object_config.json","170":"frl_apartment_cup_03.object_config.json","171":"032_knife_:0001","172":"003_cracker_box_:0000","173":"072-a_toy_airplane_:0000","174":"073-f_lego_duplo_:0000","175":"frl_apartment_book_02_:0000","176":"065-i_cups_:0000","177":"frl_apartment_cup_03_:0000","178":"010_potted_meat_can.object_config.json","179":"057_racquetball.object_config.json","18":"035_power_drill.object_config.json","180":"065-c_cups.object_config.json","181":"057_racquetball_:0000","182":"010_potted_meat_can_:0000","183":"065-c_cups_:0000","184":"054_softball.object_config.json","185":"054_softball_:0000","186":"070-b_colored_wood_blocks_:0001","187":"073-a_lego_duplo.object_config.json","188":"073-e_lego_duplo.object_config.json","189":"036_wood_block_:0001","19":"037_scissors.object_config.json","190":"016_pear_:0002","191":"009_gelatin_box_:0001","192":"073-a_lego_duplo_:0000","193":"073-e_lego_duplo_:0000","194":"frl_apartment_bowl_01_:0001","195":"frl_apartment_cup_02.object_config.json","196":"055_baseball_:0001","197":"073-f_lego_duplo_:0001","198":"073-f_lego_duplo_:0002","199":"024_bowl_:0001","2":"011_banana.object_config.json","20":"038_padlock.object_config.json","200":"frl_apartment_cup_02_:0000","201":"037_scissors_:0002","202":"070-a_colored_wood_blocks_:0001","203":"065-b_cups.object_config.json","204":"073-b_lego_duplo.object_config.json","205":"frl_apartment_bowl_07.object_config.json","206":"072-c_toy_airplane_:0001","207":"073-b_lego_duplo_:0000","208":"frl_apartment_book_03_:0001","209":"frl_apartment_bowl_07_:0000","21":"042_adjustable_wrench.object_config.json","210":"065-b_cups_:0000","211":"065-j_cups_:0001","212":"frl_apartment_bowl_06.object_config.json","213":"013_apple_:0002","214":"072-b_toy_airplane_:0001","215":"frl_apartment_bowl_06_:0000","216":"011_banana_:0002","217":"frl_apartment_book_04_:0001","218":"065-a_cups.object_config.json","219":"054_softball_:0001","22":"043_phillips_screwdriver.object_config.json","220":"052_extra_large_clamp_:0001","221":"044_flat_screwdriver_:0001","222":"065-a_cups_:0000","223":"005_tomato_soup_can_:0001","23":"048_hammer.object_config.json","24":"052_extra_large_clamp.object_config.json","25":"056_tennis_ball.object_config.json","26":"065-d_cups.object_config.json","27":"065-g_cups.object_config.json","28":"070-a_colored_wood_blocks.object_config.json","29":"070-b_colored_wood_blocks.object_config.json","3":"012_strawberry.object_config.json","30":"072-d_toy_airplane.object_config.json","31":"073-g_lego_duplo.object_config.json","32":"077_rubiks_cube.object_config.json","33":"frl_apartment_book_04.object_config.json","34":"frl_apartment_bowl_03.object_config.json","35":"070-a_colored_wood_blocks_:0000","36":"receptacle_aabb_counter_left_kitchen_counter","37":"056_tennis_ball_:0000","38":"receptacle_aabb_sink_kitchen_counter","39":"052_extra_large_clamp_:0000","4":"013_apple.object_config.json","40":"receptacle_aabb_Tbl1_Top1_frl_apartment_table_01","41":"048_hammer_:0000","42":"043_phillips_screwdriver_:0000","43":"042_adjustable_wrench_:0000","44":"receptacle_aabb_Tbl2_Top1_frl_apartment_table_02","45":"038_padlock_:0000","46":"receptacle_aabb_Sofa_frl_apartment_sofa","47":"037_scissors_:0000","48":"070-b_colored_wood_blocks_:0000","49":"035_power_drill_:0000","5":"014_lemon.object_config.json","50":"033_spatula_:0000","51":"receptacle_aabb_counter_right_kitchen_counter","52":"032_knife_:0000","53":"031_spoon_:0000","54":"029_plate_:0000","55":"028_skillet_lid_:0000","56":"026_sponge_:0000","57":"021_bleach_cleanser_:0000","58":"018_plum_:0000","59":"017_orange_:0000","6":"015_peach.object_config.json","60":"016_pear_:0000","61":"015_peach_:0000","62":"013_apple_:0000","63":"014_lemon_:0000","64":"007_tuna_fish_can_:0000","65":"008_pudding_box_:0000","66":"011_banana_:0000","67":"012_strawberry_:0000","68":"072-d_toy_airplane_:0000","69":"073-g_lego_duplo_:0000","7":"016_pear.object_config.json","70":"077_rubiks_cube_:0000","71":"frl_apartment_book_04_:0000","72":"frl_apartment_bowl_03_:0000","73":"025_mug_:0000","74":"receptacle_aabb_TvStnd1_Top1_frl_apartment_tvstand","75":"065-g_cups_:0000","76":"065-d_cups_:0000","77":"fridge_:0000","78":"kitchen_counter_:0000","79":"cab_push_point_7","8":"017_orange.object_config.json","80":"articulated_object","81":"drawer1_top","82":"cab_push_point_6","83":"drawer2_top","84":"cab_push_point_5","85":"drawer3","86":"cab_push_point_4","87":"drawer4","88":"fridge_push_point","89":"top_door","9":"018_plum.object_config.json","90":"004_sugar_box.object_config.json","91":"005_tomato_soup_can.object_config.json","92":"024_bowl.object_config.json","93":"053_mini_soccer_ball.object_config.json","94":"065-j_cups.object_config.json","95":"072-c_toy_airplane.object_config.json","96":"073-d_lego_duplo.object_config.json","97":"frl_apartment_book_01.object_config.json","98":"frl_apartment_book_06.object_config.json","99":"frl_apartment_bowl_01.object_config.json"},"info":{"object_labels":{}},"instruct_id":"92bcf9b3","instruction":"Shift all the box over to right counter.","markers":[[79,80,[0.3,0.0,0.0],81,78],[82,80,[0.3,0.0,0.0],83,78],[84,80,[0.3,0.0,0.0],85,78],[86,80,[0.3,0.0,0.0],87,78],[88,80,[0.1,-0.62,0.2],89,77]],"name_to_receptacle":[[135,51],[37,40],[136,36],[41,44],[137,38],[42,44],[138,38],[43,36],[101,74],[45,38],[47,74],[48,36],[49,44],[104,46],[50,74],[105,46],[52,51],[53,40],[54,36],[106,44],[55,74],[107,74],[56,51],[108,38],[57,36],[58,38],[139,40],[59,74],[110,51],[60,36],[61,38],[112,38],[62,74],[113,44],[63,36],[114,44],[140,74],[141,74],[66,51],[67,38],[142,40],[119,40],[143,74],[70,44],[144,36],[145,36],[146,46],[147,44],[73,74],[148,36],[149,46],[150,74]],"resolved_rigid_objects":[{"object_config":"002_master_chef_can.object_config.json","transform":[[0.2631603181362152,-0.0012501541059464216,0.9647513628005981,0.6304318904876709],[-0.0008912736084312201,0.9999984502792358,0.0015389458276331425,0.6960631608963013],[-0.9647517204284668,-0.001264846883714199,0.26315879821777344,3.4434092044830322],[0.0,0.0,0.0,1.0]]},{"object_config":"005_tomato_soup_can.object_config.json","transform":[[0.4380227029323578,-0.0032120337709784508,-0.898958146572113,4.159717559814453],[0.0006466297199949622,0.9999945163726807,-0.0032579684630036354,0.984603762626648],[0.8989636301994324,0.0008457709336653352,0.4380223751068115,2.0819573402404785],[0.0,0.0,0.0,1.0]]},{"object_config":"009_gelatin_box.object_config.json","transform":[[0.26012665033340454,-0.00439189188182354,0.9655644297599792,0.39641788601875305],[0.004397016018629074,0.9999846816062927,0.003363880794495344,0.6411146521568298],[-0.9655644297599792,0.0033705676905810833,0.2601419687271118,3.304029941558838],[0.0,0.0,0.0,1.0]]},{"object_config":"011_banana.object_config.json","transform":[[0.41209152340888977,-0.024989396333694458,-0.9107996821403503,-2.391145706176758],[-0.8260765075683594,-0.431997150182724,-0.36190590262413025,0.8705465793609619],[-0.38441914319992065,0.9015285968780518,-0.19866548478603363,0.7555586099624634],[0.0,0.0,0.0,1.0]]},{"object_config":"012_strawberry.object_config.json","transform":[[0.9989157319068909,-0.043517906218767166,-0.016538621857762337,-2.0671114921569824],[0.04428395256400108,0.997807502746582,0.04918454959988594,0.7295377850532532],[0.014361951500177383,-0.04986361786723137,0.9986527562141418,1.8702563047409058],[0.0,0.0,0.0,1.0]]},{"object_config":"013_apple.object_config.json","transform":[[-0.6483181715011597,-0.003737848252058029,-0.761360764503479,0.33819183707237244],[-1.2036645784974098e-05,0.9999879598617554,-0.0048991236835718155,0.6619601249694824],[0.7613699436187744,-0.003167024813592434,-0.6483104228973389,3.6499686241149902],[0.0,0.0,0.0,1.0]]},{"object_config":"013_apple.object_config.json","transform":[[0.5009586811065674,-0.005054905079305172,0.8654564023017883,3.9566097259521484],[-0.0064588626846671104,0.9999332427978516,0.009578980505466461,0.9694668650627136],[-0.8654471039772034,-0.010388538241386414,0.5008926391601562,1.7176458835601807],[0.0,0.0,0.0,1.0]]},{"object_config":"014_lemon.object_config.json","transform":[[0.6159355044364929,0.12856899201869965,0.7772344350814819,-2.1526496410369873],[-0.12041968107223511,0.990364134311676,-0.06839552521705627,0.8857892155647278],[-0.778538703918457,-0.051467087119817734,0.6254826784133911,2.534687042236328],[0.0,0.0,0.0,1.0]]},{"object_config":"015_peach.object_config.json","transform":[[-0.9595227241516113,0.008541910909116268,-0.281502366065979,-2.2437119483947754],[0.00874818954616785,0.9999616146087646,0.0005239681922830641,0.7358649969100952],[0.2814960479736328,-0.001959876623004675,-0.9595606327056885,1.8185019493103027],[0.0,0.0,0.0,1.0]]},{"object_config":"015_peach.object_config.json","transform":[[0.3785252571105957,0.4407971501350403,-0.8138898015022278,-2.1706414222717285],[-0.43794047832489014,-0.689373254776001,-0.5770379900932312,0.733559250831604],[-0.8154304623603821,0.5748587250709534,-0.0679023265838623,1.8526782989501953],[0.0,0.0,0.0,1.0]]},{"object_config":"016_pear.object_config.json","transform":[[-0.13512638211250305,0.9902322292327881,0.03436867892742157,-2.347092628479004],[0.9027990102767944,0.10875383019447327,0.416084885597229,0.8871841430664062],[0.4082828760147095,0.08725202083587646,-0.9086762070655823,2.8996706008911133],[0.0,0.0,0.0,1.0]]},{"object_config":"017_orange.object_config.json","transform":[[-0.5804014801979065,0.0025593205355107784,0.8143267631530762,0.43251562118530273],[-0.005733215715736151,0.9999574422836304,-0.007229012902826071,0.6617424488067627],[-0.8143105506896973,-0.00886443816125393,-0.5803621411323547,4.180361747741699],[0.0,0.0,0.0,1.0]]},{"object_config":"017_orange.object_config.json","transform":[[0.9983097314834595,0.05201264098286629,-0.02592969313263893,-2.367431640625],[-0.052501577883958817,0.9984486103057861,-0.018545791506767273,0.894752025604248],[0.024924851953983307,0.019875794649124146,0.9994916915893555,1.6171005964279175],[0.0,0.0,0.0,1.0]]},{"object_config":"018_plum.object_config.json","transform":[[-0.614033043384552,-0.015662461519241333,-0.7891249060630798,-2.2334647178649902],[-0.004268505610525608,0.9998543858528137,-0.016523592174053192,0.7330664396286011],[0.7892687916755676,-0.006777646951377392,-0.6140104532241821,1.9229477643966675],[0.0,0.0,0.0,1.0]]},{"object_config":"018_plum.object_config.json","transform":[[-0.45458438992500305,0.046665217727422714,0.8894804120063782,-0.4459441602230072],[-0.010849099606275558,0.9982624650001526,-0.05791692063212395,0.7887213230133057],[-0.8906375765800476,-0.03597818687558174,-0.4532882571220398,1.8072268962860107],[0.0,0.0,0.0,1.0]]},{"object_config":"021_bleach_cleanser.object_config.json","transform":[[0.9643274545669556,0.000544586218893528,-0.2647117078304291,-1.9514522552490234],[0.00024032415240071714,0.9999957084655762,0.0029327564407140017,0.984334409236908],[0.2647121846675873,-0.0028917540330439806,0.9643231630325317,3.125131845474243],[0.0,0.0,0.0,1.0]]},{"object_config":"025_mug.object_config.json","transform":[[0.38851821422576904,0.0033090543001890182,0.9214351177215576,0.5419864654541016],[0.0064042964950203896,0.9999597072601318,-0.006291389465332031,0.6667882204055786],[-0.9214187860488892,0.008345463313162327,0.38848137855529785,3.6932532787323],[0.0,0.0,0.0,1.0]]},{"object_config":"025_mug.object_config.json","transform":[[0.24639892578125,0.000636899727396667,-0.9691683053970337,-2.420175552368164],[0.003566587343811989,0.9999924302101135,0.0015639165649190545,0.8996795415878296],[0.9691619873046875,-0.0038419710472226143,0.2463948130607605,2.6731748580932617],[0.0,0.0,0.0,1.0]]},{"object_config":"026_sponge.object_config.json","transform":[[0.5739470720291138,-0.0017856513150036335,0.8188905119895935,-2.3638198375701904],[0.005998167674988508,0.9999799728393555,-0.002023488050326705,0.8682965040206909],[-0.818870484828949,0.006073216907680035,0.5739462375640869,1.2348287105560303],[0.0,0.0,0.0,1.0]]},{"object_config":"026_sponge.object_config.json","transform":[[-0.7443062663078308,-0.04052509739995003,0.6666080951690674,-2.145977735519409],[-0.03410101309418678,0.9991613626480103,0.02266627922654152,0.7158790230751038],[-0.6669676303863525,-0.005861359648406506,-0.7450639605522156,1.9217280149459839],[0.0,0.0,0.0,1.0]]},{"object_config":"028_skillet_lid.object_config.json","transform":[[0.17230990529060364,-0.0076183960773050785,0.9850134253501892,0.46273481845855713],[0.003488978836685419,0.9999685883522034,0.007123732008039951,0.6633157134056091],[-0.9850366711616516,0.002209200756624341,0.1723310947418213,3.05607008934021],[0.0,0.0,0.0,1.0]]},{"object_config":"028_skillet_lid.object_config.json","transform":[[0.07302489131689072,0.007704942487180233,-0.997300386428833,0.7094981670379639],[0.003276693867519498,0.9999628663063049,0.00796544086188078,0.6632999777793884],[0.9973248243331909,-0.003849524073302746,0.07299691438674927,3.897421360015869],[0.0,0.0,0.0,1.0]]},{"object_config":"029_plate.object_config.json","transform":[[0.4139983654022217,0.0013129310682415962,-0.9102767109870911,-1.967278003692627],[-0.005234124604612589,0.9999858736991882,-0.0009381833951920271,0.872499406337738],[0.9102626442909241,0.005152908153831959,0.41399937868118286,2.854318141937256],[0.0,0.0,0.0,1.0]]},{"object_config":"029_plate.object_config.json","transform":[[0.7008817195892334,0.0017330547561869025,-0.7132753729820251,3.62955641746521],[-0.003437813837081194,0.999993622303009,-0.0009483818430453539,0.9469396471977234],[0.7132691740989685,0.003116811392828822,0.7008832693099976,1.887401819229126],[0.0,0.0,0.0,1.0]]},{"object_config":"031_spoon.object_config.json","transform":[[-0.4568949043750763,0.21992161870002747,0.8619059920310974,0.14482641220092773],[0.07561090588569641,0.9750503301620483,-0.20871005952358246,0.7731277346611023],[-0.886301577091217,-0.030189037322998047,-0.4621239900588989,1.8306654691696167],[0.0,0.0,0.0,1.0]]},{"object_config":"032_knife.object_config.json","transform":[[-0.35130321979522705,-0.41962766647338867,0.8369580507278442,-1.9127562046051025],[-0.04159517586231232,0.9000483751296997,0.4338003396987915,0.867128849029541],[-0.9353373050689697,0.11758202314376831,-0.33364439010620117,0.821199893951416],[0.0,0.0,0.0,1.0]]},{"object_config":"033_spatula.object_config.json","transform":[[0.7785265445709229,-0.056525737047195435,-0.6250610947608948,0.5513027310371399],[0.02818146161735058,0.9980798363685608,-0.0551581084728241,0.6417646408081055],[0.6269786953926086,0.025326915085315704,0.7786245942115784,2.8833956718444824],[0.0,0.0,0.0,1.0]]},{"object_config":"033_spatula.object_config.json","transform":[[0.7602201104164124,0.5337157845497131,0.3704225718975067,2.802793264389038],[0.3605344295501709,0.12772691249847412,-0.9239593148231506,0.4194563031196594],[-0.5404446125030518,0.8359624743461609,-0.09532234072685242,7.118701457977295],[0.0,0.0,0.0,1.0]]},{"object_config":"035_power_drill.object_config.json","transform":[[-0.3985254168510437,0.007117696106433868,-0.917129635810852,3.9704275131225586],[0.05648422986268997,0.9982621669769287,-0.016797056421637535,0.9615322947502136],[0.9154162406921387,-0.058497413992881775,-0.39823490381240845,1.8968472480773926],[0.0,0.0,0.0,1.0]]},{"object_config":"035_power_drill.object_config.json","transform":[[-0.8441742062568665,0.05587535351514816,0.5331491231918335,3.230445146560669],[0.055724263191223145,0.9983115792274475,-0.016393223777413368,0.43141523003578186],[-0.5331649780273438,0.015870606526732445,-0.8458625078201294,6.59844446182251],[0.0,0.0,0.0,1.0]]},{"object_config":"037_scissors.object_config.json","transform":[[0.1410771906375885,-0.11108279228210449,0.9837468266487122,0.6097297668457031],[0.09241868555545807,0.99082350730896,0.09862829744815826,0.6333003044128418],[-0.9856753945350647,0.0770023912191391,0.15004873275756836,2.7517318725585938],[0.0,0.0,0.0,1.0]]},{"object_config":"038_padlock.object_config.json","transform":[[0.9419214725494385,0.06861255317926407,-0.32874947786331177,-2.1005377769470215],[-0.07986979931592941,0.996587336063385,-0.02084466442465782,0.7208663821220398],[0.32619738578796387,0.04589119181036949,0.9441871047019958,1.8378278017044067],[0.0,0.0,0.0,1.0]]},{"object_config":"042_adjustable_wrench.object_config.json","transform":[[0.842212975025177,-0.02931855618953705,0.5383472442626953,-1.880355715751648],[0.05161894112825394,0.9983182549476624,-0.026386108249425888,0.8650485873222351],[-0.5366683006286621,0.050011638551950455,0.8423099517822266,2.7474958896636963],[0.0,0.0,0.0,1.0]]},{"object_config":"042_adjustable_wrench.object_config.json","transform":[[-0.6005440950393677,0.009646212682127953,-0.7995335459709167,0.5222376585006714],[0.05065349489450455,0.9983777403831482,-0.026001516729593277,0.6321499347686768],[0.7979857325553894,-0.05611422285437584,-0.6000584959983826,3.6292364597320557],[0.0,0.0,0.0,1.0]]},{"object_config":"043_phillips_screwdriver.object_config.json","transform":[[-0.7528206706047058,-0.4890614151954651,0.4405454397201538,4.168698310852051],[0.4920257329940796,0.026470959186553955,0.87017822265625,0.9448426365852356],[-0.43723225593566895,0.8718476295471191,0.22070276737213135,1.5019878149032593],[0.0,0.0,0.0,1.0]]},{"object_config":"043_phillips_screwdriver.object_config.json","transform":[[0.8213911652565002,0.06396305561065674,-0.5667673945426941,-2.222960948944092],[0.44766902923583984,-0.6880362033843994,0.5711382627487183,0.7083865404129028],[-0.35342466831207275,-0.7228521108627319,-0.5937811732292175,2.0358853340148926],[0.0,0.0,0.0,1.0]]},{"object_config":"048_hammer.object_config.json","transform":[[-0.449080228805542,0.00020709470845758915,-0.8934913873672485,3.6928889751434326],[0.004701051861047745,0.9999866485595703,-0.0021310304291546345,0.9496101140975952],[0.8934789896011353,-0.005157352890819311,-0.44907522201538086,2.609107732772827],[0.0,0.0,0.0,1.0]]},{"object_config":"048_hammer.object_config.json","transform":[[0.8483314514160156,0.042333126068115234,-0.527770459651947,-2.0852770805358887],[-0.04684613645076752,0.9988905191421509,0.004822373390197754,0.6966716647148132],[0.5273889899253845,0.020633036270737648,0.8493733406066895,2.074838876724243],[0.0,0.0,0.0,1.0]]},{"object_config":"051_large_clamp.object_config.json","transform":[[0.8849513530731201,-0.14187654852867126,-0.4435449242591858,-1.969287633895874],[0.18392711877822876,0.981509268283844,0.05301247164607048,0.8763090968132019],[0.4278222322463989,-0.12849339842796326,0.8946829438209534,2.488893508911133],[0.0,0.0,0.0,1.0]]},{"object_config":"056_tennis_ball.object_config.json","transform":[[0.9568703770637512,-0.24940505623817444,-0.14898383617401123,-0.4352719485759735],[-0.09317713975906372,-0.7492034435272217,0.6557534337043762,0.7956827282905579],[-0.2751673758029938,-0.6135891079902649,-0.7401294112205505,1.8671514987945557],[0.0,0.0,0.0,1.0]]},{"object_config":"065-f_cups.object_config.json","transform":[[0.9955289363861084,0.0023590223863720894,0.09442754834890366,3.559417963027954],[-0.002220206893980503,0.9999963045120239,-0.001575104659423232,0.4396333396434784],[-0.09443091601133347,0.001358413603156805,0.9955304861068726,6.227828502655029],[0.0,0.0,0.0,1.0]]},{"object_config":"065-h_cups.object_config.json","transform":[[-0.6714467406272888,0.002012243727222085,0.7410500049591064,0.5050469636917114],[0.0025209670420736074,0.9999967217445374,-0.0004312017117626965,0.6636452674865723],[-0.7410484552383423,0.0015786336734890938,-0.6714496612548828,3.825882911682129],[0.0,0.0,0.0,1.0]]},{"object_config":"070-b_colored_wood_blocks.object_config.json","transform":[[0.5933815240859985,-0.0033041685819625854,-0.8049145936965942,-2.2456603050231934],[0.001405105460435152,0.9999943375587463,-0.0030691283755004406,0.871961236000061],[0.8049201965332031,0.0006901741726323962,0.593382716178894,2.3753015995025635],[0.0,0.0,0.0,1.0]]},{"object_config":"072-e_toy_airplane.object_config.json","transform":[[-0.8671704530715942,4.7807348892092705e-05,0.4980113208293915,0.48758789896965027],[-0.0039171986281871796,0.999968409538269,-0.006916879676282406,0.795216977596283],[-0.49799594283103943,-0.0079489229246974,-0.867142915725708,1.8645399808883667],[0.0,0.0,0.0,1.0]]},{"object_config":"073-c_lego_duplo.object_config.json","transform":[[0.8845964670181274,0.003544996492564678,0.4663437604904175,0.4196453094482422],[-0.0016384925693273544,0.9999885559082031,-0.004493576008826494,0.6379463076591492],[-0.4663543701171875,0.003210900817066431,0.8845921754837036,3.777397871017456],[0.0,0.0,0.0,1.0]]},{"object_config":"073-d_lego_duplo.object_config.json","transform":[[0.831456184387207,-0.0036559151485562325,-0.5555782914161682,0.884961724281311],[0.0009061378659680486,0.999985933303833,-0.005224195774644613,0.7837029099464417],[0.5555896162986755,0.0038402595091611147,0.8314478397369385,2.2927157878875732],[0.0,0.0,0.0,1.0]]},{"object_config":"077_rubiks_cube.object_config.json","transform":[[0.9384425282478333,-0.002588412957265973,-0.3454257547855377,3.8259570598602295],[0.00397641072049737,0.9999866485595703,0.0033096971455961466,0.9624627828598022],[0.34541258215904236,-0.004479515366256237,0.9384402632713318,1.6307483911514282],[0.0,0.0,0.0,1.0]]},{"object_config":"077_rubiks_cube.object_config.json","transform":[[0.3880090117454529,-0.0032730717211961746,0.9216497540473938,-2.3972105979919434],[0.0036306316033005714,0.9999913573265076,0.0020228137727826834,0.8880114555358887],[-0.9216484427452087,0.0025613007601350546,0.38801753520965576,2.5501227378845215],[0.0,0.0,0.0,1.0]]},{"object_config":"frl_apartment_book_03.object_config.json","transform":[[0.9620367288589478,-0.0005744929658249021,-0.27291950583457947,2.738013982772827],[-0.0004369781818240881,0.9999932646751404,-0.0036453171633183956,0.4861437976360321],[0.27291974425315857,0.0036261887289583683,0.9620299935340881,6.833150863647461],[0.0,0.0,0.0,1.0]]},{"object_config":"frl_apartment_book_05.object_config.json","transform":[[0.678692102432251,7.051911779853981e-06,-0.7344229221343994,-2.302879810333252],[1.3722126368520549e-06,1.0,1.0870061487366911e-05,0.9464852809906006],[0.7344229221343994,-8.385209184780251e-06,0.678692102432251,1.4577347040176392],[0.0,0.0,0.0,1.0]]},{"object_config":"frl_apartment_book_05.object_config.json","transform":[[0.9912796020507812,-3.177414328092709e-06,0.13177545368671417,-2.3240506649017334],[1.5438363334396854e-06,1.0,1.2498843716457486e-05,0.9464852809906006],[-0.13177545368671417,-1.218640863953624e-05,0.9912796020507812,2.4403164386749268],[0.0,0.0,0.0,1.0]]},{"object_config":"frl_apartment_bowl_02.object_config.json","transform":[[0.020990153774619102,-0.0012950808741152287,-0.9997789263725281,3.8781116008758545],[-0.0004903483204543591,0.9999989867210388,-0.0013056609313935041,0.9996220469474792],[0.9997796416282654,0.0005176459671929479,0.02098947763442993,2.2630465030670166],[0.0,0.0,0.0,1.0]]}],"rigid_objs":[[125,158],[91,159],[126,160],[2,161],[3,162],[4,163],[4,164],[5,165],[6,166],[6,167],[7,168],[8,169],[8,170],[9,171],[9,172],[10,173],[11,174],[11,175],[12,176],[12,177],[13,178],[13,179],[14,180],[14,181],[15,182],[16,183],[17,184],[17,185],[18,186],[18,187],[19,188],[20,189],[21,190],[21,191],[22,192],[22,193],[23,194],[23,195],[127,196],[25,197],[128,198],[129,199],[29,200],[130,201],[131,202],[96,203],[32,204],[32,205],[132,206],[133,207],[133,208],[134,209]],"sampled_entities":{"object_name":"box","receptacle1":"receptacle_aabb_Tbl1_Top1_frl_apartment_table_01","receptacle2":"receptacle_aabb_counter_right_kitchen_counter"},"sampler_info":{},"scene_dataset_config":"data/replica_cad/replicaCAD.scene_dataset_config.json","scene_id":"data/replica_cad/configs/scenes/v3_sc3_staging_07.scene_instance.json","start_position":[0,0,0],"start_preds":[],"start_rotation":[0,0,0,1],"subgoals":[["robot_at_obj(009_gelatin_box_:0000)","robot_at(receptacle_aabb_Tbl1_Top1_frl_apartment_table_01)","robot_at(receptacle_aabb_TvStnd1_Top1_frl_apartment_tvstand)","robot_at(009_gelatin_box_:0000)"],["holding(009_gelatin_box_:0000)","robot_at_obj(009_gelatin_box_:0000)","robot_at(receptacle_aabb_Tbl1_Top1_frl_apartment_table_01)","robot_at(receptacle_aabb_TvStnd1_Top1_frl_apartment_tvstand)","robot_at(009_gelatin_box_:0000)"],["holding(009_gelatin_box_:0000)","robot_at_obj(009_gelatin_box_:0000)","robot_at_obj(077_rubiks_cube_:0001)","robot_at_obj(frl_apartment_book_05_:0000)","robot_at_obj(frl_apartment_book_05_:0001)","robot_at(receptacle_aabb_sink_kitchen_counter)","robot_at(receptacle_aabb_counter_right_kitchen_counter)","robot_at(receptacle_aabb_counter_left_kitchen_counter)","robot_at(receptacle_aabb_drawer_left_top_frl_apartment_kitchen_counter)","robot_at(receptacle_aabb_drawer_right_top_frl_apartment_kitchen_counter)","robot_at(009_gelatin_box_:0000)","robot_at(077_rubiks_cube_:0001)","robot_at(frl_apartment_book_05_:0000)","robot_at(frl_apartment_book_05_:0001)"],["on_top(009_gelatin_box_:0000,receptacle_aabb_counter_right_kitchen_counter)","robot_at_obj(077_rubiks_cube_:0001)","robot_at_obj(frl_apartment_book_05_:0000)","robot_at_obj(frl_apartment_book_05_:0001)","robot_at(receptacle_aabb_sink_kitchen_counter)","robot_at(receptacle_aabb_counter_right_kitchen_counter)","robot_at(receptacle_aabb_counter_left_kitchen_counter)","robot_at(receptacle_aabb_drawer_left_top_frl_apartment_kitchen_counter)","robot_at(receptacle_aabb_drawer_right_top_frl_apartment_kitchen_counter)","robot_at(077_rubiks_cube_:0001)","robot_at(frl_apartment_book_05_:0000)","robot_at(frl_apartment_book_05_:0001)"]],"target_receptacles":[],"targets":{}},"observations":[],"question":{"options":[],"original":"Shift all the box over to right counter.","text":"Shift all the box over to right counter."},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"Habitat-Sim 0.3.0 / ReplicaCAD / YCB","eval_set":"long_horizon","mode":"interactive","observation_policy":"current RGB and upstream feedback; hidden goals/poses are evaluator-only","repo":"EmbodiedBench/EmbodiedBench","revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","selected_index":4},"sampling":{"component_id":"212c0afe47b7e6388e84","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":8,"stratum_pool":50},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"embodiedbench/envs/eb_habitat/datasets/long_horizon.pickle","annotation_sha256":"eea7bc6754689fbd889c4469cc7e667e979919836231be8b5917b6d4e5b31bfb","host":"github","license":"not-specified; underlying simulator/data terms apply","media_policy":"runtime simulator; no trajectories supplied as observations","repo":"EmbodiedBench/EmbodiedBench","revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","row_sha256":"7ab26a8d0825a5f42a8df193e45b99f6fea164b977f1485b598fbffa6488c6ad","sample_id":"long_horizon/4","split":"long_horizon","upstream_dataset":"EB-Habitat","url":"https://github.com/EmbodiedBench/EmbodiedBench"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_environment_success","original_answer":null},"task":{"category":"long_horizon","role":"spatial_core","skill_tags":["long_horizon","long_horizon"],"stratum":"EB-Habitat/long_horizon/long_horizon","subcategory":"long_horizon"},"transforms":[]}
{"dataset":"EB-Habitat","group":{"id":"ReplicaCAD/data/replica_cad/configs/scenes/v3_sc0_staging_13.scene_instance.json","kind":"scene","scene":"data/replica_cad/configs/scenes/v3_sc0_staging_13.scene_instance.json"},"id":"ba4bafedcf4204f9bbc2","native_annotation":{"additional_obj_config_paths":["data/objects/ycb/configs"],"ao_states":{"77":{"2":0.0},"78":{"1":0.0,"2":0.0,"3":0.0,"4":0.0,"5":0.0,"6":0.0,"7":0.0}},"episode_id":"22","goal_preds":{"expr_type":"AND","inputs":[{"expr_type":"block","name":"X"}],"quantifier":"EXISTS","sub_exprs":["on_top(X, receptacle_aabb_sink_kitchen_counter)","not_holding()"]},"goal_receptacles":[],"idx_to_name":{"0":"007_tuna_fish_can.object_config.json","1":"008_pudding_box.object_config.json","10":"021_bleach_cleanser.object_config.json","100":"065-j_cups_:0000","101":"057_racquetball_:0000","102":"051_large_clamp_:0000","103":"044_flat_screwdriver_:0000","104":"010_potted_meat_can_:0000","105":"009_gelatin_box_:0000","106":"072-a_toy_airplane_:0000","107":"frl_apartment_book_02_:0000","108":"024_bowl_:0000","109":"065-f_cups_:0000","11":"025_mug.object_config.json","110":"005_tomato_soup_can.object_config.json","111":"036_wood_block.object_config.json","112":"053_mini_soccer_ball.object_config.json","113":"065-e_cups.object_config.json","114":"072-e_toy_airplane.object_config.json","115":"073-c_lego_duplo.object_config.json","116":"frl_apartment_book_01.object_config.json","117":"053_mini_soccer_ball_:0000","118":"036_wood_block_:0000","119":"005_tomato_soup_can_:0000","12":"026_sponge.object_config.json","120":"072-e_toy_airplane_:0000","121":"073-c_lego_duplo_:0000","122":"frl_apartment_book_01_:0000","123":"065-e_cups_:0000","124":"002_master_chef_can.object_config.json","125":"frl_apartment_book_05.object_config.json","126":"frl_apartment_bowl_01.object_config.json","127":"026_sponge_:0001","128":"002_master_chef_can_:0000","129":"frl_apartment_book_05_:0000","13":"028_skillet_lid.object_config.json","130":"frl_apartment_bowl_01_:0000","131":"054_softball.object_config.json","132":"073-b_lego_duplo.object_config.json","133":"frl_apartment_book_03.object_config.json","134":"frl_apartment_bowl_02.object_config.json","135":"frl_apartment_cup_02.object_config.json","136":"frl_apartment_book_03_:0000","137":"054_softball_:0000","138":"073-b_lego_duplo_:0000","139":"frl_apartment_bowl_02_:0000","14":"029_plate.object_config.json","140":"frl_apartment_cup_02_:0000","141":"003_cracker_box.object_config.json","142":"050_medium_clamp.object_config.json","143":"065-i_cups.object_config.json","144":"072-c_toy_airplane.object_config.json","145":"050_medium_clamp_:0000","146":"036_wood_block_:0001","147":"003_cracker_box_:0000","148":"072-c_toy_airplane_:0000","149":"065-i_cups_:0000","15":"031_spoon.object_config.json","150":"004_sugar_box.object_config.json","151":"055_baseball.object_config.json","152":"073-f_lego_duplo.object_config.json","153":"frl_apartment_bowl_07.object_config.json","154":"055_baseball_:0000","155":"016_pear_:0001","156":"004_sugar_box_:0000","157":"073-f_lego_duplo_:0000","158":"frl_apartment_bowl_07_:0000","159":"065-b_cups.object_config.json","16":"032_knife.object_config.json","160":"072-b_toy_airplane.object_config.json","161":"072-b_toy_airplane_:0000","162":"065-b_cups_:0000","17":"033_spatula.object_config.json","18":"035_power_drill.object_config.json","19":"037_scissors.object_config.json","2":"011_banana.object_config.json","20":"038_padlock.object_config.json","21":"042_adjustable_wrench.object_config.json","22":"043_phillips_screwdriver.object_config.json","23":"048_hammer.object_config.json","24":"052_extra_large_clamp.object_config.json","25":"056_tennis_ball.object_config.json","26":"065-d_cups.object_config.json","27":"065-g_cups.object_config.json","28":"070-a_colored_wood_blocks.object_config.json","29":"070-b_colored_wood_blocks.object_config.json","3":"012_strawberry.object_config.json","30":"072-d_toy_airplane.object_config.json","31":"073-g_lego_duplo.object_config.json","32":"077_rubiks_cube.object_config.json","33":"frl_apartment_book_04.object_config.json","34":"frl_apartment_bowl_03.object_config.json","35":"070-a_colored_wood_blocks_:0000","36":"receptacle_aabb_TvStnd1_Top1_frl_apartment_tvstand","37":"056_tennis_ball_:0000","38":"receptacle_aabb_Tbl1_Top1_frl_apartment_table_01","39":"052_extra_large_clamp_:0000","4":"013_apple.object_config.json","40":"receptacle_aabb_counter_left_kitchen_counter","41":"048_hammer_:0000","42":"043_phillips_screwdriver_:0000","43":"042_adjustable_wrench_:0000","44":"receptacle_aabb_counter_right_kitchen_counter","45":"038_padlock_:0000","46":"037_scissors_:0000","47":"070-b_colored_wood_blocks_:0000","48":"035_power_drill_:0000","49":"033_spatula_:0000","5":"014_lemon.object_config.json","50":"receptacle_aabb_Tbl2_Top1_frl_apartment_table_02","51":"032_knife_:0000","52":"receptacle_aabb_sink_kitchen_counter","53":"031_spoon_:0000","54":"029_plate_:0000","55":"028_skillet_lid_:0000","56":"026_sponge_:0000","57":"021_bleach_cleanser_:0000","58":"receptacle_aabb_Sofa_frl_apartment_sofa","59":"018_plum_:0000","6":"015_peach.object_config.json","60":"017_orange_:0000","61":"016_pear_:0000","62":"015_peach_:0000","63":"013_apple_:0000","64":"014_lemon_:0000","65":"007_tuna_fish_can_:0000","66":"008_pudding_box_:0000","67":"011_banana_:0000","68":"012_strawberry_:0000","69":"072-d_toy_airplane_:0000","7":"016_pear.object_config.json","70":"073-g_lego_duplo_:0000","71":"077_rubiks_cube_:0000","72":"frl_apartment_book_04_:0000","73":"frl_apartment_bowl_03_:0000","74":"025_mug_:0000","75":"065-g_cups_:0000","76":"065-d_cups_:0000","77":"fridge_:0000","78":"kitchen_counter_:0000","79":"cab_push_point_7","8":"017_orange.object_config.json","80":"articulated_object","81":"drawer1_top","82":"cab_push_point_6","83":"drawer2_top","84":"cab_push_point_5","85":"drawer3","86":"cab_push_point_4","87":"drawer4","88":"fridge_push_point","89":"top_door","9":"018_plum.object_config.json","90":"009_gelatin_box.object_config.json","91":"010_potted_meat_can.object_config.json","92":"024_bowl.object_config.json","93":"044_flat_screwdriver.object_config.json","94":"051_large_clamp.object_config.json","95":"057_racquetball.object_config.json","96":"065-f_cups.object_config.json","97":"065-j_cups.object_config.json","98":"072-a_toy_airplane.object_config.json","99":"frl_apartment_book_02.object_config.json"},"info":{"object_labels":{}},"instruct_id":"f0917e29","instruction":"Transfer an block to the designated left receptacle of the right counter.","markers":[[79,80,[0.3,0.0,0.0],81,78],[82,80,[0.3,0.0,0.0],83,78],[84,80,[0.3,0.0,0.0],85,78],[86,80,[0.3,0.0,0.0],87,78],[88,80,[0.1,-0.62,0.2],89,77]],"name_to_receptacle":[[35,52],[37,38],[39,40],[41,50],[42,36],[43,36],[45,40],[46,50],[47,50],[48,38],[49,38],[51,58],[53,50],[54,58],[55,58],[56,44],[57,50],[59,38],[60,40],[61,38],[62,58],[63,58],[64,50],[65,40],[66,50],[67,50],[68,58],[69,36],[70,44],[71,36],[72,40],[73,40],[74,40],[75,40],[76,58]],"resolved_rigid_objects":[{"object_config":"007_tuna_fish_can.object_config.json","transform":[[0.867220401763916,-0.0021408298052847385,-0.49791982769966125,0.6395477652549744],[0.0013925695093348622,0.9999972581863403,-0.001874115550890565,0.8757863640785217],[0.49792250990867615,0.0009318834054283798,0.8672209978103638,7.678494930267334],[0.0,0.0,0.0,1.0]]},{"object_config":"008_pudding_box.object_config.json","transform":[[-0.9913328289985657,0.0031772840302437544,-0.1313384473323822,0.03508478403091431],[0.0028923957142978907,0.9999930262565613,0.0023598268162459135,0.9528940916061401],[0.13134503364562988,0.001959490356966853,-0.9913351535797119,-0.5207645893096924],[0.0,0.0,0.0,1.0]]},{"object_config":"011_banana.object_config.json","transform":[[-0.3802059292793274,0.028413038700819016,0.9244654774665833,0.6094322800636292],[-0.11524538695812225,0.9902830719947815,-0.07783301174640656,0.9512979388237],[-0.9176939129829407,-0.13613294064998627,-0.3732370138168335,-0.4174429476261139],[0.0,0.0,0.0,1.0]]},{"object_config":"012_strawberry.object_config.json","transform":[[0.5752997994422913,-0.21014416217803955,-0.7904869914054871,-1.9847407341003418],[0.44498956203460693,0.8913088440895081,0.08690725266933441,0.4264867305755615],[0.6863049864768982,-0.4017561674118042,0.6062817573547363,1.3615258932113647],[0.0,0.0,0.0,1.0]]},{"object_config":"013_apple.object_config.json","transform":[[-0.5282151699066162,-0.008512650616466999,0.8490681052207947,-1.6483004093170166],[-0.010738112963736057,0.9999367594718933,0.003344937926158309,0.43963518738746643],[-0.8490428328514099,-0.007350541651248932,-0.5282731652259827,1.3595845699310303],[0.0,0.0,0.0,1.0]]},{"object_config":"014_lemon.object_config.json","transform":[[0.17860162258148193,0.6192704439163208,-0.7645951509475708,1.0466331243515015],[0.6117589473724365,0.5387334823608398,0.5792385935783386,0.9597741365432739],[0.7706183195114136,-0.5712009072303772,-0.28262555599212646,-0.6225733757019043],[0.0,0.0,0.0,1.0]]},{"object_config":"015_peach.object_config.json","transform":[[-0.299222469329834,-0.5548979640007019,0.7762439250946045,-2.0214803218841553],[-0.7622861266136169,-0.35029876232147217,-0.544252872467041,0.43047550320625305],[0.573921799659729,-0.7545723915100098,-0.31817400455474854,0.753414511680603],[0.0,0.0,0.0,1.0]]},{"object_config":"016_pear.object_config.json","transform":[[-0.6677523255348206,0.3474126160144806,-0.6583398580551147,1.384297251701355],[0.39180341362953186,0.9160218238830566,0.08598890900611877,0.7950745224952698],[0.6329272985458374,-0.20052051544189453,-0.7477931380271912,-0.13763445615768433],[0.0,0.0,0.0,1.0]]},{"object_config":"017_orange.object_config.json","transform":[[0.9581748247146606,0.09827030450105667,-0.2687823176383972,0.736280620098114],[-0.1267724633216858,0.9877684116363525,-0.09078674763441086,0.8952283263206482],[0.2565730810165405,0.12106377631425858,0.9589128494262695,7.382785797119141],[0.0,0.0,0.0,1.0]]},{"object_config":"018_plum.object_config.json","transform":[[-0.4440792202949524,0.025808053091168404,-0.8956157565116882,1.9203184843063354],[0.015531616285443306,0.999656617641449,0.021104946732521057,0.7885738015174866],[0.8958528637886047,-0.004538089968264103,-0.44432759284973145,-0.27102720737457275],[0.0,0.0,0.0,1.0]]},{"object_config":"021_bleach_cleanser.object_config.json","transform":[[-0.9672127366065979,0.0016945803072303534,-0.25396278500556946,1.0672965049743652],[0.001086395001038909,0.9999962449073792,0.0025350134819746017,1.0587888956069946],[0.2539661228656769,0.0021759928204119205,-0.9672108888626099,0.1031017154455185],[0.0,0.0,0.0,1.0]]},{"object_config":"025_mug.object_config.json","transform":[[0.0876239612698555,0.00019867613445967436,-0.996153712272644,0.5119008421897888],[0.0034119808115065098,0.9999940395355225,0.000499567948281765,0.8996888995170593],[0.996147871017456,-0.0034426311030983925,0.0876227617263794,7.280429363250732],[0.0,0.0,0.0,1.0]]},{"object_config":"026_sponge.object_config.json","transform":[[-0.6809126734733582,0.002533764112740755,-0.732360303401947,0.5668497681617737],[0.0059028188697993755,0.9999805092811584,-0.0020284950733184814,0.8682944774627686],[0.7323408722877502,-0.005704217590391636,-0.6809144020080566,5.187293529510498],[0.0,0.0,0.0,1.0]]},{"object_config":"028_skillet_lid.object_config.json","transform":[[-0.8709955215454102,-0.0013862861087545753,0.49128949642181396,-1.9248846769332886],[0.0034089707769453526,0.999954879283905,0.008865286596119404,0.440710186958313],[-0.49127960205078125,0.009396414272487164,-0.8709514737129211,1.5943957567214966],[0.0,0.0,0.0,1.0]]},{"object_config":"029_plate.object_config.json","transform":[[-0.42803385853767395,5.38612948730588e-06,0.9037628173828125,-1.734312653541565],[-0.0002581811568234116,0.9999999403953552,-0.0001282375887967646,0.4169829189777374],[-0.9037628173828125,-0.00028822451713494956,-0.42803382873535156,1.014822244644165],[0.0,0.0,0.0,1.0]]},{"object_config":"031_spoon.object_config.json","transform":[[-0.8698041439056396,0.1260019987821579,-0.4770375192165375,0.14479856193065643],[-0.23328275978565216,0.7469234466552734,0.6226431727409363,0.9441124200820923],[0.4347648322582245,0.652862012386322,-0.6202831268310547,-0.44568705558776855],[0.0,0.0,0.0,1.0]]},{"object_config":"032_knife.object_config.json","transform":[[-0.284394234418869,0.16414041817188263,-0.9445518255233765,-2.076977491378784],[-0.047237735241651535,0.9816387295722961,0.18480801582336426,0.4114873707294464],[0.957543134689331,0.09717679023742676,-0.2714187502861023,1.1857110261917114],[0.0,0.0,0.0,1.0]]},{"object_config":"033_spatula.object_config.json","transform":[[-0.9369668960571289,0.030895918607711792,-0.348050594329834,2.100240468978882],[0.22320103645324707,0.8192991018295288,-0.5281385183334351,0.7777076959609985],[0.2688402533531189,-0.572533369064331,-0.7745522260665894,-0.46919888257980347],[0.0,0.0,0.0,1.0]]},{"object_config":"035_power_drill.object_config.json","transform":[[-0.8115434050559998,0.037772297859191895,-0.5830702781677246,1.4478782415390015],[0.058843113481998444,0.9981183409690857,-0.01724064163863659,0.7898823022842407],[0.5813219547271729,-0.04830119013786316,-0.8122390508651733,-0.2590639293193817],[0.0,0.0,0.0,1.0]]},{"object_config":"037_scissors.object_config.json","transform":[[0.837283194065094,-0.02234242856502533,-0.5463128089904785,-0.1241028681397438],[0.09296458214521408,0.9904338121414185,0.10197269171476364,0.9408991932868958],[0.5388083457946777,-0.1361677646636963,0.8313506245613098,-0.4905388653278351],[0.0,0.0,0.0,1.0]]},{"object_config":"038_padlock.object_config.json","transform":[[-0.7597190737724304,-0.03569955378770828,0.6492712497711182,0.753580629825592],[-0.060913436114788055,0.9980083107948303,-0.01640089973807335,0.873430073261261],[-0.6473926305770874,-0.05200940743088722,-0.7603805065155029,7.056224822998047],[0.0,0.0,0.0,1.0]]},{"object_config":"042_adjustable_wrench.object_config.json","transform":[[-0.18292446434497833,-0.015391219407320023,-0.9830064177513123,3.1616249084472656],[0.052100662142038345,0.9983206391334534,-0.025326237082481384,0.6320948004722595],[0.9817454218864441,-0.055848076939582825,-0.18181538581848145,7.6501264572143555],[0.0,0.0,0.0,1.0]]},{"object_config":"043_phillips_screwdriver.object_config.json","transform":[[0.7780647873878479,-0.17126421630382538,-0.604387104511261,3.1800172328948975],[0.47908174991607666,-0.4605363607406616,0.7472530007362366,0.6359085440635681],[-0.40631991624832153,-0.8709620833396912,-0.2762776017189026,7.2377705574035645],[0.0,0.0,0.0,1.0]]},{"object_config":"048_hammer.object_config.json","transform":[[-0.3447330892086029,-0.0003208413254469633,-0.9387006163597107,0.3760627210140228],[0.004821477457880974,0.9999861717224121,-0.002112451707944274,0.9498001933097839],[0.938688337802887,-0.0052541568875312805,-0.3447267413139343,-0.12208987772464752],[0.0,0.0,0.0,1.0]]},{"object_config":"052_extra_large_clamp.object_config.json","transform":[[0.7392081022262573,0.05099067836999893,-0.6715440154075623,0.5996744632720947],[-0.02623617649078369,0.9985530376434326,0.04694093391299248,0.876931369304657],[0.6729658246040344,-0.01708037033677101,0.7394763231277466,7.0583109855651855],[0.0,0.0,0.0,1.0]]},{"object_config":"056_tennis_ball.object_config.json","transform":[[-0.6203716397285461,-0.0004619983956217766,-0.7843081951141357,1.5852065086364746],[-0.005378555506467819,0.9999788403511047,0.0036652861163020134,0.7953778505325317],[0.7842898368835449,0.006492283195257187,-0.6203609704971313,0.3175889551639557],[0.0,0.0,0.0,1.0]]},{"object_config":"065-d_cups.object_config.json","transform":[[-0.039760105311870575,0.001419973443262279,0.999208390712738,-1.910540223121643],[0.0034434590488672256,0.9999932646751404,-0.0012840686831623316,0.4379930794239044],[-0.9992035031318665,0.0033896781969815493,-0.03976470232009888,0.6910924315452576],[0.0,0.0,0.0,1.0]]},{"object_config":"065-g_cups.object_config.json","transform":[[-0.5886257886886597,0.0013089829590171576,0.8084048628807068,0.3529941737651825],[0.005142617039382458,0.9999845027923584,0.00212531303986907,0.8960465788841248],[-0.8083896040916443,0.005408329889178276,-0.5886234045028687,7.736578941345215],[0.0,0.0,0.0,1.0]]},{"object_config":"070-a_colored_wood_blocks.object_config.json","transform":[[0.9011982083320618,-0.02065805159509182,0.4329146146774292,0.6376379132270813],[0.021323932334780693,0.9997671246528625,0.003317400813102722,0.7882346510887146],[-0.43288230895996094,0.006241805851459503,0.9014288187026978,6.687513828277588],[0.0,0.0,0.0,1.0]]},{"object_config":"070-b_colored_wood_blocks.object_config.json","transform":[[0.06028960645198822,0.006917692720890045,-0.9981570243835449,0.9589431285858154],[0.003933154046535492,0.999966561794281,0.0071678003296256065,0.9465693235397339],[0.9981732368469238,-0.0043580494821071625,0.0602603554725647,-0.022118015214800835],[0.0,0.0,0.0,1.0]]},{"object_config":"072-d_toy_airplane.object_config.json","transform":[[-0.5622378587722778,-0.0002550962381064892,0.8269757032394409,1.7729926109313965],[0.0030700932256877422,0.9999924302101135,0.0023957372177392244,0.659185528755188],[-0.826970100402832,0.0038858659099787474,-0.5622327923774719,7.3731794357299805],[0.0,0.0,0.0,1.0]]},{"object_config":"073-g_lego_duplo.object_config.json","transform":[[0.8034229278564453,0.005504842847585678,0.5953832864761353,0.40763112902641296],[-0.0031596077606081963,0.9999825954437256,-0.004982077982276678,0.8883368372917175],[-0.595400333404541,0.002121537923812866,0.8034263849258423,5.347931861877441],[0.0,0.0,0.0,1.0]]},{"object_config":"077_rubiks_cube.object_config.json","transform":[[-0.04062535613775253,0.006406367290765047,-0.9991539716720581,3.144409418106079],[0.006125906016677618,0.9999622702598572,0.006162473000586033,0.655092716217041],[0.9991557598114014,-0.005870371125638485,-0.040663063526153564,7.369908332824707],[0.0,0.0,0.0,1.0]]},{"object_config":"frl_apartment_book_04.object_config.json","transform":[[0.9927139282226562,2.1254882085486315e-06,-0.1204952746629715,0.5646798014640808],[1.6484455045429058e-07,1.0,1.899768722068984e-05,0.9354856610298157],[0.1204952746629715,-1.8879132767324336e-05,0.9927139282226562,7.802527904510498],[0.0,0.0,0.0,1.0]]},{"object_config":"frl_apartment_bowl_03.object_config.json","transform":[[0.8839713931083679,8.408362191403285e-05,0.467540979385376,0.8575132489204407],[-7.259204721776769e-05,1.0,-4.259374691173434e-05,0.9173716306686401],[-0.467540979385376,3.711900717462413e-06,0.8839713931083679,7.201638221740723],[0.0,0.0,0.0,1.0]]}],"rigid_objs":[[0,1500],[1,1501],[2,1502],[3,1503],[4,1504],[5,1505],[6,1506],[7,1507],[8,1508],[9,1509],[10,1510],[11,1511],[12,1512],[13,1513],[14,1514],[15,1515],[16,1516],[17,1517],[18,1518],[19,1519],[20,1520],[21,1521],[22,1522],[23,1523],[24,1524],[25,1525],[26,1526],[27,1527],[28,1528],[29,1529],[30,1530],[31,1531],[32,1532],[33,1533],[34,1534]],"sampled_entities":{"source_receptacle_name":"receptacle_aabb_Tbl2_Top1_frl_apartment_table_02","target_object_name":"block","target_receptacle_name":"receptacle_aabb_sink_kitchen_counter"},"sampler_info":{},"scene_dataset_config":"data/replica_cad/replicaCAD.scene_dataset_config.json","scene_id":"data/replica_cad/configs/scenes/v3_sc0_staging_13.scene_instance.json","start_position":[0,0,0],"start_preds":[],"start_rotation":[0,0,0,1],"subgoals":[["robot_at(receptacle_aabb_Tbl1_Top1_frl_apartment_table_01)","robot_at(receptacle_aabb_Tbl2_Top1_frl_apartment_table_02)","robot_at(070-b_colored_wood_blocks_:0000)"],["holding(070-b_colored_wood_blocks_:0000)","robot_at(receptacle_aabb_Tbl1_Top1_frl_apartment_table_01)","robot_at(receptacle_aabb_Tbl2_Top1_frl_apartment_table_02)","robot_at(070-b_colored_wood_blocks_:0000)"],["holding(070-b_colored_wood_blocks_:0000)","robot_at(receptacle_aabb_sink_kitchen_counter)","robot_at(receptacle_aabb_counter_right_kitchen_counter)","robot_at(receptacle_aabb_counter_left_kitchen_counter)","robot_at(receptacle_aabb_drawer_left_top_frl_apartment_kitchen_counter)","robot_at(receptacle_aabb_drawer_right_top_frl_apartment_kitchen_counter)","robot_at(070-a_colored_wood_blocks_:0000)","robot_at(070-b_colored_wood_blocks_:0000)","robot_at(frl_apartment_book_04_:0000)"],["on_top(070-b_colored_wood_blocks_:0000,receptacle_aabb_sink_kitchen_counter)","robot_at(receptacle_aabb_sink_kitchen_counter)","robot_at(receptacle_aabb_counter_right_kitchen_counter)","robot_at(receptacle_aabb_counter_left_kitchen_counter)","robot_at(receptacle_aabb_drawer_left_top_frl_apartment_kitchen_counter)","robot_at(receptacle_aabb_drawer_right_top_frl_apartment_kitchen_counter)","robot_at(070-a_colored_wood_blocks_:0000)","robot_at(070-b_colored_wood_blocks_:0000)","robot_at(frl_apartment_book_04_:0000)"]],"target_receptacles":[],"targets":{}},"observations":[],"question":{"options":[],"original":"Transfer an block to the designated left receptacle of the right counter.","text":"Transfer an block to the designated left receptacle of the right counter."},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"Habitat-Sim 0.3.0 / ReplicaCAD / YCB","eval_set":"spatial_relationship","mode":"interactive","observation_policy":"current RGB and upstream feedback; hidden goals/poses are evaluator-only","repo":"EmbodiedBench/EmbodiedBench","revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","selected_index":43},"sampling":{"component_id":"1a64e23ec62f503fc94f","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":10,"stratum_pool":50},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"embodiedbench/envs/eb_habitat/datasets/spatial_relationship.pickle","annotation_sha256":"1ced7f6dc77d31e0c075a1b99ff8476a857b34a53ead755df7f359a5b8ec0884","host":"github","license":"not-specified; underlying simulator/data terms apply","media_policy":"runtime simulator; no trajectories supplied as observations","repo":"EmbodiedBench/EmbodiedBench","revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","row_sha256":"5a2dd94cf80f038cbb400d7b690cd364ca20a677287eecb3c0b2a5329853fc10","sample_id":"spatial_relationship/43","split":"spatial_relationship","upstream_dataset":"EB-Habitat","url":"https://github.com/EmbodiedBench/EmbodiedBench"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_environment_success","original_answer":null},"task":{"category":"spatial_relationship","role":"spatial_core","skill_tags":["spatial_relationship","spatial_relationship"],"stratum":"EB-Habitat/spatial_relationship/spatial_relationship","subcategory":"spatial_relationship"},"transforms":[]}
{"dataset":"EB-Habitat","group":{"id":"ReplicaCAD/data/replica_cad/configs/scenes/v3_sc3_staging_11.scene_instance.json","kind":"scene","scene":"data/replica_cad/configs/scenes/v3_sc3_staging_11.scene_instance.json"},"id":"2cfb36d590045b81568d","native_annotation":{"additional_obj_config_paths":["data/objects/ycb/configs"],"ao_states":{"77":{"2":0.0},"78":{"1":0.0,"2":0.0,"3":0.0,"4":0.0,"5":0.0,"6":0.0,"7":0.0}},"episode_id":"30","goal_preds":{"expr_type":"AND","inputs":[{"expr_type":"block","name":"X"},{"expr_type":"pear","name":"Y"}],"quantifier":"EXISTS","sub_exprs":["on_top(X, receptacle_aabb_sink_kitchen_counter)","on_top(Y, receptacle_aabb_sink_kitchen_counter)","not_holding()"]},"goal_receptacles":[],"idx_to_name":{"0":"007_tuna_fish_can.object_config.json","1":"008_pudding_box.object_config.json","10":"021_bleach_cleanser.object_config.json","100":"065-j_cups_:0000","101":"057_racquetball_:0000","102":"051_large_clamp_:0000","103":"044_flat_screwdriver_:0000","104":"010_potted_meat_can_:0000","105":"009_gelatin_box_:0000","106":"072-a_toy_airplane_:0000","107":"frl_apartment_book_02_:0000","108":"024_bowl_:0000","109":"065-f_cups_:0000","11":"025_mug.object_config.json","110":"005_tomato_soup_can.object_config.json","111":"036_wood_block.object_config.json","112":"053_mini_soccer_ball.object_config.json","113":"065-e_cups.object_config.json","114":"072-e_toy_airplane.object_config.json","115":"073-c_lego_duplo.object_config.json","116":"frl_apartment_book_01.object_config.json","117":"053_mini_soccer_ball_:0000","118":"036_wood_block_:0000","119":"005_tomato_soup_can_:0000","12":"026_sponge.object_config.json","120":"072-e_toy_airplane_:0000","121":"073-c_lego_duplo_:0000","122":"frl_apartment_book_01_:0000","123":"065-e_cups_:0000","124":"002_master_chef_can.object_config.json","125":"frl_apartment_book_05.object_config.json","126":"frl_apartment_bowl_01.object_config.json","127":"026_sponge_:0001","128":"002_master_chef_can_:0000","129":"frl_apartment_book_05_:0000","13":"028_skillet_lid.object_config.json","130":"frl_apartment_bowl_01_:0000","131":"054_softball.object_config.json","132":"073-b_lego_duplo.object_config.json","133":"frl_apartment_book_03.object_config.json","134":"frl_apartment_bowl_02.object_config.json","135":"frl_apartment_cup_02.object_config.json","136":"frl_apartment_book_03_:0000","137":"054_softball_:0000","138":"073-b_lego_duplo_:0000","139":"frl_apartment_bowl_02_:0000","14":"029_plate.object_config.json","140":"frl_apartment_cup_02_:0000","141":"003_cracker_box.object_config.json","142":"050_medium_clamp.object_config.json","143":"065-i_cups.object_config.json","144":"072-c_toy_airplane.object_config.json","145":"050_medium_clamp_:0000","146":"036_wood_block_:0001","147":"003_cracker_box_:0000","148":"072-c_toy_airplane_:0000","149":"065-i_cups_:0000","15":"031_spoon.object_config.json","150":"004_sugar_box.object_config.json","151":"055_baseball.object_config.json","152":"073-f_lego_duplo.object_config.json","153":"frl_apartment_bowl_07.object_config.json","154":"055_baseball_:0000","155":"016_pear_:0001","156":"004_sugar_box_:0000","157":"073-f_lego_duplo_:0000","158":"frl_apartment_bowl_07_:0000","159":"065-b_cups.object_config.json","16":"032_knife.object_config.json","160":"072-b_toy_airplane.object_config.json","161":"072-b_toy_airplane_:0000","162":"065-b_cups_:0000","17":"033_spatula.object_config.json","18":"035_power_drill.object_config.json","19":"037_scissors.object_config.json","2":"011_banana.object_config.json","20":"038_padlock.object_config.json","21":"042_adjustable_wrench.object_config.json","22":"043_phillips_screwdriver.object_config.json","23":"048_hammer.object_config.json","24":"052_extra_large_clamp.object_config.json","25":"056_tennis_ball.object_config.json","26":"065-d_cups.object_config.json","27":"065-g_cups.object_config.json","28":"070-a_colored_wood_blocks.object_config.json","29":"070-b_colored_wood_blocks.object_config.json","3":"012_strawberry.object_config.json","30":"072-d_toy_airplane.object_config.json","31":"073-g_lego_duplo.object_config.json","32":"077_rubiks_cube.object_config.json","33":"frl_apartment_book_04.object_config.json","34":"frl_apartment_bowl_03.object_config.json","35":"070-a_colored_wood_blocks_:0000","36":"receptacle_aabb_TvStnd1_Top1_frl_apartment_tvstand","37":"056_tennis_ball_:0000","38":"receptacle_aabb_Tbl1_Top1_frl_apartment_table_01","39":"052_extra_large_clamp_:0000","4":"013_apple.object_config.json","40":"receptacle_aabb_counter_left_kitchen_counter","41":"048_hammer_:0000","42":"043_phillips_screwdriver_:0000","43":"042_adjustable_wrench_:0000","44":"receptacle_aabb_counter_right_kitchen_counter","45":"038_padlock_:0000","46":"037_scissors_:0000","47":"070-b_colored_wood_blocks_:0000","48":"035_power_drill_:0000","49":"033_spatula_:0000","5":"014_lemon.object_config.json","50":"receptacle_aabb_Tbl2_Top1_frl_apartment_table_02","51":"032_knife_:0000","52":"receptacle_aabb_sink_kitchen_counter","53":"031_spoon_:0000","54":"029_plate_:0000","55":"028_skillet_lid_:0000","56":"026_sponge_:0000","57":"021_bleach_cleanser_:0000","58":"receptacle_aabb_Sofa_frl_apartment_sofa","59":"018_plum_:0000","6":"015_peach.object_config.json","60":"017_orange_:0000","61":"016_pear_:0000","62":"015_peach_:0000","63":"013_apple_:0000","64":"014_lemon_:0000","65":"007_tuna_fish_can_:0000","66":"008_pudding_box_:0000","67":"011_banana_:0000","68":"012_strawberry_:0000","69":"072-d_toy_airplane_:0000","7":"016_pear.object_config.json","70":"073-g_lego_duplo_:0000","71":"077_rubiks_cube_:0000","72":"frl_apartment_book_04_:0000","73":"frl_apartment_bowl_03_:0000","74":"025_mug_:0000","75":"065-g_cups_:0000","76":"065-d_cups_:0000","77":"fridge_:0000","78":"kitchen_counter_:0000","79":"cab_push_point_7","8":"017_orange.object_config.json","80":"articulated_object","81":"drawer1_top","82":"cab_push_point_6","83":"drawer2_top","84":"cab_push_point_5","85":"drawer3","86":"cab_push_point_4","87":"drawer4","88":"fridge_push_point","89":"top_door","9":"018_plum.object_config.json","90":"009_gelatin_box.object_config.json","91":"010_potted_meat_can.object_config.json","92":"024_bowl.object_config.json","93":"044_flat_screwdriver.object_config.json","94":"051_large_clamp.object_config.json","95":"057_racquetball.object_config.json","96":"065-f_cups.object_config.json","97":"065-j_cups.object_config.json","98":"072-a_toy_airplane.object_config.json","99":"frl_apartment_book_02.object_config.json"},"info":{"object_labels":{}},"instruct_id":"fd8dd56c","instruction":"Place a block and a pear on the left receptacle of the right counter.","markers":[[79,80,[0.3,0.0,0.0],81,78],[82,80,[0.3,0.0,0.0],83,78],[84,80,[0.3,0.0,0.0],85,78],[86,80,[0.3,0.0,0.0],87,78],[88,80,[0.1,-0.62,0.2],89,77]],"name_to_receptacle":[[35,52],[37,38],[39,36],[41,38],[42,38],[43,52],[45,58],[46,38],[47,50],[48,58],[49,58],[51,50],[53,44],[54,36],[55,40],[56,50],[57,38],[59,38],[60,40],[61,40],[62,52],[63,38],[64,40],[65,38],[66,44],[67,36],[68,52],[69,44],[70,44],[71,44],[72,50],[73,40],[74,52],[75,58],[76,50]],"resolved_rigid_objects":[{"object_config":"007_tuna_fish_can.object_config.json","transform":[[0.6718794703483582,-0.0020069200545549393,-0.7406578063964844,0.8860580921173096],[0.0012476968113332987,0.9999979734420776,-0.0015778057277202606,0.7787538170814514],[0.7406594753265381,0.0001359788584522903,0.6718806028366089,7.722532749176025],[0.0,0.0,0.0,1.0]]},{"object_config":"008_pudding_box.object_config.json","transform":[[-0.9799728393554688,0.00287009053863585,-0.1991102397441864,-2.3937673568725586],[0.0036197786685079336,0.9999876618385315,-0.003401281079277396,0.8784035444259644],[0.19909802079200745,-0.0040538981556892395,-0.9799711108207703,1.4415479898452759],[0.0,0.0,0.0,1.0]]},{"object_config":"011_banana.object_config.json","transform":[[0.823967695236206,0.08662642538547516,-0.5599759221076965,0.9448625445365906],[-0.1795584112405777,0.9772318601608276,-0.11303382366895676,0.643995463848114],[0.5374346375465393,0.19368460774421692,0.820762038230896,4.620030879974365],[0.0,0.0,0.0,1.0]]},{"object_config":"012_strawberry.object_config.json","transform":[[0.2426099330186844,-0.22928595542907715,0.9426390528678894,-2.095400333404541],[0.4689011573791504,0.8783445954322815,0.09296451508998871,0.7294139266014099],[-0.8492774367332458,0.41945040225982666,0.3206075429916382,1.8027286529541016],[0.0,0.0,0.0,1.0]]},{"object_config":"013_apple.object_config.json","transform":[[-0.8289605975151062,-0.0034628515131771564,-0.5592962503433228,0.9297968745231628],[-0.013925287872552872,0.9997986555099487,0.014449157752096653,0.7980995774269104],[0.5591336488723755,0.019766144454479218,-0.8288418650627136,7.031980991363525],[0.0,0.0,0.0,1.0]]},{"object_config":"014_lemon.object_config.json","transform":[[-0.7372065782546997,0.07689978182315826,0.6712769865989685,-2.3648526668548584],[0.5265606045722961,0.687943160533905,0.4994678795337677,0.8855712413787842],[-0.4233914017677307,0.7216790318489075,-0.5476486086845398,2.65407657623291],[0.0,0.0,0.0,1.0]]},{"object_config":"015_peach.object_config.json","transform":[[-0.330937922000885,0.7750295996665955,-0.5383394956588745,-2.100585460662842],[-0.639645516872406,-0.603664219379425,-0.47586071491241455,0.7317590117454529],[-0.6937823295593262,0.1868661493062973,0.6955193281173706,2.111443281173706],[0.0,0.0,0.0,1.0]]},{"object_config":"016_pear.object_config.json","transform":[[0.32663586735725403,0.4606395959854126,-0.8253001570701599,-2.3823912143707275],[0.9016951322555542,0.10985163599252701,0.4181849956512451,0.887174129486084],[0.2832931876182556,-0.8807632923126221,-0.3794749975204468,2.495185613632202],[0.0,0.0,0.0,1.0]]},{"object_config":"017_orange.object_config.json","transform":[[0.8427025079727173,0.018596187233924866,-0.5380582213401794,-2.0268046855926514],[-0.016149412840604782,0.9998266696929932,0.009262590669095516,0.8948301076889038],[0.5381372570991516,0.0008837170898914337,0.842856764793396,2.8883867263793945],[0.0,0.0,0.0,1.0]]},{"object_config":"018_plum.object_config.json","transform":[[0.4625156819820404,0.06575042009353638,-0.8841697573661804,0.9505054354667664],[0.018396422266960144,0.9963200688362122,0.08371367305517197,0.7888934016227722],[0.8864201903343201,-0.0549844466149807,0.45960408449172974,7.418837070465088],[0.0,0.0,0.0,1.0]]},{"object_config":"021_bleach_cleanser.object_config.json","transform":[[0.4158715009689331,0.004082759376615286,-0.9094142317771912,0.6733046770095825],[0.003519283141940832,0.9999752044677734,0.006098682060837746,0.8873675465583801],[0.9094166159629822,-0.005736754275858402,0.4158468246459961,7.293416500091553],[0.0,0.0,0.0,1.0]]},{"object_config":"025_mug.object_config.json","transform":[[0.5916187167167664,0.0488295778632164,-0.8047378659248352,-2.191448211669922],[-0.0802961215376854,0.9967700242996216,0.001450374722480774,0.7487027049064636],[0.8022094368934631,0.06375925987958908,0.5936285257339478,1.8100496530532837],[0.0,0.0,0.0,1.0]]},{"object_config":"026_sponge.object_config.json","transform":[[0.4557633399963379,-0.0027261716313660145,-0.8900968432426453,-2.063973903656006],[0.0023426716215908527,0.9999955296516418,-0.0018632306018844247,0.9428668022155762],[0.8900979161262512,-0.001236012321896851,0.4557676911354065,-1.2167422771453857],[0.0,0.0,0.0,1.0]]},{"object_config":"028_skillet_lid.object_config.json","transform":[[-0.9494051933288574,0.0003834986127912998,0.3140534460544586,-2.127337694168091],[0.0031758425757288933,0.9999598860740662,0.008379713632166386,0.8961833715438843],[-0.31403765082359314,0.008953128941357136,-0.9493682980537415,2.713245153427124],[0.0,0.0,0.0,1.0]]},{"object_config":"029_plate.object_config.json","transform":[[0.9653904438018799,-0.004356480203568935,-0.26077258586883545,1.224824070930481],[0.005089781247079372,0.9999848008155823,0.002136775990948081,0.6394875645637512],[0.26075929403305054,-0.003390098689123988,0.9653978943824768,4.374364852905273],[0.0,0.0,0.0,1.0]]},{"object_config":"031_spoon.object_config.json","transform":[[-0.5984902381896973,-0.7613701224327087,0.2492489367723465,-2.437674045562744],[-0.32499414682388306,0.515110969543457,0.7931200861930847,0.8714931011199951],[-0.732248842716217,0.39367014169692993,-0.5557298064231873,1.208180546760559],[0.0,0.0,0.0,1.0]]},{"object_config":"032_knife.object_config.json","transform":[[-0.1470932513475418,0.24258631467819214,0.9589138031005859,-1.977485179901123],[-0.04187675565481186,0.9670622944831848,-0.2510714530944824,0.941532552242279],[-0.9882358312606812,-0.07708707451820374,-0.13208961486816406,-0.748748242855072],[0.0,0.0,0.0,1.0]]},{"object_config":"033_spatula.object_config.json","transform":[[-0.9476084113121033,0.3171156346797943,0.03842492401599884,3.585392951965332],[0.23902246356010437,0.7837147116661072,-0.5732884407043457,0.4193844497203827],[-0.2119128555059433,-0.5340683460235596,-0.8184524774551392,4.883543491363525],[0.0,0.0,0.0,1.0]]},{"object_config":"035_power_drill.object_config.json","transform":[[-0.7994007468223572,0.03690372407436371,-0.599664032459259,3.6298828125],[0.05907973647117615,0.9981027245521545,-0.017334146425127983,0.43157902359962463],[0.5978866219520569,-0.0492849126458168,-0.8000643253326416,5.344348430633545],[0.0,0.0,0.0,1.0]]},{"object_config":"037_scissors.object_config.json","transform":[[-0.8149724006652832,0.13507609069347382,-0.5635378956794739,0.6001926064491272],[0.09320613741874695,0.9903476238250732,0.10258738696575165,0.7694083452224731],[0.5719555020332336,0.03108067810535431,-0.8196959495544434,7.11348295211792],[0.0,0.0,0.0,1.0]]},{"object_config":"038_padlock.object_config.json","transform":[[-0.15055347979068756,0.028988316655158997,0.9881768226623535,3.4590282440185547],[-0.1571066826581955,0.9861657023429871,-0.052865270525217056,0.4178787171840668],[-0.9760385751724243,-0.1632082313299179,-0.14391642808914185,5.608348369598389],[0.0,0.0,0.0,1.0]]},{"object_config":"042_adjustable_wrench.object_config.json","transform":[[-0.8644745945930481,0.023991646245121956,-0.5021041631698608,-2.2421140670776367],[0.05207052826881409,0.9977608919143677,-0.04197477921843529,0.7087851166725159],[0.4999728202819824,-0.06243094429373741,-0.8637881875038147,2.10227108001709],[0.0,0.0,0.0,1.0]]},{"object_config":"043_phillips_screwdriver.object_config.json","transform":[[0.843007504940033,-0.29700079560279846,-0.4484739303588867,1.4565049409866333],[0.48447009921073914,0.05695544183254242,0.8729517459869385,0.773556649684906],[-0.23372434079647064,-0.9531770944595337,0.19190187752246857,7.296201705932617],[0.0,0.0,0.0,1.0]]},{"object_config":"048_hammer.object_config.json","transform":[[0.47242236137390137,-0.004106308799237013,-0.8813627362251282,1.5037773847579956],[0.0047227260656654835,0.9999865889549255,-0.0021275372710078955,0.7781156301498413],[0.8813596367835999,-0.0031573388259857893,0.4724354147911072,7.8202080726623535],[0.0,0.0,0.0,1.0]]},{"object_config":"052_extra_large_clamp.object_config.json","transform":[[0.863885223865509,0.02568734437227249,-0.5030332803726196,1.8249515295028687],[-0.0017342763021588326,0.9988445043563843,0.048027534037828445,0.6439585089683533],[0.503685712814331,-0.04061787948012352,0.8629315495491028,4.366164684295654],[0.0,0.0,0.0,1.0]]},{"object_config":"056_tennis_ball.object_config.json","transform":[[-0.10645341128110886,0.06989824771881104,0.9918577671051025,1.4559684991836548],[0.01580643281340599,0.9975189566612244,-0.06860073655843735,0.7955278158187866],[-0.9941920042037964,0.008374951779842377,-0.10729414224624634,7.423116683959961],[0.0,0.0,0.0,1.0]]},{"object_config":"065-d_cups.object_config.json","transform":[[0.18549485504627228,-0.002799208741635084,-0.9826412796974182,-1.7158023118972778],[-0.0020770919509232044,0.9999926090240479,-0.003240732941776514,0.9680194854736328],[0.9826430678367615,0.0026421756483614445,0.18548768758773804,-0.3123699724674225],[0.0,0.0,0.0,1.0]]},{"object_config":"065-g_cups.object_config.json","transform":[[0.8988096117973328,0.0009863311424851418,0.43833816051483154,3.7384634017944336],[-0.000675523595418781,0.9999994039535522,-0.0008650020463392138,0.44050565361976624],[-0.4383387565612793,0.0004813644045498222,0.8988097310066223,6.036296367645264],[0.0,0.0,0.0,1.0]]},{"object_config":"070-a_colored_wood_blocks.object_config.json","transform":[[-0.1472497582435608,0.00479662511497736,-0.9890878200531006,-2.1490373611450195],[0.013123425655066967,0.9999096989631653,0.0028953664004802704,0.7880650758743286],[0.9890123605728149,-0.01255387719720602,-0.1472994089126587,1.9547357559204102],[0.0,0.0,0.0,1.0]]},{"object_config":"070-b_colored_wood_blocks.object_config.json","transform":[[0.18846191465854645,-1.1134659871459007e-05,0.9820805191993713,-1.6853916645050049],[-0.002115663606673479,0.9999976754188538,0.0004173350753262639,0.9464645385742188],[-0.9820782542228699,-0.002156403847038746,0.18846148252487183,-1.0437763929367065],[0.0,0.0,0.0,1.0]]},{"object_config":"072-d_toy_airplane.object_config.json","transform":[[-0.9865080714225769,-0.003969123587012291,-0.16366516053676605,-2.223449468612671],[-0.0030491610523313284,0.9999781250953674,-0.005871838424354792,0.8922289609909058],[0.1636848896741867,-0.005293573718518019,-0.9864985942840576,1.5176929235458374],[0.0,0.0,0.0,1.0]]},{"object_config":"073-g_lego_duplo.object_config.json","transform":[[-0.9137101769447327,-0.0009244133252650499,0.4063663184642792,-1.9241244792938232],[-0.0032051943708211184,0.9999827146530151,-0.00493205338716507,0.8883267641067505],[-0.40635475516319275,-0.005808948539197445,-0.9136973023414612,0.36845144629478455],[0.0,0.0,0.0,1.0]]},{"object_config":"077_rubiks_cube.object_config.json","transform":[[0.7040022611618042,-0.003746660193428397,0.7101877927780151,-2.1318936347961426],[0.003822348779067397,0.9999915957450867,0.0014864890836179256,0.8880265951156616],[-0.7101874351501465,0.0016680939588695765,0.7040106654167175,0.7950783371925354],[0.0,0.0,0.0,1.0]]},{"object_config":"frl_apartment_book_04.object_config.json","transform":[[-0.9996413588523865,-0.0006210045539774001,0.02678302861750126,-1.758368968963623],[-0.00028760312125086784,0.9999224543571472,0.012450292706489563,1.009981632232666],[-0.026788683608174324,0.012438120320439339,-0.9995640516281128,-1.157224416732788],[0.0,0.0,0.0,1.0]]},{"object_config":"frl_apartment_bowl_03.object_config.json","transform":[[0.9879149794578552,3.744343121070415e-05,-0.15499664843082428,-2.0951895713806152],[-5.1078081014566123e-05,1.0,-8.398487261729315e-05,0.9173720479011536],[0.15499664843082428,9.088684601010755e-05,0.9879149794578552,3.1176652908325195],[0.0,0.0,0.0,1.0]]}],"rigid_objs":[[0,35],[1,36],[2,37],[3,38],[4,39],[5,40],[6,41],[7,42],[8,43],[9,44],[10,45],[11,46],[12,47],[13,48],[14,49],[15,50],[16,51],[17,52],[18,53],[19,54],[20,55],[21,56],[22,57],[23,58],[24,59],[25,60],[26,61],[27,62],[28,63],[29,64],[30,65],[31,66],[32,67],[33,68],[34,69]],"sampled_entities":{"object1":"block","object2":"pear","source_recep_1":"receptacle_aabb_Tbl2_Top1_frl_apartment_table_02","source_recep_2":"receptacle_aabb_counter_left_kitchen_counter","targ_recep":"receptacle_aabb_sink_kitchen_counter"},"sampler_info":{},"scene_dataset_config":"data/replica_cad/replicaCAD.scene_dataset_config.json","scene_id":"data/replica_cad/configs/scenes/v3_sc3_staging_11.scene_instance.json","start_position":[0,0,0],"start_preds":[],"start_rotation":[0,0,0,1],"subgoals":[["robot_at(receptacle_aabb_Tbl2_Top1_frl_apartment_table_02)","robot_at(receptacle_aabb_drawer_right_top_frl_apartment_kitchen_counter)","robot_at(070-b_colored_wood_blocks_:0000)","robot_at(frl_apartment_book_04_:0000)"],["holding(070-b_colored_wood_blocks_:0000)","robot_at(receptacle_aabb_Tbl2_Top1_frl_apartment_table_02)","robot_at(receptacle_aabb_drawer_right_top_frl_apartment_kitchen_counter)","robot_at(070-b_colored_wood_blocks_:0000)","robot_at(frl_apartment_book_04_:0000)"],["holding(070-b_colored_wood_blocks_:0000)","robot_at(receptacle_aabb_sink_kitchen_counter)","robot_at(receptacle_aabb_counter_right_kitchen_counter)","robot_at(receptacle_aabb_counter_left_kitchen_counter)","robot_at(receptacle_aabb_drawer_left_top_frl_apartment_kitchen_counter)","robot_at(receptacle_aabb_drawer_right_top_frl_apartment_kitchen_counter)","robot_at(016_pear_:0000)","robot_at(070-a_colored_wood_blocks_:0000)","robot_at(070-b_colored_wood_blocks_:0000)","robot_at(077_rubiks_cube_:0000)"],["on_top(070-b_colored_wood_blocks_:0000,receptacle_aabb_sink_kitchen_counter)","robot_at(receptacle_aabb_sink_kitchen_counter)","robot_at(receptacle_aabb_counter_right_kitchen_counter)","robot_at(receptacle_aabb_counter_left_kitchen_counter)","robot_at(receptacle_aabb_drawer_left_top_frl_apartment_kitchen_counter)","robot_at(receptacle_aabb_drawer_right_top_frl_apartment_kitchen_counter)","robot_at(016_pear_:0000)","robot_at(070-a_colored_wood_blocks_:0000)","robot_at(070-b_colored_wood_blocks_:0000)","robot_at(077_rubiks_cube_:0000)"],["on_top(070-b_colored_wood_blocks_:0000,receptacle_aabb_sink_kitchen_counter)","robot_at(receptacle_aabb_sink_kitchen_counter)","robot_at(receptacle_aabb_counter_left_kitchen_counter)","robot_at(receptacle_aabb_middle_topfrl_apartment_refrigerator)","robot_at(receptacle_aabb_drawer_left_top_frl_apartment_kitchen_counter)","robot_at(016_pear_:0000)","robot_at(070-a_colored_wood_blocks_:0000)","robot_at(070-b_colored_wood_blocks_:0000)"],["on_top(070-b_colored_wood_blocks_:0000,receptacle_aabb_sink_kitchen_counter)","holding(016_pear_:0000)","robot_at(receptacle_aabb_sink_kitchen_counter)","robot_at(receptacle_aabb_counter_left_kitchen_counter)","robot_at(receptacle_aabb_middle_topfrl_apartment_refrigerator)","robot_at(receptacle_aabb_drawer_left_top_frl_apartment_kitchen_counter)","robot_at(016_pear_:0000)","robot_at(070-a_colored_wood_blocks_:0000)","robot_at(070-b_colored_wood_blocks_:0000)"],["on_top(070-b_colored_wood_blocks_:0000,receptacle_aabb_sink_kitchen_counter)","holding(016_pear_:0000)","robot_at(receptacle_aabb_sink_kitchen_counter)","robot_at(receptacle_aabb_counter_right_kitchen_counter)","robot_at(receptacle_aabb_counter_left_kitchen_counter)","robot_at(receptacle_aabb_drawer_left_top_frl_apartment_kitchen_counter)","robot_at(receptacle_aabb_drawer_right_top_frl_apartment_kitchen_counter)","robot_at(016_pear_:0000)","robot_at(070-a_colored_wood_blocks_:0000)","robot_at(070-b_colored_wood_blocks_:0000)","robot_at(077_rubiks_cube_:0000)"],["on_top(016_pear_:0000,receptacle_aabb_sink_kitchen_counter)","on_top(070-b_colored_wood_blocks_:0000,receptacle_aabb_sink_kitchen_counter)","robot_at(receptacle_aabb_sink_kitchen_counter)","robot_at(receptacle_aabb_counter_right_kitchen_counter)","robot_at(receptacle_aabb_counter_left_kitchen_counter)","robot_at(receptacle_aabb_drawer_left_top_frl_apartment_kitchen_counter)","robot_at(receptacle_aabb_drawer_right_top_frl_apartment_kitchen_counter)","robot_at(016_pear_:0000)","robot_at(070-a_colored_wood_blocks_:0000)","robot_at(070-b_colored_wood_blocks_:0000)","robot_at(077_rubiks_cube_:0000)"]],"target_receptacles":[],"targets":{}},"observations":[],"question":{"options":[],"original":"Place a block and a pear on the left receptacle of the right counter.","text":"Place a block and a pear on the left receptacle of the right counter."},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"Habitat-Sim 0.3.0 / ReplicaCAD / YCB","eval_set":"spatial_relationship","mode":"interactive","observation_policy":"current RGB and upstream feedback; hidden goals/poses are evaluator-only","repo":"EmbodiedBench/EmbodiedBench","revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","selected_index":1},"sampling":{"component_id":"2cfb36d590045b81568d","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":10,"stratum_pool":50},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"embodiedbench/envs/eb_habitat/datasets/spatial_relationship.pickle","annotation_sha256":"1ced7f6dc77d31e0c075a1b99ff8476a857b34a53ead755df7f359a5b8ec0884","host":"github","license":"not-specified; underlying simulator/data terms apply","media_policy":"runtime simulator; no trajectories supplied as observations","repo":"EmbodiedBench/EmbodiedBench","revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","row_sha256":"c9dabad9d40473f078771a24a426fba77b1f893c9a2b6e77cb984ec89ada8010","sample_id":"spatial_relationship/1","split":"spatial_relationship","upstream_dataset":"EB-Habitat","url":"https://github.com/EmbodiedBench/EmbodiedBench"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_environment_success","original_answer":null},"task":{"category":"spatial_relationship","role":"spatial_core","skill_tags":["spatial_relationship","spatial_relationship"],"stratum":"EB-Habitat/spatial_relationship/spatial_relationship","subcategory":"spatial_relationship"},"transforms":[]}
{"dataset":"EB-Habitat","group":{"id":"ReplicaCAD/data/replica_cad/configs/scenes/v3_sc0_staging_04.scene_instance.json","kind":"scene","scene":"data/replica_cad/configs/scenes/v3_sc0_staging_04.scene_instance.json"},"id":"902caff1025bb39c7ae6","native_annotation":{"additional_obj_config_paths":["data/objects/ycb/configs"],"ao_states":{"75":{"2":0.0},"76":{"1":0.0,"2":0.0,"3":0.0,"4":0.0,"5":0.0,"6":0.0,"7":0.0}},"episode_id":"1","goal_preds":{"expr_type":"AND","sub_exprs":["not_holding()",{"expr_type":"NAND","inputs":[{"expr_type":"lego","name":"X"}],"quantifier":"EXISTS","sub_exprs":["on_top(X, receptacle_aabb_counter_right_kitchen_counter)"]}]},"goal_receptacles":[],"idx_to_name":{"0":"004_sugar_box.object_config.json","1":"007_tuna_fish_can.object_config.json","10":"021_bleach_cleanser.object_config.json","100":"070-a_colored_wood_blocks_:0000","101":"005_tomato_soup_can_:0000","102":"072-c_toy_airplane_:0000","103":"073-b_lego_duplo_:0000","104":"frl_apartment_bowl_02_:0000","105":"065-e_cups_:0000","106":"008_pudding_box.object_config.json","107":"052_extra_large_clamp.object_config.json","108":"065-d_cups.object_config.json","109":"065-g_cups.object_config.json","11":"024_bowl.object_config.json","110":"070-b_colored_wood_blocks.object_config.json","111":"072-d_toy_airplane.object_config.json","112":"073-g_lego_duplo.object_config.json","113":"052_extra_large_clamp_:0000","114":"070-b_colored_wood_blocks_:0000","115":"008_pudding_box_:0000","116":"072-d_toy_airplane_:0000","117":"073-g_lego_duplo_:0000","118":"065-g_cups_:0000","119":"065-d_cups_:0000","12":"025_mug.object_config.json","120":"010_potted_meat_can.object_config.json","121":"053_mini_soccer_ball.object_config.json","122":"065-j_cups.object_config.json","123":"073-c_lego_duplo.object_config.json","124":"frl_apartment_book_01.object_config.json","125":"frl_apartment_bowl_07.object_config.json","126":"053_mini_soccer_ball_:0000","127":"037_scissors_:0001","128":"010_potted_meat_can_:0000","129":"073-c_lego_duplo_:0000","13":"026_sponge.object_config.json","130":"frl_apartment_book_01_:0000","131":"frl_apartment_bowl_07_:0000","132":"065-j_cups_:0000","133":"002_master_chef_can.object_config.json","134":"009_gelatin_box.object_config.json","135":"054_softball.object_config.json","136":"072-b_toy_airplane.object_config.json","137":"073-a_lego_duplo.object_config.json","138":"frl_apartment_book_02.object_config.json","139":"002_master_chef_can_:0000","14":"028_skillet_lid.object_config.json","140":"054_softball_:0000","141":"009_gelatin_box_:0000","142":"072-b_toy_airplane_:0000","143":"073-a_lego_duplo_:0000","144":"frl_apartment_book_02_:0000","145":"057_racquetball.object_config.json","146":"065-h_cups.object_config.json","147":"072-a_toy_airplane.object_config.json","148":"frl_apartment_book_05.object_config.json","149":"frl_apartment_cup_03.object_config.json","15":"029_plate.object_config.json","150":"frl_apartment_cup_03_:0000","151":"057_racquetball_:0000","152":"072-a_toy_airplane_:0000","153":"frl_apartment_book_05_:0000","154":"065-h_cups_:0000","16":"031_spoon.object_config.json","17":"032_knife.object_config.json","18":"033_spatula.object_config.json","19":"035_power_drill.object_config.json","2":"011_banana.object_config.json","20":"036_wood_block.object_config.json","21":"037_scissors.object_config.json","22":"038_padlock.object_config.json","23":"042_adjustable_wrench.object_config.json","24":"044_flat_screwdriver.object_config.json","25":"048_hammer.object_config.json","26":"050_medium_clamp.object_config.json","27":"056_tennis_ball.object_config.json","28":"065-c_cups.object_config.json","29":"072-e_toy_airplane.object_config.json","3":"012_strawberry.object_config.json","30":"073-e_lego_duplo.object_config.json","31":"073-f_lego_duplo.object_config.json","32":"077_rubiks_cube.object_config.json","33":"frl_apartment_book_04.object_config.json","34":"073-f_lego_duplo_:0000","35":"receptacle_aabb_TvStnd1_Top1_frl_apartment_tvstand","36":"056_tennis_ball_:0000","37":"receptacle_aabb_Tbl1_Top1_frl_apartment_table_01","38":"050_medium_clamp_:0000","39":"receptacle_aabb_sink_kitchen_counter","4":"013_apple.object_config.json","40":"048_hammer_:0000","41":"receptacle_aabb_Sofa_frl_apartment_sofa","42":"044_flat_screwdriver_:0000","43":"receptacle_aabb_counter_right_kitchen_counter","44":"042_adjustable_wrench_:0000","45":"038_padlock_:0000","46":"037_scissors_:0000","47":"036_wood_block_:0000","48":"035_power_drill_:0000","49":"033_spatula_:0000","5":"014_lemon.object_config.json","50":"receptacle_aabb_counter_left_kitchen_counter","51":"032_knife_:0000","52":"031_spoon_:0000","53":"029_plate_:0000","54":"028_skillet_lid_:0000","55":"026_sponge_:0000","56":"021_bleach_cleanser_:0000","57":"018_plum_:0000","58":"017_orange_:0000","59":"016_pear_:0000","6":"015_peach.object_config.json","60":"015_peach_:0000","61":"013_apple_:0000","62":"014_lemon_:0000","63":"007_tuna_fish_can_:0000","64":"004_sugar_box_:0000","65":"011_banana_:0000","66":"012_strawberry_:0000","67":"072-e_toy_airplane_:0000","68":"073-e_lego_duplo_:0000","69":"receptacle_aabb_Tbl2_Top1_frl_apartment_table_02","7":"016_pear.object_config.json","70":"077_rubiks_cube_:0000","71":"frl_apartment_book_04_:0000","72":"024_bowl_:0000","73":"025_mug_:0000","74":"065-c_cups_:0000","75":"fridge_:0000","76":"kitchen_counter_:0000","77":"cab_push_point_7","78":"articulated_object","79":"drawer1_top","8":"017_orange.object_config.json","80":"cab_push_point_6","81":"drawer2_top","82":"cab_push_point_5","83":"drawer3","84":"cab_push_point_4","85":"drawer4","86":"fridge_push_point","87":"top_door","88":"005_tomato_soup_can.object_config.json","89":"043_phillips_screwdriver.object_config.json","9":"018_plum.object_config.json","90":"051_large_clamp.object_config.json","91":"065-e_cups.object_config.json","92":"070-a_colored_wood_blocks.object_config.json","93":"072-c_toy_airplane.object_config.json","94":"073-b_lego_duplo.object_config.json","95":"frl_apartment_bowl_02.object_config.json","96":"frl_apartment_bowl_03.object_config.json","97":"frl_apartment_bowl_03_:0000","98":"051_large_clamp_:0000","99":"043_phillips_screwdriver_:0000"},"info":{"object_labels":{}},"instruct_id":"9a1dd6ee","instruction":"Lift a small purple cube-shaped object off the right counter.","markers":[[77,78,[0.3,0.0,0.0],79,76],[80,78,[0.3,0.0,0.0],81,76],[82,78,[0.3,0.0,0.0],83,76],[84,78,[0.3,0.0,0.0],85,76],[86,78,[0.1,-0.62,0.2],87,75]],"name_to_receptacle":[[100,43],[36,37],[113,39],[40,41],[99,39],[44,43],[45,39],[46,69],[114,69],[48,37],[49,43],[51,39],[52,35],[53,50],[54,43],[55,50],[56,50],[57,69],[58,39],[59,35],[60,69],[61,35],[62,37],[63,43],[115,37],[65,43],[66,37],[116,39],[117,43],[70,35],[71,39],[97,69],[73,50],[118,50],[119,50]],"resolved_rigid_objects":[{"object_config":"007_tuna_fish_can.object_config.json","transform":[[-0.7518957257270813,0.0016549300635233521,0.6592797040939331,0.5808717012405396],[0.0013763223541900516,0.9999986290931702,-0.000940536439884454,0.8757846355438232],[-0.6592803001403809,0.00020019587827846408,-0.7518969774246216,5.660346984863281],[0.0,0.0,0.0,1.0]]},{"object_config":"008_pudding_box.object_config.json","transform":[[-0.6799167394638062,-0.00311963795684278,0.7332828640937805,0.8918730616569519],[0.001652211183682084,0.9999819397926331,0.005786235444247723,0.7815284132957458],[-0.7332876324653625,0.0051456959918141365,-0.679899275302887,2.2607522010803223],[0.0,0.0,0.0,1.0]]},{"object_config":"011_banana.object_config.json","transform":[[0.21790389716625214,0.1328182965517044,0.9668905138969421,0.4286443889141083],[-0.15665684640407562,0.982610821723938,-0.09967268258333206,0.8769643306732178],[-0.9633154273033142,-0.12975095212459564,0.2349216341972351,5.182735919952393],[0.0,0.0,0.0,1.0]]},{"object_config":"012_strawberry.object_config.json","transform":[[-0.41106611490249634,0.07694870233535767,0.9083521366119385,1.186895728111267],[0.43194329738616943,0.8939160704612732,0.11974601447582245,0.7849613428115845],[-0.8027762174606323,0.4415801167488098,-0.4006960391998291,2.212463140487671],[0.0,0.0,0.0,1.0]]},{"object_config":"013_apple.object_config.json","transform":[[0.5495585799217224,0.0022647655569016933,-0.835452139377594,3.66068172454834],[0.0006385887390933931,0.9999949336051941,0.003130874829366803,0.6619985103607178],[0.8354550004005432,-0.0022541095968335867,0.5495543479919434,6.097867965698242],[0.0,0.0,0.0,1.0]]},{"object_config":"014_lemon.object_config.json","transform":[[0.7010321021080017,0.014771934598684311,0.7129767537117004,1.0001294612884521],[-0.0010183663107454777,0.9998051524162292,-0.01971333473920822,0.7885926961898804],[-0.7131289839744568,0.013093609362840652,0.7009105682373047,1.2428598403930664],[0.0,0.0,0.0,1.0]]},{"object_config":"015_peach.object_config.json","transform":[[-0.827951967716217,0.5607746243476868,0.005287490785121918,3.9245388507843018],[-0.5049400925636292,-0.7413470149040222,-0.442086786031723,0.959338366985321],[-0.2439911663532257,-0.3686963617801666,0.8969566822052002,3.5758590698242188],[0.0,0.0,0.0,1.0]]},{"object_config":"016_pear.object_config.json","transform":[[-0.9444723725318909,-0.10517895966768265,-0.31130340695381165,3.8922250270843506],[-0.12430832535028458,-0.762609601020813,0.6348026990890503,0.650868833065033],[-0.30417075753211975,0.6382510662078857,0.7071886658668518,5.633349418640137],[0.0,0.0,0.0,1.0]]},{"object_config":"017_orange.object_config.json","transform":[[0.19525592029094696,-0.03717619553208351,-0.9800475835800171,0.6636728048324585],[-0.10022518038749695,0.9932934045791626,-0.05764663591980934,0.7423320412635803],[0.9756178855895996,0.10948128998279572,0.1902204155921936,6.558901309967041],[0.0,0.0,0.0,1.0]]},{"object_config":"018_plum.object_config.json","transform":[[0.8576187491416931,0.0189227182418108,0.513937771320343,3.355513334274292],[-0.007114876061677933,0.999663770198822,-0.024933962151408195,0.9601866602897644],[-0.5142367482185364,0.017727231606841087,0.8574650287628174,4.03599739074707],[0.0,0.0,0.0,1.0]]},{"object_config":"021_bleach_cleanser.object_config.json","transform":[[0.5292396545410156,0.0006661118823103607,-0.8484721779823303,0.835241436958313],[0.001090429024770856,0.9999983906745911,0.0014652326935902238,0.984323263168335],[0.8484717011451721,-0.0017006580019369721,0.5292381048202515,7.0734663009643555],[0.0,0.0,0.0,1.0]]},{"object_config":"025_mug.object_config.json","transform":[[0.6069260239601135,-0.0028594983741641045,0.7947531938552856,0.34976285696029663],[0.0036758314818143845,0.9999929666519165,0.0007908373954705894,0.8996937870979309],[-0.7947498559951782,0.002441398799419403,0.6069322824478149,7.1775288581848145],[0.0,0.0,0.0,1.0]]},{"object_config":"026_sponge.object_config.json","transform":[[0.9985219240188599,-0.006090277340263128,-0.05400873348116875,0.7135522961616516],[0.005990094039589167,0.9999800324440002,-0.0020166244357824326,0.8682961463928223],[0.05401993915438652,0.0016901262570172548,0.9985384345054626,7.017002105712891],[0.0,0.0,0.0,1.0]]},{"object_config":"028_skillet_lid.object_config.json","transform":[[-0.1246156096458435,0.008985975757241249,-0.9921644926071167,0.4583992660045624],[0.003261168487370014,0.9999573230743408,0.008646953850984573,0.8962109088897705],[0.9921997785568237,-0.0021580709144473076,-0.12463957071304321,5.974020004272461],[0.0,0.0,0.0,1.0]]},{"object_config":"029_plate.object_config.json","transform":[[-0.9995949268341064,-0.00037428675568662584,-0.02846267819404602,0.8705646395683289],[-0.00036998579162172973,0.9999999403953552,-0.00015637620526831597,0.8724818825721741],[0.028462734073400497,-0.00014578206173609942,-0.9995949864387512,7.477252960205078],[0.0,0.0,0.0,1.0]]},{"object_config":"031_spoon.object_config.json","transform":[[-0.4257057011127472,0.04107164591550827,-0.9039289355278015,3.8027737140655518],[-0.01676223985850811,0.9984399676322937,0.05326010286808014,0.6363146901130676],[0.9047062993049622,0.03782501071691513,-0.42435312271118164,5.836653232574463],[0.0,0.0,0.0,1.0]]},{"object_config":"032_knife.object_config.json","transform":[[0.4525039494037628,-0.021884193643927574,0.8914938569068909,0.5147942304611206],[-0.04666146636009216,0.9977483153343201,0.04817691072821617,0.7143760919570923],[-0.8905407786369324,-0.06339865177869797,0.4504638910293579,6.7417426109313965],[0.0,0.0,0.0,1.0]]},{"object_config":"033_spatula.object_config.json","transform":[[-0.6022536754608154,0.26798659563064575,-0.7519798874855042,0.8448276519775391],[0.21848779916763306,-0.8506718873977661,-0.47814273834228516,0.8736689686775208],[-0.7678239941596985,-0.45226162672042847,0.45376840233802795,5.920007228851318],[0.0,0.0,0.0,1.0]]},{"object_config":"035_power_drill.object_config.json","transform":[[0.49563443660736084,-0.04538597911596298,-0.8673446178436279,0.7300225496292114],[0.060954585671424866,0.9979890584945679,-0.017390457913279533,0.790031373500824],[0.8663897514343262,-0.04424931854009628,0.49740421772003174,1.6419283151626587],[0.0,0.0,0.0,1.0]]},{"object_config":"037_scissors.object_config.json","transform":[[-0.15855304896831512,-0.0888344869017601,0.9833461046218872,3.578300714492798],[0.10104120522737503,0.9892556071281433,0.10566006600856781,0.9408870339393616],[-0.9821668863296509,0.11611118912696838,-0.14787352085113525,3.1422698497772217],[0.0,0.0,0.0,1.0]]},{"object_config":"038_padlock.object_config.json","transform":[[0.7898654341697693,0.06807994097471237,-0.6094896197319031,0.6083076000213623],[-0.11349821835756302,0.9928790926933289,-0.03618302941322327,0.7208448052406311],[0.6026862263679504,0.09775571525096893,0.7919678688049316,6.721343040466309],[0.0,0.0,0.0,1.0]]},{"object_config":"042_adjustable_wrench.object_config.json","transform":[[0.11426763981580734,0.02034319005906582,0.9932417273521423,0.4402969777584076],[0.05162876844406128,0.9983177185058594,-0.026386791840195656,0.8650486469268799],[-0.9921075701713562,0.05429500341415405,0.11302512884140015,5.723678112030029],[0.0,0.0,0.0,1.0]]},{"object_config":"043_phillips_screwdriver.object_config.json","transform":[[-0.8239679336547852,-0.4093342423439026,0.39181962609291077,0.6466584801673889],[-0.32228076457977295,-0.23020434379577637,-0.9182272553443909,0.7183138728141785],[0.4660603702068329,-0.8828656077384949,0.05776023864746094,6.830379486083984],[0.0,0.0,0.0,1.0]]},{"object_config":"048_hammer.object_config.json","transform":[[-0.2778555452823639,-0.000675735529512167,-0.9606227278709412,-1.4935578107833862],[0.004611795302480459,0.9999873042106628,-0.0020373654551804066,0.41983234882354736],[0.960611879825592,-0.004996288102120161,-0.27784889936447144,0.5868958830833435],[0.0,0.0,0.0,1.0]]},{"object_config":"052_extra_large_clamp.object_config.json","transform":[[-0.4675511419773102,-0.08538233488798141,-0.8798328042030334,0.5804480910301208],[0.03354211896657944,0.9928938150405884,-0.11417879909276962,0.6973952054977417],[0.883329451084137,-0.08289588242769241,-0.46136474609375,6.543097972869873],[0.0,0.0,0.0,1.0]]},{"object_config":"056_tennis_ball.object_config.json","transform":[[-0.7745178937911987,0.013852361589670181,-0.6324002742767334,0.6656203269958496],[0.09120632708072662,0.9917586445808411,-0.08997899293899536,0.7954531908035278],[0.6259419918060303,-0.1273692548274994,-0.7693982720375061,1.9007434844970703],[0.0,0.0,0.0,1.0]]},{"object_config":"065-d_cups.object_config.json","transform":[[-0.21750351786613464,0.0004298167768865824,-0.9760594367980957,0.522986888885498],[0.0040319571271538734,0.9999917149543762,-0.00045811920426785946,0.8934747576713562],[0.9760512113571167,-0.004035072401165962,-0.21750348806381226,7.63826847076416],[0.0,0.0,0.0,1.0]]},{"object_config":"065-g_cups.object_config.json","transform":[[0.3678908050060272,0.0035491962917149067,0.9298622012138367,0.8428844809532166],[0.0001971264136955142,0.9999924302101135,-0.003894867841154337,0.8960627913475037],[-0.9298689961433411,0.001616186462342739,0.36788731813430786,7.808207988739014],[0.0,0.0,0.0,1.0]]},{"object_config":"070-a_colored_wood_blocks.object_config.json","transform":[[0.39535439014434814,-0.0024942918680608273,-0.9185252785682678,0.792790949344635],[0.013090644031763077,0.9999100565910339,0.002919217571616173,0.9406054615974426],[0.9184353947639465,-0.013178212568163872,0.39535146951675415,5.362107753753662],[0.0,0.0,0.0,1.0]]},{"object_config":"070-b_colored_wood_blocks.object_config.json","transform":[[-0.913372278213501,-0.002375510986894369,-0.40711846947669983,3.3324015140533447],[-0.002461092546582222,0.9999969601631165,-0.00031344665330834687,0.9464476108551025],[0.40711793303489685,0.0007156627252697945,-0.9133753180503845,3.2559683322906494],[0.0,0.0,0.0,1.0]]},{"object_config":"072-d_toy_airplane.object_config.json","transform":[[0.5135791301727295,-0.29054978489875793,-0.8073520660400391,0.552288293838501],[0.13297995924949646,0.9565070867538452,-0.25963541865348816,0.7422717809677124],[0.8476749658584595,0.025981687009334564,0.5298793315887451,6.834357261657715],[0.0,0.0,0.0,1.0]]},{"object_config":"073-g_lego_duplo.object_config.json","transform":[[-0.2397671341896057,0.003912755288183689,0.9708225727081299,0.41992127895355225],[-0.0028312590438872576,0.9999848008155823,-0.004729534033685923,0.8883225917816162],[-0.9708263874053955,-0.003882636781781912,-0.2397524118423462,5.574612140655518],[0.0,0.0,0.0,1.0]]},{"object_config":"077_rubiks_cube.object_config.json","transform":[[-0.9497714042663574,-0.0004813264822587371,0.3129444718360901,4.0199174880981445],[0.0012075045378878713,0.9999857544898987,0.0052027530036866665,0.6550650596618652],[-0.3129425048828125,0.005319307092577219,-0.9497572779655457,6.395389080047607],[0.0,0.0,0.0,1.0]]},{"object_config":"frl_apartment_book_04.object_config.json","transform":[[-0.44530045986175537,1.749524199112784e-05,-0.8953811526298523,0.6536820530891418],[3.048335202038288e-07,1.0,1.9387833162909374e-05,0.7829457521438599],[0.8953811526298523,8.360469109902624e-06,-0.44530045986175537,6.752615451812744],[0.0,0.0,0.0,1.0]]},{"object_config":"frl_apartment_bowl_03.object_config.json","transform":[[-0.048634812235832214,0.0006332381162792444,0.9988164901733398,4.005833625793457],[-0.0006048199720680714,0.9999995827674866,-0.0006634383462369442,0.9918469786643982],[-0.9988164901733398,-0.0006363702705129981,-0.04863440990447998,4.206392288208008],[0.0,0.0,0.0,1.0]]}],"rigid_objs":[[1,411],[106,412],[2,413],[3,414],[4,415],[5,416],[6,417],[7,418],[8,419],[9,420],[10,421],[12,422],[13,423],[14,424],[15,425],[16,426],[17,427],[18,428],[19,429],[21,430],[22,431],[23,432],[89,433],[25,434],[107,435],[27,436],[108,437],[109,438],[92,439],[110,440],[111,441],[112,442],[32,443],[33,444],[96,445]],"sampled_entities":{"target_object_name":"lego","target_receptacle_name":"receptacle_aabb_counter_right_kitchen_counter"},"sampler_info":{"place_search_all_receps":true},"scene_dataset_config":"data/replica_cad/replicaCAD.scene_dataset_config.json","scene_id":"data/replica_cad/configs/scenes/v3_sc0_staging_04.scene_instance.json","start_position":[0,0,0],"start_preds":[],"start_rotation":[0,0,0,1],"subgoals":[["robot_at(receptacle_aabb_sink_kitchen_counter)","robot_at(receptacle_aabb_counter_right_kitchen_counter)","robot_at(receptacle_aabb_counter_left_kitchen_counter)","robot_at(receptacle_aabb_drawer_left_top_frl_apartment_kitchen_counter)","robot_at(receptacle_aabb_drawer_right_top_frl_apartment_kitchen_counter)","robot_at(073-g_lego_duplo_:0000)","robot_at(frl_apartment_book_04_:0000)"],["holding(073-g_lego_duplo_:0000)","robot_at(receptacle_aabb_sink_kitchen_counter)","robot_at(receptacle_aabb_counter_right_kitchen_counter)","robot_at(receptacle_aabb_counter_left_kitchen_counter)","robot_at(receptacle_aabb_drawer_left_top_frl_apartment_kitchen_counter)","robot_at(receptacle_aabb_drawer_right_top_frl_apartment_kitchen_counter)","robot_at(073-g_lego_duplo_:0000)","robot_at(frl_apartment_book_04_:0000)"],["on_top(073-g_lego_duplo_:0000,receptacle_aabb_sink_kitchen_counter)","robot_at(receptacle_aabb_sink_kitchen_counter)","robot_at(receptacle_aabb_counter_right_kitchen_counter)","robot_at(receptacle_aabb_counter_left_kitchen_counter)","robot_at(receptacle_aabb_drawer_left_top_frl_apartment_kitchen_counter)","robot_at(receptacle_aabb_drawer_right_top_frl_apartment_kitchen_counter)","robot_at(073-g_lego_duplo_:0000)","robot_at(frl_apartment_book_04_:0000)"]],"target_receptacles":[],"targets":{}},"observations":[],"question":{"options":[],"original":"Lift a small purple cube-shaped object off the right counter.","text":"Lift a small purple cube-shaped object off the right counter."},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"Habitat-Sim 0.3.0 / ReplicaCAD / YCB","eval_set":"visual_appearance","mode":"interactive","observation_policy":"current RGB and upstream feedback; hidden goals/poses are evaluator-only","repo":"EmbodiedBench/EmbodiedBench","revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","selected_index":12},"sampling":{"component_id":"32e4e3b7959fade07fc6","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":8,"stratum_pool":50},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"embodiedbench/envs/eb_habitat/datasets/visual_appearance.pickle","annotation_sha256":"77723ce19418f66feaacc26cb71bfe6119c31c33744365cb60067f4ed758a2e8","host":"github","license":"not-specified; underlying simulator/data terms apply","media_policy":"runtime simulator; no trajectories supplied as observations","repo":"EmbodiedBench/EmbodiedBench","revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","row_sha256":"847bd3cdb719303e09776fc96d9d92b69fe631f77b02b416fd194bca0eb795e7","sample_id":"visual_appearance/12","split":"visual_appearance","upstream_dataset":"EB-Habitat","url":"https://github.com/EmbodiedBench/EmbodiedBench"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_environment_success","original_answer":null},"task":{"category":"visual_appearance","role":"spatial_core","skill_tags":["visual_appearance","visual_appearance"],"stratum":"EB-Habitat/visual_appearance/visual_appearance","subcategory":"visual_appearance"},"transforms":[]}
{"dataset":"EB-Habitat","group":{"id":"ReplicaCAD/data/replica_cad/configs/scenes/v3_sc0_staging_09.scene_instance.json","kind":"scene","scene":"data/replica_cad/configs/scenes/v3_sc0_staging_09.scene_instance.json"},"id":"d38b33f26529cd43e549","native_annotation":{"additional_obj_config_paths":["data/objects/ycb/configs"],"ao_states":{"75":{"2":0.0},"76":{"1":0.0,"2":0.0,"3":0.0,"4":0.0,"5":0.0,"6":0.0,"7":0.0}},"episode_id":"2","goal_preds":{"expr_type":"AND","inputs":[{"expr_type":"cup","name":"X"}],"quantifier":"EXISTS","sub_exprs":["on_top(X, receptacle_aabb_sink_kitchen_counter)","not_holding()"]},"goal_receptacles":[],"idx_to_name":{"0":"004_sugar_box.object_config.json","1":"007_tuna_fish_can.object_config.json","10":"021_bleach_cleanser.object_config.json","100":"070-a_colored_wood_blocks_:0000","101":"005_tomato_soup_can_:0000","102":"072-c_toy_airplane_:0000","103":"073-b_lego_duplo_:0000","104":"frl_apartment_bowl_02_:0000","105":"065-e_cups_:0000","106":"008_pudding_box.object_config.json","107":"052_extra_large_clamp.object_config.json","108":"065-d_cups.object_config.json","109":"065-g_cups.object_config.json","11":"024_bowl.object_config.json","110":"070-b_colored_wood_blocks.object_config.json","111":"072-d_toy_airplane.object_config.json","112":"073-g_lego_duplo.object_config.json","113":"052_extra_large_clamp_:0000","114":"070-b_colored_wood_blocks_:0000","115":"008_pudding_box_:0000","116":"072-d_toy_airplane_:0000","117":"073-g_lego_duplo_:0000","118":"065-g_cups_:0000","119":"065-d_cups_:0000","12":"025_mug.object_config.json","120":"010_potted_meat_can.object_config.json","121":"053_mini_soccer_ball.object_config.json","122":"065-j_cups.object_config.json","123":"073-c_lego_duplo.object_config.json","124":"frl_apartment_book_01.object_config.json","125":"frl_apartment_bowl_07.object_config.json","126":"053_mini_soccer_ball_:0000","127":"037_scissors_:0001","128":"010_potted_meat_can_:0000","129":"073-c_lego_duplo_:0000","13":"026_sponge.object_config.json","130":"frl_apartment_book_01_:0000","131":"frl_apartment_bowl_07_:0000","132":"065-j_cups_:0000","133":"002_master_chef_can.object_config.json","134":"009_gelatin_box.object_config.json","135":"054_softball.object_config.json","136":"072-b_toy_airplane.object_config.json","137":"073-a_lego_duplo.object_config.json","138":"frl_apartment_book_02.object_config.json","139":"002_master_chef_can_:0000","14":"028_skillet_lid.object_config.json","140":"054_softball_:0000","141":"009_gelatin_box_:0000","142":"072-b_toy_airplane_:0000","143":"073-a_lego_duplo_:0000","144":"frl_apartment_book_02_:0000","145":"057_racquetball.object_config.json","146":"065-h_cups.object_config.json","147":"072-a_toy_airplane.object_config.json","148":"frl_apartment_book_05.object_config.json","149":"frl_apartment_cup_03.object_config.json","15":"029_plate.object_config.json","150":"frl_apartment_cup_03_:0000","151":"057_racquetball_:0000","152":"072-a_toy_airplane_:0000","153":"frl_apartment_book_05_:0000","154":"065-h_cups_:0000","16":"031_spoon.object_config.json","17":"032_knife.object_config.json","18":"033_spatula.object_config.json","19":"035_power_drill.object_config.json","2":"011_banana.object_config.json","20":"036_wood_block.object_config.json","21":"037_scissors.object_config.json","22":"038_padlock.object_config.json","23":"042_adjustable_wrench.object_config.json","24":"044_flat_screwdriver.object_config.json","25":"048_hammer.object_config.json","26":"050_medium_clamp.object_config.json","27":"056_tennis_ball.object_config.json","28":"065-c_cups.object_config.json","29":"072-e_toy_airplane.object_config.json","3":"012_strawberry.object_config.json","30":"073-e_lego_duplo.object_config.json","31":"073-f_lego_duplo.object_config.json","32":"077_rubiks_cube.object_config.json","33":"frl_apartment_book_04.object_config.json","34":"073-f_lego_duplo_:0000","35":"receptacle_aabb_TvStnd1_Top1_frl_apartment_tvstand","36":"056_tennis_ball_:0000","37":"receptacle_aabb_Tbl1_Top1_frl_apartment_table_01","38":"050_medium_clamp_:0000","39":"receptacle_aabb_sink_kitchen_counter","4":"013_apple.object_config.json","40":"048_hammer_:0000","41":"receptacle_aabb_Sofa_frl_apartment_sofa","42":"044_flat_screwdriver_:0000","43":"receptacle_aabb_counter_right_kitchen_counter","44":"042_adjustable_wrench_:0000","45":"038_padlock_:0000","46":"037_scissors_:0000","47":"036_wood_block_:0000","48":"035_power_drill_:0000","49":"033_spatula_:0000","5":"014_lemon.object_config.json","50":"receptacle_aabb_counter_left_kitchen_counter","51":"032_knife_:0000","52":"031_spoon_:0000","53":"029_plate_:0000","54":"028_skillet_lid_:0000","55":"026_sponge_:0000","56":"021_bleach_cleanser_:0000","57":"018_plum_:0000","58":"017_orange_:0000","59":"016_pear_:0000","6":"015_peach.object_config.json","60":"015_peach_:0000","61":"013_apple_:0000","62":"014_lemon_:0000","63":"007_tuna_fish_can_:0000","64":"004_sugar_box_:0000","65":"011_banana_:0000","66":"012_strawberry_:0000","67":"072-e_toy_airplane_:0000","68":"073-e_lego_duplo_:0000","69":"receptacle_aabb_Tbl2_Top1_frl_apartment_table_02","7":"016_pear.object_config.json","70":"077_rubiks_cube_:0000","71":"frl_apartment_book_04_:0000","72":"024_bowl_:0000","73":"025_mug_:0000","74":"065-c_cups_:0000","75":"fridge_:0000","76":"kitchen_counter_:0000","77":"cab_push_point_7","78":"articulated_object","79":"drawer1_top","8":"017_orange.object_config.json","80":"cab_push_point_6","81":"drawer2_top","82":"cab_push_point_5","83":"drawer3","84":"cab_push_point_4","85":"drawer4","86":"fridge_push_point","87":"top_door","88":"005_tomato_soup_can.object_config.json","89":"043_phillips_screwdriver.object_config.json","9":"018_plum.object_config.json","90":"051_large_clamp.object_config.json","91":"065-e_cups.object_config.json","92":"070-a_colored_wood_blocks.object_config.json","93":"072-c_toy_airplane.object_config.json","94":"073-b_lego_duplo.object_config.json","95":"frl_apartment_bowl_02.object_config.json","96":"frl_apartment_bowl_03.object_config.json","97":"frl_apartment_bowl_03_:0000","98":"051_large_clamp_:0000","99":"043_phillips_screwdriver_:0000"},"info":{"object_labels":{}},"instruct_id":"f0917e29","instruction":"Move one of the white cylindrical object with a handle items to the indicated sink.","markers":[[77,78,[0.3,0.0,0.0],79,76],[80,78,[0.3,0.0,0.0],81,76],[82,78,[0.3,0.0,0.0],83,76],[84,78,[0.3,0.0,0.0],85,76],[86,78,[0.1,-0.62,0.2],87,75]],"name_to_receptacle":[[100,39],[36,35],[113,50],[40,50],[99,43],[44,69],[45,41],[46,69],[114,43],[48,50],[49,50],[51,43],[52,37],[53,37],[54,37],[55,37],[56,39],[57,35],[58,50],[59,41],[60,69],[61,69],[62,50],[63,41],[115,50],[65,35],[66,39],[116,50],[117,35],[70,69],[71,39],[97,41],[73,69],[118,41],[119,37]],"resolved_rigid_objects":[{"object_config":"007_tuna_fish_can.object_config.json","transform":[[-0.02659115381538868,-0.0026356833986938,-0.9996429681777954,3.295464277267456],[0.001143182977102697,0.999995768070221,-0.002667023101821542,0.4203370213508606],[0.9996458292007446,-0.0012136937584728003,-0.026588022708892822,4.687425136566162],[0.0,0.0,0.0,1.0]]},{"object_config":"008_pudding_box.object_config.json","transform":[[-0.12416905909776688,0.008606997318565845,-0.9922237992286682,0.38172686100006104],[0.0015120410826057196,0.9999628663063049,0.008484910242259502,0.8784008622169495],[0.9922599196434021,-0.00044672004878520966,-0.12417745590209961,7.893784999847412],[0.0,0.0,0.0,1.0]]},{"object_config":"011_banana.object_config.json","transform":[[0.6950197219848633,0.019070524722337723,-0.7187377214431763,3.839714765548706],[-0.09712834656238556,0.992975115776062,-0.06757619976997375,0.6436836123466492],[0.712399959564209,0.11677660048007965,0.691989541053772,6.4830322265625],[0.0,0.0,0.0,1.0]]},{"object_config":"012_strawberry.object_config.json","transform":[[-0.48796072602272034,0.14778128266334534,-0.8602643609046936,0.5634981989860535],[0.1561262607574463,0.9844467639923096,0.08055579662322998,0.729514479637146],[0.8587890267372131,-0.09500180184841156,-0.5034438371658325,6.731957912445068],[0.0,0.0,0.0,1.0]]},{"object_config":"013_apple.object_config.json","transform":[[-0.7332080602645874,-0.012819482013583183,0.6798839569091797,-1.9637082815170288],[-0.010222513228654861,0.9999170899391174,0.007829563692212105,0.969614565372467],[-0.6799279451370239,-0.0012094252742826939,-0.7332783341407776,0.7136859893798828],[0.0,0.0,0.0,1.0]]},{"object_config":"014_lemon.object_config.json","transform":[[0.5302276015281677,0.12523913383483887,-0.8385546207427979,0.7344063520431519],[0.007661394774913788,0.9882822036743164,0.15244552493095398,0.885552704334259],[0.8478207588195801,-0.0872553288936615,0.5230550169944763,7.250434398651123],[0.0,0.0,0.0,1.0]]},{"object_config":"015_peach.object_config.json","transform":[[0.574028730392456,-0.06835433840751648,-0.8159772157669067,-1.8250528573989868],[-0.7923880815505981,-0.29758942127227783,-0.532505214214325,0.9605086445808411],[-0.20642700791358948,0.9522438645362854,-0.22498810291290283,0.753650963306427],[0.0,0.0,0.0,1.0]]},{"object_config":"016_pear.object_config.json","transform":[[-0.35399752855300903,-0.6702122092247009,0.6523048877716064,3.3253486156463623],[0.887811005115509,-0.021507561206817627,0.459705650806427,0.4308791160583496],[-0.29407089948654175,0.7418579459190369,0.6026351451873779,3.9947357177734375],[0.0,0.0,0.0,1.0]]},{"object_config":"017_orange.object_config.json","transform":[[-0.901829183101654,-0.03457147628068924,-0.4307074248790741,0.5252789855003357],[-0.03283947706222534,0.999394953250885,-0.011457808315753937,0.8947919607162476],[0.43084296584129333,0.003811220172792673,-0.902418851852417,7.43027400970459],[0.0,0.0,0.0,1.0]]},{"object_config":"018_plum.object_config.json","transform":[[-0.8401960730552673,-0.016032394021749496,-0.5420462489128113,3.7529518604278564],[-0.0027660513296723366,0.999676525592804,-0.02528047375380993,0.6526217460632324],[0.5422762036323547,-0.019741220399737358,-0.8399686813354492,5.608659267425537],[0.0,0.0,0.0,1.0]]},{"object_config":"021_bleach_cleanser.object_config.json","transform":[[-0.9942722320556641,0.0029214967507869005,-0.10683804750442505,0.6340159177780151],[0.002907705260440707,0.999995768070221,0.00028485938673838973,0.8318604230880737],[0.1068384200334549,-2.7425761800259352e-05,-0.9942764639854431,6.736832618713379],[0.0,0.0,0.0,1.0]]},{"object_config":"025_mug.object_config.json","transform":[[-0.6410896182060242,0.0022880062460899353,0.7674629092216492,-2.0544416904449463],[0.003404112532734871,0.999994158744812,-0.00013766472693532705,0.9741529226303101],[-0.7674587368965149,0.0025242744013667107,-0.6410936713218689,1.2680964469909668],[0.0,0.0,0.0,1.0]]},{"object_config":"026_sponge.object_config.json","transform":[[0.3032330572605133,0.00016779336147010326,0.9529164433479309,2.105762243270874],[0.006873888894915581,0.9999735951423645,-0.0023634592071175575,0.7714396119117737],[-0.9528916478157043,0.007266920059919357,0.3032239079475403,1.793977975845337],[0.0,0.0,0.0,1.0]]},{"object_config":"028_skillet_lid.object_config.json","transform":[[-0.6963101029396057,0.003432126250118017,0.7177332043647766,2.4602293968200684],[0.013234887272119522,0.9998799562454224,0.008058524690568447,0.7992266416549683],[-0.7176193594932556,0.015110346488654613,-0.6962719559669495,2.1264257431030273],[0.0,0.0,0.0,1.0]]},{"object_config":"029_plate.object_config.json","transform":[[-0.979200541973114,0.004188903141766787,0.2028517872095108,2.3164451122283936],[0.004008940886706114,0.9999911189079285,-0.0012980366591364145,0.7754377126693726],[-0.2028554230928421,-0.0004578172811307013,-0.9792085886001587,1.641679048538208],[0.0,0.0,0.0,1.0]]},{"object_config":"031_spoon.object_config.json","transform":[[-0.16653062403202057,0.5316808819770813,-0.8304115533828735,1.723759651184082],[-0.20773448050022125,0.804351806640625,0.5566548705101013,0.772642195224762],[0.9639056921005249,0.2652050852775574,-0.023500800132751465,1.9063799381256104],[0.0,0.0,0.0,1.0]]},{"object_config":"032_knife.object_config.json","transform":[[-0.9437075257301331,0.15643930435180664,-0.2914501130580902,0.7307987213134766],[-0.037836555391550064,0.824260413646698,0.5649452805519104,0.8671514391899109],[0.32861045002937317,0.5441704392433167,-0.7719416618347168,4.914127826690674],[0.0,0.0,0.0,1.0]]},{"object_config":"033_spatula.object_config.json","transform":[[-0.594528079032898,-0.3153117001056671,0.7396725416183472,0.8159425854682922],[0.14547032117843628,-0.9469039440155029,-0.2867264151573181,0.8723822236061096],[0.790806770324707,-0.0628664419054985,0.6088289022445679,7.105424404144287],[0.0,0.0,0.0,1.0]]},{"object_config":"035_power_drill.object_config.json","transform":[[-0.15841729938983917,0.024909984320402145,0.9870580434799194,0.5211659669876099],[0.05517028644680977,0.9983432292938232,-0.016340266913175583,0.8869349956512451],[-0.9858297109603882,0.051867689937353134,-0.15952914953231812,7.316059112548828],[0.0,0.0,0.0,1.0]]},{"object_config":"037_scissors.object_config.json","transform":[[-0.11902974545955658,-0.09029680490493774,0.9887762069702148,-1.7175847291946411],[0.09171943366527557,0.9905979633331299,0.10150443762540817,0.9409119486808777],[-0.9886453151702881,0.10277203470468521,-0.10962867736816406,0.6251717805862427],[0.0,0.0,0.0,1.0]]},{"object_config":"038_padlock.object_config.json","transform":[[-0.9589890837669373,-0.02609071508049965,0.282241553068161,3.1584458351135254],[-0.029153689742088318,0.9995527267456055,-0.006657449994236231,0.4180245101451874],[-0.28194162249565125,-0.014612799510359764,-0.9593208432197571,3.9876842498779297],[0.0,0.0,0.0,1.0]]},{"object_config":"042_adjustable_wrench.object_config.json","transform":[[-0.9341315031051636,0.03604530170559883,-0.3551044464111328,-1.8920457363128662],[0.048027198761701584,0.9985336065292358,-0.024982158094644547,0.9396150708198547],[0.3536832332611084,-0.04039129242300987,-0.934492826461792,0.8433405756950378],[0.0,0.0,0.0,1.0]]},{"object_config":"043_phillips_screwdriver.object_config.json","transform":[[-0.8377911448478699,0.17260922491550446,0.5179885625839233,0.5900506973266602],[0.5194872617721558,-0.039992570877075195,0.8535418510437012,0.8703053593635559],[0.16804488003253937,0.9841781854629517,-0.056162893772125244,5.083581924438477],[0.0,0.0,0.0,1.0]]},{"object_config":"048_hammer.object_config.json","transform":[[-0.9068901538848877,0.003390090074390173,-0.4213535487651825,0.46708378195762634],[0.004725527483969927,0.9999865889549255,-0.0021252690348774195,0.8751453757286072],[0.421340674161911,-0.003918503411114216,-0.9068940281867981,7.804814338684082],[0.0,0.0,0.0,1.0]]},{"object_config":"052_extra_large_clamp.object_config.json","transform":[[0.742729127407074,-0.051508527249097824,0.6676079034805298,0.6732308864593506],[-0.01092936098575592,0.9959714412689209,0.08900220692157745,0.8770270347595215],[-0.6695027351379395,-0.0734010636806488,0.7391740679740906,7.056498050689697],[0.0,0.0,0.0,1.0]]},{"object_config":"056_tennis_ball.object_config.json","transform":[[-0.8763790130615234,-0.24594105780124664,-0.41409292817115784,3.9219093322753906],[-0.10662879049777985,0.9375311732292175,-0.33115798234939575,0.6595070362091064],[0.4696703851222992,-0.2460656613111496,-0.8478570580482483,6.077210426330566],[0.0,0.0,0.0,1.0]]},{"object_config":"065-d_cups.object_config.json","transform":[[0.8370590806007385,-0.0022426864597946405,0.5471079349517822,2.7839877605438232],[0.0034561671782284975,0.9999933242797852,-0.0011886956635862589,0.7964643239974976],[-0.547101616859436,0.002885904861614108,0.8370612263679504,1.8330559730529785],[0.0,0.0,0.0,1.0]]},{"object_config":"065-g_cups.object_config.json","transform":[[0.3891868591308594,0.0015210335841402411,0.9211575984954834,3.230928659439087],[0.0015497064450755715,0.9999961256980896,-0.00230596074834466,0.4405013620853424],[-0.9211575984954834,0.002324973698705435,0.389182984828949,3.9313271045684814],[0.0,0.0,0.0,1.0]]},{"object_config":"070-a_colored_wood_blocks.object_config.json","transform":[[-0.9999500513076782,-0.005006335210055113,0.008634071797132492,0.5749732851982117],[-0.004556566942483187,0.9986704587936401,0.051347605884075165,0.7905259132385254],[-0.008879655972123146,0.051305703818798065,-0.9986433982849121,6.566671848297119],[0.0,0.0,0.0,1.0]]},{"object_config":"070-b_colored_wood_blocks.object_config.json","transform":[[-0.9922022223472595,-0.003295936156064272,0.12459488213062286,0.4051634669303894],[-0.0031791143119335175,0.9999943375587463,0.0011364262318238616,0.8719856142997742],[-0.12459792196750641,0.000731463311240077,-0.9922070503234863,5.356415271759033],[0.0,0.0,0.0,1.0]]},{"object_config":"072-d_toy_airplane.object_config.json","transform":[[0.8006517887115479,0.008392510004341602,-0.5990711450576782,0.4269792139530182],[0.008416366763412952,0.9996456503868103,0.02525261975824833,0.8922078609466553],[0.5990707874298096,-0.02526055835187435,0.8002974987030029,7.666661739349365],[0.0,0.0,0.0,1.0]]},{"object_config":"073-g_lego_duplo.object_config.json","transform":[[0.0001916418841574341,-0.004875615704804659,-0.9999880790710449,3.8087618350982666],[-0.002998099196702242,0.9999836087226868,-0.004876167979091406,0.6554385423660278],[0.9999954700469971,0.002998997690156102,0.00017702579498291016,5.300906658172607],[0.0,0.0,0.0,1.0]]},{"object_config":"077_rubiks_cube.object_config.json","transform":[[0.999721109867096,-0.009029556065797806,0.021819857880473137,-2.245938301086426],[0.00898347981274128,0.9999572038650513,0.0022087402176111937,0.962512195110321],[-0.021838868036866188,-0.002012105891481042,0.9997594952583313,0.6436541080474854],[0.0,0.0,0.0,1.0]]},{"object_config":"frl_apartment_book_04.object_config.json","transform":[[-0.6003125905990601,-1.692171281320043e-05,0.799765408039093,0.520703136920929],[-2.2006315703038126e-07,1.0,2.0993164071114734e-05,0.7829457521438599],[-0.799765408039093,1.242646249011159e-05,-0.6003125905990601,6.800551414489746],[0.0,0.0,0.0,1.0]]},{"object_config":"frl_apartment_bowl_03.object_config.json","transform":[[-0.06305582076311111,-0.0007066768012009561,-0.9980097413063049,3.2554702758789062],[0.0003594597219489515,0.9999997019767761,-0.0007307970663532615,0.4619004726409912],[0.998009979724884,-0.00040482531767338514,-0.06305551528930664,3.577145576477051],[0.0,0.0,0.0,1.0]]}],"rigid_objs":[[1,1067],[106,1068],[2,1069],[3,1070],[4,1071],[5,1072],[6,1073],[7,1074],[8,1075],[9,1076],[10,1077],[12,1078],[13,1079],[14,1080],[15,1081],[16,1082],[17,1083],[18,1084],[19,1085],[21,1086],[22,1087],[23,1088],[89,1089],[25,1090],[107,1091],[27,1092],[108,1093],[109,1094],[92,1095],[110,1096],[111,1097],[112,1098],[32,1099],[33,1100],[96,1101]],"sampled_entities":{"source_receptacle_name":"receptacle_aabb_Sofa_frl_apartment_sofa","target_object_name":"cup","target_receptacle_name":"receptacle_aabb_sink_kitchen_counter"},"sampler_info":{},"scene_dataset_config":"data/replica_cad/replicaCAD.scene_dataset_config.json","scene_id":"data/replica_cad/configs/scenes/v3_sc0_staging_09.scene_instance.json","start_position":[0,0,0],"start_preds":[],"start_rotation":[0,0,0,1],"subgoals":[["robot_at(receptacle_aabb_Sofa_frl_apartment_sofa)","robot_at(065-g_cups_:0000)"],["holding(065-g_cups_:0000)","robot_at(receptacle_aabb_Sofa_frl_apartment_sofa)","robot_at(065-g_cups_:0000)"],["holding(065-g_cups_:0000)","robot_at(receptacle_aabb_sink_kitchen_counter)","robot_at(receptacle_aabb_counter_right_kitchen_counter)","robot_at(receptacle_aabb_counter_left_kitchen_counter)","robot_at(receptacle_aabb_drawer_left_top_frl_apartment_kitchen_counter)","robot_at(receptacle_aabb_drawer_right_top_frl_apartment_kitchen_counter)","robot_at(065-g_cups_:0000)","robot_at(frl_apartment_book_04_:0000)"],["on_top(065-g_cups_:0000,receptacle_aabb_sink_kitchen_counter)","robot_at(receptacle_aabb_sink_kitchen_counter)","robot_at(receptacle_aabb_counter_right_kitchen_counter)","robot_at(receptacle_aabb_counter_left_kitchen_counter)","robot_at(receptacle_aabb_drawer_left_top_frl_apartment_kitchen_counter)","robot_at(receptacle_aabb_drawer_right_top_frl_apartment_kitchen_counter)","robot_at(065-g_cups_:0000)","robot_at(frl_apartment_book_04_:0000)"]],"target_receptacles":[],"targets":{}},"observations":[],"question":{"options":[],"original":"Move one of the white cylindrical object with a handle items to the indicated sink.","text":"Move one of the white cylindrical object with a handle items to the indicated sink."},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"Habitat-Sim 0.3.0 / ReplicaCAD / YCB","eval_set":"visual_appearance","mode":"interactive","observation_policy":"current RGB and upstream feedback; hidden goals/poses are evaluator-only","repo":"EmbodiedBench/EmbodiedBench","revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","selected_index":31},"sampling":{"component_id":"d38b33f26529cd43e549","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":8,"stratum_pool":50},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"embodiedbench/envs/eb_habitat/datasets/visual_appearance.pickle","annotation_sha256":"77723ce19418f66feaacc26cb71bfe6119c31c33744365cb60067f4ed758a2e8","host":"github","license":"not-specified; underlying simulator/data terms apply","media_policy":"runtime simulator; no trajectories supplied as observations","repo":"EmbodiedBench/EmbodiedBench","revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","row_sha256":"664a55b5e6a57ef49d415286d1e4e28b690eb0ca98e911273996514f1f6fad5d","sample_id":"visual_appearance/31","split":"visual_appearance","upstream_dataset":"EB-Habitat","url":"https://github.com/EmbodiedBench/EmbodiedBench"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_environment_success","original_answer":null},"task":{"category":"visual_appearance","role":"spatial_core","skill_tags":["visual_appearance","visual_appearance"],"stratum":"EB-Habitat/visual_appearance/visual_appearance","subcategory":"visual_appearance"},"transforms":[]}
{"dataset":"EB-Navigation","group":{"id":"AI2THOR/FloorPlan327","kind":"scene","scene":"FloorPlan327"},"id":"187a189949edff88d617","native_annotation":{"agentPose":{"horizon":0.0,"position":{"x":-0.20000000298023224,"y":0.9009992480278015,"z":0.20000000298023224},"rotation":180.0},"instruction":"navigate to the DeskLamp in the room and be as close as possible to it","object_to_hide":[],"scene":"FloorPlan327","targetObjectIds":"DeskLamp|-01.49|+00.67|-02.42","targetObjectType":"DeskLamp","target_position":{"x":-1.4897704124450684,"y":0.6693194508552551,"z":-2.4190797805786133}},"observations":[],"question":{"options":[],"original":"navigate to the DeskLamp in the room and be as close as possible to it","text":"navigate to the DeskLamp in the room and be as close as possible to it"},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"AI2-THOR","eval_set":"base","mode":"interactive","observation_policy":"current RGB and upstream feedback; hidden goals/poses are evaluator-only","repo":"EmbodiedBench/EmbodiedBench","revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","selected_index":56},"sampling":{"component_id":"0497aeda804949f7557f","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":23,"stratum_pool":60},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"embodiedbench/envs/eb_navigation/datasets/base.json","annotation_sha256":"6b575621a6b15e90e1040dd86d661a5e1ee70134f42fd7f3d61706347449c55a","host":"github","license":"not-specified; underlying simulator/data terms apply","media_policy":"runtime simulator; no trajectories supplied as observations","repo":"EmbodiedBench/EmbodiedBench","revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","row_sha256":"e07075297aa9a5d87c9d3e47167b735c675cfbb2c992e459885ed3d75461a7e3","sample_id":"base/56","split":"base","upstream_dataset":"EB-Navigation","url":"https://github.com/EmbodiedBench/EmbodiedBench"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_environment_success","original_answer":null},"task":{"category":"base","role":"spatial_core","skill_tags":["base","base"],"stratum":"EB-Navigation/base/base","subcategory":"base"},"transforms":[]}
{"dataset":"EB-Navigation","group":{"id":"AI2THOR/FloorPlan23","kind":"scene","scene":"FloorPlan23"},"id":"0a5c14a8519388c700ce","native_annotation":{"agentPose":{"horizon":0.0,"position":{"x":-1.100000023841858,"y":0.9009994864463806,"z":-0.8999999761581421},"rotation":180.0},"instruction":"navigate to the StoveBurner in the room and be as close as possible to it","object_to_hide":["StoveBurner|-01.13|+00.93|-03.50","StoveBurner|-01.52|+00.93|-03.50","StoveBurner|-01.13|+00.93|-03.75"],"scene":"FloorPlan23","targetObjectIds":"StoveBurner|-01.52|+00.93|-03.75","targetObjectType":"StoveBurner","target_position":{"x":-1.5154999494552612,"y":0.9282000064849854,"z":-3.7523000240325928}},"observations":[],"question":{"options":[],"original":"navigate to the StoveBurner in the room and be as close as possible to it","text":"navigate to the StoveBurner in the room and be as close as possible to it"},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"AI2-THOR","eval_set":"base","mode":"interactive","observation_policy":"current RGB and upstream feedback; hidden goals/poses are evaluator-only","repo":"EmbodiedBench/EmbodiedBench","revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","selected_index":12},"sampling":{"component_id":"0a5c14a8519388c700ce","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":23,"stratum_pool":60},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"embodiedbench/envs/eb_navigation/datasets/base.json","annotation_sha256":"6b575621a6b15e90e1040dd86d661a5e1ee70134f42fd7f3d61706347449c55a","host":"github","license":"not-specified; underlying simulator/data terms apply","media_policy":"runtime simulator; no trajectories supplied as observations","repo":"EmbodiedBench/EmbodiedBench","revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","row_sha256":"d749f382c09eb486c03070ed2c9aaa0a84cf3fe5b41c5bdc52f5c23ce74551c8","sample_id":"base/12","split":"base","upstream_dataset":"EB-Navigation","url":"https://github.com/EmbodiedBench/EmbodiedBench"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_environment_success","original_answer":null},"task":{"category":"base","role":"spatial_core","skill_tags":["base","base"],"stratum":"EB-Navigation/base/base","subcategory":"base"},"transforms":[]}
{"dataset":"EB-Navigation","group":{"id":"AI2THOR/FloorPlan16","kind":"scene","scene":"FloorPlan16"},"id":"7e44d30cf61f5098d4dd","native_annotation":{"agentPose":{"horizon":0.0,"position":{"x":0.7000000476837158,"y":0.9037266969680786,"z":2.700000047683716},"rotation":180.0},"instruction":"I'm feeling thirsty and need a small container to hold water or coffee. Please navigate to that object and stay near it.","object_to_hide":[],"scene":"FloorPlan16","targetObjectIds":"Cup|-00.46|+01.02|+00.42","targetObjectType":"Cup","target_position":{"x":-0.46001094579696655,"y":1.0187097787857056,"z":0.4222820997238159}},"observations":[],"question":{"options":[],"original":"I'm feeling thirsty and need a small container to hold water or coffee. Please navigate to that object and stay near it.","text":"I'm feeling thirsty and need a small container to hold water or coffee. Please navigate to that object and stay near it."},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"AI2-THOR","eval_set":"common_sense","mode":"interactive","observation_policy":"current RGB and upstream feedback; hidden goals/poses are evaluator-only","repo":"EmbodiedBench/EmbodiedBench","revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","selected_index":5},"sampling":{"component_id":"1ac54c8aa3a7ff58c1a7","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":23,"stratum_pool":60},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"embodiedbench/envs/eb_navigation/datasets/common_sense.json","annotation_sha256":"3e7d2cb4246b6e2edaeaabd318dba93e4dbbff114c8368ed0c862e64f417afcf","host":"github","license":"not-specified; underlying simulator/data terms apply","media_policy":"runtime simulator; no trajectories supplied as observations","repo":"EmbodiedBench/EmbodiedBench","revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","row_sha256":"29f3fc5027c115baded576c54d83e7208e2a46db23bd5462474da61be744193c","sample_id":"common_sense/5","split":"common_sense","upstream_dataset":"EB-Navigation","url":"https://github.com/EmbodiedBench/EmbodiedBench"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_environment_success","original_answer":null},"task":{"category":"common_sense","role":"spatial_core","skill_tags":["common_sense","common_sense"],"stratum":"EB-Navigation/common_sense/common_sense","subcategory":"common_sense"},"transforms":[]}
{"dataset":"EB-Navigation","group":{"id":"AI2THOR/FloorPlan215","kind":"scene","scene":"FloorPlan215"},"id":"bba3db22b02e7813a03e","native_annotation":{"agentPose":{"horizon":0.0,"position":{"x":-1.2999999523162842,"y":0.910965085029602,"z":7.199999809265137},"rotation":180.0},"instruction":"I need a soft cushion to support my head while sleeping. Can you navigate to that object and stay close?","object_to_hide":[],"scene":"FloorPlan215","targetObjectIds":"Pillow|-00.88|+00.55|+04.72","targetObjectType":"Pillow","target_position":{"x":-0.8750989437103271,"y":0.5495162010192871,"z":4.720698833465576}},"observations":[],"question":{"options":[],"original":"I need a soft cushion to support my head while sleeping. Can you navigate to that object and stay close?","text":"I need a soft cushion to support my head while sleeping. Can you navigate to that object and stay close?"},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"AI2-THOR","eval_set":"common_sense","mode":"interactive","observation_policy":"current RGB and upstream feedback; hidden goals/poses are evaluator-only","repo":"EmbodiedBench/EmbodiedBench","revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","selected_index":24},"sampling":{"component_id":"406139f70c6ad23cb923","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":23,"stratum_pool":60},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"embodiedbench/envs/eb_navigation/datasets/common_sense.json","annotation_sha256":"3e7d2cb4246b6e2edaeaabd318dba93e4dbbff114c8368ed0c862e64f417afcf","host":"github","license":"not-specified; underlying simulator/data terms apply","media_policy":"runtime simulator; no trajectories supplied as observations","repo":"EmbodiedBench/EmbodiedBench","revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","row_sha256":"ab754c451a04d832c9e3ba4cf7021405f0cc2490677714e2f168d1ca4a57d73b","sample_id":"common_sense/24","split":"common_sense","upstream_dataset":"EB-Navigation","url":"https://github.com/EmbodiedBench/EmbodiedBench"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_environment_success","original_answer":null},"task":{"category":"common_sense","role":"spatial_core","skill_tags":["common_sense","common_sense"],"stratum":"EB-Navigation/common_sense/common_sense","subcategory":"common_sense"},"transforms":[]}
{"dataset":"EB-Navigation","group":{"id":"AI2THOR/FloorPlan216","kind":"scene","scene":"FloorPlan216"},"id":"78efc7b29f528b295cfe","native_annotation":{"agentPose":{"horizon":0.0,"position":{"x":-2.9000000953674316,"y":0.9009991884231567,"z":0.5},"rotation":180.0},"instruction":"The subtle scent of lavender in the air adds to the room's tranquility. A soft, folded towel sits neatly on a chair by the window. Could you move toward the floorlamp and stay close? The golden light from outside gives the space a cozy glow.","object_to_hide":[],"scene":"FloorPlan216","targetObjectIds":"FloorLamp|-04.57|+00.01|-01.62","targetObjectType":"FloorLamp","target_position":{"x":-4.56902551651001,"y":0.005961775779724121,"z":-1.6160376071929932}},"observations":[],"question":{"options":[],"original":"The subtle scent of lavender in the air adds to the room's tranquility. A soft, folded towel sits neatly on a chair by the window. Could you move toward the floorlamp and stay close? The golden light from outside gives the space a cozy glow.","text":"The subtle scent of lavender in the air adds to the room's tranquility. A soft, folded towel sits neatly on a chair by the window. Could you move toward the floorlamp and stay close? The golden light from outside gives the space a cozy glow."},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"AI2-THOR","eval_set":"complex_instruction","mode":"interactive","observation_policy":"current RGB and upstream feedback; hidden goals/poses are evaluator-only","repo":"EmbodiedBench/EmbodiedBench","revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","selected_index":25},"sampling":{"component_id":"006819d9ecf5eeebe179","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":23,"stratum_pool":60},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"embodiedbench/envs/eb_navigation/datasets/complex_instruction.json","annotation_sha256":"767730e5b83812a199a27be41477da98def2becfd5cc8bd3e45d8cfdce260b9b","host":"github","license":"not-specified; underlying simulator/data terms apply","media_policy":"runtime simulator; no trajectories supplied as observations","repo":"EmbodiedBench/EmbodiedBench","revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","row_sha256":"6a57432293772b0c331739d84a90078bd26b4756f5310cc7360b768200e4f1b8","sample_id":"complex_instruction/25","split":"complex_instruction","upstream_dataset":"EB-Navigation","url":"https://github.com/EmbodiedBench/EmbodiedBench"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_environment_success","original_answer":null},"task":{"category":"complex_instruction","role":"spatial_core","skill_tags":["complex_instruction","complex_instruction"],"stratum":"EB-Navigation/complex_instruction/complex_instruction","subcategory":"complex_instruction"},"transforms":[]}
{"dataset":"EB-Navigation","group":{"id":"AI2THOR/FloorPlan327","kind":"scene","scene":"FloorPlan327"},"id":"6986a5667ad7942b1829","native_annotation":{"agentPose":{"horizon":0.0,"position":{"x":-0.20000000298023224,"y":0.9009992480278015,"z":0.20000000298023224},"rotation":180.0},"instruction":"The soft light of the desk lamp creates a cozy nook in the corner of the room. There's a magazine on the table that looks intriguing. Please navigate to the desk lamp and be as close as possible. The gentle hum of the room's quiet atmosphere is very comforting.","object_to_hide":[],"scene":"FloorPlan327","targetObjectIds":"DeskLamp|-01.49|+00.67|-02.42","targetObjectType":"DeskLamp","target_position":{"x":-1.4897704124450684,"y":0.6693194508552551,"z":-2.4190797805786133}},"observations":[],"question":{"options":[],"original":"The soft light of the desk lamp creates a cozy nook in the corner of the room. There's a magazine on the table that looks intriguing. Please navigate to the desk lamp and be as close as possible. The gentle hum of the room's quiet atmosphere is very comforting.","text":"The soft light of the desk lamp creates a cozy nook in the corner of the room. There's a magazine on the table that looks intriguing. Please navigate to the desk lamp and be as close as possible. The gentle hum of the room's quiet atmosphere is very comforting."},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"AI2-THOR","eval_set":"complex_instruction","mode":"interactive","observation_policy":"current RGB and upstream feedback; hidden goals/poses are evaluator-only","repo":"EmbodiedBench/EmbodiedBench","revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","selected_index":56},"sampling":{"component_id":"0497aeda804949f7557f","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":23,"stratum_pool":60},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"embodiedbench/envs/eb_navigation/datasets/complex_instruction.json","annotation_sha256":"767730e5b83812a199a27be41477da98def2becfd5cc8bd3e45d8cfdce260b9b","host":"github","license":"not-specified; underlying simulator/data terms apply","media_policy":"runtime simulator; no trajectories supplied as observations","repo":"EmbodiedBench/EmbodiedBench","revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","row_sha256":"efde57341b5364228395da636e14c48c9ed10e8191ea7becd7165f38b11e42ac","sample_id":"complex_instruction/56","split":"complex_instruction","upstream_dataset":"EB-Navigation","url":"https://github.com/EmbodiedBench/EmbodiedBench"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_environment_success","original_answer":null},"task":{"category":"complex_instruction","role":"spatial_core","skill_tags":["complex_instruction","complex_instruction"],"stratum":"EB-Navigation/complex_instruction/complex_instruction","subcategory":"complex_instruction"},"transforms":[]}
{"dataset":"EB-Navigation","group":{"id":"AI2THOR/FloorPlan14","kind":"scene","scene":"FloorPlan14"},"id":"7bdb535fbab77a893136","native_annotation":{"agentPose":{"horizon":0.0,"position":{"x":-0.10000000149011612,"y":0.9009991884231567,"z":2.5},"rotation":0.0},"instruction":"navigate to the Pot in the room and be as close as possible to it","object_to_hide":[],"scene":"FloorPlan14","targetObjectIds":"Pot|+01.53|+00.91|+00.06","targetObjectType":"Pot","target_position":{"x":1.5345737934112549,"y":0.9103997349739075,"z":0.058767713606357574}},"observations":[],"question":{"options":[],"original":"navigate to the Pot in the room and be as close as possible to it","text":"navigate to the Pot in the room and be as close as possible to it"},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"AI2-THOR","eval_set":"long_horizon","mode":"interactive","observation_policy":"current RGB and upstream feedback; hidden goals/poses are evaluator-only","repo":"EmbodiedBench/EmbodiedBench","revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","selected_index":3},"sampling":{"component_id":"6204977722218bc15451","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":23,"stratum_pool":60},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"embodiedbench/envs/eb_navigation/datasets/long_horizon.json","annotation_sha256":"ff23dcb171ff8008721a8a74ee7c677f6535f84c25407715326a8b313771bdaf","host":"github","license":"not-specified; underlying simulator/data terms apply","media_policy":"runtime simulator; no trajectories supplied as observations","repo":"EmbodiedBench/EmbodiedBench","revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","row_sha256":"24791a6c29acfa4c4ba8d0a974cf8267dc2529ba5359c42079c98e587623619b","sample_id":"long_horizon/3","split":"long_horizon","upstream_dataset":"EB-Navigation","url":"https://github.com/EmbodiedBench/EmbodiedBench"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_environment_success","original_answer":null},"task":{"category":"long_horizon","role":"spatial_core","skill_tags":["long_horizon","long_horizon"],"stratum":"EB-Navigation/long_horizon/long_horizon","subcategory":"long_horizon"},"transforms":[]}
{"dataset":"EB-Navigation","group":{"id":"AI2THOR/FloorPlan212","kind":"scene","scene":"FloorPlan212"},"id":"be7ab96213cef4886e25","native_annotation":{"agentPose":{"horizon":0.0,"position":{"x":1.2000000476837158,"y":0.9009991884231567,"z":-0.10000000149011612},"rotation":270.0},"instruction":"navigate to the TissueBox in the room and be as close as possible to it","object_to_hide":[],"scene":"FloorPlan212","targetObjectIds":"TissueBox|+03.92|+00.87|+00.68","targetObjectType":"TissueBox","target_position":{"x":3.917987108230591,"y":0.8691356182098389,"z":0.6810032725334167}},"observations":[],"question":{"options":[],"original":"navigate to the TissueBox in the room and be as close as possible to it","text":"navigate to the TissueBox in the room and be as close as possible to it"},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"AI2-THOR","eval_set":"long_horizon","mode":"interactive","observation_policy":"current RGB and upstream feedback; hidden goals/poses are evaluator-only","repo":"EmbodiedBench/EmbodiedBench","revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","selected_index":21},"sampling":{"component_id":"0fa9b36d7d36fdf92bf4","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":23,"stratum_pool":60},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"embodiedbench/envs/eb_navigation/datasets/long_horizon.json","annotation_sha256":"ff23dcb171ff8008721a8a74ee7c677f6535f84c25407715326a8b313771bdaf","host":"github","license":"not-specified; underlying simulator/data terms apply","media_policy":"runtime simulator; no trajectories supplied as observations","repo":"EmbodiedBench/EmbodiedBench","revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","row_sha256":"7e0346013223df29b679133d838afe6952f787aea587f1ff10db9fed6669f854","sample_id":"long_horizon/21","split":"long_horizon","upstream_dataset":"EB-Navigation","url":"https://github.com/EmbodiedBench/EmbodiedBench"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_environment_success","original_answer":null},"task":{"category":"long_horizon","role":"spatial_core","skill_tags":["long_horizon","long_horizon"],"stratum":"EB-Navigation/long_horizon/long_horizon","subcategory":"long_horizon"},"transforms":[]}
{"dataset":"EB-Navigation","group":{"id":"AI2THOR/FloorPlan313","kind":"scene","scene":"FloorPlan313"},"id":"b2e667538659cea1f1d5","native_annotation":{"agentPose":{"horizon":0.0,"position":{"x":-0.5,"y":0.9009991884231567,"z":-1.0},"rotation":90.0},"instruction":"Locate the white rectangular container with smooth edges.","object_to_hide":[],"scene":"FloorPlan313","targetObjectIds":"Box|+01.54|+01.65|+00.69","targetObjectType":"Box","target_position":{"x":1.5361363887786865,"y":1.6517648696899414,"z":0.691978394985199}},"observations":[],"question":{"options":[],"original":"Locate the white rectangular container with smooth edges.","text":"Locate the white rectangular container with smooth edges."},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"AI2-THOR","eval_set":"visual_appearance","mode":"interactive","observation_policy":"current RGB and upstream feedback; hidden goals/poses are evaluator-only","repo":"EmbodiedBench/EmbodiedBench","revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","selected_index":42},"sampling":{"component_id":"475a6389ef904605ba69","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":23,"stratum_pool":60},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"embodiedbench/envs/eb_navigation/datasets/visual_appearance.json","annotation_sha256":"e66bc8aab0141c662761ef1a1d857aa6297972c6a0890526b008990eded8ddc1","host":"github","license":"not-specified; underlying simulator/data terms apply","media_policy":"runtime simulator; no trajectories supplied as observations","repo":"EmbodiedBench/EmbodiedBench","revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","row_sha256":"26de28110af8580c48d4b84d10bdd20cbfcb4e9071b74bf03c42bdeeedb065ad","sample_id":"visual_appearance/42","split":"visual_appearance","upstream_dataset":"EB-Navigation","url":"https://github.com/EmbodiedBench/EmbodiedBench"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_environment_success","original_answer":null},"task":{"category":"visual_appearance","role":"spatial_core","skill_tags":["visual_appearance","visual_appearance"],"stratum":"EB-Navigation/visual_appearance/visual_appearance","subcategory":"visual_appearance"},"transforms":[]}
{"dataset":"EB-Navigation","group":{"id":"AI2THOR/FloorPlan20","kind":"scene","scene":"FloorPlan20"},"id":"987b18b98f4e94df80c4","native_annotation":{"agentPose":{"horizon":0.0,"position":{"x":-1.0,"y":0.9009991884231567,"z":0.20000004768371582},"rotation":180.0},"instruction":"Move towards the shiny rectangular object with a metallic silver finish.","object_to_hide":[],"scene":"FloorPlan20","targetObjectIds":"Toaster|+00.78|+00.90|-02.08","targetObjectType":"Toaster","target_position":{"x":0.7800703644752502,"y":0.9000223278999329,"z":-2.080893039703369}},"observations":[],"question":{"options":[],"original":"Move towards the shiny rectangular object with a metallic silver finish.","text":"Move towards the shiny rectangular object with a metallic silver finish."},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"AI2-THOR","eval_set":"visual_appearance","mode":"interactive","observation_policy":"current RGB and upstream feedback; hidden goals/poses are evaluator-only","repo":"EmbodiedBench/EmbodiedBench","revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","selected_index":9},"sampling":{"component_id":"7262ccfe62cdbcf4a26b","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":23,"stratum_pool":60},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"embodiedbench/envs/eb_navigation/datasets/visual_appearance.json","annotation_sha256":"e66bc8aab0141c662761ef1a1d857aa6297972c6a0890526b008990eded8ddc1","host":"github","license":"not-specified; underlying simulator/data terms apply","media_policy":"runtime simulator; no trajectories supplied as observations","repo":"EmbodiedBench/EmbodiedBench","revision":"9be4e980e9cd6bcb38373cd4aab7c32724bdd401","row_sha256":"e86bbb4b6d69fed12b570425f7e481e9f82d53a2c53458933219e50e17644ca9","sample_id":"visual_appearance/9","split":"visual_appearance","upstream_dataset":"EB-Navigation","url":"https://github.com/EmbodiedBench/EmbodiedBench"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_environment_success","original_answer":null},"task":{"category":"visual_appearance","role":"spatial_core","skill_tags":["visual_appearance","visual_appearance"],"stratum":"EB-Navigation/visual_appearance/visual_appearance","subcategory":"visual_appearance"},"transforms":[]}
{"dataset":"EmbodiedEval","group":{"id":"EmbodiedEval/102816852","kind":"scene","scene":"102816852"},"id":"601a500e979a4d8afb22","native_annotation":{"agent_position":[2.8340001106262207,0.0,-4.539999961853027],"agent_rotation":[0.0,0.0,0.0],"floor_objects":["102816852/walls"],"humans":[],"options":[{"objects":[],"option_text":"The piano, the refrigerator, and the desk lamp","option_type":"Answer","specialActionFeedbacks":{"list":[]}},{"objects":[],"option_text":"The television, the plants by the curtains, and the chairs","option_type":"Answer","specialActionFeedbacks":{"list":[]}},{"objects":[],"option_text":"The television, the plants by the curtains, and the sofas","option_type":"Answer","specialActionFeedbacks":{"list":[]}},{"objects":[],"option_text":"The television, the dining table, and the chairs","option_type":"Answer","specialActionFeedbacks":{"list":[]}},{"objects":[],"option_text":"The lamp, the plants by the curtains, and the chairs","option_type":"Answer","specialActionFeedbacks":{"list":[]}},{"objects":[],"option_text":"The refrigerator, the plants by the curtains, and the painting above the cabinet opposite the kitchen entrance","option_type":"Answer","specialActionFeedbacks":{"list":[]}},{"objects":[],"option_text":"The television, the mural, and the chairs","option_type":"Answer","specialActionFeedbacks":{"list":[]}},{"objects":[],"option_text":"The television, the black ball in the kitchen, and the painting above the cabinet opposite the kitchen entrance","option_type":"Answer","specialActionFeedbacks":{"list":[]}}],"predicates":[{"predicate_object":"","predicate_place":"","predicate_type":"choose","right_answer_content":"The refrigerator, the plants by the curtains, and the painting above the cabinet opposite the kitchen entrance","right_special_action":""}],"removed_objects":[],"scene_name":"102816852","scene_path":"HSSD/102816852.glb","scene_position":[0.0,0.0,0.0],"scene_scale":[1.0,1.0,1.0],"special_points":[{"name":"NavigationPoint0","position":[1.3417198657989502,0.02922287955880165,-19.666767120361328],"type":"navigation"},{"name":"NavigationPoint1","position":[0.9333333969116211,0.02922287955880165,-16.866666793823242],"type":"navigation"},{"name":"NavigationPoint2","position":[1.3417198657989502,0.02922287955880165,-14.666767120361328],"type":"navigation"},{"name":"NavigationPoint3","position":[1.3417198657989502,0.02922287955880165,-12.666767120361328],"type":"navigation"},{"name":"NavigationPoint4","position":[1.4000000953674316,0.02922287955880165,-10.666767120361328],"type":"navigation"},{"name":"NavigationPoint5","position":[1.5838876962661743,0.02922287955880165,-6.739828109741211],"type":"navigation"},{"name":"NavigationPoint6","position":[2.880000114440918,0.02922287955880165,-4.458000183105469],"type":"navigation"},{"name":"NavigationPoint7","position":[1.3799999952316284,0.06208863481879234,-2.9700000286102295],"type":"navigation"},{"name":"NavigationPoint8","position":[2.4666666984558105,0.22922289371490479,-18.60000228881836],"type":"navigation"},{"name":"NavigationPoint9","position":[3.3012259006500244,0.06255621463060379,-8.692017555236816],"type":"navigation"},{"name":"NavigationPoint10","position":[3.1140336990356445,0.02922287955880165,-7.009192943572998],"type":"navigation"},{"name":"NavigationPoint11","position":[4.033333778381348,0.02922287955880165,-18.666767120361328],"type":"navigation"},{"name":"NavigationPoint12","position":[3.642117738723755,0.02922287955880165,-16.865129470825195],"type":"navigation"},{"name":"NavigationPoint13","position":[3.9666666984558105,0.02922287955880165,-14.666767120361328],"type":"navigation"},{"name":"NavigationPoint14","position":[3.34171986579895,0.02922287955880165,-12.666767120361328],"type":"navigation"},{"name":"NavigationPoint15","position":[3.34171986579895,0.06255621463060379,-10.266667366027832],"type":"navigation"},{"name":"NavigationPoint17","position":[4.995405673980713,0.02922287955880165,-16.172698974609375],"type":"navigation"},{"name":"NavigationPoint18","position":[4.649708271026611,0.02922287955880165,-11.358777046203613],"type":"navigation"},{"name":"NavigationPoint20","position":[5.341719627380371,0.02922287955880165,-19.666767120361328],"type":"navigation"},{"name":"NavigationPoint21","position":[5.341719627380371,0.02922287955880165,-17.666767120361328],"type":"navigation"},{"name":"NavigationPoint22","position":[5.341719627380371,0.5742021799087524,-13.666767120361328],"type":"navigation"},{"name":"NavigationPoint23","position":[5.454305648803711,0.02922287955880165,-6.803999900817871],"type":"navigation"},{"name":"NavigationPoint23 (1)","position":[5.801000118255615,0.02922287955880165,-7.860000133514404],"type":"navigation"},{"name":"NavigationPoint24","position":[5.6666669845581055,0.02922287955880165,-4.266666412353516],"type":"navigation"},{"name":"NavigationPoint25","position":[6.160883903503418,0.02922287955880165,-12.241301536560059],"type":"navigation"},{"name":"NavigationPoint26","position":[6.341719627380371,0.02922287955880165,-10.600000381469727],"type":"navigation"}],"task_text":"Find three objects in the kitchen and living room that share the same primary color but serve entirely different purposes. "},"observations":[],"question":{"options":[],"original":"Find three objects in the kitchen and living room that share the same primary color but serve entirely different purposes. ","text":"Find three objects in the kitchen and living room that share the same primary color but serve entirely different purposes. "},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"LEGENT / Unity","mode":"interactive","native_episode_locator":{"file":"tasks/AttributeQA/task-102816852-Find_three_objects_in_the_kitchen_and_living_room_that_share_the_same_primary_co.json","format":"hf_file"},"observation_policy":"current RGB, runtime action options and feedback; hidden predicates excluded from model input","repo":"thunlp/EmbodiedEval","revision":"62252a251f2ae25ea37d3931e1539e68f1d55c44","task_index":302},"sampling":{"component_id":"1d91d72c3d3dbf3c0842","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":34,"stratum_pool":95},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"tasks/AttributeQA/task-102816852-Find_three_objects_in_the_kitchen_and_living_room_that_share_the_same_primary_co.json","annotation_sha256":"3f043ccb77e0d825674bb7503aee93ecde541c3eed2f872141a7956c6e6c2dd3","host":"huggingface","license":"cc0-1.0","media_policy":"upstream-reference; source media terms apply","repo":"EmbodiedEval/EmbodiedEval","revision":"d0c453bc8a7d5bfc6e8aa8201ddf0f7e7e8c781d","row_sha256":"b4c31b231cac0e00058209c34844112b41cc83fdf70730ffafa85b039ccd9442","runtime_revision":"62252a251f2ae25ea37d3931e1539e68f1d55c44","sample_id":"302","split":"test","upstream_dataset":"EmbodiedEval","url":"https://huggingface.co/datasets/EmbodiedEval/EmbodiedEval"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_predicate_success","original_answer":null},"task":{"category":"AttributeQA","role":"spatial_core","skill_tags":["AttributeQA","AttributeQA"],"stratum":"EmbodiedEval/AttributeQA/AttributeQA","subcategory":"AttributeQA"},"transforms":[]}
{"dataset":"EmbodiedEval","group":{"id":"EmbodiedEval/102816786","kind":"scene","scene":"102816786"},"id":"afebdab3d38222e2b45e","native_annotation":{"agent_position":[5.109000205993652,0.0,-10.8149995803833],"agent_rotation":[0.0,0.0,0.0],"floor_objects":["102816786/walls"],"humans":[],"options":[{"objects":[],"option_text":"Yes, there are only two plants in the bedroom.","option_type":"Answer","specialActionFeedbacks":{"list":[]}},{"objects":[],"option_text":"No, there are exactly five plants in the bedroom.","option_type":"Answer","specialActionFeedbacks":{"list":[]}},{"objects":[],"option_text":"Yes, there is only one large plant in the bedroom.","option_type":"Answer","specialActionFeedbacks":{"list":[]}},{"objects":[],"option_text":"No, there are more than five plants, scattered across the room.","option_type":"Answer","specialActionFeedbacks":{"list":[]}},{"objects":[],"option_text":"Yes, there are three small plants on the windowsill.","option_type":"Answer","specialActionFeedbacks":{"list":[]}},{"objects":[],"option_text":"Yes, there are only three plants in the bedroom.","option_type":"Answer","specialActionFeedbacks":{"list":[]}},{"objects":[],"option_text":"Yes, there are only four plants in total.","option_type":"Answer","specialActionFeedbacks":{"list":[]}},{"objects":[],"option_text":"No, there are only three plants in the bedroom.","option_type":"Answer","specialActionFeedbacks":{"list":[]}}],"predicates":[{"predicate_object":"","predicate_place":"","predicate_type":"choose","right_answer_content":"Yes, there are only three plants in the bedroom.","right_special_action":""}],"removed_objects":[],"scene_name":"102816786","scene_path":"HSSD/102816786.glb","scene_position":[0.0,0.0,0.0],"scene_scale":[1.0,1.0,1.0],"special_points":[{"name":"NavigationPoint0","position":[-1.5404133796691895,0.02486613765358925,-4.166717052459717],"type":"navigation"},{"name":"NavigationPoint1","position":[-1.517280101776123,0.02486613765358925,-1.8002395629882812],"type":"navigation"},{"name":"NavigationPoint2","position":[-1.517280101776123,0.02486613765358925,0.19976043701171875],"type":"navigation"},{"name":"NavigationPoint3","position":[0.36041200160980225,0.02486613765358925,-4.413155555725098],"type":"navigation"},{"name":"NavigationPoint4","position":[2.5269999504089355,0.02486613765358925,-12.713044166564941],"type":"navigation"},{"name":"NavigationPoint5","position":[2.575000047683716,0.02486613765358925,-10.7999849319458],"type":"navigation"},{"name":"NavigationPoint6","position":[2.01796293258667,0.02486613765358925,-8.792245864868164],"type":"navigation"},{"name":"NavigationPoint7","position":[2.0874826908111572,0.02486613765358925,-6.705842018127441],"type":"navigation"},{"name":"NavigationPoint8","position":[0.48271989822387695,0.02486613765358925,-2.8002395629882812],"type":"navigation"},{"name":"NavigationPoint9","position":[0.24199338257312775,0.02486613765358925,-1.161329746246338],"type":"navigation"},{"name":"NavigationPoint10","position":[1.6666667461395264,0.02486613765358925,0.2666666805744171],"type":"navigation"},{"name":"NavigationPoint11","position":[2.4811549186706543,0.029213711619377136,-4.6666669845581055],"type":"navigation"},{"name":"NavigationPoint12","position":[2.482719898223877,0.02486613765358925,-2.8002395629882812],"type":"navigation"},{"name":"NavigationPoint14","position":[3.482719898223877,0.02486613765358925,-5.800239562988281],"type":"navigation"},{"name":"NavigationPoint15","position":[2.7333333492279053,0.02486613765358925,-0.8002395629882812],"type":"navigation"},{"name":"NavigationPoint16","position":[5.964151859283447,0.02486613765358925,1.9499090909957886],"type":"navigation"},{"name":"NavigationPoint17","position":[5.066666603088379,0.02486613765358925,-12.800239562988281],"type":"navigation"},{"name":"NavigationPoint18","position":[5.104000091552734,0.02486613765358925,-10.80000114440918],"type":"navigation"},{"name":"NavigationPoint19","position":[4.765843391418457,0.02486613765358925,-8.994972229003906],"type":"navigation"},{"name":"NavigationPoint20","position":[4.475431442260742,0.13604995608329773,-4.6666669845581055],"type":"navigation"},{"name":"NavigationPoint21","position":[4.482719898223877,0.02486613765358925,-2.8002395629882812],"type":"navigation"},{"name":"NavigationPoint22","position":[4.833333492279053,0.02486613765358925,-0.8002395629882812],"type":"navigation"},{"name":"NavigationPoint23","position":[5.933333873748779,0.02486613765358925,3.6000001430511475],"type":"navigation"},{"name":"NavigationPoint24","position":[5.482719898223877,0.02486613765358925,-6.800239562988281],"type":"navigation"},{"name":"NavigationPoint25","position":[6.93016242980957,0.02486613765358925,5.0163960456848145],"type":"navigation"},{"name":"NavigationPoint26","position":[7.4202070236206055,0.02486613765358925,-9.195693969726562],"type":"navigation"},{"name":"NavigationPoint27","position":[7.500827789306641,0.02486613765358925,-4.860960483551025],"type":"navigation"},{"name":"NavigationPoint28","position":[7.200000286102295,0.02486613765358925,-1.8002395629882812],"type":"navigation"},{"name":"NavigationPoint29","position":[6.468982219696045,0.02486613765358925,-0.4047013819217682],"type":"navigation"},{"name":"NavigationPoint30","position":[7.333333492279053,0.02486613765358925,-6.933333873748779],"type":"navigation"},{"name":"NavigationPoint31","position":[7.482719898223877,0.02486613765358925,1.1997604370117188],"type":"navigation"},{"name":"NavigationPoint32","position":[7.482719898223877,0.02486613765358925,3.1997604370117188],"type":"navigation"},{"name":"NavigationPoint33","position":[9.033666610717773,0.02486613765358925,-6.066917419433594],"type":"navigation"},{"name":"NavigationPoint34","position":[9.193648338317871,0.02486613765358925,-2.6166629791259766],"type":"navigation"},{"name":"NavigationPoint35","position":[8.207906723022461,0.02486613765358925,-0.5254273414611816],"type":"navigation"},{"name":"NavigationPoint36","position":[9.091124534606934,0.02486613765358925,1.686484694480896],"type":"navigation"},{"name":"NavigationPoint37","position":[8.933333396911621,0.9915328025817871,5.133333683013916],"type":"navigation"},{"name":"NavigationPoint38","position":[10.011683464050293,0.02486613765358925,-9.054826736450195],"type":"navigation"},{"name":"NavigationPoint39","position":[10.166666984558105,0.02486613765358925,-3.8002395629882812],"type":"navigation"},{"name":"NavigationPoint40","position":[10.482719421386719,0.02486613765358925,-6.800239562988281],"type":"navigation"},{"name":"NavigationPoint41","position":[11.27938461303711,0.02486613765358925,-1.826794981956482],"type":"navigation"},{"name":"NavigationPoint42","position":[10.564971923828125,0.02486613765358925,-0.4582696259021759],"type":"navigation"},{"name":"NavigationPoint43","position":[11.100000381469727,0.02486613765358925,3.1997604370117188],"type":"navigation"},{"name":"NavigationPoint44","position":[11.482719421386719,0.02486613765358925,1.1997604370117188],"type":"navigation"},{"name":"NavigationPoint45","position":[12.02019214630127,0.02486613765358925,-3.6001174449920654],"type":"navigation"},{"name":"NavigationPoint46","position":[12.482719421386719,0.02486613765358925,4.199760437011719],"type":"navigation"},{"name":"NavigationPoint47","position":[13.370514869689941,0.02486613765358925,-2.9008708000183105],"type":"navigation"},{"name":"NavigationPoint48","position":[13.476354598999023,0.02486613765358925,-0.8011487722396851],"type":"navigation"},{"name":"NavigationPoint49","position":[13.466667175292969,0.02486613765358925,1.8666667938232422],"type":"navigation"},{"name":"NavigationPoint50","position":[14.854665756225586,0.02486613765358925,5.08463191986084],"type":"navigation"},{"name":"NavigationPoint51","position":[14.482719421386719,0.02486613765358925,3.5],"type":"navigation"},{"name":"NavigationPoint52","position":[15.482719421386719,0.02486613765358925,0.9666666984558105],"type":"navigation"}],"task_text":"Are there fewer than five plants in the entire bedroom? "},"observations":[],"question":{"options":[],"original":"Are there fewer than five plants in the entire bedroom? ","text":"Are there fewer than five plants in the entire bedroom? "},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"LEGENT / Unity","mode":"interactive","native_episode_locator":{"file":"tasks/AttributeQA/task-102816786-Are_there_fewer_than_five_plants_in_the_entire_bedroom__.json","format":"hf_file"},"observation_policy":"current RGB, runtime action options and feedback; hidden predicates excluded from model input","repo":"thunlp/EmbodiedEval","revision":"62252a251f2ae25ea37d3931e1539e68f1d55c44","task_index":204},"sampling":{"component_id":"449b1702ca3c27154a4c","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":34,"stratum_pool":95},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"tasks/AttributeQA/task-102816786-Are_there_fewer_than_five_plants_in_the_entire_bedroom__.json","annotation_sha256":"cd73fd9d0c3e61c9ac53f0c28cd6bb70d8da0e686f3941ffcf379afe13453492","host":"huggingface","license":"cc0-1.0","media_policy":"upstream-reference; source media terms apply","repo":"EmbodiedEval/EmbodiedEval","revision":"d0c453bc8a7d5bfc6e8aa8201ddf0f7e7e8c781d","row_sha256":"4b3a417c613700599d79d9d7f458674bd68d9dadf358293183f40a72549bea75","runtime_revision":"62252a251f2ae25ea37d3931e1539e68f1d55c44","sample_id":"204","split":"test","upstream_dataset":"EmbodiedEval","url":"https://huggingface.co/datasets/EmbodiedEval/EmbodiedEval"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_predicate_success","original_answer":null},"task":{"category":"AttributeQA","role":"spatial_core","skill_tags":["AttributeQA","AttributeQA"],"stratum":"EmbodiedEval/AttributeQA/AttributeQA","subcategory":"AttributeQA"},"transforms":[]}
{"dataset":"EmbodiedEval","group":{"id":"EmbodiedEval/102344049","kind":"scene","scene":"102344049"},"id":"36d6d00e511c3245e71f","native_annotation":{"agent_position":[0.4000000059604645,0.0,-0.5600000023841858],"agent_rotation":[0.0,0.0,0.0],"floor_objects":["102344049/walls/geometry_rs-3721"],"humans":[],"options":[],"predicates":[{"predicate_object":"NavPoints/NavigationPoint56","predicate_place":"","predicate_type":"agent_at","right_answer_content":"","right_special_action":""}],"removed_objects":[],"scene_name":"102344049","scene_path":"HSSD/102344049.glb","scene_position":[0.0,0.0,0.0],"scene_scale":[1.0,1.0,1.0],"special_points":[{"name":"NavigationPoint0","position":[-13.375280380249023,0.02908763661980629,-14.533333778381348],"type":"navigation"},{"name":"NavigationPoint1","position":[-13.400001525878906,0.02908763661980629,-12.28419303894043],"type":"navigation"},{"name":"NavigationPoint2","position":[-12.20000171661377,0.06242097169160843,-7.866666793823242],"type":"navigation"},{"name":"NavigationPoint3","position":[-11.70000171661377,0.06242097169160843,-6.28419303894043],"type":"navigation"},{"name":"NavigationPoint4","position":[-11.70000171661377,0.06242097169160843,-4.28419303894043],"type":"navigation"},{"name":"NavigationPoint5","position":[-11.70000171661377,0.06242097169160843,-2.2841930389404297],"type":"navigation"},{"name":"NavigationPoint6","position":[-11.70000171661377,0.06242097169160843,-0.2841930389404297],"type":"navigation"},{"name":"NavigationPoint7","position":[-11.700438499450684,0.06242097169160843,1.6457792520523071],"type":"navigation"},{"name":"NavigationPoint8","position":[-12.008744239807129,0.8430336713790894,-12.933334350585938],"type":"navigation"},{"name":"NavigationPoint9","position":[-12.375280380249023,0.02908763661980629,-10.766666412353516],"type":"navigation"},{"name":"NavigationPoint10","position":[-11.375280380249023,0.02908763661980629,-14.533333778381348],"type":"navigation"},{"name":"NavigationPoint11","position":[-9.512128829956055,0.02908763661980629,-13.090548515319824],"type":"navigation"},{"name":"NavigationPoint12","position":[-10.375280380249023,0.02908763661980629,-11.28419303894043],"type":"navigation"},{"name":"NavigationPoint13","position":[-10.373701095581055,0.10790680348873138,-7.866666793823242],"type":"navigation"},{"name":"NavigationPoint14","position":[-10.375280380249023,0.06242097169160843,-5.28419303894043],"type":"navigation"},{"name":"NavigationPoint15","position":[-10.375280380249023,0.06242097169160843,-3.2841930389404297],"type":"navigation"},{"name":"NavigationPoint16","position":[-10.375280380249023,0.06242097169160843,-1.2841930389404297],"type":"navigation"},{"name":"NavigationPoint17","position":[-10.375280380249023,0.06242097169160843,0.7158069610595703],"type":"navigation"},{"name":"NavigationPoint18","position":[-9.375280380249023,0.02908763661980629,-14.633334159851074],"type":"navigation"},{"name":"NavigationPoint19","position":[-8.375280380249023,0.02908763661980629,-11.266666412353516],"type":"navigation"},{"name":"NavigationPoint20","position":[-8.374129295349121,0.07863380759954453,-7.866666793823242],"type":"navigation"},{"name":"NavigationPoint21","position":[-8.375280380249023,0.06242097169160843,-6.28419303894043],"type":"navigation"},{"name":"NavigationPoint22","position":[-8.375280380249023,0.06242097169160843,-4.28419303894043],"type":"navigation"},{"name":"NavigationPoint23","position":[-8.375280380249023,0.06242097169160843,-2.2841930389404297],"type":"navigation"},{"name":"NavigationPoint24","position":[-8.375280380249023,0.06242097169160843,-0.2841930389404297],"type":"navigation"},{"name":"NavigationPoint25","position":[-8.375280380249023,0.06242097169160843,1.6666667461395264],"type":"navigation"},{"name":"NavigationPoint26","position":[-5.7040696144104,0.02908763661980629,-15.069676399230957],"type":"navigation"},{"name":"NavigationPoint27","position":[-5.90501070022583,0.02908763661980629,-13.012069702148438],"type":"navigation"},{"name":"NavigationPoint28","position":[-6.0298075675964355,0.02908763661980629,-11.32985782623291],"type":"navigation"},{"name":"NavigationPoint29","position":[-3.532435655593872,0.02908763661980629,-8.343639373779297],"type":"navigation"},{"name":"NavigationPoint30","position":[-3.304701089859009,0.02908763661980629,-5.998271942138672],"type":"navigation"},{"name":"NavigationPoint31","position":[-4.840000152587891,0.02908763661980629,-4.059999942779541],"type":"navigation"},{"name":"NavigationPoint32","position":[-4.809999942779541,0.02908763661980629,-2.4100000858306885],"type":"navigation"},{"name":"NavigationPoint33","position":[-4.333333969116211,0.02908763661980629,-14.28419303894043],"type":"navigation"},{"name":"NavigationPoint34","position":[-4.375280380249023,0.02908763661980629,-11.28419303894043],"type":"navigation"},{"name":"NavigationPoint35","position":[-2.7090535163879395,0.02908763661980629,-14.868785858154297],"type":"navigation"},{"name":"NavigationPoint36","position":[-2.633334159851074,0.02908763661980629,-13.28419303894043],"type":"navigation"},{"name":"NavigationPoint37","position":[-2.5333337783813477,0.02908763661980629,-0.2666664123535156],"type":"navigation"},{"name":"NavigationPoint38","position":[-2.338982105255127,0.02908763661980629,-11.340438842773438],"type":"navigation"},{"name":"NavigationPoint39","position":[-2.3752803802490234,0.02908763661980629,-4.266666412353516],"type":"navigation"},{"name":"NavigationPoint40","position":[-2.3167312145233154,0.02908763661980629,-2.6319448947906494],"type":"navigation"},{"name":"NavigationPoint41","position":[-2.40000057220459,0.02908763661980629,-9.600000381469727],"type":"navigation"},{"name":"NavigationPoint42","position":[-0.5799999833106995,0.02908763661980629,-5.900000095367432],"type":"navigation"},{"name":"NavigationPoint43","position":[-0.5773556232452393,0.02908763661980629,-0.6857494115829468],"type":"navigation"},{"name":"NavigationPoint44","position":[-0.3752804100513458,0.02908763661980629,-15.133334159851074],"type":"navigation"},{"name":"NavigationPoint45","position":[-0.37528038024902344,0.02908763661980629,-11.366666793823242],"type":"navigation"},{"name":"NavigationPoint46","position":[0.7599999904632568,0.02908763661980629,-9.220000267028809],"type":"navigation"},{"name":"NavigationPoint47","position":[0.7666666507720947,0.02908763661980629,-7.28419303894043],"type":"navigation"},{"name":"NavigationPoint48","position":[-0.46000000834465027,0.02908763661980629,-4.130000114440918],"type":"navigation"},{"name":"NavigationPoint49","position":[-0.37528038024902344,0.02908763661980629,-2.2841930389404297],"type":"navigation"},{"name":"NavigationPoint50","position":[3.1666667461395264,0.02908763661980629,-15.28419303894043],"type":"navigation"},{"name":"NavigationPoint51","position":[1.4199999570846558,0.02908763661980629,-10.640000343322754],"type":"navigation"},{"name":"NavigationPoint52","position":[1.6247196197509766,0.02908763661980629,-5.28419303894043],"type":"navigation"},{"name":"NavigationPoint53","position":[1.6666667461395264,0.02908763661980629,-3.2841930389404297],"type":"navigation"},{"name":"NavigationPoint54","position":[1.9429999589920044,0.05000000074505806,-0.18799999356269836],"type":"navigation"},{"name":"NavigationPoint55","position":[3.700000286102295,0.02908763661980629,-13.28419303894043],"type":"navigation"},{"name":"NavigationPoint56","position":[2.3499999046325684,0.02908763661980629,-8.039999961853027],"type":"navigation"},{"name":"NavigationPoint57","position":[3.3480000495910645,0.02908763661980629,-0.8130000233650208],"type":"navigation"},{"name":"NavigationPoint57 (1)","position":[3.075000047683716,0.02908763661980629,-2.5799999237060547],"type":"navigation"},{"name":"NavigationPoint58","position":[3.6247196197509766,0.02908763661980629,-10.40000057220459],"type":"navigation"},{"name":"NavigationPoint59","position":[3.6247196197509766,0.02908763661980629,-6.28419303894043],"type":"navigation"},{"name":"NavigationPoint60","position":[3.6247196197509766,0.02908763661980629,-4.28419303894043],"type":"navigation"},{"name":"NavigationPoint61","position":[5.0,0.02908763661980629,-11.28419303894043],"type":"navigation"},{"name":"NavigationPoint62","position":[5.079999923706055,0.02908763661980629,-2.180000066757202],"type":"navigation"},{"name":"NavigationPoint63","position":[5.624719619750977,0.02908763661980629,-13.366666793823242],"type":"navigation"},{"name":"NavigationPoint64","position":[5.090000152587891,0.02908763661980629,-3.7799999713897705],"type":"navigation"},{"name":"NavigationPoint65","position":[4.978000164031982,0.02908763661980629,-0.5540000200271606],"type":"navigation"},{"name":"NavigationPoint66","position":[6.624719619750977,0.02908763661980629,-10.40000057220459],"type":"navigation"},{"name":"NavigationPoint67","position":[7.624719619750977,0.02908763661980629,-13.466667175292969],"type":"navigation"},{"name":"NavigationPoint68","position":[7.624719619750977,0.02908763661980629,-4.066666603088379],"type":"navigation"},{"name":"NavigationPoint69","position":[7.599999904632568,0.02908763661980629,-2.180000066757202],"type":"navigation"},{"name":"NavigationPoint70","position":[7.630000114440918,0.02908763661980629,-0.46000000834465027],"type":"navigation"},{"name":"NavigationPoint71","position":[9.800000190734863,0.02908763661980629,-14.466667175292969],"type":"navigation"},{"name":"NavigationPoint72","position":[8.624719619750977,0.02908763661980629,-10.40000057220459],"type":"navigation"},{"name":"NavigationPoint73","position":[9.800000190734863,0.02908763661980629,-12.666666984558105],"type":"navigation"},{"name":"SpecialPoint","position":[2.878999948501587,0.04699999839067459,-8.430999755859375],"type":"special"}],"task_text":"Head toward the green plant next to the gateway."},"observations":[],"question":{"options":[],"original":"Head toward the green plant next to the gateway.","text":"Head toward the green plant next to the gateway."},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"LEGENT / Unity","mode":"interactive","native_episode_locator":{"file":"tasks/Navigation/task-102344049-Head_toward_the_green_plant_next_to_the_gateway_.json","format":"hf_file"},"observation_policy":"current RGB, runtime action options and feedback; hidden predicates excluded from model input","repo":"thunlp/EmbodiedEval","revision":"62252a251f2ae25ea37d3931e1539e68f1d55c44","task_index":186},"sampling":{"component_id":"1bbf504edf8dd3b6a2fa","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":27,"stratum_pool":58},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"tasks/Navigation/task-102344049-Head_toward_the_green_plant_next_to_the_gateway_.json","annotation_sha256":"4fd69cbb6cef2ea3691554b21a723068e700c2abff29ffc4fba4b8326d3352fa","host":"huggingface","license":"cc0-1.0","media_policy":"upstream-reference; source media terms apply","repo":"EmbodiedEval/EmbodiedEval","revision":"d0c453bc8a7d5bfc6e8aa8201ddf0f7e7e8c781d","row_sha256":"4282655717e8d52421d740ceb013a0f24eb8b69692ced2cb660781f3d5d5fe3a","runtime_revision":"62252a251f2ae25ea37d3931e1539e68f1d55c44","sample_id":"186","split":"test","upstream_dataset":"EmbodiedEval","url":"https://huggingface.co/datasets/EmbodiedEval/EmbodiedEval"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_predicate_success","original_answer":null},"task":{"category":"Navigation","role":"spatial_core","skill_tags":["Navigation","Navigation"],"stratum":"EmbodiedEval/Navigation/Navigation","subcategory":"Navigation"},"transforms":[]}
{"dataset":"EmbodiedEval","group":{"id":"EmbodiedEval/FloorPlan208_physics","kind":"scene","scene":"FloorPlan208_physics"},"id":"f71a720223091e551f18","native_annotation":{"agent_position":[-2.0179998874664307,0.0,-2.1449999809265137],"agent_rotation":[0.0,272.8857421875,0.0],"floor_objects":["FloorPlan208_physics/Objects/Floor_86d9f20f"],"humans":[],"options":[],"predicates":[{"predicate_object":"SpecialPoint","predicate_place":"","predicate_type":"agent_at","right_answer_content":"","right_special_action":""}],"removed_objects":["FloorPlan208_physics/FPSController"],"scene_name":"FloorPlan208_physics","scene_path":"AI2THOR/FloorPlan208_physics.glb","scene_position":[0.0,0.0,0.0],"scene_scale":[1.0,1.0,1.0],"special_points":[{"name":"NavigationPoint0","position":[-4.5,0.03333333134651184,-4.5],"type":"navigation"},{"name":"NavigationPoint1","position":[-4.5,0.03333333134651184,-2.5],"type":"navigation"},{"name":"NavigationPoint1 (1)","position":[-3.687000036239624,0.03333333134651184,-2.3239998817443848],"type":"navigation"},{"name":"NavigationPoint2","position":[-4.5,0.03333333134651184,-0.5],"type":"navigation"},{"name":"NavigationPoint3","position":[-4.5,0.03333333134651184,1.5],"type":"navigation"},{"name":"NavigationPoint4","position":[-2.062000036239624,0.03333333134651184,-4.5],"type":"navigation"},{"name":"NavigationPoint5","position":[-2.0399999618530273,0.03333333134651184,-2.0829999446868896],"type":"navigation"},{"name":"NavigationPoint6","position":[-1.8333334922790527,0.03333333134651184,-0.4999997615814209],"type":"navigation"},{"name":"NavigationPoint7","position":[-1.3279999494552612,0.03333333134651184,2.0899999141693115],"type":"navigation"},{"name":"NavigationPoint8","position":[-0.5,0.03333333134651184,-4.5],"type":"navigation"},{"name":"NavigationPoint9 (1)","position":[-0.6919999718666077,0.03333333134651184,-1.2999999523162842],"type":"navigation"},{"name":"NavigationPoint10 (1)","position":[0.07900000363588333,0.03333333134651184,0.5],"type":"navigation"},{"name":"NavigationPoint12","position":[0.5,0.03333333134651184,-2.5],"type":"navigation"},{"name":"NavigationPoint13","position":[1.5,0.03333333134651184,-4.5],"type":"navigation"},{"name":"NavigationPoint14","position":[1.7637953758239746,0.03333333134651184,-0.9748316407203674],"type":"navigation"},{"name":"NavigationPoint15","position":[1.1399999856948853,0.03333333134651184,1.4299999475479126],"type":"navigation"},{"name":"SpecialPoint","position":[1.1334762573242188,0.0580599419772625,1.4162484407424927],"type":"special"}],"task_text":"Position yourself in front of the instrument that can be used for playing music."},"observations":[],"question":{"options":[],"original":"Position yourself in front of the instrument that can be used for playing music.","text":"Position yourself in front of the instrument that can be used for playing music."},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"LEGENT / Unity","mode":"interactive","native_episode_locator":{"file":"tasks/Navigation/task-FloorPlan208_physics-Position_yourself_in_front_of_the_instrument_that_can_be_used_for_pla.json","format":"hf_file"},"observation_policy":"current RGB, runtime action options and feedback; hidden predicates excluded from model input","repo":"thunlp/EmbodiedEval","revision":"62252a251f2ae25ea37d3931e1539e68f1d55c44","task_index":148},"sampling":{"component_id":"09171e1c3e74a8790ca4","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":27,"stratum_pool":58},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"tasks/Navigation/task-FloorPlan208_physics-Position_yourself_in_front_of_the_instrument_that_can_be_used_for_pla.json","annotation_sha256":"4ac5f168e910abab759b19bb4ad7fdcb450c4edf38806d52fd2043a954394542","host":"huggingface","license":"cc0-1.0","media_policy":"upstream-reference; source media terms apply","repo":"EmbodiedEval/EmbodiedEval","revision":"d0c453bc8a7d5bfc6e8aa8201ddf0f7e7e8c781d","row_sha256":"6cc152d40d03e7424b841075ecb547748089a15e8da67b00f79c42aad8f9b1a2","runtime_revision":"62252a251f2ae25ea37d3931e1539e68f1d55c44","sample_id":"148","split":"test","upstream_dataset":"EmbodiedEval","url":"https://huggingface.co/datasets/EmbodiedEval/EmbodiedEval"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_predicate_success","original_answer":null},"task":{"category":"Navigation","role":"spatial_core","skill_tags":["Navigation","Navigation"],"stratum":"EmbodiedEval/Navigation/Navigation","subcategory":"Navigation"},"transforms":[]}
{"dataset":"EmbodiedEval","group":{"id":"EmbodiedEval/three_rooms_5_scene_0","kind":"scene","scene":"three_rooms_5_scene_0"},"id":"3179b678092ee4ca5f3a","native_annotation":{"agent_position":[-1.7920000553131104,2.2351741790771484e-08,2.125999927520752],"agent_rotation":[0.0,0.0,0.0],"floor_objects":["three_rooms_5_scene_0/CreatedWalls/identifier12_Floor","three_rooms_5_scene_0/CreatedWalls/identifier13_Floor","three_rooms_5_scene_0/CreatedWalls/identifier14_Floor"],"humans":[],"options":[{"interaction_distance":1.0,"objects":["three_rooms_5_scene_0/CreatedObjects/identifier24_3a80e07ff6364b4bbe5252d9b532a87a.glb","three_rooms_5_scene_0/CreatedObjects/identifier32_ffdbc5a9ae654f49977a1ca2fc626c24.glb","three_rooms_5_scene_0/CreatedObjects/identifier39_f7a1da7dcc954cecb132d9963f2edefe.glb"],"option_text":"pick up","option_type":"PickUp","specialActionFeedbacks":{"list":[]}},{"interaction_distance":1.0,"objects":["three_rooms_5_scene_0/CreatedObjects/identifier24_3a80e07ff6364b4bbe5252d9b532a87a.glb","three_rooms_5_scene_0/CreatedObjects/identifier32_ffdbc5a9ae654f49977a1ca2fc626c24.glb","three_rooms_5_scene_0/CreatedObjects/identifier17_4db016af96d74ba0a7c9d8687333a057.glb"],"option_text":"mix","option_type":"SpecialAction","specialActionFeedbacks":{"list":[{"feedback":"success","requiredObjects":[{"instanceID":-32606554},{"instanceID":-32606866},{"instanceID":-32606286}],"required_objects":["three_rooms_5_scene_0/CreatedObjects/identifier24_3a80e07ff6364b4bbe5252d9b532a87a.glb","three_rooms_5_scene_0/CreatedObjects/identifier32_ffdbc5a9ae654f49977a1ca2fc626c24.glb","three_rooms_5_scene_0/CreatedObjects/identifier17_4db016af96d74ba0a7c9d8687333a057.glb"]}]}},{"interaction_distance":1.0,"objects":["SpecialPoint","SpecialPoint (1)"],"option_text":"place down","option_type":"PlaceTo","specialActionFeedbacks":{"list":[{"feedback":"success","requiredObjects":[{"instanceID":0}],"required_objects":[]}]}}],"predicates":[{"predicate_object":"three_rooms_5_scene_0/CreatedObjects/identifier32_ffdbc5a9ae654f49977a1ca2fc626c24.glb/Sketchfab_model/9eef9e9bf3524abcac15e44c3bcbe55c.fbx/RootNode/group9/group10/group8","predicate_place":"SpecialPoint (1)","predicate_type":"special_action_success","right_answer_content":"","right_special_action":"mix"},{"predicate_object":"three_rooms_5_scene_0/CreatedObjects/identifier24_3a80e07ff6364b4bbe5252d9b532a87a.glb","predicate_place":"SpecialPoint","predicate_type":"at","right_answer_content":"","right_special_action":"mix"},{"predicate_object":"three_rooms_5_scene_0/CreatedObjects/identifier32_ffdbc5a9ae654f49977a1ca2fc626c24.glb","predicate_place":"SpecialPoint (1)","predicate_type":"at","right_answer_content":"","right_special_action":"mix"},{"predicate_object":"three_rooms_5_scene_0/CreatedObjects/identifier24_3a80e07ff6364b4bbe5252d9b532a87a.glb","predicate_place":"SpecialPoint (1)","predicate_type":"grab_once","right_answer_content":"","right_special_action":"mix"},{"predicate_object":"three_rooms_5_scene_0/CreatedObjects/identifier32_ffdbc5a9ae654f49977a1ca2fc626c24.glb","predicate_place":"SpecialPoint (1)","predicate_type":"grab_once","right_answer_content":"","right_special_action":"mix"}],"removed_objects":[],"scene_name":"three_rooms_5_scene_0","scene_path":"ObjaverseSynthetic/three_rooms_5_scene_0.glb","scene_position":[0.0,0.0,0.0],"scene_scale":[1.0,1.0,1.0],"special_points":[{"name":"NavigationPoint0","position":[-2.437000036239624,0.0416666716337204,1.128000020980835],"type":"navigation"},{"name":"NavigationPoint1","position":[-2.739000082015991,0.0416666716337204,2.3589999675750732],"type":"navigation"},{"name":"NavigationPoint2","position":[-1.4819999933242798,0.0416666716337204,2.7170000076293945],"type":"navigation"},{"name":"NavigationPoint3","position":[-1.2740000486373901,0.0416666716337204,1.0709999799728394],"type":"navigation"},{"name":"NavigationPoint4","position":[-0.38199999928474426,0.0416666716337204,2.6029999256134033],"type":"navigation"},{"name":"NavigationPoint5","position":[0.7088513374328613,0.0416666716337204,-1.166605830192566],"type":"navigation"},{"name":"NavigationPoint6","position":[0.7356053590774536,0.0416666716337204,0.4401502013206482],"type":"navigation"},{"name":"NavigationPoint8","position":[1.2651766538619995,0.0416666716337204,3.575632333755493],"type":"navigation"},{"name":"NavigationPoint9","position":[2.498736619949341,0.0416666716337204,-3.2391626834869385],"type":"navigation"},{"name":"NavigationPoint10","position":[2.0031399726867676,0.5805691480636597,2.169175148010254],"type":"navigation"},{"name":"NavigationPoint11","position":[2.5031399726867676,0.0416666716337204,-1.330824851989746],"type":"navigation"},{"name":"NavigationPoint12","position":[2.5031399726867676,0.0416666716337204,0.2666666805744171],"type":"navigation"},{"name":"NavigationPoint13","position":[2.960230588912964,0.600730836391449,3.3333334922790527],"type":"navigation"},{"name":"NavigationPoint14","position":[4.0,0.0416666716337204,0.7333333492279053],"type":"navigation"},{"name":"NavigationPoint0-Target","position":[-2.770000457763672,0.6625245213508606,0.4059314727783203],"type":"navigation-target"},{"name":"NavigationPoint1-Target","position":[-3.1581788063049316,0.7802194356918335,3.2144525051116943],"type":"navigation-target"},{"name":"NavigationPoint2-Target","position":[-1.562000036239624,0.6809999942779541,3.51200008392334],"type":"navigation-target"},{"name":"SpecialPoint","position":[-1.465999960899353,0.6809999942779541,3.194000005722046],"type":"special"},{"name":"SpecialPoint (1)","position":[-1.4479999542236328,0.6869999766349792,3.4040000438690186],"type":"special"},{"name":"SpecialPoint (2)","position":[0.20000000298023224,0.1809999942779541,2.3510000705718994],"type":"special"}],"task_text":"Set up a beverage mix by combining two different drinks in a glass. Before you mix them, place both drinks next to the glass."},"observations":[],"question":{"options":[],"original":"Set up a beverage mix by combining two different drinks in a glass. Before you mix them, place both drinks next to the glass.","text":"Set up a beverage mix by combining two different drinks in a glass. Before you mix them, place both drinks next to the glass."},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"LEGENT / Unity","mode":"interactive","native_episode_locator":{"file":"tasks/ObjectInteraction/task-three_rooms_5_scene_0-Set_up_a_beverage_mix_by_combining_two_different_drinks_in_a_glass__.json","format":"hf_file"},"observation_policy":"current RGB, runtime action options and feedback; hidden predicates excluded from model input","repo":"thunlp/EmbodiedEval","revision":"62252a251f2ae25ea37d3931e1539e68f1d55c44","task_index":53},"sampling":{"component_id":"3179b678092ee4ca5f3a","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":26,"stratum_pool":89},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"tasks/ObjectInteraction/task-three_rooms_5_scene_0-Set_up_a_beverage_mix_by_combining_two_different_drinks_in_a_glass__.json","annotation_sha256":"df8a7eb10e9cf0417f6c1cc3926779246734b2a470c25bb0cb899c03bfa75d61","host":"huggingface","license":"cc0-1.0","media_policy":"upstream-reference; source media terms apply","repo":"EmbodiedEval/EmbodiedEval","revision":"d0c453bc8a7d5bfc6e8aa8201ddf0f7e7e8c781d","row_sha256":"36f00a43702ded02d8a52a424cc086b0485c7995e75c7ac6e97e62534bd49ada","runtime_revision":"62252a251f2ae25ea37d3931e1539e68f1d55c44","sample_id":"53","split":"test","upstream_dataset":"EmbodiedEval","url":"https://huggingface.co/datasets/EmbodiedEval/EmbodiedEval"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_predicate_success","original_answer":null},"task":{"category":"ObjectInteraction","role":"spatial_core","skill_tags":["ObjectInteraction","ObjectInteraction"],"stratum":"EmbodiedEval/ObjectInteraction/ObjectInteraction","subcategory":"ObjectInteraction"},"transforms":[]}
{"dataset":"EmbodiedEval","group":{"id":"EmbodiedEval/two_rooms_10_scene_0","kind":"scene","scene":"two_rooms_10_scene_0"},"id":"c6302800495ec6621dd1","native_annotation":{"agent_position":[0.503000020980835,0.0,1.7929999828338623],"agent_rotation":[0.0,0.0,0.0],"floor_objects":["two_rooms_10_scene_0/CreatedWalls"],"humans":[],"options":[{"interaction_distance":1.0,"objects":["two_rooms_10_scene_0/CreatedObjects/identifier35_72772460843d443bbe16f9ede0572c6b.glb/Sketchfab_model/CounterStool_01.fbx/RootNode/CounterStool_01"],"option_text":"pick up the chair","option_type":"PickUp","specialActionFeedbacks":{"list":[]}},{"interaction_distance":1.0,"objects":["SpecialPoint","SpecialPoint (1)","SpecialPoint (2)"],"option_text":"put down","option_type":"PlaceTo","specialActionFeedbacks":{"list":[]}}],"predicates":[{"predicate_object":"two_rooms_10_scene_0/CreatedObjects/identifier35_72772460843d443bbe16f9ede0572c6b.glb/Sketchfab_model/CounterStool_01.fbx/RootNode/CounterStool_01","predicate_place":"SpecialPoint","predicate_type":"at","right_answer_content":"","right_special_action":""},{"predicate_object":"two_rooms_10_scene_0/CreatedObjects/identifier35_72772460843d443bbe16f9ede0572c6b.glb/Sketchfab_model/CounterStool_01.fbx/RootNode/CounterStool_01","predicate_place":"SpecialPoint","predicate_type":"grab_once","right_answer_content":"","right_special_action":""}],"removed_objects":["two_rooms_10_scene_0/CreatedObjects/identifier3_Doorway_5.glb/Doorway_5(Clone)","two_rooms_10_scene_0/CreatedObjects/identifier37_2f0743a1d27345269d1444a8becfce59.glb/Sketchfab_model","two_rooms_10_scene_0/CreatedObjects/identifier38_a330158bc982400cae1749bb67ff5182.glb","two_rooms_10_scene_0/CreatedObjects/identifier36_dc3e0eeca1484dc683d4e28101edb762.glb","two_rooms_10_scene_0/CreatedObjects/identifier37_2f0743a1d27345269d1444a8becfce59.glb"],"scene_name":"two_rooms_10_scene_0","scene_path":"ObjaverseSynthetic/two_rooms_10_scene_0.glb","scene_position":[0.0,0.0,0.0],"scene_scale":[1.0,1.0,1.0],"special_points":[{"name":"NavigationPoint0","position":[-3.450000047683716,0.0416666716337204,2.821000099182129],"type":"navigation"},{"name":"NavigationPoint1","position":[2.371999979019165,0.0416666716337204,2.125999927520752],"type":"navigation"},{"name":"NavigationPoint2","position":[-3.6710000038146973,0.0416666716337204,0.8299999833106995],"type":"navigation"},{"name":"NavigationPoint3","position":[-2.636793613433838,0.0416666716337204,3.9034602642059326],"type":"navigation"},{"name":"NavigationPoint4","position":[-1.4900000095367432,0.0416666716337204,1.430999994277954],"type":"navigation"},{"name":"NavigationPoint6","position":[0.41912031173706055,0.0416666716337204,1.7610000371932983],"type":"navigation"},{"name":"NavigationPoint7","position":[1.3209999799728394,0.0416666716337204,2.515000104904175],"type":"navigation"},{"name":"NavigationPoint8","position":[2.4760000705718994,0.0416666716337204,0.7609999775886536],"type":"navigation"},{"name":"NavigationPoint1-Target","position":[2.9070000648498535,0.0416666716337204,2.4690001010894775],"type":"navigation-target"},{"name":"NavigationPoint0-Target","position":[-4.208606719970703,0.526729166507721,2.9419589042663574],"type":"navigation-target"},{"name":"SpecialPoint","position":[3.0260000228881836,0.6639999747276306,2.680000066757202],"type":"special"},{"name":"SpecialPoint (1)","position":[2.9520702362060547,0.6639999747276306,0.4850442111492157],"type":"special"},{"name":"SpecialPoint (2)","position":[1.312000036239624,0.6639999747276306,3.125],"type":"special"}],"task_text":"Move the chair from the bedroom to the bathroom and arrange it next to the sink, while also being next to the toilet."},"observations":[],"question":{"options":[],"original":"Move the chair from the bedroom to the bathroom and arrange it next to the sink, while also being next to the toilet.","text":"Move the chair from the bedroom to the bathroom and arrange it next to the sink, while also being next to the toilet."},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"LEGENT / Unity","mode":"interactive","native_episode_locator":{"file":"tasks/ObjectInteraction/task-two_rooms_10_scene_0-Move_the_chair_from_the_bedroom_to_the_bathroom_and_arrange_it_next_t.json","format":"hf_file"},"observation_policy":"current RGB, runtime action options and feedback; hidden predicates excluded from model input","repo":"thunlp/EmbodiedEval","revision":"62252a251f2ae25ea37d3931e1539e68f1d55c44","task_index":272},"sampling":{"component_id":"c6302800495ec6621dd1","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":26,"stratum_pool":89},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"tasks/ObjectInteraction/task-two_rooms_10_scene_0-Move_the_chair_from_the_bedroom_to_the_bathroom_and_arrange_it_next_t.json","annotation_sha256":"8c171be58739c76e153b729a1800d29a05f5caa03b41eda2cf4979eca5b102a6","host":"huggingface","license":"cc0-1.0","media_policy":"upstream-reference; source media terms apply","repo":"EmbodiedEval/EmbodiedEval","revision":"d0c453bc8a7d5bfc6e8aa8201ddf0f7e7e8c781d","row_sha256":"7c93d43d575f7fdbe7714c10789898e7fe36fabde4d071cd437ed6ee82b97d98","runtime_revision":"62252a251f2ae25ea37d3931e1539e68f1d55c44","sample_id":"272","split":"test","upstream_dataset":"EmbodiedEval","url":"https://huggingface.co/datasets/EmbodiedEval/EmbodiedEval"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_predicate_success","original_answer":null},"task":{"category":"ObjectInteraction","role":"spatial_core","skill_tags":["ObjectInteraction","ObjectInteraction"],"stratum":"EmbodiedEval/ObjectInteraction/ObjectInteraction","subcategory":"ObjectInteraction"},"transforms":[]}
{"dataset":"EmbodiedEval","group":{"id":"EmbodiedEval/three_rooms_5_scene_0","kind":"scene","scene":"three_rooms_5_scene_0"},"id":"c5789a0c1ce84c4f9351","native_annotation":{"agent_position":[0.32499998807907104,0.0,0.45899999141693115],"agent_rotation":[0.0,0.0,0.0],"floor_objects":["three_rooms_5_scene_0/CreatedWalls/identifier14_Floor","three_rooms_5_scene_0/CreatedWalls/identifier13_Floor","three_rooms_5_scene_0/CreatedWalls/identifier12_Floor"],"humans":[{"asset":"Ch26_nonPBR","human_position":[-3.4700000286102295,0.024999618530273438,2.496999979019165],"human_rotation":[0.0,92.56663513183594,0.0],"pointing_to":"SpecialPoint","pose":"stand"}],"options":[{"objects":["three_rooms_5_scene_0/CreatedObjects/identifier23_0915c80f2f6a48418283aefa4b063861.glb"],"option_text":"pick up the watermelon","option_type":"PickUp","specialActionFeedbacks":{"list":[]}}],"predicates":[{"predicate_object":"three_rooms_5_scene_0/CreatedObjects/identifier23_0915c80f2f6a48418283aefa4b063861.glb","predicate_place":"","predicate_type":"grab","right_answer_content":"","right_special_action":""}],"removed_objects":["three_rooms_5_scene_0/CreatedObjects/identifier1_Doorway_4.glb/Doorway_4(Clone)/Doorway_Door_4"],"scene_name":"three_rooms_5_scene_0","scene_path":"ObjaverseSynthetic/three_rooms_5_scene_0.glb","scene_position":[0.0,0.0,0.0],"scene_scale":[1.0,1.0,1.0],"special_points":[{"name":"NavigationPoint0","position":[-2.6589999198913574,0.05833303928375244,1.1339999437332153],"type":"navigation"},{"name":"NavigationPoint1","position":[-3.3690409660339355,0.05833303928375244,2.561753749847412],"type":"navigation"},{"name":"NavigationPoint2","position":[-1.2300000190734863,0.05833303928375244,1.0740000009536743],"type":"navigation"},{"name":"NavigationPoint3","position":[-0.9100497364997864,0.05833303928375244,3.4089503288269043],"type":"navigation"},{"name":"NavigationPoint4","position":[-2.61299991607666,0.05833303928375244,2.446000099182129],"type":"navigation"},{"name":"NavigationPoint6","position":[-0.9968600273132324,0.05833303928375244,2.25],"type":"navigation"},{"name":"NavigationPoint7","position":[1.0950000286102295,0.05833303928375244,-2.3359999656677246],"type":"navigation"},{"name":"NavigationPoint8","position":[0.3630000054836273,0.05833303928375244,0.5860000252723694],"type":"navigation"},{"name":"NavigationPoint9","position":[0.4569999873638153,0.05833303928375244,2.0320000648498535],"type":"navigation"},{"name":"NavigationPoint10","position":[1.2651766538619995,0.05833303928375244,3.575632333755493],"type":"navigation"},{"name":"NavigationPoint11","position":[2.4600000381469727,0.05833303928375244,-2.4549999237060547],"type":"navigation"},{"name":"NavigationPoint12","position":[1.1130000352859497,0.05833303928375244,-0.906000018119812],"type":"navigation"},{"name":"NavigationPoint14","position":[1.065999984741211,0.05833303928375244,0.6179999709129333],"type":"navigation"},{"name":"NavigationPoint15","position":[1.2269999980926514,0.1469999998807907,1.6610000133514404],"type":"navigation"},{"name":"NavigationPoint16","position":[2.0031399726867676,0.5899652242660522,2.669175148010254],"type":"navigation"},{"name":"NavigationPoint17","position":[2.3589999675750732,0.05833303928375244,-1.156999945640564],"type":"navigation"},{"name":"NavigationPoint18","position":[2.2039999961853027,0.05833303928375244,0.8849999904632568],"type":"navigation"},{"name":"NavigationPoint20","position":[3.3010001182556152,0.05833303928375244,-1.2079999446868896],"type":"navigation"},{"name":"NavigationPoint21","position":[3.0031399726867676,0.6088178753852844,2.169175148010254],"type":"navigation"},{"name":"NavigationPoint22","position":[3.0031399726867676,0.600039005279541,3.169175148010254],"type":"navigation"},{"name":"NavigationPoint23","position":[3.5031399726867676,0.05833303928375244,1.0850000381469727],"type":"navigation"},{"name":"NavigationPoint0-Target","position":[-2.5321590900421143,0.7634530067443848,0.6389999985694885],"type":"navigation-target"},{"name":"SpecialPoint","position":[-2.5321590900421143,0.7634530067443848,0.6389999985694885],"type":"special"}],"task_text":"Pick up the watermelon on my right."},"observations":[],"question":{"options":[],"original":"Pick up the watermelon on my right.","text":"Pick up the watermelon on my right."},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"LEGENT / Unity","mode":"interactive","native_episode_locator":{"file":"tasks/SocialInteraction/task-three_rooms_5_scene_0-Pick_up_the_watermelon_on_my_right_.json","format":"hf_file"},"observation_policy":"current RGB, runtime action options and feedback; hidden predicates excluded from model input","repo":"thunlp/EmbodiedEval","revision":"62252a251f2ae25ea37d3931e1539e68f1d55c44","task_index":77},"sampling":{"component_id":"3179b678092ee4ca5f3a","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":11,"stratum_pool":34},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"tasks/SocialInteraction/task-three_rooms_5_scene_0-Pick_up_the_watermelon_on_my_right_.json","annotation_sha256":"ec6ad7414340e5758a2202b2467310e51510524a3dcf7cf3c2b24a5fe4434bdd","host":"huggingface","license":"cc0-1.0","media_policy":"upstream-reference; source media terms apply","repo":"EmbodiedEval/EmbodiedEval","revision":"d0c453bc8a7d5bfc6e8aa8201ddf0f7e7e8c781d","row_sha256":"f483dfb69aa5ad4298e4b6a0357df2c6f5f2269d03895ae579f73ab5134040ee","runtime_revision":"62252a251f2ae25ea37d3931e1539e68f1d55c44","sample_id":"77","split":"test","upstream_dataset":"EmbodiedEval","url":"https://huggingface.co/datasets/EmbodiedEval/EmbodiedEval"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_predicate_success","original_answer":null},"task":{"category":"SocialInteraction","role":"spatial_core","skill_tags":["SocialInteraction","SocialInteraction"],"stratum":"EmbodiedEval/SocialInteraction/SocialInteraction","subcategory":"SocialInteraction"},"transforms":[]}
{"dataset":"EmbodiedEval","group":{"id":"EmbodiedEval/three_rooms_5_scene_4","kind":"scene","scene":"three_rooms_5_scene_4"},"id":"688c5ef560d3243e9ef7","native_annotation":{"agent_position":[0.8690000176429749,0.0,1.2489999532699585],"agent_rotation":[0.0,0.0,0.0],"floor_objects":["three_rooms_5_scene_4/CreatedWalls"],"humans":[{"asset":"Ch01_nonPBR","human_position":[2.463549852371216,0.02500009536743164,0.9012855291366577],"human_rotation":[0.0,0.0,0.0],"pointing_to":"","pose":"stand"}],"options":[{"interaction_distance":1.0,"objects":["three_rooms_5_scene_4/CreatedObjects/identifier61_0bde272bb07b4e1a99fd2f981926e187.glb"],"option_text":"pick up the comb","option_type":"PickUp","specialActionFeedbacks":{"list":[]}},{"interaction_distance":1.0,"objects":["Ch01_nonPBR","three_rooms_5_scene_4/CreatedObjects/identifier61_0bde272bb07b4e1a99fd2f981926e187.glb"],"option_text":"hand over","option_type":"SpecialAction","specialActionFeedbacks":{"list":[{"feedback":"success","requiredObjects":[{"instanceID":-2589938},{"instanceID":-2586094}],"required_objects":["Ch01_nonPBR","three_rooms_5_scene_4/CreatedObjects/identifier61_0bde272bb07b4e1a99fd2f981926e187.glb"]}]}}],"predicates":[{"predicate_object":"three_rooms_5_scene_4/CreatedObjects/identifier61_0bde272bb07b4e1a99fd2f981926e187.glb","predicate_place":"","predicate_type":"grab_once","right_answer_content":"","right_special_action":"hand over"},{"predicate_object":"","predicate_place":"","predicate_type":"special_action_success","right_answer_content":"","right_special_action":"hand over"}],"removed_objects":[],"scene_name":"three_rooms_5_scene_4","scene_path":"ObjaverseSynthetic/three_rooms_5_scene_4.glb","scene_position":[0.0,0.0,0.0],"scene_scale":[1.0,1.0,1.0],"special_points":[{"name":"NavigationPoint0","position":[2.4801173210144043,0.02500009536743164,2.700000286102295],"type":"navigation"},{"name":"NavigationPoint0 (5)","position":[0.8740000128746033,0.02500009536743164,2.6389999389648438],"type":"navigation"},{"name":"NavigationPoint0 (1)","position":[2.0329999923706055,0.02500009536743164,1.4279999732971191],"type":"navigation"},{"name":"NavigationPoint0 (6)","position":[0.8510000109672546,0.02500009536743164,1.309000015258789],"type":"navigation"},{"name":"NavigationPoint0 (2)","position":[-0.3569999933242798,0.02500009536743164,1.2979999780654907],"type":"navigation"},{"name":"NavigationPoint0 (3)","position":[-2.5920000076293945,0.02500009536743164,0.7459999918937683],"type":"navigation"},{"name":"NavigationPoint0 (4)","position":[-1.3229999542236328,0.02500009536743164,2.3940000534057617],"type":"navigation"},{"name":"SpecialPoint","position":[2.467128276824951,0.47819775342941284,3.3837597370147705],"type":"special"}],"task_text":"Bring a comb to the man in white. "},"observations":[],"question":{"options":[],"original":"Bring a comb to the man in white. ","text":"Bring a comb to the man in white. "},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"LEGENT / Unity","mode":"interactive","native_episode_locator":{"file":"tasks/SocialInteraction/task-three_rooms_5_scene_4-Bring_a_comb_to_the_man_in_white__.json","format":"hf_file"},"observation_policy":"current RGB, runtime action options and feedback; hidden predicates excluded from model input","repo":"thunlp/EmbodiedEval","revision":"62252a251f2ae25ea37d3931e1539e68f1d55c44","task_index":86},"sampling":{"component_id":"62c54752e1e68a1e48f9","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":11,"stratum_pool":34},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"tasks/SocialInteraction/task-three_rooms_5_scene_4-Bring_a_comb_to_the_man_in_white__.json","annotation_sha256":"c9318c694626b9d4f4ddb51a30606ce37b95512d258909fd03b5c8c377505421","host":"huggingface","license":"cc0-1.0","media_policy":"upstream-reference; source media terms apply","repo":"EmbodiedEval/EmbodiedEval","revision":"d0c453bc8a7d5bfc6e8aa8201ddf0f7e7e8c781d","row_sha256":"8069b07c4884e2082491a576d97e564cb904db9ee59d86d5b590edcf3653d701","runtime_revision":"62252a251f2ae25ea37d3931e1539e68f1d55c44","sample_id":"86","split":"test","upstream_dataset":"EmbodiedEval","url":"https://huggingface.co/datasets/EmbodiedEval/EmbodiedEval"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_predicate_success","original_answer":null},"task":{"category":"SocialInteraction","role":"spatial_core","skill_tags":["SocialInteraction","SocialInteraction"],"stratum":"EmbodiedEval/SocialInteraction/SocialInteraction","subcategory":"SocialInteraction"},"transforms":[]}
{"dataset":"EmbodiedEval","group":{"id":"EmbodiedEval/102815859","kind":"scene","scene":"102815859"},"id":"9bea2c1cd00eff34fa09","native_annotation":{"agent_position":[5.863999843597412,0.0,9.00100040435791],"agent_rotation":[0.0,174.44985961914062,0.0],"floor_objects":["102815859/walls"],"humans":[],"options":[{"objects":[],"option_text":"Yes, a little taller.","option_type":"Answer","specialActionFeedbacks":{"list":[]}},{"objects":[],"option_text":"Yes, much taller.","option_type":"Answer","specialActionFeedbacks":{"list":[]}},{"objects":[],"option_text":"No, a little shorter.","option_type":"Answer","specialActionFeedbacks":{"list":[]}},{"objects":[],"option_text":"No, much shorter.","option_type":"Answer","specialActionFeedbacks":{"list":[]}},{"objects":[],"option_text":"No, they are the same height.","option_type":"Answer","specialActionFeedbacks":{"list":[]}},{"objects":[],"option_text":"There is no refrigerator.","option_type":"Answer","specialActionFeedbacks":{"list":[]}},{"objects":[],"option_text":"There is no tree.","option_type":"Answer","specialActionFeedbacks":{"list":[]}},{"objects":[],"option_text":"There is no kichen.","option_type":"Answer","specialActionFeedbacks":{"list":[]}}],"predicates":[{"predicate_object":"","predicate_place":"","predicate_type":"choose","right_answer_content":"No, much shorter.","right_special_action":""}],"removed_objects":["102815859/openings/openings_wall_33/5804/5804 > SketchUp/5804 > SketchUp > instance_8/5804 > SketchUp > instance_8 > C"],"scene_name":"102815859","scene_path":"HSSD/102815859.glb","scene_position":[0.0,0.0,0.0],"scene_scale":[1.0,1.0,1.0],"special_points":[{"name":"NavigationPoint0","position":[-9.130800247192383,0.03150204196572304,-7.116800308227539],"type":"navigation"},{"name":"NavigationPoint1","position":[-9.130800247192383,0.03150204196572304,-5.116800308227539],"type":"navigation"},{"name":"NavigationPoint2","position":[-9.130800247192383,0.03150204196572304,-3.116800308227539],"type":"navigation"},{"name":"NavigationPoint3","position":[-9.130800247192383,0.03150204196572304,-1.116800308227539],"type":"navigation"},{"name":"NavigationPoint4","position":[-9.130800247192383,0.03150204196572304,0.8831996917724609],"type":"navigation"},{"name":"NavigationPoint5","position":[-9.130800247192383,0.03150204196572304,2.883199691772461],"type":"navigation"},{"name":"NavigationPoint6","position":[-7.233334064483643,0.03150204196572304,4.883199691772461],"type":"navigation"},{"name":"NavigationPoint7","position":[-7.233334064483643,0.03150204196572304,6.883199691772461],"type":"navigation"},{"name":"NavigationPoint8","position":[-7.233334064483643,0.03150204196572304,8.883199691772461],"type":"navigation"},{"name":"NavigationPoint9","position":[-7.130800247192383,0.03150204196572304,-7.116800308227539],"type":"navigation"},{"name":"NavigationPoint10","position":[-7.130800247192383,0.03150204196572304,-5.116800308227539],"type":"navigation"},{"name":"NavigationPoint11","position":[-7.130800247192383,0.03150204196572304,-3.116800308227539],"type":"navigation"},{"name":"NavigationPoint12","position":[-7.130800247192383,0.03150204196572304,-1.116800308227539],"type":"navigation"},{"name":"NavigationPoint13","position":[-7.130800247192383,0.03150204196572304,0.8831996917724609],"type":"navigation"},{"name":"NavigationPoint14","position":[-7.130800247192383,0.03150204196572304,2.883199691772461],"type":"navigation"},{"name":"NavigationPoint15","position":[-5.130800247192383,0.03150204196572304,-7.116800308227539],"type":"navigation"},{"name":"NavigationPoint16","position":[-5.130800247192383,0.03150204196572304,-5.116800308227539],"type":"navigation"},{"name":"NavigationPoint17","position":[-5.130800247192383,0.03150204196572304,-3.116800308227539],"type":"navigation"},{"name":"NavigationPoint18","position":[-5.130800247192383,0.03150204196572304,-0.11680030822753906],"type":"navigation"},{"name":"NavigationPoint19","position":[-5.130800247192383,0.03150204196572304,1.883199691772461],"type":"navigation"},{"name":"NavigationPoint20","position":[-5.130800247192383,0.03150204196572304,3.883199691772461],"type":"navigation"},{"name":"NavigationPoint21","position":[-5.130800247192383,0.03150204196572304,5.566667079925537],"type":"navigation"},{"name":"NavigationPoint22","position":[-5.130800247192383,0.03150204196572304,7.883199691772461],"type":"navigation"},{"name":"NavigationPoint23","position":[-4.130800247192383,0.03150204196572304,-1.9000005722045898],"type":"navigation"},{"name":"NavigationPoint24","position":[-4.130800247192383,0.03150204196572304,9.233333587646484],"type":"navigation"},{"name":"NavigationPoint25","position":[-3.130800247192383,0.03150204196572304,-7.116800308227539],"type":"navigation"},{"name":"NavigationPoint26","position":[-3.130800247192383,0.03150204196572304,-5.116800308227539],"type":"navigation"},{"name":"NavigationPoint27","position":[-3.130800247192383,0.03150204196572304,-3.116800308227539],"type":"navigation"},{"name":"NavigationPoint28","position":[-3.130800247192383,0.03150204196572304,-0.11680030822753906],"type":"navigation"},{"name":"NavigationPoint29","position":[-2.6000003814697266,0.03150204196572304,1.883199691772461],"type":"navigation"},{"name":"NavigationPoint30","position":[-3.130800247192383,0.03150204196572304,3.883199691772461],"type":"navigation"},{"name":"NavigationPoint31","position":[-3.130800247192383,0.03150204196572304,5.566667079925537],"type":"navigation"},{"name":"NavigationPoint32","position":[-3.130800247192383,0.03150204196572304,7.883199691772461],"type":"navigation"},{"name":"NavigationPoint33","position":[-2.130800247192383,0.03150204196572304,-1.9000005722045898],"type":"navigation"},{"name":"NavigationPoint34","position":[-2.130800247192383,0.03150204196572304,9.233333587646484],"type":"navigation"},{"name":"NavigationPoint35","position":[-1.1308002471923828,0.03150204196572304,-7.116800308227539],"type":"navigation"},{"name":"NavigationPoint36","position":[-1.1308002471923828,0.03150204196572304,-5.116800308227539],"type":"navigation"},{"name":"NavigationPoint37","position":[-1.1308002471923828,0.03150204196572304,-3.116800308227539],"type":"navigation"},{"name":"NavigationPoint38","position":[-1.1308002471923828,0.03150204196572304,-0.7333337664604187],"type":"navigation"},{"name":"NavigationPoint39","position":[-0.2511741816997528,0.03150204196572304,2.8155362606048584],"type":"navigation"},{"name":"NavigationPoint40","position":[-1.6000006198883057,0.03150204196572304,3.883199691772461],"type":"navigation"},{"name":"NavigationPoint41","position":[-1.1308002471923828,0.03150204196572304,6.883199691772461],"type":"navigation"},{"name":"NavigationPoint42","position":[0.7317124605178833,0.03150204196572304,-1.6594634056091309],"type":"navigation"},{"name":"NavigationPoint43","position":[-0.1308002471923828,0.7758908271789551,0.8831996917724609],"type":"navigation"},{"name":"NavigationPoint44","position":[-0.1308002471923828,0.03150204196572304,4.766666889190674],"type":"navigation"},{"name":"NavigationPoint45","position":[-0.1308002471923828,0.03150204196572304,8.883199691772461],"type":"navigation"},{"name":"NavigationPoint46","position":[0.8691997528076172,0.03150204196572304,-7.116800308227539],"type":"navigation"},{"name":"NavigationPoint47","position":[0.8691997528076172,0.03150204196572304,-5.116800308227539],"type":"navigation"},{"name":"NavigationPoint48","position":[0.8691997528076172,0.03150204196572304,-0.11680030822753906],"type":"navigation"},{"name":"NavigationPoint49","position":[0.8691997528076172,0.03150204196572304,6.883199691772461],"type":"navigation"},{"name":"NavigationPoint50","position":[2.432967185974121,0.03150204196572304,-3.5930047035217285],"type":"navigation"},{"name":"NavigationPoint51","position":[1.8670411109924316,0.03150204196572304,2.9155805110931396],"type":"navigation"},{"name":"NavigationPoint52","position":[1.8691997528076172,0.03150204196572304,8.883199691772461],"type":"navigation"},{"name":"NavigationPoint53","position":[2.869199752807617,0.03150204196572304,-7.116800308227539],"type":"navigation"},{"name":"NavigationPoint54","position":[2.869199752807617,0.03150204196572304,-5.116800308227539],"type":"navigation"},{"name":"NavigationPoint55","position":[3.3798861503601074,0.03150204196572304,-1.606113076210022],"type":"navigation"},{"name":"NavigationPoint56","position":[3.5333335399627686,0.03150204196572304,0.8831996917724609],"type":"navigation"},{"name":"NavigationPoint57","position":[3.9666669368743896,0.03150204196572304,2.883199691772461],"type":"navigation"},{"name":"NavigationPoint59","position":[2.869199752807617,0.03150204196572304,6.883199691772461],"type":"navigation"},{"name":"NavigationPoint60","position":[3.869199752807617,0.03150204196572304,-3.116800308227539],"type":"navigation"},{"name":"NavigationPoint61","position":[3.869199752807617,0.03150204196572304,8.883199691772461],"type":"navigation"},{"name":"NavigationPoint62","position":[4.869199752807617,0.03150204196572304,-7.116800308227539],"type":"navigation"},{"name":"NavigationPoint63","position":[4.869199752807617,0.03150204196572304,-5.116800308227539],"type":"navigation"},{"name":"NavigationPoint64","position":[4.869199752807617,0.03150204196572304,-1.116800308227539],"type":"navigation"},{"name":"NavigationPoint65","position":[5.204011917114258,0.03150204196572304,1.5333807468414307],"type":"navigation"},{"name":"NavigationPoint68","position":[5.869199752807617,0.03150204196572304,-3.3666672706604004],"type":"navigation"},{"name":"NavigationPoint69","position":[8.09000015258789,0.03150204196572304,0.71177738904953],"type":"navigation"},{"name":"NavigationPoint70","position":[5.928287982940674,0.03150204196572304,2.8778281211853027],"type":"navigation"},{"name":"NavigationPoint71","position":[5.869199752807617,0.03150204196572304,8.883199691772461],"type":"navigation"},{"name":"NavigationPoint72","position":[6.869199752807617,0.03150204196572304,-7.116800308227539],"type":"navigation"},{"name":"NavigationPoint73","position":[6.869199752807617,0.03150204196572304,-5.116800308227539],"type":"navigation"},{"name":"NavigationPoint74","position":[6.800000190734863,0.03150204196572304,-2.116800308227539],"type":"navigation"},{"name":"NavigationPoint75","position":[8.166666984558105,0.03150204196572304,4.26800012588501],"type":"navigation"},{"name":"NavigationPoint75 (1)","position":[7.310999870300293,0.03150204196572304,5.374000072479248],"type":"navigation"},{"name":"NavigationPoint77","position":[6.210000038146973,0.03150204196572304,6.840000152587891],"type":"navigation"},{"name":"NavigationPoint78","position":[7.869199752807617,0.03150204196572304,1.883199691772461],"type":"navigation"},{"name":"NavigationPoint79","position":[7.869199752807617,0.03150204196572304,8.883199691772461],"type":"navigation"},{"name":"NavigationPoint80","position":[8.869199752807617,0.03150204196572304,-7.116800308227539],"type":"navigation"},{"name":"NavigationPoint81","position":[8.869199752807617,0.03150204196572304,-5.116800308227539],"type":"navigation"},{"name":"NavigationPoint82","position":[10.92845630645752,0.03150204196572304,-2.065319061279297],"type":"navigation"},{"name":"NavigationPoint83","position":[10.454999923706055,0.03150204196572304,0.7333333492279053],"type":"navigation"},{"name":"NavigationPoint85","position":[10.533333778381348,0.03150204196572304,2.6530001163482666],"type":"navigation"},{"name":"NavigationPoint86","position":[10.345000267028809,0.03150204196572304,4.2179999351501465],"type":"navigation"},{"name":"NavigationPoint87","position":[9.869199752807617,0.03150204196572304,8.366666793823242],"type":"navigation"},{"name":"NavigationPoint88","position":[10.869199752807617,0.03150204196572304,-7.116800308227539],"type":"navigation"},{"name":"NavigationPoint89","position":[10.869199752807617,0.03150204196572304,-5.116800308227539],"type":"navigation"},{"name":"NavigationPoint90","position":[12.500000953674316,0.03150204196572304,-0.11680001765489578],"type":"navigation"},{"name":"NavigationPoint91","position":[12.500000953674316,0.03150204196572304,1.883199691772461],"type":"navigation"},{"name":"NavigationPoint92","position":[12.000000953674316,0.03150204196572304,4.266666889190674],"type":"navigation"},{"name":"NavigationPoint93","position":[13.766667366027832,0.03150204196572304,5.883199691772461],"type":"navigation"},{"name":"NavigationPoint94","position":[11.869199752807617,0.03150204196572304,8.366666793823242],"type":"navigation"},{"name":"NavigationPoint95","position":[12.869199752807617,0.03150204196572304,-7.116800308227539],"type":"navigation"},{"name":"NavigationPoint96","position":[12.869199752807617,0.03150204196572304,-5.116800308227539],"type":"navigation"},{"name":"NavigationPoint97","position":[12.869199752807617,0.03150204196572304,-3.116800308227539],"type":"navigation"},{"name":"NavigationPoint98","position":[13.869199752807617,0.03150204196572304,-1.116800308227539],"type":"navigation"},{"name":"NavigationPoint99","position":[13.869199752807617,0.03150204196572304,0.8831996917724609],"type":"navigation"},{"name":"NavigationPoint100","position":[13.869199752807617,0.03150204196572304,2.883199691772461],"type":"navigation"},{"name":"NavigationPoint101","position":[13.869199752807617,0.03150204196572304,7.883199691772461],"type":"navigation"},{"name":"NavigationPoint102","position":[14.866667747497559,0.03150204196572304,-7.116800308227539],"type":"navigation"},{"name":"NavigationPoint103","position":[14.866667747497559,0.03150204196572304,-5.116800308227539],"type":"navigation"},{"name":"NavigationPoint104","position":[14.866667747497559,0.03150204196572304,-3.116800308227539],"type":"navigation"},{"name":"NavigationPoint105","position":[14.860821723937988,0.03150204196572304,9.166701316833496],"type":"navigation"}],"task_text":"Is the refrigerator in the kitchen taller than the tree in the front yard?"},"observations":[],"question":{"options":[],"original":"Is the refrigerator in the kitchen taller than the tree in the front yard?","text":"Is the refrigerator in the kitchen taller than the tree in the front yard?"},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"LEGENT / Unity","mode":"interactive","native_episode_locator":{"file":"tasks/SpatialQA/task-102815859-Is_the_refrigerator_in_the_kitchen_taller_than_the_tree_in_the_front_yard_.json","format":"hf_file"},"observation_policy":"current RGB, runtime action options and feedback; hidden predicates excluded from model input","repo":"thunlp/EmbodiedEval","revision":"62252a251f2ae25ea37d3931e1539e68f1d55c44","task_index":190},"sampling":{"component_id":"83bd9e9c3584ab91d2f8","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":15,"stratum_pool":52},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"tasks/SpatialQA/task-102815859-Is_the_refrigerator_in_the_kitchen_taller_than_the_tree_in_the_front_yard_.json","annotation_sha256":"ac6d01f7b71fd4878e0aa7fe8beed1eacd06687ae252d7825472fb9d784fd15d","host":"huggingface","license":"cc0-1.0","media_policy":"upstream-reference; source media terms apply","repo":"EmbodiedEval/EmbodiedEval","revision":"d0c453bc8a7d5bfc6e8aa8201ddf0f7e7e8c781d","row_sha256":"f40d0ce093b96a5466cc1622ab5501aa2847ba654c9663f5cbd4878fdb4c8857","runtime_revision":"62252a251f2ae25ea37d3931e1539e68f1d55c44","sample_id":"190","split":"test","upstream_dataset":"EmbodiedEval","url":"https://huggingface.co/datasets/EmbodiedEval/EmbodiedEval"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_predicate_success","original_answer":null},"task":{"category":"SpatialQA","role":"spatial_core","skill_tags":["SpatialQA","SpatialQA"],"stratum":"EmbodiedEval/SpatialQA/SpatialQA","subcategory":"SpatialQA"},"transforms":[]}
{"dataset":"EmbodiedEval","group":{"id":"EmbodiedEval/FloorPlan308_physics","kind":"scene","scene":"FloorPlan308_physics"},"id":"43c9c25e8ebe7f5f141c","native_annotation":{"agent_position":[0.0,0.0,0.0],"agent_rotation":[0.0,0.0,0.0],"floor_objects":["FloorPlan308_physics/Objects/Floor_83109f1a"],"humans":[],"options":[{"objects":[],"option_text":"They are arranged horizontally and sorted by color.","option_type":"Answer","specialActionFeedbacks":{"list":[]}},{"objects":[],"option_text":"They are arranged horizontally, with different colors but not sorted by color.","option_type":"Answer","specialActionFeedbacks":{"list":[]}},{"objects":[],"option_text":"They are arranged vertically and sorted by color.","option_type":"Answer","specialActionFeedbacks":{"list":[]}},{"objects":[],"option_text":"They are arranged horizontally, with different colors but not sorted by color.","option_type":"Answer","specialActionFeedbacks":{"list":[]}},{"objects":[],"option_text":"They are arranged both horizontally and vertically, and sorted by color.","option_type":"Answer","specialActionFeedbacks":{"list":[]}},{"objects":[],"option_text":"They are arranged both horizontally and vertically, with different colors but not sorted by color.","option_type":"Answer","specialActionFeedbacks":{"list":[]}},{"objects":[],"option_text":"There are no books on the bookshelf.","option_type":"Answer","specialActionFeedbacks":{"list":[]}},{"objects":[],"option_text":"There is no bookshelf.","option_type":"Answer","specialActionFeedbacks":{"list":[]}}],"predicates":[{"predicate_object":"","predicate_place":"","predicate_type":"choose","right_answer_content":"They are arranged both horizontally and vertically, with different colors but not sorted by color.","right_special_action":""}],"removed_objects":["FloorPlan308_physics/FPSController"],"scene_name":"FloorPlan308_physics","scene_path":"AI2THOR/FloorPlan308_physics.glb","scene_position":[0.0,0.0,0.0],"scene_scale":[1.0,1.0,1.0],"special_points":[{"name":"NavigationPoint0","position":[-0.38199999928474426,0.03333309292793274,1.3600000143051147],"type":"navigation"},{"name":"NavigationPoint1","position":[-1.7120000123977661,0.03333309292793274,1.4010000228881836],"type":"navigation"},{"name":"NavigationPoint2","position":[0.4815495014190674,0.03333309292793274,-0.9076969623565674],"type":"navigation"},{"name":"NavigationPoint4","position":[1.446545124053955,0.7666664123535156,0.9982118606567383],"type":"navigation"}],"task_text":"Explain the arrangement of the books on the bookshelf."},"observations":[],"question":{"options":[],"original":"Explain the arrangement of the books on the bookshelf.","text":"Explain the arrangement of the books on the bookshelf."},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"LEGENT / Unity","mode":"interactive","native_episode_locator":{"file":"tasks/SpatialQA/task-FloorPlan308_physics-Explain_the_arrangement_of_the_books_on_the_bookshelf_.json","format":"hf_file"},"observation_policy":"current RGB, runtime action options and feedback; hidden predicates excluded from model input","repo":"thunlp/EmbodiedEval","revision":"62252a251f2ae25ea37d3931e1539e68f1d55c44","task_index":181},"sampling":{"component_id":"43c9c25e8ebe7f5f141c","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":15,"stratum_pool":52},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"tasks/SpatialQA/task-FloorPlan308_physics-Explain_the_arrangement_of_the_books_on_the_bookshelf_.json","annotation_sha256":"2ec5f3f1825dc65d5718c9fb4b978541d79574e0250266be8c52e724f5c92b15","host":"huggingface","license":"cc0-1.0","media_policy":"upstream-reference; source media terms apply","repo":"EmbodiedEval/EmbodiedEval","revision":"d0c453bc8a7d5bfc6e8aa8201ddf0f7e7e8c781d","row_sha256":"4b03ca370d3c32f04d8800820d6108d77e112c050720fb2f32ba9233390f858b","runtime_revision":"62252a251f2ae25ea37d3931e1539e68f1d55c44","sample_id":"181","split":"test","upstream_dataset":"EmbodiedEval","url":"https://huggingface.co/datasets/EmbodiedEval/EmbodiedEval"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_predicate_success","original_answer":null},"task":{"category":"SpatialQA","role":"spatial_core","skill_tags":["SpatialQA","SpatialQA"],"stratum":"EmbodiedEval/SpatialQA/SpatialQA","subcategory":"SpatialQA"},"transforms":[]}
{"dataset":"EmbodiedNav-Bench","group":{"id":"EmbodiedCity/start_cell/[140,-108]","kind":"start_region","scene":"EmbodiedCity urban map","split_limitation":"same simulator city; different 50m horizontal start cells, not scene-disjoint"},"id":"1efccab51e7958b6ddfe","native_annotation":{"gt_traj":[[7039.64355,-5377.98291,-22.3671875],[7039.64355,-5377.98291,-32.3671875],[7039.64355,-5377.98291,-42.3671875],[7039.64355,-5377.98291,-52.3671875],[7039.64355,-5377.98291,-62.3671875],[7039.64355,-5377.98291,-72.3671875],[7039.64355,-5377.98291,-82.3671875],[7039.64355,-5377.98291,-92.3671875],[7039.64355,-5377.98291,-102.367188],[7039.64355,-5377.98291,-92.3671875],[7039.64355,-5377.98291,-92.3671875],[7039.64355,-5367.98291,-92.3671875],[7039.64355,-5367.98291,-92.3671875],[7035.81689,-5358.74414,-92.3671875],[7031.98975,-5349.50537,-92.3671875]],"gt_traj_len":120.00000447720603,"gt_traj_num_points":15,"sample_index":2209,"start_ang":0.0,"start_pitch":0.0,"start_pos":[7039.64355,-5377.98291,-22.3671875],"start_roll":0.0,"start_rot":[0.0,0.0,1.96349532],"start_x":7039.64355,"start_y":-5377.98291,"start_yaw":1.96349532,"start_z":-22.3671875,"target_pos":[7031.98975,-5349.50537,-92.3671875],"target_x":7031.98975,"target_y":-5349.50537,"target_z":-92.3671875,"task_desc":"the roof center of the blue-and-white building directly in front of the agent"},"observations":[],"question":{"options":[],"original":"the roof center of the blue-and-white building directly in front of the agent","text":"the roof center of the blue-and-white building directly in front of the agent"},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"EmbodiedCity / Unreal / AirSim","mode":"interactive","native_episode_locator":{"file":"viewer-00000-of-00001.parquet","format":"parquet_row","row":2209},"observation_policy":"live RGB and motion feedback; target coordinates and reference trajectories are verifier-only","repo":"EmbodiedCity/EmbodiedNav-Bench","revision":"253fce071593f380e4377364d9f4782b354231c5","sample_index":2209},"sampling":{"component_id":"026d17a71cea08bf78bc","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":253,"stratum_pool":737},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"viewer-00000-of-00001.parquet","annotation_sha256":"72a6eca9f27c4e611ace74f60594470c53b6dd9f6bcfb91c20b75bb6f2888692","host":"huggingface","license":"cc-by-4.0; EmbodiedCity simulator terms apply","media_policy":"live AirSim camera; never feed recorded ground-truth trajectories","repo":"EmbodiedCity/EmbodiedNav-Bench","revision":"af674dde5ab14f22792907299ec3ed6ffa21e0c9","row_sha256":"faa988c5fc895680a86250f0d9f2cd00642feb2661aac9c1bbfab1034ce5212c","runtime_revision":"253fce071593f380e4377364d9f4782b354231c5","sample_id":"2209","split":"public evaluation cases","upstream_dataset":"EmbodiedNav-Bench","url":"https://huggingface.co/datasets/EmbodiedCity/EmbodiedNav-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_navigation_SR_SPL","original_answer":null},"task":{"category":"ascend","category_derivation":"NED-coordinate vertical target displacement and reference trajectory length bins; not upstream task labels","role":"spatial_core","skill_tags":["ascend","long"],"stratum":"EmbodiedNav-Bench/ascend/long","subcategory":"long"},"transforms":[]}
{"dataset":"EmbodiedNav-Bench","group":{"id":"EmbodiedCity/start_cell/[115,-72]","kind":"start_region","scene":"EmbodiedCity urban map","split_limitation":"same simulator city; different 50m horizontal start cells, not scene-disjoint"},"id":"ce211ee04167d3261dba","native_annotation":{"gt_traj":[[5777.21631,-3599.47314,-42.3671875],[5777.21631,-3599.47314,-42.3671875],[5777.21631,-3599.47314,-42.3671875],[5786.45508,-3595.64624,-42.3671875],[5795.69385,-3591.81934,-42.3671875],[5804.93213,-3587.99243,-42.3671875],[5814.17041,-3584.16553,-42.3671875],[5814.17041,-3584.16553,-42.3671875],[5814.17041,-3584.16553,-42.3671875],[5814.17041,-3584.16553,-42.3671875],[5824.17041,-3584.16553,-42.3671875],[5824.17041,-3584.16553,-42.3671875],[5824.17041,-3584.16553,-42.3671875],[5824.17041,-3584.16553,-42.3671875],[5824.17041,-3584.16553,-52.3671875],[5824.17041,-3584.16553,-62.3671875],[5824.17041,-3584.16553,-72.3671875],[5824.17041,-3584.16553,-82.3671875],[5824.17041,-3584.16553,-82.3671875],[5824.17041,-3584.16553,-92.3671875],[5814.93164,-3580.33862,-92.3671875],[5814.93164,-3580.33862,-92.3671875],[5804.93164,-3580.33862,-92.3671875],[5804.93164,-3590.33862,-92.3671875],[5804.93164,-3590.33862,-92.3671875],[5804.93164,-3590.33862,-92.3671875],[5804.93164,-3590.33862,-92.3671875],[5804.93164,-3590.33862,-92.3671875],[5804.93164,-3590.33862,-92.3671875],[5808.75781,-3581.09985,-92.3671875]],"gt_traj_len":139.99883333415508,"gt_traj_num_points":30,"sample_index":268,"start_ang":45.0,"start_pitch":0.0,"start_pos":[5777.21631,-3599.47314,-42.3671875],"start_roll":0.0,"start_rot":[0.0,0.0,1.17809727],"start_x":5777.21631,"start_y":-3599.47314,"start_yaw":1.17809727,"start_z":-42.3671875,"target_pos":[5808.75781,-3581.09985,-92.3671875],"target_x":5808.75781,"target_y":-3581.09985,"target_z":-92.3671875,"task_desc":"the terrace on the 22nd floor of the beige-exterior building above, with floor-number markings on the exterior wall"},"observations":[],"question":{"options":[],"original":"the terrace on the 22nd floor of the beige-exterior building above, with floor-number markings on the exterior wall","text":"the terrace on the 22nd floor of the beige-exterior building above, with floor-number markings on the exterior wall"},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"EmbodiedCity / Unreal / AirSim","mode":"interactive","native_episode_locator":{"file":"viewer-00000-of-00001.parquet","format":"parquet_row","row":268},"observation_policy":"live RGB and motion feedback; target coordinates and reference trajectories are verifier-only","repo":"EmbodiedCity/EmbodiedNav-Bench","revision":"253fce071593f380e4377364d9f4782b354231c5","sample_index":268},"sampling":{"component_id":"020401bb32c034d3855f","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":253,"stratum_pool":737},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"viewer-00000-of-00001.parquet","annotation_sha256":"72a6eca9f27c4e611ace74f60594470c53b6dd9f6bcfb91c20b75bb6f2888692","host":"huggingface","license":"cc-by-4.0; EmbodiedCity simulator terms apply","media_policy":"live AirSim camera; never feed recorded ground-truth trajectories","repo":"EmbodiedCity/EmbodiedNav-Bench","revision":"af674dde5ab14f22792907299ec3ed6ffa21e0c9","row_sha256":"268332d4b945a80db677582d2a99f4e41d6cad9f413d439b99bdea3eed9d9b49","runtime_revision":"253fce071593f380e4377364d9f4782b354231c5","sample_id":"268","split":"public evaluation cases","upstream_dataset":"EmbodiedNav-Bench","url":"https://huggingface.co/datasets/EmbodiedCity/EmbodiedNav-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_navigation_SR_SPL","original_answer":null},"task":{"category":"ascend","category_derivation":"NED-coordinate vertical target displacement and reference trajectory length bins; not upstream task labels","role":"spatial_core","skill_tags":["ascend","long"],"stratum":"EmbodiedNav-Bench/ascend/long","subcategory":"long"},"transforms":[]}
{"dataset":"EmbodiedNav-Bench","group":{"id":"EmbodiedCity/start_cell/[141,-91]","kind":"start_region","scene":"EmbodiedCity urban map","split_limitation":"same simulator city; different 50m horizontal start cells, not scene-disjoint"},"id":"5fd4de1f1c5c22fc9458","native_annotation":{"gt_traj":[[7060.91064,-4517.63086,-2.36725903],[7053.83936,-4524.70215,-2.36725903],[7046.76807,-4531.77344,-2.36725903],[7039.69678,-4538.84473,-2.36725903],[7032.62549,-4545.91602,-2.36725903],[7032.62549,-4545.91602,-12.367259],[7025.5542,-4552.9873,-12.367259]],"gt_traj_len":60.00155693523563,"gt_traj_num_points":7,"sample_index":2058,"start_ang":0.0,"start_pitch":0.0,"start_pos":[7060.91064,-4517.63086,-2.36725903],"start_roll":0.0,"start_rot":[0.0,0.0,-2.35619468],"start_x":7060.91064,"start_y":-4517.63086,"start_yaw":-2.35619468,"start_z":-2.36725903,"target_pos":[7025.5542,-4552.9873,-12.367259],"target_x":7025.5542,"target_y":-4552.9873,"target_z":-12.367259,"task_desc":"the region before the pink-colored forest"},"observations":[],"question":{"options":[],"original":"the region before the pink-colored forest","text":"the region before the pink-colored forest"},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"EmbodiedCity / Unreal / AirSim","mode":"interactive","native_episode_locator":{"file":"viewer-00000-of-00001.parquet","format":"parquet_row","row":2058},"observation_policy":"live RGB and motion feedback; target coordinates and reference trajectories are verifier-only","repo":"EmbodiedCity/EmbodiedNav-Bench","revision":"253fce071593f380e4377364d9f4782b354231c5","sample_index":2058},"sampling":{"component_id":"5fd4de1f1c5c22fc9458","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":33,"stratum_pool":103},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"viewer-00000-of-00001.parquet","annotation_sha256":"72a6eca9f27c4e611ace74f60594470c53b6dd9f6bcfb91c20b75bb6f2888692","host":"huggingface","license":"cc-by-4.0; EmbodiedCity simulator terms apply","media_policy":"live AirSim camera; never feed recorded ground-truth trajectories","repo":"EmbodiedCity/EmbodiedNav-Bench","revision":"af674dde5ab14f22792907299ec3ed6ffa21e0c9","row_sha256":"f3f54bad445b2994c516b03ce468e9a1bb180808524193e6119c696bdbdffe4e","runtime_revision":"253fce071593f380e4377364d9f4782b354231c5","sample_id":"2058","split":"public evaluation cases","upstream_dataset":"EmbodiedNav-Bench","url":"https://huggingface.co/datasets/EmbodiedCity/EmbodiedNav-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_navigation_SR_SPL","original_answer":null},"task":{"category":"ascend","category_derivation":"NED-coordinate vertical target displacement and reference trajectory length bins; not upstream task labels","role":"spatial_core","skill_tags":["ascend","medium"],"stratum":"EmbodiedNav-Bench/ascend/medium","subcategory":"medium"},"transforms":[]}
{"dataset":"EmbodiedNav-Bench","group":{"id":"EmbodiedCity/start_cell/[145,-106]","kind":"start_region","scene":"EmbodiedCity urban map","split_limitation":"same simulator city; different 50m horizontal start cells, not scene-disjoint"},"id":"ecd3f45df3df13622303","native_annotation":{"gt_traj":[[7270.88086,-5262.16553,-2.36725903],[7280.11914,-5265.99219,-2.36725903],[7289.35791,-5269.81885,-2.36725903],[7298.59668,-5273.64551,-2.36725903],[7307.83545,-5277.47168,-2.36725903],[7307.83545,-5277.47168,-12.367259],[7317.07422,-5281.29785,-12.367259],[7313.24756,-5290.53662,-12.367259]],"gt_traj_len":69.99863163049885,"gt_traj_num_points":8,"sample_index":794,"start_ang":0.0,"start_pitch":0.0,"start_pos":[7270.88086,-5262.16553,-2.36725903],"start_roll":0.0,"start_rot":[0.0,0.0,-0.392699232],"start_x":7270.88086,"start_y":-5262.16553,"start_yaw":-0.392699232,"start_z":-2.36725903,"target_pos":[7313.24756,-5290.53662,-12.367259],"target_x":7313.24756,"target_y":-5290.53662,"target_z":-12.367259,"task_desc":"the doorway of the house in front of the agent"},"observations":[],"question":{"options":[],"original":"the doorway of the house in front of the agent","text":"the doorway of the house in front of the agent"},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"EmbodiedCity / Unreal / AirSim","mode":"interactive","native_episode_locator":{"file":"viewer-00000-of-00001.parquet","format":"parquet_row","row":794},"observation_policy":"live RGB and motion feedback; target coordinates and reference trajectories are verifier-only","repo":"EmbodiedCity/EmbodiedNav-Bench","revision":"253fce071593f380e4377364d9f4782b354231c5","sample_index":794},"sampling":{"component_id":"0e7da3705999b3ce8e8c","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":33,"stratum_pool":103},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"viewer-00000-of-00001.parquet","annotation_sha256":"72a6eca9f27c4e611ace74f60594470c53b6dd9f6bcfb91c20b75bb6f2888692","host":"huggingface","license":"cc-by-4.0; EmbodiedCity simulator terms apply","media_policy":"live AirSim camera; never feed recorded ground-truth trajectories","repo":"EmbodiedCity/EmbodiedNav-Bench","revision":"af674dde5ab14f22792907299ec3ed6ffa21e0c9","row_sha256":"b7c4fc439ec30deb0e7c4585783f6ba38b0e9f64414af6bfb75780207e3b5ba8","runtime_revision":"253fce071593f380e4377364d9f4782b354231c5","sample_id":"794","split":"public evaluation cases","upstream_dataset":"EmbodiedNav-Bench","url":"https://huggingface.co/datasets/EmbodiedCity/EmbodiedNav-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_navigation_SR_SPL","original_answer":null},"task":{"category":"ascend","category_derivation":"NED-coordinate vertical target displacement and reference trajectory length bins; not upstream task labels","role":"spatial_core","skill_tags":["ascend","medium"],"stratum":"EmbodiedNav-Bench/ascend/medium","subcategory":"medium"},"transforms":[]}
{"dataset":"EmbodiedNav-Bench","group":{"id":"EmbodiedCity/start_cell/[149,-72]","kind":"start_region","scene":"EmbodiedCity urban map","split_limitation":"same simulator city; different 50m horizontal start cells, not scene-disjoint"},"id":"cc17c5732d1b178a7ee6","native_annotation":{"gt_traj":[[7464.97852,-3577.2749,-3.36726189],[7464.97852,-3577.2749,-3.36726189],[7464.97852,-3577.2749,-3.36726189],[7464.97852,-3577.2749,-13.3672619],[7464.97852,-3577.2749,-13.3672619],[7474.21729,-3573.448,-13.3672619],[7483.45605,-3569.62109,-13.3672619]],"gt_traj_len":29.999998070429204,"gt_traj_num_points":7,"sample_index":2201,"start_ang":0.0,"start_pitch":0.0,"start_pos":[7464.97852,-3577.2749,-3.36726189],"start_roll":0.0,"start_rot":[0.0,0.0,-2.42603484e-08],"start_x":7464.97852,"start_y":-3577.2749,"start_yaw":-2.42603484e-08,"start_z":-3.36726189,"target_pos":[7483.45605,-3569.62109,-13.3672619],"target_x":7483.45605,"target_y":-3569.62109,"target_z":-13.3672619,"task_desc":"Roof of the building ahead"},"observations":[],"question":{"options":[],"original":"Roof of the building ahead","text":"Roof of the building ahead"},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"EmbodiedCity / Unreal / AirSim","mode":"interactive","native_episode_locator":{"file":"viewer-00000-of-00001.parquet","format":"parquet_row","row":2201},"observation_policy":"live RGB and motion feedback; target coordinates and reference trajectories are verifier-only","repo":"EmbodiedCity/EmbodiedNav-Bench","revision":"253fce071593f380e4377364d9f4782b354231c5","sample_index":2201},"sampling":{"component_id":"0c2abe8a59870ac9afe4","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":1,"seed":20261012,"split_pool":1,"stratum_pool":2},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"viewer-00000-of-00001.parquet","annotation_sha256":"72a6eca9f27c4e611ace74f60594470c53b6dd9f6bcfb91c20b75bb6f2888692","host":"huggingface","license":"cc-by-4.0; EmbodiedCity simulator terms apply","media_policy":"live AirSim camera; never feed recorded ground-truth trajectories","repo":"EmbodiedCity/EmbodiedNav-Bench","revision":"af674dde5ab14f22792907299ec3ed6ffa21e0c9","row_sha256":"0446c5ebff9e94f30ea339d666a3780a27bf9208e16c3cd81045329baa35683b","runtime_revision":"253fce071593f380e4377364d9f4782b354231c5","sample_id":"2201","split":"public evaluation cases","upstream_dataset":"EmbodiedNav-Bench","url":"https://huggingface.co/datasets/EmbodiedCity/EmbodiedNav-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_navigation_SR_SPL","original_answer":null},"task":{"category":"ascend","category_derivation":"NED-coordinate vertical target displacement and reference trajectory length bins; not upstream task labels","role":"spatial_core","skill_tags":["ascend","short"],"stratum":"EmbodiedNav-Bench/ascend/short","subcategory":"short"},"transforms":[]}
{"dataset":"EmbodiedNav-Bench","group":{"id":"EmbodiedCity/start_cell/[122,-75]","kind":"start_region","scene":"EmbodiedCity urban map","split_limitation":"same simulator city; different 50m horizontal start cells, not scene-disjoint"},"id":"3da6e8e233aafb229c01","native_annotation":{"gt_traj":[[6118.09229,-3746.57861,-53.741806],[6118.09229,-3746.57861,-53.741806],[6118.09229,-3746.57861,-53.741806],[6118.09229,-3746.57861,-53.741806],[6118.09229,-3746.57861,-53.741806],[6118.09229,-3746.57861,-53.741806],[6126.13037,-3740.63013,-53.741806],[6134.16846,-3734.68188,-53.741806],[6142.20654,-3728.73364,-53.741806],[6142.20605,-3728.73364,-53.741806],[6142.20605,-3728.73364,-43.741806],[6142.20605,-3728.73364,-33.741806],[6151.90918,-3726.31421,-33.741806],[6161.6123,-3723.89502,-33.741806],[6171.31543,-3721.47583,-33.741806],[6181.01855,-3719.0564,-33.741806],[6190.72168,-3716.63721,-33.741806],[6200.4248,-3714.21802,-33.741806],[6200.4248,-3714.21802,-23.741806],[6198.00537,-3704.51489,-23.741806],[6198.00537,-3704.51489,-13.741806],[6207.7085,-3702.09546,-13.741806],[6217.41162,-3699.67627,-13.741806]],"gt_traj_len":160.00112895704817,"gt_traj_num_points":23,"sample_index":527,"start_ang":0.0,"start_pitch":0.0349067669,"start_pos":[6118.09229,-3746.57861,-53.741806],"start_roll":-3.29452709e-08,"start_rot":[-3.29452709e-08,0.0349067669,-0.541052426],"start_x":6118.09229,"start_y":-3746.57861,"start_yaw":-0.541052426,"start_z":-53.741806,"target_pos":[6217.41162,-3699.67627,-13.741806],"target_x":6217.41162,"target_y":-3699.67627,"target_z":-13.741806,"task_desc":"the Industrial and Commercial Bank of China"},"observations":[],"question":{"options":[],"original":"the Industrial and Commercial Bank of China","text":"the Industrial and Commercial Bank of China"},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"EmbodiedCity / Unreal / AirSim","mode":"interactive","native_episode_locator":{"file":"viewer-00000-of-00001.parquet","format":"parquet_row","row":527},"observation_policy":"live RGB and motion feedback; target coordinates and reference trajectories are verifier-only","repo":"EmbodiedCity/EmbodiedNav-Bench","revision":"253fce071593f380e4377364d9f4782b354231c5","sample_index":527},"sampling":{"component_id":"3a8322c17ad858285962","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":748,"stratum_pool":2139},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"viewer-00000-of-00001.parquet","annotation_sha256":"72a6eca9f27c4e611ace74f60594470c53b6dd9f6bcfb91c20b75bb6f2888692","host":"huggingface","license":"cc-by-4.0; EmbodiedCity simulator terms apply","media_policy":"live AirSim camera; never feed recorded ground-truth trajectories","repo":"EmbodiedCity/EmbodiedNav-Bench","revision":"af674dde5ab14f22792907299ec3ed6ffa21e0c9","row_sha256":"aeaee501f2390c9deff6abaef424054cb8b16641c4d4d3c6a605caa4f765a623","runtime_revision":"253fce071593f380e4377364d9f4782b354231c5","sample_id":"527","split":"public evaluation cases","upstream_dataset":"EmbodiedNav-Bench","url":"https://huggingface.co/datasets/EmbodiedCity/EmbodiedNav-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_navigation_SR_SPL","original_answer":null},"task":{"category":"descend","category_derivation":"NED-coordinate vertical target displacement and reference trajectory length bins; not upstream task labels","role":"spatial_core","skill_tags":["descend","long"],"stratum":"EmbodiedNav-Bench/descend/long","subcategory":"long"},"transforms":[]}
{"dataset":"EmbodiedNav-Bench","group":{"id":"EmbodiedCity/start_cell/[127,-88]","kind":"start_region","scene":"EmbodiedCity urban map","split_limitation":"same simulator city; different 50m horizontal start cells, not scene-disjoint"},"id":"4acef419ddb3f56fcb3a","native_annotation":{"gt_traj":[[6362.2041,-4361.08789,-42.36726],[6362.2041,-4361.08789,-42.36726],[6352.96533,-4357.26123,-42.36726],[6352.96533,-4357.26123,-42.36726],[6345.89355,-4350.18994,-42.36726],[6345.89355,-4350.18994,-42.36726],[6342.06689,-4340.95117,-42.36726],[6342.06689,-4340.95117,-42.36726],[6342.06689,-4330.95117,-42.36726],[6342.06689,-4330.95117,-42.36726],[6345.89355,-4321.7124,-42.36726],[6345.89355,-4321.7124,-42.36726],[6345.89355,-4321.7124,-42.36726],[6355.13232,-4317.88574,-42.36726],[6355.13232,-4317.88574,-42.36726],[6365.13232,-4317.88574,-42.36726],[6365.13232,-4307.88574,-42.36726],[6365.13232,-4307.88574,-42.36726],[6365.13232,-4307.88574,-32.36726],[6365.13232,-4307.88574,-22.36726],[6374.37109,-4311.7124,-22.36726],[6383.60986,-4315.53906,-22.36726],[6392.84863,-4319.36572,-22.36726],[6392.84863,-4319.36572,-22.36726],[6399.91992,-4312.29443,-22.36726],[6399.91992,-4312.29443,-22.36726],[6409.15869,-4308.46777,-22.36726],[6409.15869,-4308.46777,-22.36726],[6419.15869,-4308.46777,-22.36726],[6419.15869,-4318.46777,-22.36726],[6419.15869,-4318.46777,-12.367259],[6419.15869,-4318.46777,-12.367259],[6419.15869,-4318.46777,-12.367259]],"gt_traj_len":180.0002550754237,"gt_traj_num_points":33,"sample_index":1446,"start_ang":0.0,"start_pitch":0.0,"start_pos":[6362.2041,-4361.08789,-42.36726],"start_roll":0.0,"start_rot":[0.0,0.0,-3.14159254],"start_x":6362.2041,"start_y":-4361.08789,"start_yaw":-3.14159254,"start_z":-42.36726,"target_pos":[6419.15869,-4318.46777,-12.367259],"target_x":6419.15869,"target_y":-4318.46777,"target_z":-12.367259,"task_desc":"Tsinghua University Wenyang Academy"},"observations":[],"question":{"options":[],"original":"Tsinghua University Wenyang Academy","text":"Tsinghua University Wenyang Academy"},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"EmbodiedCity / Unreal / AirSim","mode":"interactive","native_episode_locator":{"file":"viewer-00000-of-00001.parquet","format":"parquet_row","row":1446},"observation_policy":"live RGB and motion feedback; target coordinates and reference trajectories are verifier-only","repo":"EmbodiedCity/EmbodiedNav-Bench","revision":"253fce071593f380e4377364d9f4782b354231c5","sample_index":1446},"sampling":{"component_id":"4acef419ddb3f56fcb3a","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":748,"stratum_pool":2139},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"viewer-00000-of-00001.parquet","annotation_sha256":"72a6eca9f27c4e611ace74f60594470c53b6dd9f6bcfb91c20b75bb6f2888692","host":"huggingface","license":"cc-by-4.0; EmbodiedCity simulator terms apply","media_policy":"live AirSim camera; never feed recorded ground-truth trajectories","repo":"EmbodiedCity/EmbodiedNav-Bench","revision":"af674dde5ab14f22792907299ec3ed6ffa21e0c9","row_sha256":"a3e2fc1f96b1c6443dcff53b9e2650db7270df2be35d309599c30cec07ac0d6d","runtime_revision":"253fce071593f380e4377364d9f4782b354231c5","sample_id":"1446","split":"public evaluation cases","upstream_dataset":"EmbodiedNav-Bench","url":"https://huggingface.co/datasets/EmbodiedCity/EmbodiedNav-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_navigation_SR_SPL","original_answer":null},"task":{"category":"descend","category_derivation":"NED-coordinate vertical target displacement and reference trajectory length bins; not upstream task labels","role":"spatial_core","skill_tags":["descend","long"],"stratum":"EmbodiedNav-Bench/descend/long","subcategory":"long"},"transforms":[]}
{"dataset":"EmbodiedNav-Bench","group":{"id":"EmbodiedCity/start_cell/[127,-83]","kind":"start_region","scene":"EmbodiedCity urban map","split_limitation":"same simulator city; different 50m horizontal start cells, not scene-disjoint"},"id":"6d5b6a9dc6bcfb277a89","native_annotation":{"gt_traj":[[6382.97852,-4112.37451,-113.301422],[6382.97852,-4112.37451,-103.301422],[6382.97852,-4112.37451,-93.3014221],[6382.97852,-4112.37451,-83.3014221],[6382.97852,-4112.37451,-73.3014221],[6382.97852,-4112.37451,-63.3014183]],"gt_traj_len":50.0000037,"gt_traj_num_points":6,"sample_index":788,"start_ang":-90.0,"start_pitch":0.0,"start_pos":[6382.97852,-4112.37451,-113.301422],"start_roll":0.0,"start_rot":[0.0,0.0,1.17809727],"start_x":6382.97852,"start_y":-4112.37451,"start_yaw":1.17809727,"start_z":-113.301422,"target_pos":[6382.97852,-4112.37451,-63.3014183],"target_x":6382.97852,"target_y":-4112.37451,"target_z":-63.3014183,"task_desc":"Top floor of the building below"},"observations":[],"question":{"options":[],"original":"Top floor of the building below","text":"Top floor of the building below"},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"EmbodiedCity / Unreal / AirSim","mode":"interactive","native_episode_locator":{"file":"viewer-00000-of-00001.parquet","format":"parquet_row","row":788},"observation_policy":"live RGB and motion feedback; target coordinates and reference trajectories are verifier-only","repo":"EmbodiedCity/EmbodiedNav-Bench","revision":"253fce071593f380e4377364d9f4782b354231c5","sample_index":788},"sampling":{"component_id":"0c9e20c71db7cd517016","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":124,"stratum_pool":377},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"viewer-00000-of-00001.parquet","annotation_sha256":"72a6eca9f27c4e611ace74f60594470c53b6dd9f6bcfb91c20b75bb6f2888692","host":"huggingface","license":"cc-by-4.0; EmbodiedCity simulator terms apply","media_policy":"live AirSim camera; never feed recorded ground-truth trajectories","repo":"EmbodiedCity/EmbodiedNav-Bench","revision":"af674dde5ab14f22792907299ec3ed6ffa21e0c9","row_sha256":"f9dd145045f6b0100312ddcc496d6bf84a3dfab50aaabb081df97fae43f94539","runtime_revision":"253fce071593f380e4377364d9f4782b354231c5","sample_id":"788","split":"public evaluation cases","upstream_dataset":"EmbodiedNav-Bench","url":"https://huggingface.co/datasets/EmbodiedCity/EmbodiedNav-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_navigation_SR_SPL","original_answer":null},"task":{"category":"descend","category_derivation":"NED-coordinate vertical target displacement and reference trajectory length bins; not upstream task labels","role":"spatial_core","skill_tags":["descend","medium"],"stratum":"EmbodiedNav-Bench/descend/medium","subcategory":"medium"},"transforms":[]}
{"dataset":"EmbodiedNav-Bench","group":{"id":"EmbodiedCity/start_cell/[123,-90]","kind":"start_region","scene":"EmbodiedCity urban map","split_limitation":"same simulator city; different 50m horizontal start cells, not scene-disjoint"},"id":"6d7bf7824826538fe89e","native_annotation":{"gt_traj":[[6183.69043,-4479.32568,-42.36726],[6176.61914,-4486.39697,-42.36726],[6169.54785,-4493.46826,-42.36726],[6162.47607,-4500.53955,-42.36726],[6162.47607,-4500.53955,-32.36726],[6155.40479,-4507.61084,-32.36726],[6148.3335,-4514.68213,-32.36726],[6141.26221,-4521.75342,-32.36726]],"gt_traj_len":70.00222474609893,"gt_traj_num_points":8,"sample_index":4024,"start_ang":0.0,"start_pitch":0.0,"start_pos":[6183.69043,-4479.32568,-42.36726],"start_roll":0.0,"start_rot":[0.0,0.0,-2.35619464],"start_x":6183.69043,"start_y":-4479.32568,"start_yaw":-2.35619464,"start_z":-42.36726,"target_pos":[6141.26221,-4521.75342,-32.36726],"target_x":6141.26221,"target_y":-4521.75342,"target_z":-32.36726,"task_desc":"the roof most recently measured belonging to the circular building ahead"},"observations":[],"question":{"options":[],"original":"the roof most recently measured belonging to the circular building ahead","text":"the roof most recently measured belonging to the circular building ahead"},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"EmbodiedCity / Unreal / AirSim","mode":"interactive","native_episode_locator":{"file":"viewer-00000-of-00001.parquet","format":"parquet_row","row":4024},"observation_policy":"live RGB and motion feedback; target coordinates and reference trajectories are verifier-only","repo":"EmbodiedCity/EmbodiedNav-Bench","revision":"253fce071593f380e4377364d9f4782b354231c5","sample_index":4024},"sampling":{"component_id":"1e164c10757d00a9925f","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":124,"stratum_pool":377},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"viewer-00000-of-00001.parquet","annotation_sha256":"72a6eca9f27c4e611ace74f60594470c53b6dd9f6bcfb91c20b75bb6f2888692","host":"huggingface","license":"cc-by-4.0; EmbodiedCity simulator terms apply","media_policy":"live AirSim camera; never feed recorded ground-truth trajectories","repo":"EmbodiedCity/EmbodiedNav-Bench","revision":"af674dde5ab14f22792907299ec3ed6ffa21e0c9","row_sha256":"9ad72b3faacafe0b30e861d6181c1b3a8e0674a515cb2914101d02badcd0d95e","runtime_revision":"253fce071593f380e4377364d9f4782b354231c5","sample_id":"4024","split":"public evaluation cases","upstream_dataset":"EmbodiedNav-Bench","url":"https://huggingface.co/datasets/EmbodiedCity/EmbodiedNav-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_navigation_SR_SPL","original_answer":null},"task":{"category":"descend","category_derivation":"NED-coordinate vertical target displacement and reference trajectory length bins; not upstream task labels","role":"spatial_core","skill_tags":["descend","medium"],"stratum":"EmbodiedNav-Bench/descend/medium","subcategory":"medium"},"transforms":[]}
{"dataset":"EmbodiedNav-Bench","group":{"id":"EmbodiedCity/start_cell/[149,-71]","kind":"start_region","scene":"EmbodiedCity urban map","split_limitation":"same simulator city; different 50m horizontal start cells, not scene-disjoint"},"id":"3014cc8d83bdea7b2954","native_annotation":{"gt_traj":[[7455.27734,-3539.60498,-12.367259],[7465.27734,-3539.60498,-12.367259],[7465.27734,-3529.60498,-12.367259],[7465.27734,-3529.60498,-2.36725903]],"gt_traj_len":29.99999997,"gt_traj_num_points":4,"sample_index":3417,"start_ang":-45.0,"start_pitch":0.0,"start_pos":[7455.27734,-3539.60498,-12.367259],"start_roll":0.0,"start_rot":[0.0,0.0,-2.42603484e-08],"start_x":7455.27734,"start_y":-3539.60498,"start_yaw":-2.42603484e-08,"start_z":-12.367259,"target_pos":[7465.27734,-3529.60498,-2.36725903],"target_x":7465.27734,"target_y":-3529.60498,"target_z":-2.36725903,"task_desc":"the \"名庄荟\" shop in front and below"},"observations":[],"question":{"options":[],"original":"the \"名庄荟\" shop in front and below","text":"the \"名庄荟\" shop in front and below"},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"EmbodiedCity / Unreal / AirSim","mode":"interactive","native_episode_locator":{"file":"viewer-00000-of-00001.parquet","format":"parquet_row","row":3417},"observation_policy":"live RGB and motion feedback; target coordinates and reference trajectories are verifier-only","repo":"EmbodiedCity/EmbodiedNav-Bench","revision":"253fce071593f380e4377364d9f4782b354231c5","sample_index":3417},"sampling":{"component_id":"22e5ddc6b826896be375","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":1,"seed":20261012,"split_pool":1,"stratum_pool":3},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"viewer-00000-of-00001.parquet","annotation_sha256":"72a6eca9f27c4e611ace74f60594470c53b6dd9f6bcfb91c20b75bb6f2888692","host":"huggingface","license":"cc-by-4.0; EmbodiedCity simulator terms apply","media_policy":"live AirSim camera; never feed recorded ground-truth trajectories","repo":"EmbodiedCity/EmbodiedNav-Bench","revision":"af674dde5ab14f22792907299ec3ed6ffa21e0c9","row_sha256":"1f28215b9cc0b798b31b917ebe4f65f5c2835af305b8ca43c15bc813d6ff151d","runtime_revision":"253fce071593f380e4377364d9f4782b354231c5","sample_id":"3417","split":"public evaluation cases","upstream_dataset":"EmbodiedNav-Bench","url":"https://huggingface.co/datasets/EmbodiedCity/EmbodiedNav-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_navigation_SR_SPL","original_answer":null},"task":{"category":"descend","category_derivation":"NED-coordinate vertical target displacement and reference trajectory length bins; not upstream task labels","role":"spatial_core","skill_tags":["descend","short"],"stratum":"EmbodiedNav-Bench/descend/short","subcategory":"short"},"transforms":[]}
{"dataset":"EmbodiedNav-Bench","group":{"id":"EmbodiedCity/start_cell/[134,-88]","kind":"start_region","scene":"EmbodiedCity urban map","split_limitation":"same simulator city; different 50m horizontal start cells, not scene-disjoint"},"id":"2a557cbaa2a624a96a39","native_annotation":{"gt_traj":[[6732.3457,-4355.77783,-72.3671875],[6725.27441,-4362.84912,-72.3671875],[6718.20312,-4369.92041,-72.3671875],[6711.13184,-4376.9917,-72.3671875],[6704.06055,-4384.06299,-72.3671875],[6696.98926,-4391.13428,-72.3671875],[6689.91797,-4398.20557,-72.3671875],[6682.84668,-4405.27686,-72.3671875],[6675.77539,-4412.34814,-72.3671875],[6668.7041,-4419.41943,-72.3671875],[6661.63232,-4426.49072,-72.3671875],[6654.56104,-4433.56201,-72.3671875],[6647.48975,-4440.6333,-72.3671875],[6640.41846,-4447.70459,-72.3671875],[6633.34668,-4454.77588,-72.3671875],[6626.27539,-4461.84717,-72.3671875],[6626.27539,-4461.84717,-72.3671875],[6622.44873,-4471.08594,-72.3671875],[6622.44873,-4471.08594,-72.3671875],[6612.44873,-4471.08594,-72.3671875],[6612.44873,-4481.08594,-72.3671875],[6612.44873,-4491.08594,-72.3671875],[6612.44873,-4501.08594,-72.3671875]],"gt_traj_len":200.0052949785714,"gt_traj_num_points":23,"sample_index":912,"start_ang":0.0,"start_pitch":0.0,"start_pos":[6732.3457,-4355.77783,-72.3671875],"start_roll":0.0,"start_rot":[0.0,0.0,-2.3561944],"start_x":6732.3457,"start_y":-4355.77783,"start_yaw":-2.3561944,"start_z":-72.3671875,"target_pos":[6612.44873,-4501.08594,-72.3671875],"target_x":6612.44873,"target_y":-4501.08594,"target_z":-72.3671875,"task_desc":"the middle of that two buildings in front of you"},"observations":[],"question":{"options":[],"original":"the middle of that two buildings in front of you","text":"the middle of that two buildings in front of you"},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"EmbodiedCity / Unreal / AirSim","mode":"interactive","native_episode_locator":{"file":"viewer-00000-of-00001.parquet","format":"parquet_row","row":912},"observation_policy":"live RGB and motion feedback; target coordinates and reference trajectories are verifier-only","repo":"EmbodiedCity/EmbodiedNav-Bench","revision":"253fce071593f380e4377364d9f4782b354231c5","sample_index":912},"sampling":{"component_id":"2a557cbaa2a624a96a39","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":444,"stratum_pool":1242},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"viewer-00000-of-00001.parquet","annotation_sha256":"72a6eca9f27c4e611ace74f60594470c53b6dd9f6bcfb91c20b75bb6f2888692","host":"huggingface","license":"cc-by-4.0; EmbodiedCity simulator terms apply","media_policy":"live AirSim camera; never feed recorded ground-truth trajectories","repo":"EmbodiedCity/EmbodiedNav-Bench","revision":"af674dde5ab14f22792907299ec3ed6ffa21e0c9","row_sha256":"9624b703accec04b838aca1d88e9648a3b6c6d9db8c45a3f71f382ba50ee5199","runtime_revision":"253fce071593f380e4377364d9f4782b354231c5","sample_id":"912","split":"public evaluation cases","upstream_dataset":"EmbodiedNav-Bench","url":"https://huggingface.co/datasets/EmbodiedCity/EmbodiedNav-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_navigation_SR_SPL","original_answer":null},"task":{"category":"level","category_derivation":"NED-coordinate vertical target displacement and reference trajectory length bins; not upstream task labels","role":"spatial_core","skill_tags":["level","long"],"stratum":"EmbodiedNav-Bench/level/long","subcategory":"long"},"transforms":[]}
{"dataset":"EmbodiedNav-Bench","group":{"id":"EmbodiedCity/start_cell/[132,-87]","kind":"start_region","scene":"EmbodiedCity urban map","split_limitation":"same simulator city; different 50m horizontal start cells, not scene-disjoint"},"id":"1ed92448396dfe9402f5","native_annotation":{"gt_traj":[[6605.21436,-4336.54004,-92.3671875],[6605.21436,-4346.54004,-92.3671875],[6605.21436,-4356.54004,-92.3671875],[6605.21436,-4366.54004,-92.3671875],[6605.21436,-4376.54004,-92.3671875],[6605.21436,-4386.54004,-92.3671875],[6605.21436,-4396.54004,-92.3671875],[6605.21436,-4406.54004,-92.3671875],[6605.21436,-4416.54004,-92.3671875],[6605.21436,-4426.54004,-92.3671875],[6605.21436,-4436.54004,-92.3671875],[6605.21436,-4446.54004,-92.3671875],[6605.21436,-4456.54004,-92.3671875],[6605.21436,-4466.54004,-92.3671875],[6605.21436,-4476.54004,-92.3671875]],"gt_traj_len":140.0,"gt_traj_num_points":15,"sample_index":2851,"start_ang":0.0,"start_pitch":0.0,"start_pos":[6605.21436,-4336.54004,-92.3671875],"start_roll":0.0,"start_rot":[0.0,0.0,-1.57079646],"start_x":6605.21436,"start_y":-4336.54004,"start_yaw":-1.57079646,"start_z":-92.3671875,"target_pos":[6605.21436,-4476.54004,-92.3671875],"target_x":6605.21436,"target_y":-4476.54004,"target_z":-92.3671875,"task_desc":"the middle of two apartment built with grey and blue bricks and blue windows"},"observations":[],"question":{"options":[],"original":"the middle of two apartment built with grey and blue bricks and blue windows","text":"the middle of two apartment built with grey and blue bricks and blue windows"},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"EmbodiedCity / Unreal / AirSim","mode":"interactive","native_episode_locator":{"file":"viewer-00000-of-00001.parquet","format":"parquet_row","row":2851},"observation_policy":"live RGB and motion feedback; target coordinates and reference trajectories are verifier-only","repo":"EmbodiedCity/EmbodiedNav-Bench","revision":"253fce071593f380e4377364d9f4782b354231c5","sample_index":2851},"sampling":{"component_id":"1ed92448396dfe9402f5","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":444,"stratum_pool":1242},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"viewer-00000-of-00001.parquet","annotation_sha256":"72a6eca9f27c4e611ace74f60594470c53b6dd9f6bcfb91c20b75bb6f2888692","host":"huggingface","license":"cc-by-4.0; EmbodiedCity simulator terms apply","media_policy":"live AirSim camera; never feed recorded ground-truth trajectories","repo":"EmbodiedCity/EmbodiedNav-Bench","revision":"af674dde5ab14f22792907299ec3ed6ffa21e0c9","row_sha256":"cc762c6f83df1f5e436c1226cdd321f4d08ce18df33ce3c4728568b8be37ca11","runtime_revision":"253fce071593f380e4377364d9f4782b354231c5","sample_id":"2851","split":"public evaluation cases","upstream_dataset":"EmbodiedNav-Bench","url":"https://huggingface.co/datasets/EmbodiedCity/EmbodiedNav-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_navigation_SR_SPL","original_answer":null},"task":{"category":"level","category_derivation":"NED-coordinate vertical target displacement and reference trajectory length bins; not upstream task labels","role":"spatial_core","skill_tags":["level","long"],"stratum":"EmbodiedNav-Bench/level/long","subcategory":"long"},"transforms":[]}
{"dataset":"EmbodiedNav-Bench","group":{"id":"EmbodiedCity/start_cell/[141,-102]","kind":"start_region","scene":"EmbodiedCity urban map","split_limitation":"same simulator city; different 50m horizontal start cells, not scene-disjoint"},"id":"450e260cf482e0bb2181","native_annotation":{"gt_traj":[[7070.49805,-5092.11719,-12.367259],[7066.6709,-5101.35596,-12.367259],[7062.84424,-5110.59473,-12.367259],[7059.01758,-5119.8335,-12.367259],[7055.19043,-5129.07227,-12.367259],[7051.36377,-5138.31104,-12.367259],[7047.53662,-5147.5498,-12.367259],[7043.70996,-5156.78809,-12.367259]],"gt_traj_len":69.99947910401471,"gt_traj_num_points":8,"sample_index":1684,"start_ang":0.0,"start_pitch":0.0,"start_pos":[7070.49805,-5092.11719,-12.367259],"start_roll":0.0,"start_rot":[0.0,0.0,-1.96349555],"start_x":7070.49805,"start_y":-5092.11719,"start_yaw":-1.96349555,"start_z":-12.367259,"target_pos":[7043.70996,-5156.78809,-12.367259],"target_x":7043.70996,"target_y":-5156.78809,"target_z":-12.367259,"task_desc":"the roof of that green house"},"observations":[],"question":{"options":[],"original":"the roof of that green house","text":"the roof of that green house"},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"EmbodiedCity / Unreal / AirSim","mode":"interactive","native_episode_locator":{"file":"viewer-00000-of-00001.parquet","format":"parquet_row","row":1684},"observation_policy":"live RGB and motion feedback; target coordinates and reference trajectories are verifier-only","repo":"EmbodiedCity/EmbodiedNav-Bench","revision":"253fce071593f380e4377364d9f4782b354231c5","sample_index":1684},"sampling":{"component_id":"450e260cf482e0bb2181","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":118,"stratum_pool":424},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"viewer-00000-of-00001.parquet","annotation_sha256":"72a6eca9f27c4e611ace74f60594470c53b6dd9f6bcfb91c20b75bb6f2888692","host":"huggingface","license":"cc-by-4.0; EmbodiedCity simulator terms apply","media_policy":"live AirSim camera; never feed recorded ground-truth trajectories","repo":"EmbodiedCity/EmbodiedNav-Bench","revision":"af674dde5ab14f22792907299ec3ed6ffa21e0c9","row_sha256":"1cb86f9987a9f7b290a3c894c7d9eb35a14407534aed6e9dc7b678b83cc12492","runtime_revision":"253fce071593f380e4377364d9f4782b354231c5","sample_id":"1684","split":"public evaluation cases","upstream_dataset":"EmbodiedNav-Bench","url":"https://huggingface.co/datasets/EmbodiedCity/EmbodiedNav-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_navigation_SR_SPL","original_answer":null},"task":{"category":"level","category_derivation":"NED-coordinate vertical target displacement and reference trajectory length bins; not upstream task labels","role":"spatial_core","skill_tags":["level","medium"],"stratum":"EmbodiedNav-Bench/level/medium","subcategory":"medium"},"transforms":[]}
{"dataset":"EmbodiedNav-Bench","group":{"id":"EmbodiedCity/start_cell/[136,-79]","kind":"start_region","scene":"EmbodiedCity urban map","split_limitation":"same simulator city; different 50m horizontal start cells, not scene-disjoint"},"id":"4eaa1ace3c37c0d1c734","native_annotation":{"gt_traj":[[6816.85693,-3909.97241,-2.36726189],[6826.85693,-3909.97241,-2.36726189],[6836.85693,-3909.97241,-2.36726189],[6846.85693,-3909.97241,-2.36726189],[6856.85693,-3909.97241,-2.36726189],[6866.85693,-3909.97241,-2.36726189],[6876.85693,-3909.97241,-2.36726189],[6886.85693,-3909.97241,-2.36726189]],"gt_traj_len":70.0,"gt_traj_num_points":8,"sample_index":4525,"start_ang":0.0,"start_pitch":0.0,"start_pos":[6816.85693,-3909.97241,-2.36726189],"start_roll":0.0,"start_rot":[0.0,0.0,-1.74435968e-07],"start_x":6816.85693,"start_y":-3909.97241,"start_yaw":-1.74435968e-07,"start_z":-2.36726189,"target_pos":[6886.85693,-3909.97241,-2.36726189],"target_x":6886.85693,"target_y":-3909.97241,"target_z":-2.36726189,"task_desc":"the middle of the crossroads in front"},"observations":[],"question":{"options":[],"original":"the middle of the crossroads in front","text":"the middle of the crossroads in front"},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"EmbodiedCity / Unreal / AirSim","mode":"interactive","native_episode_locator":{"file":"viewer-00000-of-00001.parquet","format":"parquet_row","row":4525},"observation_policy":"live RGB and motion feedback; target coordinates and reference trajectories are verifier-only","repo":"EmbodiedCity/EmbodiedNav-Bench","revision":"253fce071593f380e4377364d9f4782b354231c5","sample_index":4525},"sampling":{"component_id":"4eaa1ace3c37c0d1c734","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":118,"stratum_pool":424},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"viewer-00000-of-00001.parquet","annotation_sha256":"72a6eca9f27c4e611ace74f60594470c53b6dd9f6bcfb91c20b75bb6f2888692","host":"huggingface","license":"cc-by-4.0; EmbodiedCity simulator terms apply","media_policy":"live AirSim camera; never feed recorded ground-truth trajectories","repo":"EmbodiedCity/EmbodiedNav-Bench","revision":"af674dde5ab14f22792907299ec3ed6ffa21e0c9","row_sha256":"f7973bd78af89f3272a3124df4ea146f323c4b8b38e33f0e67e145f2a765eafb","runtime_revision":"253fce071593f380e4377364d9f4782b354231c5","sample_id":"4525","split":"public evaluation cases","upstream_dataset":"EmbodiedNav-Bench","url":"https://huggingface.co/datasets/EmbodiedCity/EmbodiedNav-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_navigation_SR_SPL","original_answer":null},"task":{"category":"level","category_derivation":"NED-coordinate vertical target displacement and reference trajectory length bins; not upstream task labels","role":"spatial_core","skill_tags":["level","medium"],"stratum":"EmbodiedNav-Bench/level/medium","subcategory":"medium"},"transforms":[]}
{"dataset":"EmbodiedNav-Bench","group":{"id":"EmbodiedCity/start_cell/[149,-72]","kind":"start_region","scene":"EmbodiedCity urban map","split_limitation":"same simulator city; different 50m horizontal start cells, not scene-disjoint"},"id":"ca190d24a9f6d43f50c2","native_annotation":{"gt_traj":[[7498.26562,-3567.99927,-2.36725903],[7498.26562,-3567.99927,-2.36725903],[7498.26562,-3567.99927,-2.36725903],[7498.26562,-3567.99927,-2.36725903],[7498.26562,-3567.99927,-2.36725903],[7505.33691,-3575.07031,-2.36725903],[7505.33691,-3575.07031,-2.36725903],[7514.57568,-3578.89722,-2.36725903]],"gt_traj_len":20.000143009388818,"gt_traj_num_points":8,"sample_index":5006,"start_ang":0.0,"start_pitch":0.0,"start_pos":[7498.26562,-3567.99927,-2.36725903],"start_roll":0.0,"start_rot":[0.0,0.0,0.785398165],"start_x":7498.26562,"start_y":-3567.99927,"start_yaw":0.785398165,"start_z":-2.36725903,"target_pos":[7514.57568,-3578.89722,-2.36725903],"target_x":7514.57568,"target_y":-3578.89722,"target_z":-2.36725903,"task_desc":"the residential community's white pergola entrance"},"observations":[],"question":{"options":[],"original":"the residential community's white pergola entrance","text":"the residential community's white pergola entrance"},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"EmbodiedCity / Unreal / AirSim","mode":"interactive","native_episode_locator":{"file":"viewer-00000-of-00001.parquet","format":"parquet_row","row":5006},"observation_policy":"live RGB and motion feedback; target coordinates and reference trajectories are verifier-only","repo":"EmbodiedCity/EmbodiedNav-Bench","revision":"253fce071593f380e4377364d9f4782b354231c5","sample_index":5006},"sampling":{"component_id":"0c2abe8a59870ac9afe4","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":4,"stratum_pool":10},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"viewer-00000-of-00001.parquet","annotation_sha256":"72a6eca9f27c4e611ace74f60594470c53b6dd9f6bcfb91c20b75bb6f2888692","host":"huggingface","license":"cc-by-4.0; EmbodiedCity simulator terms apply","media_policy":"live AirSim camera; never feed recorded ground-truth trajectories","repo":"EmbodiedCity/EmbodiedNav-Bench","revision":"af674dde5ab14f22792907299ec3ed6ffa21e0c9","row_sha256":"ce98c5c6f388cff7f0a3a47d9509f16c8dcbe478e845903ad03c5301d87faab7","runtime_revision":"253fce071593f380e4377364d9f4782b354231c5","sample_id":"5006","split":"public evaluation cases","upstream_dataset":"EmbodiedNav-Bench","url":"https://huggingface.co/datasets/EmbodiedCity/EmbodiedNav-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_navigation_SR_SPL","original_answer":null},"task":{"category":"level","category_derivation":"NED-coordinate vertical target displacement and reference trajectory length bins; not upstream task labels","role":"spatial_core","skill_tags":["level","short"],"stratum":"EmbodiedNav-Bench/level/short","subcategory":"short"},"transforms":[]}
{"dataset":"EmbodiedNav-Bench","group":{"id":"EmbodiedCity/start_cell/[148,-72]","kind":"start_region","scene":"EmbodiedCity urban map","split_limitation":"same simulator city; different 50m horizontal start cells, not scene-disjoint"},"id":"9c2f8867ce6d3a6752b3","native_annotation":{"gt_traj":[[7439.43311,-3557.56299,-3.36725879],[7439.43311,-3557.56299,-3.36725879],[7439.43311,-3557.56299,-3.36725879],[7439.43311,-3557.56299,-3.36725879],[7448.67188,-3561.38989,-3.36725879],[7457.91064,-3565.2168,-3.36725879],[7467.14941,-3569.0437,-3.36725879],[7467.14941,-3569.0437,-3.36725879]],"gt_traj_len":29.999999796574173,"gt_traj_num_points":8,"sample_index":1192,"start_ang":0.0,"start_pitch":0.0,"start_pos":[7439.43311,-3557.56299,-3.36725879],"start_roll":0.0,"start_rot":[0.0,0.0,0.785398133],"start_x":7439.43311,"start_y":-3557.56299,"start_yaw":0.785398133,"start_z":-3.36725879,"target_pos":[7467.14941,-3569.0437,-3.36725879],"target_x":7467.14941,"target_y":-3569.0437,"target_z":-3.36725879,"task_desc":"the nearby shop with the red sign named '荆楚食光' in the building ahead"},"observations":[],"question":{"options":[],"original":"the nearby shop with the red sign named '荆楚食光' in the building ahead","text":"the nearby shop with the red sign named '荆楚食光' in the building ahead"},"runtime":{"adapter":"upstream-native","deployment_status":"upstream_simulator_setup_required","engine":"EmbodiedCity / Unreal / AirSim","mode":"interactive","native_episode_locator":{"file":"viewer-00000-of-00001.parquet","format":"parquet_row","row":1192},"observation_policy":"live RGB and motion feedback; target coordinates and reference trajectories are verifier-only","repo":"EmbodiedCity/EmbodiedNav-Bench","revision":"253fce071593f380e4377364d9f4782b354231c5","sample_index":1192},"sampling":{"component_id":"276818ff7de14734224d","method":"shared-media/scene connected components; frozen seed constraints; sha256 group-spread selection","partition_attempt":38,"quota":2,"seed":20261012,"split_pool":4,"stratum_pool":10},"schema_version":"spatial-rsi-suite/2","source":{"annotation_path":"viewer-00000-of-00001.parquet","annotation_sha256":"72a6eca9f27c4e611ace74f60594470c53b6dd9f6bcfb91c20b75bb6f2888692","host":"huggingface","license":"cc-by-4.0; EmbodiedCity simulator terms apply","media_policy":"live AirSim camera; never feed recorded ground-truth trajectories","repo":"EmbodiedCity/EmbodiedNav-Bench","revision":"af674dde5ab14f22792907299ec3ed6ffa21e0c9","row_sha256":"f347dc14bc200e60a2b6a200acf24e2d6b0a6699be4fb9e6c87515a2c0884c92","runtime_revision":"253fce071593f380e4377364d9f4782b354231c5","sample_id":"1192","split":"public evaluation cases","upstream_dataset":"EmbodiedNav-Bench","url":"https://huggingface.co/datasets/EmbodiedCity/EmbodiedNav-Bench"},"split":"dev","suite":"dynamic-mini","target":{"answer":null,"metric":"official_navigation_SR_SPL","original_answer":null},"task":{"category":"level","category_derivation":"NED-coordinate vertical target displacement and reference trajectory length bins; not upstream task labels","role":"spatial_core","skill_tags":["level","short"],"stratum":"EmbodiedNav-Bench/level/short","subcategory":"short"},"transforms":[]}